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0651b21 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 | """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,
)
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