fix(unitree_g1): satisfy ruff lint/format and address review comments

src/lerobot/robots/unitree_g1/controllers/__init__.py

@@ -1,3 +1,19 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 """Unitree G1 locomotion controllers (Groot, Holosoma, SONIC)."""
 
 __all__ = [

src/lerobot/robots/unitree_g1/controllers/sonic_whole_body.py

@@ -18,7 +18,6 @@
 
 import logging
 
-import numpy as np
 import onnxruntime as ort
 from huggingface_hub import hf_hub_download
 
@@ -32,13 +31,13 @@ from lerobot.robots.unitree_g1.controllers.sonic_pipeline import (
     MovementState,
     PlannerController,
     SonicPlanner,
+    _ort_providers,
+    _snapshot_ms,
     clamp_mode_params,
     compute_kp_kd,
     lowstate_to_obs,
     process_joystick,
     should_replan_request,
-    _ort_providers,
-    _snapshot_ms,
 )
 
 logger = logging.getLogger(__name__)