from typing import List


def define_initial_nn_X(robot: str) -> List:
    """Define the robot-specific initial input X for the network used for trajectory generation."""

    if robot != "iCubV2_5":
        raise Exception("Initial network input X only defined for iCubV2_5.")

    # Initial input manually retrieved from a standing pose
    initial_nn_X = [[0.2119528955450237, -0.0030393414305661757, 0.2088665596830631, -0.0021020581878808007,
                     0.20531231168918174, -0.0008621646186016302, 0.2038031784172399, 0.0006000018873639539,
                     0.20492310200003655, 0.00219387868363895, 0.0, 0.0, -0.2861243642562259, 0.009288430936687906,
                     -0.31823372134674327, 0.0041163061304422335, -0.3351330296979504, 0.00013665165796125482,
                     -0.32760743228415534, 0.0013394518793597135, -0.28954434529500506, -0.002034172225900831,
                     -0.22271595678165187, -0.007108432655308732, 0.4874557110316117, -0.060262978658173996,
                     0.483219430286254, -0.05549580293883961, 0.48355811354675093, -0.05073190069674229,
                     0.48430037825453315, -0.0463878541965186, 0.47622379318033997, -0.042673799121161156, 0.0,
                     -0.001670958751021921, 0.48823702730673707, -0.012628077673047147, 0.4985278001448309,
                     -0.017930827973037217, 0.4894521106023875, -0.013467714394521855, 0.48597445992611943,
                     -0.004418383745209343, 0.4891737721962037, -0.0006736504004182218, 0.4998745767668644,
                     -6.208532325985457e-05, -0.14660114753459738, -0.013635038569482734, -0.14972572660656353,
                     -0.013889675494643422, -0.14485898865197464, -0.014291839679283299, -0.13868430844742163,
                     -0.015641834593965512, -0.14136717424413048, -0.017874811642905507, -0.15142562459589684,
                     -0.020944871631760793, -0.07793121543356057, -0.002198970320957779, 0.12319525161531483,
                     0.002993875070530926, -1.1538873156781917, 0.01723559513698802, -1.495295660555109,
                     0.0010038652592341854, -1.8281665557305795, 0.0006766967160280221, -2.159682389892566,
                     -0.006655788893852345, -2.4211997845061326, -0.9981968, -0.3760584, 0.37910417, 0.65148425,
                     0.3296967, 0.40070292, -1.0328596, -0.36308038, 0.41093844, 0.64171183, 0.28167534, 0.3818131,
                     -1.9024365, 0.00088662654, 0.0018205047, 0.35245338, -0.33301216, -0.21851036, -0.73831433,
                     0.61941016, 0.8847597, -0.98411304, -0.5619794, 0.03115137, -0.091870524, 0.35733885,
                     -0.366953, -0.19864298, -0.71252215, 0.70668554, 0.8847598, -0.98411304, 0.0064472854,
                     -0.003662251, -0.027689233, -0.019645333, -0.010648936, -0.00738357, 0.015316837, 0.04705859,
                     0.011168551, -0.013807453, -0.0048871785, -0.027151093, -0.12258834, -0.028669998, 0.04093896,
                     -0.0797086, -0.010067629, 0.10308291, 0.07587971, -0.0666933, -0.018514698, 0.019428264,
                     0.0027377363, 0.042420693, -0.009432776, 0.048711963, -0.0032096095, -0.0069472883,
                     0.016040523, 0.0183498, -0.01851473, 0.019428236]]

    return initial_nn_X