diff --git a/obelisk/cpp/zoo/hardware/robots/unitree/go2_interface.h b/obelisk/cpp/zoo/hardware/robots/unitree/go2_interface.h
index 2f6c27c4..85005abd 100644
--- a/obelisk/cpp/zoo/hardware/robots/unitree/go2_interface.h
+++ b/obelisk/cpp/zoo/hardware/robots/unitree/go2_interface.h
@@ -1,6 +1,6 @@
 #include "unitree_interface.h"
 
-//IDL
+// IDL
 #include <unitree/idl/go2/LowState_.hpp>
 #include <unitree/idl/go2/LowCmd_.hpp>
 
diff --git a/obelisk/cpp/zoo/hardware/robots/unitree/unitree_interface.h b/obelisk/cpp/zoo/hardware/robots/unitree/unitree_interface.h
index 42cabe43..43c94164 100644
--- a/obelisk/cpp/zoo/hardware/robots/unitree/unitree_interface.h
+++ b/obelisk/cpp/zoo/hardware/robots/unitree/unitree_interface.h
@@ -1,3 +1,4 @@
+# pragma once
 #include "obelisk_robot.h"
 #include "obelisk_ros_utils.h"
 #include "obelisk_sensor_msgs/msg/obk_joint_encoders.h"
diff --git a/obelisk/cpp/zoo/include/unitree_example_controller.h b/obelisk/cpp/zoo/include/unitree_example_controller.h
index 61b0d90f..f7af481f 100644
--- a/obelisk/cpp/zoo/include/unitree_example_controller.h
+++ b/obelisk/cpp/zoo/include/unitree_example_controller.h
@@ -145,6 +145,7 @@ namespace obelisk {
         //     "right_wrist_yaw_joint",
         // };
 
+        // TODO: identify robot from context?
         static constexpr int MOTOR_NUM = 12;
         const std::array<std::string, MOTOR_NUM> JOINT_NAMES = {
             "FR_hip_joint",