From 5046e2df3263ca71a7c396ff7b682d93875e48d4 Mon Sep 17 00:00:00 2001
From: Martino Russi <nopyeps@gmail.com>
Date: Wed, 15 Jul 2026 16:42:46 +0200
Subject: [PATCH] fix ruff

---
 src/lerobot/robots/unitree_g1/g1_utils.py | 64 ++++++++++++++++++++++-
 1 file changed, 62 insertions(+), 2 deletions(-)

diff --git a/src/lerobot/robots/unitree_g1/g1_utils.py b/src/lerobot/robots/unitree_g1/g1_utils.py
index 8861676aa..0449a5a4f 100644
--- a/src/lerobot/robots/unitree_g1/g1_utils.py
+++ b/src/lerobot/robots/unitree_g1/g1_utils.py
@@ -27,11 +27,71 @@ NUM_MOTORS = 29
 # IsaacLab (policy/training order) and MuJoCo (deploy order). ``a[ISAACLAB_TO_MUJOCO]``
 # reorders an IsaacLab-ordered vector into MuJoCo order, and vice-versa.
 ISAACLAB_TO_MUJOCO = np.array(
-    [0, 3, 6, 9, 13, 17, 1, 4, 7, 10, 14, 18, 2, 5, 8, 11, 15, 19, 21, 23, 25, 27, 12, 16, 20, 22, 24, 26, 28],
+    [
+        0,
+        3,
+        6,
+        9,
+        13,
+        17,
+        1,
+        4,
+        7,
+        10,
+        14,
+        18,
+        2,
+        5,
+        8,
+        11,
+        15,
+        19,
+        21,
+        23,
+        25,
+        27,
+        12,
+        16,
+        20,
+        22,
+        24,
+        26,
+        28,
+    ],
     dtype=np.int32,
 )
 MUJOCO_TO_ISAACLAB = np.array(
-    [0, 6, 12, 1, 7, 13, 2, 8, 14, 3, 9, 15, 22, 4, 10, 16, 23, 5, 11, 17, 24, 18, 25, 19, 26, 20, 27, 21, 28],
+    [
+        0,
+        6,
+        12,
+        1,
+        7,
+        13,
+        2,
+        8,
+        14,
+        3,
+        9,
+        15,
+        22,
+        4,
+        10,
+        16,
+        23,
+        5,
+        11,
+        17,
+        24,
+        18,
+        25,
+        19,
+        26,
+        20,
+        27,
+        21,
+        28,
+    ],
     dtype=np.int32,
 )