From 9a90b7dcb27adfa0078e7f0ad8714e18bb302b7e Mon Sep 17 00:00:00 2001
From: Martino Russi <nopyeps@gmail.com>
Date: Thu, 27 Nov 2025 10:43:15 +0100
Subject: [PATCH] fix linter

---
 examples/unitree_g1/gr00t_locomotion.py       |  7 +------
 src/lerobot/robots/unitree_g1/robot_server.py |  7 +++----
 src/lerobot/robots/unitree_g1/unitree_g1.py   | 14 ++++++--------
 3 files changed, 10 insertions(+), 18 deletions(-)

diff --git a/examples/unitree_g1/gr00t_locomotion.py b/examples/unitree_g1/gr00t_locomotion.py
index b8510d694..0f33d285c 100644
--- a/examples/unitree_g1/gr00t_locomotion.py
+++ b/examples/unitree_g1/gr00t_locomotion.py
@@ -218,12 +218,7 @@ class GrootLocomotionController:
 
         cmd_magnitude = np.linalg.norm(self.locomotion_cmd)
 
-        if cmd_magnitude < 0.05:
-            # balance/standing policy for small commands
-            selected_policy = self.policy_balance
-        else:
-            # walking policy for movement commands
-            selected_policy = self.policy_walk
+        selected_policy = self.policy_balance if cmd_magnitude < 0.05 else self.policy_walk #balance/standing policy for small commands, walking policy for movement commands
 
         # run policy inference
         ort_inputs = {selected_policy.get_inputs()[0].name: obs_tensor.cpu().numpy()}
diff --git a/src/lerobot/robots/unitree_g1/robot_server.py b/src/lerobot/robots/unitree_g1/robot_server.py
index 8eef81b9e..d98fcb94b 100644
--- a/src/lerobot/robots/unitree_g1/robot_server.py
+++ b/src/lerobot/robots/unitree_g1/robot_server.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import contextlib
 import pickle
 import threading
 import time
@@ -31,11 +32,9 @@ def state_forward_loop(
         # optional downsampling (if robot dds rate > state_period)
         if now - last_state_time >= state_period:
             payload = pickle.dumps((kTopicLowState, msg), protocol=pickle.HIGHEST_PROTOCOL)
-            try:
+            # if no subscribers / tx buffer full, just drop
+            with contextlib.suppress(zmq.Again):
                 lowstate_sock.send(payload, zmq.NOBLOCK)
-            except zmq.Again:
-                # if no subscribers / tx buffer full, just drop
-                pass
             last_state_time = now
 
 
diff --git a/src/lerobot/robots/unitree_g1/unitree_g1.py b/src/lerobot/robots/unitree_g1/unitree_g1.py
index 0a68833f4..c2766c563 100644
--- a/src/lerobot/robots/unitree_g1/unitree_g1.py
+++ b/src/lerobot/robots/unitree_g1/unitree_g1.py
@@ -219,9 +219,7 @@ class UnitreeG1(Robot):
 
     @property
     def is_connected(self) -> bool:
-        if self.lowstate_buffer.GetData() is None:
-            return False
-        return True
+        return self.lowstate_buffer.GetData() is None
 
     @property
     def _motors_ft(self) -> dict[str, type]:
@@ -258,8 +256,8 @@ class UnitreeG1(Robot):
         self, waist_yaw, waist_yaw_omega, imu_quat, imu_omega
     ):  # transform imu data from torso to pelvis frame
         """Transform IMU data from torso to pelvis frame."""
-        RzWaist = R.from_euler("z", waist_yaw).as_matrix()
-        R_torso = R.from_quat([imu_quat[1], imu_quat[2], imu_quat[3], imu_quat[0]]).as_matrix()
-        R_pelvis = np.dot(R_torso, RzWaist.T)
-        w = np.dot(RzWaist, imu_omega[0]) - np.array([0, 0, waist_yaw_omega])
-        return R.from_matrix(R_pelvis).as_quat()[[3, 0, 1, 2]], w
+        rot_zWaist = R.from_euler("z", waist_yaw).as_matrix()
+        rot_torso = R.from_quat([imu_quat[1], imu_quat[2], imu_quat[3], imu_quat[0]]).as_matrix()
+        rot_pelvis = np.dot(rot_torso, rot_zWaist.T)
+        w = np.dot(rot_zWaist, imu_omega[0]) - np.array([0, 0, waist_yaw_omega])
+        return R.from_matrix(rot_pelvis).as_quat()[[3, 0, 1, 2]], w