The SONIC policy was likely trained on mode_machine=6 (locked waist variant)
where waist_roll and waist_pitch are fixed joints. On our mode_machine=5
robot the waist is free but the NN outputs near-zero for it. This adds a
configurable waist_pitch offset (default +8°) applied directly to the motor
command. Keys 7/8 adjust ±1° at runtime via tmux.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Joe DiPrima
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