fix: G1 agent RPC wiring and system prompt

[SUMMERxYANG]

Problem

Two issues with the G1 agentic sim:

1. Skill container references G1Connection.move but the sim blueprint deploys G1SimConnection — RPC wiring silently fails, so move/gesture commands error at runtime.
2. Agent uses the default Go2 system prompt, so it identifies as a quadruped and doesn't know about G1-specific skills (arm gestures, mode commands).

Solution

1. Added G1ConnectionBase ABC with move and publish_request. Both G1Connection and G1SimConnection now extend it. Skill container references G1ConnectionBase so the blueprint MRO-based wiring resolves regardless of which connection is deployed.
2. Added G1-specific system prompt with correct skill documentation (move params, arm gestures, mode commands). Follows existing pattern used by drone and manipulation blueprints.

Breaking Changes

None

How to Test

1. dimos --simulation run unitree-g1-agentic-sim
2. In another terminal: dimos humancli
3. Say "hi" — agent should identify as a G1 humanoid, not a Go2 quadruped
4. Ask it to "walk forward" — should call move(x=0.5, duration=...) without RPC errors
5. Ask it to "wave hello" — should call execute_arm_command("HighWave")

Contributor License Agreement

• I have read and approved the CLA.

[greptile-apps]

Greptile Summary

This PR fixes two runtime bugs in the G1 agentic simulation: it introduces G1ConnectionBase as an ABC so the skill container's RPC wiring resolves correctly regardless of whether G1Connection or G1SimConnection is deployed, and it adds a G1-specific system prompt so the agent correctly identifies itself as a humanoid and knows its available skills.

Key changes:

• G1ConnectionBase ABC added to connection.py with abstract @rpc methods for move and publish_request; both G1Connection and G1SimConnection now inherit from it
• UnitreeG1SkillContainer.rpc_calls updated from G1Connection.* → G1ConnectionBase.* to fix silent RPC resolution failures when running with the sim connection
• New G1_SYSTEM_PROMPT documents move parameters, arm gestures, mode commands, and navigation conventions
• _agentic_skills blueprint now passes G1_SYSTEM_PROMPT to the agent() factory
• Three GitHub issue templates added (bug report, feature request, config)

Issues found:

• speak_skill() is not wired into _agentic_skills, but the new system prompt explicitly instructs the agent to call speak for all verbal communication — this will cause the agent to attempt to use an unavailable tool. The Go2 agentic blueprint (_common_agentic.py) correctly includes speak_skill(); the G1 stack should follow the same pattern.
• G1ConnectionBase is omitted from __all__ in connection.py despite being the primary public abstraction that external modules now depend on.

Confidence Score: 3/5

• The RPC wiring fix is correct and safe, but the missing speak_skill registration creates a functional regression for the system prompt's stated communication pattern.
• The core fix (ABC + RPC wiring) is well-structured and the MRO-based resolution approach is sound. However, the newly introduced system prompt instructs the agent to use speak as its primary communication tool, and that skill is not included in _agentic_skills. This means the agent will attempt to call an unregistered tool every time it tries to respond verbally, which directly undermines the user-facing test scenario described in the PR ("Say 'hi' — agent should identify as a G1 humanoid").
• dimos/robot/unitree/g1/blueprints/agentic/_agentic_skills.py — missing speak_skill() registration.

Important Files Changed

Filename	Overview
dimos/robot/unitree/g1/connection.py	Introduces G1ConnectionBase ABC with abstract @rpc methods for move and publish_request; G1Connection extends it. G1ConnectionBase is not exported in __all__.
dimos/robot/unitree/g1/sim.py	G1SimConnection now extends G1ConnectionBase instead of Module directly; Module import removed (inherited via base). Clean fix that enables MRO-based RPC wiring for the sim path.
dimos/robot/unitree/g1/skill_container.py	RPC call references updated from G1Connection.* to G1ConnectionBase.*, correctly decoupling the skill container from the concrete connection type.
dimos/robot/unitree/g1/blueprints/agentic/_agentic_skills.py	Wires G1_SYSTEM_PROMPT into the agent; however, speak_skill() is not included in the blueprint despite the system prompt explicitly instructing the agent to use speak.
dimos/robot/unitree/g1/system_prompt.py	New G1-specific system prompt correctly documents movement, arm gesture, mode, and navigation skills; references speak which is not currently wired into the agentic stack.

Class Diagram

%%{init: {'theme': 'neutral'}}%%
classDiagram
    class Module {
        <<framework>>
    }
    class ABC {
        <<abstract>>
    }
    class G1ConnectionBase {
        <<abstract>>
        +move(twist, duration) None
        +publish_request(topic, data) dict
    }
    class G1Connection {
        +ip: str
        +connection_type: str
        +move(twist, duration) None
        +publish_request(topic, data) dict
        +start() None
        +stop() None
    }
    class G1SimConnection {
        +ip: str
        +move(twist, duration) None
        +publish_request(topic, data) dict
        +start() None
        +stop() None
    }
    class UnitreeG1SkillContainer {
        +rpc_calls: ["G1ConnectionBase.move", "G1ConnectionBase.publish_request"]
        +move(x, y, yaw, duration) str
        +execute_arm_command(command_name) str
        +execute_mode_command(command_name) str
    }

    Module <|-- G1ConnectionBase
    ABC <|-- G1ConnectionBase
    G1ConnectionBase <|-- G1Connection
    G1ConnectionBase <|-- G1SimConnection
    UnitreeG1SkillContainer ..> G1ConnectionBase : RPC wiring (MRO-resolved)

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Comments Outside Diff (1)

1. dimos/robot/unitree/g1/connection.py, line 126 (link)

   G1ConnectionBase missing from __all__

   G1ConnectionBase is now the public contract that both G1SimConnection (in sim.py) and UnitreeG1SkillContainer (in skill_container.py) depend on for wiring. Omitting it from __all__ makes it invisible to consumers performing wildcard imports and understates its importance as the public API surface.

_{Last reviewed commit: 133e182}