From 0213011fec989ad8e8cd00a5c637371a56d24d66 Mon Sep 17 00:00:00 2001 From: Martino Russi Date: Thu, 27 Nov 2025 11:02:55 +0100 Subject: [PATCH] linter pt3 --- src/lerobot/robots/unitree_g1/unitree_g1.py | 6 +++--- src/lerobot/robots/unitree_g1/unitree_sdk2_socket.py | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/lerobot/robots/unitree_g1/unitree_g1.py b/src/lerobot/robots/unitree_g1/unitree_g1.py index 4c7e30dfa..348f55363 100644 --- a/src/lerobot/robots/unitree_g1/unitree_g1.py +++ b/src/lerobot/robots/unitree_g1/unitree_g1.py @@ -257,8 +257,8 @@ class UnitreeG1(Robot): self, waist_yaw, waist_yaw_omega, imu_quat, imu_omega ): # transform imu data from torso to pelvis frame """Transform IMU data from torso to pelvis frame.""" - rot_zWaist = R.from_euler("z", waist_yaw).as_matrix() + rot_z_waist = R.from_euler("z", waist_yaw).as_matrix() rot_torso = R.from_quat([imu_quat[1], imu_quat[2], imu_quat[3], imu_quat[0]]).as_matrix() - rot_pelvis = np.dot(rot_torso, rot_zWaist.T) - w = np.dot(rot_zWaist, imu_omega[0]) - np.array([0, 0, waist_yaw_omega]) + rot_pelvis = np.dot(rot_torso, rot_z_waist.T) + w = np.dot(rot_z_waist, imu_omega[0]) - np.array([0, 0, waist_yaw_omega]) return R.from_matrix(rot_pelvis).as_quat()[[3, 0, 1, 2]], w diff --git a/src/lerobot/robots/unitree_g1/unitree_sdk2_socket.py b/src/lerobot/robots/unitree_g1/unitree_sdk2_socket.py index 40bcdca34..24db40fe2 100644 --- a/src/lerobot/robots/unitree_g1/unitree_sdk2_socket.py +++ b/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 +def ChannelFactoryInitialize(*args, **kwargs): # DDS to socket bridge #noqa : N802 global _ctx, _lowcmd_sock, _lowstate_sock # read socket config config = UnitreeG1Config() @@ -37,7 +37,7 @@ class ChannelPublisher: # send action to robot self.topic = topic self.msg_type = msg_type - def Init(self): + def Init(self): #noqa : N802 pass def Write(self, msg): @@ -49,7 +49,7 @@ class ChannelSubscriber: # read observation from robot self.topic = topic self.msg_type = msg_type - def Init(self): + def Init(self): #noqa : N802 pass def Read(self):