Description

While scanning the \decoupled_wbc\ codebase, several technical debt issues, unverified logic blocks, and hardcoded values were identified. This issue tracks those cleanups.

1. Hardcoded Values & Generalization

• **
  obocasa/models/objects/composite/ring_tripod.py and
  eedle.py**: The total sizes and structure are currently hardcoded and lack configurable arguments. Generalizing these properties would allow them to be reused dynamically.
• **
  obocasa/models/objects/composite_body/stove_plug.py**: Offset Z coordinates are directly hardcoded in the \ op_offset\ and \�ottom_offset\ properties instead of tying them to the stove configuration arguments.

2. Unverified Logic

• ** ests/control/main/teleop/test_g1_control_loop.py**: The velocity tracking validation loop computes error as \�ase_velocity_tracking_err.append(v)\ rather than deriving the scalar tracking difference between \�\ and \�_cmd\ utilizing
  p.linalg.norm(v - v_cmd).

3. Missing Fallbacks

• **
  obocasa/models/robots/init.py**: \gather_robot_observations\ formatting logic silently passes when an unknown or unsupported gripper type is passed for observation formatting.