Update G1/Go2 skills and remove some Robot interfaces

.pre-commit-config.yaml

@@ -19,7 +19,7 @@ repos:
           - --use-current-year
 
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.14.1
+    rev: v0.14.3
     hooks:
       - id: ruff-format
         stages: [pre-commit]

bin/mypy-strict

@@ -34,6 +34,7 @@ run_mypy() {
 main() {
   local user_email="none"
   local after_date=""
+  local in_this_branch=""
 
   # Parse arguments
   while [[ $# -gt 0 ]]; do
@@ -74,6 +75,10 @@ main() {
         esac
         shift 2
         ;;
+      --in-this-branch)
+        in_this_branch=true
+        shift 1
+        ;;
       *)
         echo "Error: Unknown argument '$1'" >&2
         exit 1
@@ -92,6 +97,10 @@ main() {
     pipeline="$pipeline | ./bin/filter-errors-for-user '$user_email'"
   fi
 
+  if [[ "$in_this_branch" ]]; then
+    pipeline="$pipeline | grep -Ff <(git diff --name-only dev..HEAD) -"
+  fi
+
   eval "$pipeline"
 }
 

dimos/agents2/agent.py

@@ -32,11 +32,11 @@
 from dimos.agents2.system_prompt import get_system_prompt
 from dimos.core import DimosCluster, rpc
 from dimos.protocol.skill.coordinator import (
-    SkillContainer,
     SkillCoordinator,
     SkillState,
     SkillStateDict,
 )
+from dimos.protocol.skill.skill import SkillContainer
 from dimos.protocol.skill.type import Output
 from dimos.utils.logging_config import setup_logger
 
@@ -270,7 +270,6 @@ def _get_state() -> str:
                 # we are getting tools from the coordinator on each turn
                 # since this allows for skillcontainers to dynamically provide new skills
                 tools = self.get_tools()
-                print("Available tools:", [tool.name for tool in tools])
                 self._llm = self._llm.bind_tools(tools)
 
                 # publish to /agent topic for observability

dimos/agents2/fixtures/test_pounce.json

@@ -0,0 +1,38 @@
+{
+  "responses": [
+    {
+      "content": "",
+      "tool_calls": [
+        {
+          "name": "execute_sport_command",
+          "args": {
+            "args": [
+              "FrontPounce"
+            ]
+          },
+          "id": "call_Ukj6bCAnHQLj28RHRp697blZ",
+          "type": "tool_call"
+        }
+      ]
+    },
+    {
+      "content": "",
+      "tool_calls": [
+        {
+          "name": "speak",
+          "args": {
+            "args": [
+              "I have successfully performed a front pounce."
+            ]
+          },
+          "id": "call_FR9DtqEvJ9zSY85qVD2UFrll",
+          "type": "tool_call"
+        }
+      ]
+    },
+    {
+      "content": "I have successfully performed a front pounce.",
+      "tool_calls": []
+    }
+  ]
+}

dimos/agents2/fixtures/test_show_your_love.json

@@ -0,0 +1,38 @@
+{
+  "responses": [
+    {
+      "content": "",
+      "tool_calls": [
+        {
+          "name": "execute_sport_command",
+          "args": {
+            "args": [
+              "FingerHeart"
+            ]
+          },
+          "id": "call_VFp6x9F00FBmiiUiemFWewop",
+          "type": "tool_call"
+        }
+      ]
+    },
+    {
+      "content": "",
+      "tool_calls": [
+        {
+          "name": "speak",
+          "args": {
+            "args": [
+              "Here's a gesture to show you some love!"
+            ]
+          },
+          "id": "call_WUUmBJ95s9PtVx8YQsmlJ4EU",
+          "type": "tool_call"
+        }
+      ]
+    },
+    {
+      "content": "Just did a finger heart gesture to show my affection!",
+      "tool_calls": []
+    }
+  ]
+}

dimos/agents2/skills/conftest.py

@@ -15,17 +15,13 @@
 from functools import partial
 
 import pytest
-import reactivex as rx
 from reactivex.scheduler import ThreadPoolScheduler
 
 from dimos.agents2.skills.google_maps_skill_container import GoogleMapsSkillContainer
 from dimos.agents2.skills.gps_nav_skill import GpsNavSkillContainer
 from dimos.agents2.skills.navigation import NavigationSkillContainer
 from dimos.agents2.system_prompt import get_system_prompt
-from dimos.mapping.types import LatLon
-from dimos.msgs.sensor_msgs import Image
-from dimos.robot.robot import GpsRobot
-from dimos.utils.data import get_data
+from dimos.robot.unitree_webrtc.unitree_skill_container import UnitreeSkillContainer
 
 system_prompt = get_system_prompt()
 
@@ -45,31 +41,6 @@ def cleanup_threadpool_scheduler(monkeypatch):
     threadpool.scheduler = ThreadPoolScheduler(max_workers=threadpool.get_max_workers())
 
 
-# TODO: Delete
-@pytest.fixture
-def fake_robot(mocker):
-    return mocker.MagicMock()
-
-
-# TODO: Delete
-@pytest.fixture
-def fake_gps_robot(mocker):
-    return mocker.Mock(spec=GpsRobot)
-
-
-@pytest.fixture
-def fake_video_stream():
-    image_path = get_data("chair-image.png")
-    image = Image.from_file(str(image_path))
-    return rx.of(image)
-
-
-# TODO: Delete
-@pytest.fixture
-def fake_gps_position_stream():
-    return rx.of(LatLon(lat=37.783, lon=-122.413))
-
-
 @pytest.fixture
 def navigation_skill_container(mocker):
     container = NavigationSkillContainer()
@@ -81,22 +52,35 @@ def navigation_skill_container(mocker):
 
 
 @pytest.fixture
-def gps_nav_skill_container(fake_gps_robot, fake_gps_position_stream):
-    container = GpsNavSkillContainer(fake_gps_robot, fake_gps_position_stream)
+def gps_nav_skill_container(mocker):
+    container = GpsNavSkillContainer()
+    container.gps_location.connection = mocker.MagicMock()
+    container.gps_goal = mocker.MagicMock()
     container.start()
     yield container
     container.stop()
 
 
 @pytest.fixture
-def google_maps_skill_container(fake_gps_robot, fake_gps_position_stream, mocker):
-    container = GoogleMapsSkillContainer(fake_gps_robot, fake_gps_position_stream)
+def google_maps_skill_container(mocker):
+    container = GoogleMapsSkillContainer()
+    container.gps_location.connection = mocker.MagicMock()
     container.start()
     container._client = mocker.MagicMock()
     yield container
     container.stop()
 
 
+@pytest.fixture
+def unitree_skills(mocker):
+    container = UnitreeSkillContainer()
+    container._move = mocker.Mock()
+    container._publish_request = mocker.Mock()
+    container.start()
+    yield container
+    container.stop()
+
+
 @pytest.fixture
 def create_navigation_agent(navigation_skill_container, create_fake_agent):
     return partial(
@@ -122,3 +106,12 @@ def create_google_maps_agent(
         system_prompt=system_prompt,
         skill_containers=[gps_nav_skill_container, google_maps_skill_container],
     )
+
+
+@pytest.fixture
+def create_unitree_skills_agent(unitree_skills, create_fake_agent):
+    return partial(
+        create_fake_agent,
+        system_prompt=system_prompt,
+        skill_containers=[unitree_skills],
+    )

dimos/agents2/skills/demo_google_maps_skill.py

@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+# 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.
+
+from dotenv import load_dotenv
+
+from dimos.agents2.agent import llm_agent
+from dimos.agents2.cli.human import human_input
+from dimos.agents2.skills.demo_robot import demo_robot
+from dimos.agents2.skills.google_maps_skill_container import google_maps_skill
+from dimos.agents2.system_prompt import get_system_prompt
+from dimos.core.blueprints import autoconnect
+
+load_dotenv()
+
+
+demo_google_maps_skill = autoconnect(
+    demo_robot(),
+    google_maps_skill(),
+    human_input(),
+    llm_agent(system_prompt=get_system_prompt()),
+)

dimos/agents2/skills/demo_gps_nav.py

@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+# 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.
+
+from dotenv import load_dotenv
+
+from dimos.agents2.agent import llm_agent
+from dimos.agents2.cli.human import human_input
+from dimos.agents2.skills.demo_robot import demo_robot
+from dimos.agents2.skills.gps_nav_skill import gps_nav_skill
+from dimos.agents2.system_prompt import get_system_prompt
+from dimos.core.blueprints import autoconnect
+
+load_dotenv()
+
+
+demo_gps_nav_skill = autoconnect(
+    demo_robot(),
+    gps_nav_skill(),
+    human_input(),
+    llm_agent(system_prompt=get_system_prompt()),
+)

dimos/agents2/skills/demo_robot.py

@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+# 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.
+
+from reactivex import interval
+
+from dimos.core.module import Module
+from dimos.core.stream import Out
+from dimos.mapping.types import LatLon
+
+
+class DemoRobot(Module):
+    gps_location: Out[LatLon] = None
+
+    def start(self) -> None:
+        super().start()
+        self._disposables.add(interval(1.0).subscribe(lambda _: self._publish_gps_location()))
+
+    def stop(self) -> None:
+        super().stop()
+
+    def _publish_gps_location(self) -> None:
+        self.gps_location.publish(LatLon(lat=37.78092426217621, lon=-122.40682866540769))
+
+
+demo_robot = DemoRobot.blueprint
+
+
+__all__ = ["DemoRobot", "demo_robot"]