Unitree go2 runfile integration tool call issues

dimos/agents2/__init__.py

@@ -9,3 +9,5 @@
 
 from dimos.agents2.agent import Agent
 from dimos.agents2.spec import AgentSpec
+from dimos.protocol.skill.skill import skill
+from dimos.protocol.skill.type import Output, Reducer, Stream

dimos/agents2/agent.py

@@ -40,7 +40,7 @@
 
 def toolmsg_from_state(state: SkillState) -> ToolMessage:
     if state.skill_config.output != Output.standard:
-        content = "Special output, see separate message"
+        content = "output attached in separate messages"
     else:
         content = state.content()
 
@@ -99,6 +99,10 @@ def snapshot_to_messages(
     # (images for example, requires to be a HumanMessage)
     special_msgs: List[HumanMessage] = []
 
+    # for special skills that want to return a separate message that should
+    # stay in history, like actual human messages, critical events
+    history_msgs: List[HumanMessage] = []
+
     # Initialize state_msg
     state_msg = None
 
@@ -109,12 +113,19 @@ def snapshot_to_messages(
         if skill_state.call_id in tool_call_ids:
             tool_msgs.append(toolmsg_from_state(skill_state))
 
-        special_data = skill_state.skill_config.output != Output.standard
+        if skill_state.skill_config.output == Output.human:
+            content = skill_state.content()
+            if not content:
+                continue
+            history_msgs.append(HumanMessage(content=content))
+            continue
+
+        special_data = skill_state.skill_config.output == Output.image
         if special_data:
             content = skill_state.content()
             if not content:
                 continue
-            special_msgs.append(HumanMessage(content=[content]))
+            special_msgs.append(HumanMessage(content=content))
 
         if skill_state.call_id in tool_call_ids:
             continue
@@ -127,7 +138,8 @@ def snapshot_to_messages(
         )
 
     return {
-        "tool_msgs": tool_msgs if tool_msgs else [],
+        "tool_msgs": tool_msgs,
+        "history_msgs": history_msgs,
         "state_msgs": ([state_msg] if state_msg else []) + special_msgs,
     }
 
@@ -200,9 +212,10 @@ def execute_tool_calls(self, tool_calls: List[ToolCall]) -> None:
     def run_implicit_skill(self, skill_name: str, *args, **kwargs) -> None:
         self.coordinator.call_skill(False, skill_name, {"args": args, "kwargs": kwargs})
 
-    async def agent_loop(self, seed_query: str = ""):
+    async def agent_loop(self, first_query: str = ""):
         self.state_messages = []
-        self.append_history(HumanMessage(seed_query))
+        if first_query:
+            self.append_history(HumanMessage(first_query))
 
         try:
             while True:
@@ -246,19 +259,27 @@ async def agent_loop(self, seed_query: str = ""):
                 snapshot_msgs = snapshot_to_messages(update, msg.tool_calls)
 
                 self.state_messages = snapshot_msgs.get("state_msgs", [])
-                self.append_history(*snapshot_msgs.get("tool_msgs", []))
+                self.append_history(
+                    *snapshot_msgs.get("tool_msgs", []), *snapshot_msgs.get("history_msgs", [])
+                )
 
         except Exception as e:
             logger.error(f"Error in agent loop: {e}")
             import traceback
 
             traceback.print_exc()
 
+    @rpc
+    def loop_thread(self):
+        asyncio.run_coroutine_threadsafe(self.agent_loop(), self._loop)
+        return True
+
+    @rpc
     def query(self, query: str):
-        return asyncio.ensure_future(self.agent_loop(query), loop=self._loop)
+        return asyncio.run_coroutine_threadsafe(self.agent_loop(query), self._loop).result()
 
-    def query_async(self, query: str):
-        return self.agent_loop(query)
+    async def query_async(self, query: str):
+        return await self.agent_loop(query)
 
     def register_skills(self, container):
         return self.coordinator.register_skills(container)

dimos/agents2/cli/human.py

@@ -0,0 +1,35 @@
+# Copyright 2025 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import queue
+
+from dimos.agents2 import Output, Reducer, Stream, skill
+from dimos.core import Module, pLCMTransport
+
+
+class HumanInput(Module):
+    running: bool = False
+
+    @skill(stream=Stream.call_agent, reducer=Reducer.string, output=Output.human)
+    def human(self):
+        """receives human input, no need to run this, it's running implicitly"""
+        if self.running:
+            return "already running"
+        self.running = True
+        transport = pLCMTransport("/human_input")
+
+        msg_queue = queue.Queue()
+        transport.subscribe(msg_queue.put)
+        for message in iter(msg_queue.get, None):
+            yield message