GR00T-WholeBodyControl/gear_sonic/utils/inference/initial_poses.py

"""Default initial poses for VLA inference.

These arrays are sent to the C++ control loop when the user presses 'i'
to move the robot to a known starting configuration before inference begins.

WARNING: The initial motion token below is specific to the SONIC checkpoint used
during training. Different SONIC checkpoints encode different latent spaces, so
this token will produce a different (and likely incorrect) pose if you switch to
a different SONIC checkpoint. When changing the SONIC checkpoint, you MUST update
LATENT_INITIAL_MOTION_TOKEN to a value that corresponds to a known safe standing
pose in the new checkpoint's latent space.
"""

import numpy as np

# 64-dim motion token for a stable standing pose.
# CHECKPOINT-SPECIFIC: this value must be updated if the SONIC checkpoint changes.
LATENT_INITIAL_MOTION_TOKEN = np.array(
    [
        -0.0625,  0.0000, -0.0625, -0.1250, -0.1875, -0.0625,  0.1875,
         0.2500,  0.1875, -0.1250,  0.0625, -0.0625, -0.2500, -0.2500,
        -0.3125, -0.0625,  0.0000, -0.0625, -0.1250, -0.1875,  0.0000,
        -0.2500,  0.0000, -0.2500, -0.0625,  0.0625,  0.1250, -0.1250,
         0.2500,  0.1875,  0.2500, -0.1250,  0.1250,  0.1875, -0.0625,
         0.0000, -0.1875, -0.1875,  0.2500,  0.0000,  0.0000, -0.1250,
         0.0625,  0.0000, -0.0625, -0.0625,  0.1875, -0.0625,  0.0000,
         0.0625,  0.1250,  0.0625,  0.1250,  0.0625,  0.1250,  0.0000,
         0.1250,  0.1875,  0.0000,  0.0000,  0.0625,  0.0625,  0.1875,
         0.0625,
    ],
    dtype=np.float32,
)