Merge pull request #29 from NVlabs/gear-sonic

docs update

docs/source/references/decoupled_wbc.md

@@ -1,4 +1,4 @@
-# Decoupled WBC (N1.5 / N1.6)
+# Decoupled WBC
 
 Software stack for loco-manipulation experiments across multiple humanoid platforms, with primary support for the Unitree G1. This repository provides whole-body control policies, a teleoperation stack, and a data exporter.
 

gear_sonic/scripts/pico_manager_thread_server.py

@@ -231,6 +231,11 @@ def _process_3pt_pose(smpl_pose_np):
           orientations.
     """
 
+    # Defensive copy: _compute_rel_transform modifies pose[:3] in-place, which would
+    # corrupt the caller's array (e.g. PicoReader._latest) and cause wrong results
+    # if the same sample is processed more than once.
+    smpl_pose_np = smpl_pose_np.copy()
+
     # =========================================================================
     # STEP 1: Transform all joints from Unity frame to robot frame
     # =========================================================================