Merge pull request #717 - Update G1/Go2 skills to work in blueprint and remove some Robot interfaces

Update G1/Go2 skills and remove some Robot interfaces

* 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:
```python
    # new
    rpc_calls: list[str] = [
        "SpatialMemory.tag_location",
        "SpatialMemory.query_tagged_location",
        ...
    ]
```
instead of this:
```python
    # 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.

Former-commit-id: 8d41052

Author: spomichter

.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"]