From 89ac5b4408b8877d5395996e776bd7a38b0cf7f3 Mon Sep 17 00:00:00 2001 From: Martino Russi Date: Fri, 31 Jul 2026 10:00:22 +0200 Subject: [PATCH] remove comments --- src/lerobot/robots/unitree_g1/g1_utils.py | 6 +----- src/lerobot/robots/unitree_g1/unitree_g1.py | 2 +- 2 files changed, 2 insertions(+), 6 deletions(-) diff --git a/src/lerobot/robots/unitree_g1/g1_utils.py b/src/lerobot/robots/unitree_g1/g1_utils.py index 83f5eae31..5d1d4a018 100644 --- a/src/lerobot/robots/unitree_g1/g1_utils.py +++ b/src/lerobot/robots/unitree_g1/g1_utils.py @@ -23,9 +23,7 @@ import numpy as np NUM_MOTORS = 29 -# Joint-order permutations between the two 29-DoF layouts used across the G1 stack: -# IsaacLab (policy/training order) and MuJoCo (deploy order). ``a[ISAACLAB_TO_MUJOCO]`` -# reorders an IsaacLab-ordered vector into MuJoCo order, and vice-versa. +# Joint-order permutation between IsaacLab and Mujoco convention ISAACLAB_TO_MUJOCO = np.array( [ 0, @@ -60,8 +58,6 @@ ISAACLAB_TO_MUJOCO = np.array( ], dtype=np.int32, ) -# The two orderings are inverses of each other, so derive one from the other (argsort) to -# guarantee they can never drift out of sync. MUJOCO_TO_ISAACLAB = np.argsort(ISAACLAB_TO_MUJOCO).astype(np.int32) REMOTE_AXES = ("remote.lx", "remote.ly", "remote.rx", "remote.ry") diff --git a/src/lerobot/robots/unitree_g1/unitree_g1.py b/src/lerobot/robots/unitree_g1/unitree_g1.py index 388df4ee7..2249697a2 100644 --- a/src/lerobot/robots/unitree_g1/unitree_g1.py +++ b/src/lerobot/robots/unitree_g1/unitree_g1.py @@ -147,7 +147,7 @@ class UnitreeG1(Robot): self.arm_ik = G1_29_ArmIK() if config.gravity_compensation else None - # Lower-body / whole-body controller loaded dynamically + # Controller loaded dynamically self.controller: LocomotionController | None = make_locomotion_controller(config.controller) # Controller thread state self._controller_thread = None