linter pt4

examples/unitree_g1/gr00t_locomotion.py

@@ -347,16 +347,16 @@ if __name__ == "__main__":
     )
 
     # reset legs and start locomotion thread
-    groot_controller.reset_robot()
-    groot_controller.start_locomotion_thread()
-
-    # log status
-    logger.info("Robot initialized with GR00T locomotion policies")
-    logger.info("Locomotion controller running in background thread")
-    logger.info("Press Ctrl+C to stop")
-
-    # keep robot alive
     try:
+        groot_controller.reset_robot()
+        groot_controller.start_locomotion_thread()
+
+        # log status
+        logger.info("Robot initialized with GR00T locomotion policies")
+        logger.info("Locomotion controller running in background thread")
+        logger.info("Press Ctrl+C to stop")
+
+        # keep robot alive
         while True:
             time.sleep(1.0)
     except KeyboardInterrupt:

src/lerobot/robots/unitree_g1/robot_server.py

@@ -11,8 +11,9 @@ from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_ as hg_LowCmd, LowStat
 from unitree_sdk2py.utils.crc import CRC
 
 # DDS topic names follow Unitree SDK naming conventions
-kTopicLowCommand_Debug = "rt/lowcmd"  # action to robot  # ruff: noqa: N816
+# ruff: noqa: N816
-kTopicLowState = "rt/lowstate"  # observation from robot  # ruff: noqa: N816
+kTopicLowCommand_Debug = "rt/lowcmd"  # action to robot
+kTopicLowState = "rt/lowstate"  # observation from robot
 
 LOWCMD_PORT = 6000
 LOWSTATE_PORT = 6001

src/lerobot/robots/unitree_g1/unitree_g1.py

@@ -43,8 +43,9 @@ from .config_unitree_g1 import UnitreeG1Config
 logger = logging.getLogger(__name__)
 
 # DDS topic names follow Unitree SDK naming conventions
-kTopicLowCommand_Debug = "rt/lowcmd"  # ruff: noqa: N816
+# ruff: noqa: N816
-kTopicLowState = "rt/lowstate"  # ruff: noqa: N816
+kTopicLowCommand_Debug = "rt/lowcmd"
+kTopicLowState = "rt/lowstate"
 
 G1_29_Num_Motors = 35
 G1_23_Num_Motors = 35

src/lerobot/robots/unitree_g1/unitree_sdk2_socket.py

@@ -12,7 +12,7 @@ LOWCMD_PORT = 6000
 LOWSTATE_PORT = 6001
 
 
-def ChannelFactoryInitialize(*args, **kwargs):  # DDS to socket bridge #noqa : N802
+def ChannelFactoryInitialize(*args, **kwargs):  # noqa: N802
     global _ctx, _lowcmd_sock, _lowstate_sock
     # read socket config
     config = UnitreeG1Config()
@@ -37,10 +37,10 @@ class ChannelPublisher:  # send action to robot
         self.topic = topic
         self.msg_type = msg_type
 
-    def Init(self): #noqa : N802
+    def Init(self):  # noqa: N802
         pass
 
-    def Write(self, msg):
+    def Write(self, msg):  # noqa: N802
         _lowcmd_sock.send(pickle.dumps((self.topic, msg)))
 
 
@@ -49,9 +49,9 @@ class ChannelSubscriber:  # read observation from robot
         self.topic = topic
         self.msg_type = msg_type
 
-    def Init(self): #noqa : N802
+    def Init(self):  # noqa: N802
         pass
 
-    def Read(self):
+    def Read(self):  # noqa: N802
         topic, msg = pickle.loads(_lowstate_sock.recv())
         return msg