From d147f2ceca1bc2acdaaa9cef0453077549370a76 Mon Sep 17 00:00:00 2001
From: cby3149 <147775420+openminddev@users.noreply.github.com>
Date: Thu, 12 Jun 2025 20:41:28 -0700
Subject: [PATCH 1/2] Fix RequestFutureQueue

---
 unitree_sdk2py/rpc/request_future.py | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/unitree_sdk2py/rpc/request_future.py b/unitree_sdk2py/rpc/request_future.py
index 037ab10a..ebb973db 100644
--- a/unitree_sdk2py/rpc/request_future.py
+++ b/unitree_sdk2py/rpc/request_future.py
@@ -24,7 +24,7 @@ class RequestFutureQueue:
     def __init__(self):
         self.__data = {}
         self.__lock = Lock()
-        
+
     def Set(self, requestId: int, future: RequestFuture):
         if future is None:
             return False
@@ -36,11 +36,9 @@ def Get(self, requestId: int):
         future = None
         with self.__lock:
             future = self.__data.get(requestId)
-            if future is not None:
-                self.__data.pop(requestId)
         return future
 
     def Remove(self, requestId: int):
         with self.__lock:
-            if id in self.__data:
-                self.__data.pop(requestId)
\ No newline at end of file
+            if requestId in self.__data:
+                self.__data.pop(requestId)

From 1e1cf86a44780dc3db48fafa0fe5da4339bf2cbf Mon Sep 17 00:00:00 2001
From: cby3149 <147775420+openminddev@users.noreply.github.com>
Date: Fri, 13 Jun 2025 10:27:01 -0700
Subject: [PATCH 2/2] Add data pop

---
 unitree_sdk2py/rpc/request_future.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/unitree_sdk2py/rpc/request_future.py b/unitree_sdk2py/rpc/request_future.py
index ebb973db..c1c3dc08 100644
--- a/unitree_sdk2py/rpc/request_future.py
+++ b/unitree_sdk2py/rpc/request_future.py
@@ -36,6 +36,8 @@ def Get(self, requestId: int):
         future = None
         with self.__lock:
             future = self.__data.get(requestId)
+            if future is not None:
+                self.__data.pop(requestId)
         return future
 
     def Remove(self, requestId: int):