Update G1/Go2 skills and remove some Robot interfaces

[paul-nechifor]

• Convert UnitreeSkillContainer to work with autoconnect. I removed the dynamic skills because they don't work across RPC. So I converted to using a single skill called execute_sport_command.
• Also updated UnitreeG1SkillContainer.
• Replaced the tests for the above skill.
• Remove UnitreeRobot and GpsRobot.
• Convert SkillContainer classes to Module: GpsNavSkillContainer, GoogleMapsSkillContainer. Also add demos for them.
• Add some missing types for some previous code I wrote.
• Added support for declaring RPC connections like this:

    # new
    rpc_calls: list[str] = [
        "SpatialMemory.tag_location",
        "SpatialMemory.query_tagged_location",
        ...
    ]

instead of this:

    # old
    @rpc
    def set_SpatialMemory_tag_location(self, callable: RpcCall) -> None:
        self._tag_location = callable
        self._tag_location.set_rpc(self.rpc)

    @rpc
    def set_SpatialMemory_query_tagged_location(self, callable: RpcCall) -> None:
        self._query_tagged_location = callable
        self._query_tagged_location.set_rpc(self.rpc)

• I've also changed the code to support connecting to different Module classes based on the interfaces they implement rather than just the concrete classes.
• For example, NavigationSkillContainer needs to talk to a navigation class to tell it to move to a specific point. Previously it only supported linking to BehaviorTreeNavigator.set_goal. But now both BehaviorTreeNavigator and ROSNav implement the NavigationInterface ABC. So you can say rpc_calls = ["NavigationInterface.set_goal"] and you get back either BehaviorTreeNavigator.set_goal or ROSNav.set_goal, based on which is deployed in the blueprint. If, by chance, both are deployed, then it triggers an error because it's ambiguous, and we can't know which one it's supposed to connect to.

[chatgpt-codex-connector]

💡 Codex Review

dimos/dimos/agents2/skills/gps_nav_skill.py

Lines 84 to 88 in aedc89d

	logger.info(f"Set travel points: {new_points}")
	self.gps_goal.publish(new_points)
	if self._set_gps_travel_goal_points:

Guard against publishing GPS goal without a connected transport

The new set_gps_travel_points implementation always calls self.gps_goal.publish(new_points) before invoking the optional RPC. gps_goal is defined as an Out stream but no default transport or consumer is configured in the blueprints (e.g. demo_gps_nav_skill only wires in DemoRobot, the skill itself, human input, and the agent). When a user calls this skill in that setup, Out.publish raises Exception: <stream> transport for stream is not specified, so the skill fails before the RPC fallback runs. The previous version succeeded because it talked directly to the robot without requiring a stream. Publishing should be conditional on the stream having a transport or omitted entirely when unused.

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