dimensionalOS / dimensionalOS/dimos
Consolidate G1 motor count constants
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- Python
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Description
Several G1-related modules still repeat the 29-DOF motor count directly in constants, tests, comments, and default arguments.
This should be cleaned up in a focused follow-up by introducing or reusing one canonical G1 motor-count source and updating call sites where that improves clarity without making comments worse.
Initial places to review include:
dimos/control/tasks/g1_groot_wbc_task/g1_groot_wbc_task.pydimos/control/tasks/g1_groot_wbc_task/test_g1_groot_wbc_task.pydimos/simulation/adapters/whole_body/g1.pydimos/robot/unitree/g1/wholebody_connection.py- G1 MuJoCo blueprint wiring
This came up during review of #2594. The scene-loading PR addressed the new blueprint wiring with _G1_NUM_MOTORS = len(g1_joints), but a full cleanup is broader than that PR.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by reviewing the listed G1 task, test, simulation adapter, and whole-body connection files, then inspect the G1 MuJoCo blueprint wiring and the changes from #2594. Identify the canonical G1 motor-count source and update repeated call sites where clarity improves without worsening comments. Done means the relevant G1 constants, tests, comments, and defaults no longer duplicate the 29-DOF count unnecessarily.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- python
- Domain
- robotics
- Issue type
- Refactor
- Difficulty
- 3/5
- Estimated time
- 1-2 days
- Activity status
- Quiet
- Clarity
- Mostly clear
- Newbie friendliness
- 64/100