style: fix ruff SIM105/format lints in unitree_g1 scripts

Use contextlib.suppress(zmq.Again) instead of try/except/pass in the
onboard state publisher and teleop client, plus ruff-format/isort
autofixes across the unitree_g1 helpers and dataset_reader imports.

Co-authored-by: Cursor <cursoragent@cursor.com>

src/lerobot/cameras/zmq/image_server.py

@@ -137,7 +137,10 @@ class ImageServer:
                         last_err = e
                         logger.warning(
                             "Camera %s open attempt %d/%d failed: %s",
-                            name, attempt, self.open_attempts, e,
+                            name,
+                            attempt,
+                            self.open_attempts,
+                            e,
                         )
                         with contextlib.suppress(Exception):
                             camera.disconnect()

src/lerobot/datasets/dataset_reader.py

@@ -19,9 +19,9 @@ from collections.abc import Callable
 from concurrent.futures import ThreadPoolExecutor
 from pathlib import Path
 
-import datasets
 import torch
 
+import datasets
 from lerobot.configs import (
     DEFAULT_DEPTH_UNIT,
     DEPTH_METER_UNIT,

src/lerobot/robots/unitree_g1/run_g1_onboard.py

@@ -44,6 +44,7 @@ Examples (on the robot):
 """
 
 import argparse
+import contextlib
 import json
 import logging
 import os
@@ -177,8 +178,8 @@ def main() -> None:
                 logger.warning("E-STOP ('e'): going passive NOW.")
                 try:
                     robot._shutdown_event.set()  # stop the 50Hz controller loop publishing
-                    time.sleep(0.05)             # let it finish its current cycle
+                    time.sleep(0.05)  # let it finish its current cycle
-                    robot._send_zero_torque()    # motors limp; nothing overwrites it now
+                    robot._send_zero_torque()  # motors limp; nothing overwrites it now
                 except Exception as e:  # noqa: BLE001
                     logger.warning("E-stop zero-torque failed: %s", e)
                 os._exit(0)  # immediate hard exit, no slow cleanup
@@ -218,10 +219,8 @@ def main() -> None:
                             state["groot.rpy.roll"] = float(orient[0])
                             state["groot.rpy.pitch"] = float(orient[1])
                             state["groot.rpy.yaw"] = float(orient[2])
-                    try:
+                    with contextlib.suppress(zmq.Again):
                         state_sock.send_json(state, zmq.NOBLOCK)
-                    except zmq.Again:
-                        pass
                 time.sleep(max(0.0, period - (time.time() - t0)))
 
         threading.Thread(target=publish_state, daemon=True).start()

src/lerobot/robots/unitree_g1/run_g1_server.py

@@ -151,11 +151,7 @@ def parse_camera_specs(spec: str, default_width: int, default_height: int) -> di
         # a pixel format. Real device-path tail segments (e.g. "1.0-video-index0")
         # won't match these strict patterns.
         fourcc = None
-        if (
+        if len(tokens) >= 3 and wh_re.fullmatch(tokens[-2]) and fourcc_re.fullmatch(tokens[-1]):
-            len(tokens) >= 3
-            and wh_re.fullmatch(tokens[-2])
-            and fourcc_re.fullmatch(tokens[-1])
-        ):
             fourcc = tokens.pop().upper()
         width, height = default_width, default_height
         if len(tokens) >= 2 and wh_re.fullmatch(tokens[-1]):

src/lerobot/robots/unitree_g1/run_g1_teleop_client.py

@@ -32,6 +32,7 @@ Example (on the laptop):
 """
 
 import argparse
+import contextlib
 import logging
 import time
 
@@ -106,10 +107,8 @@ def main() -> None:
             rc.lx = rc.ly = rc.rx = rc.ry = 0.0
             rc.button = [0] * 16
             action = teleop.get_action()
-            try:
+            with contextlib.suppress(zmq.Again):
                 sock.send_json(_to_jsonable(action), zmq.NOBLOCK)
-            except zmq.Again:
-                pass
             n += 1
             if n % 60 == 0:
                 axes = {

src/lerobot/robots/unitree_g1/unitree_g1.py

@@ -70,8 +70,22 @@ else:
 # teleoperator's RemoteController so the onboard path reads the physical Unitree remote
 # identically.
 _REMOTE_BUTTON_MAP: list[str] = [
-    "RB", "LB", "start", "back", "RT", "LT", "", "",
+    "RB",
-    "A", "B", "X", "Y", "up", "right", "down", "left",
+    "LB",
+    "start",
+    "back",
+    "RT",
+    "LT",
+    "",
+    "",
+    "A",
+    "B",
+    "X",
+    "Y",
+    "up",
+    "right",
+    "down",
+    "left",
 ]
 
 logger = logging.getLogger(__name__)
@@ -299,8 +313,7 @@ class UnitreeG1(Robot):
                     actual_hz = loop_count / (time.time() - last_log_time)
                     eff = {k: round(float(controller_input.get(k, 0.0)), 3) for k in REMOTE_AXES}
                     logger.info(
-                        f"Controller {actual_hz:.1f}Hz | eff_axes={eff} "
+                        f"Controller {actual_hz:.1f}Hz | eff_axes={eff} wireless={'ACTIVE' if wl else 'idle'}"
-                        f"wireless={'ACTIVE' if wl else 'idle'}"
                     )
                     loop_count = 0
                     last_log_time = time.time()