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remove verbose

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This commit is contained in:
Martino Russi
2026-07-30 16:13:58 +02:00
parent f8521958d8
commit f8359c19d6
1 changed files with 5 additions and 7 deletions
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src/lerobot/robots/unitree_g1/unitree_g1.py
+5 -7
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@@ -489,15 +489,13 @@ class UnitreeG1(Robot):
def send_action(self, action: RobotAction) -> RobotAction: def send_action(self, action: RobotAction) -> RobotAction:
action_to_publish = action action_to_publish = action
if self.controller is not None: 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 # Controller thread owns legs/waist. Here we only update joystick inputs
# and publish arm targets from the teleoperator. # 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) arm_prefixes = tuple(j.name for j in G1_29_JointArmIndex)
action_to_publish = { action_to_publish = {
key: value key: value