From f8359c19d6bfc003409e407efaff06079abc92fa Mon Sep 17 00:00:00 2001 From: Martino Russi Date: Thu, 30 Jul 2026 16:13:58 +0200 Subject: [PATCH] remove verbose --- src/lerobot/robots/unitree_g1/unitree_g1.py | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/src/lerobot/robots/unitree_g1/unitree_g1.py b/src/lerobot/robots/unitree_g1/unitree_g1.py index 4f904d6f5..388df4ee7 100644 --- a/src/lerobot/robots/unitree_g1/unitree_g1.py +++ b/src/lerobot/robots/unitree_g1/unitree_g1.py @@ -489,15 +489,13 @@ class UnitreeG1(Robot): def send_action(self, action: RobotAction) -> RobotAction: action_to_publish = action if self.controller is not None: - # Forward joystick axes / SONIC token keys to the controller thread, which - # extracts and decodes them. - self._update_controller_action(action) - # Full-body controllers (SONIC) own the whole 29-DoF command; nothing to - # publish here (the controller thread is the sole publisher). - if getattr(self.controller, "full_body", False): - return action # Controller thread owns legs/waist. Here we only update joystick inputs # and publish arm targets from the teleoperator. + self._update_controller_action(action) + # Full-body controllers (SONIC) own the whole 29-DoF command; the controller + # thread is the sole publisher, so there is nothing to publish here. + if getattr(self.controller, "full_body", False): + return action arm_prefixes = tuple(j.name for j in G1_29_JointArmIndex) action_to_publish = { key: value