fix: G1 agent RPC wiring and system prompt

dimos/robot/unitree/g1/blueprints/agentic/_agentic_skills.py

@@ -17,12 +17,15 @@
 
 from dimos.agents.agent import agent
 from dimos.agents.skills.navigation import navigation_skill
+from dimos.agents.skills.speak_skill import speak_skill
 from dimos.core.blueprints import autoconnect
 from dimos.robot.unitree.g1.skill_container import g1_skills
+from dimos.robot.unitree.g1.system_prompt import G1_SYSTEM_PROMPT
 
 _agentic_skills = autoconnect(
-    agent(),
+    agent(system_prompt=G1_SYSTEM_PROMPT),
     navigation_skill(),
+    speak_skill(),
     g1_skills(),
 )
 

dimos/robot/unitree/g1/connection.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 
+from abc import ABC, abstractmethod
 from typing import TYPE_CHECKING, Any
 
 from reactivex.disposable import Disposable
@@ -33,7 +34,34 @@
 logger = setup_logger()
 
 
-class G1Connection(Module):
+class G1ConnectionBase(Module, ABC):
+    """Abstract base for G1 connections (real hardware and simulation).
+
+    Modules that depend on G1 connection RPC methods should reference this
+    base class so the blueprint wiring works regardless of which concrete
+    connection is deployed.
+    """
+
+    @rpc
+    @abstractmethod
+    def start(self) -> None:
+        super().start()
+
+    @rpc
+    @abstractmethod
+    def stop(self) -> None:
+        super().stop()
+
+    @rpc
+    @abstractmethod
+    def move(self, twist: Twist, duration: float = 0.0) -> None: ...
+
+    @rpc
+    @abstractmethod
+    def publish_request(self, topic: str, data: dict[str, Any]) -> dict[Any, Any]: ...
+
+
+class G1Connection(G1ConnectionBase):
     cmd_vel: In[Twist]
     ip: str | None
     connection_type: str | None = None
@@ -105,4 +133,4 @@ def deploy(dimos: ModuleCoordinator, ip: str, local_planner: spec.LocalPlanner)
     return connection
 
 
-__all__ = ["G1Connection", "deploy", "g1_connection"]
+__all__ = ["G1Connection", "G1ConnectionBase", "deploy", "g1_connection"]

dimos/robot/unitree/g1/sim.py

@@ -22,7 +22,6 @@
 
 from dimos.core.core import rpc
 from dimos.core.global_config import GlobalConfig, global_config
-from dimos.core.module import Module
 from dimos.core.stream import In, Out
 from dimos.msgs.geometry_msgs import (
     PoseStamped,
@@ -32,6 +31,7 @@
     Vector3,
 )
 from dimos.msgs.sensor_msgs import CameraInfo, Image, PointCloud2
+from dimos.robot.unitree.g1.connection import G1ConnectionBase
 from dimos.robot.unitree.type.odometry import Odometry as SimOdometry
 from dimos.utils.logging_config import setup_logger
 
@@ -60,7 +60,7 @@ def _camera_info_static() -> CameraInfo:
     )
 
 
-class G1SimConnection(Module):
+class G1SimConnection(G1ConnectionBase):
     cmd_vel: In[Twist]
     lidar: Out[PointCloud2]
     odom: Out[PoseStamped]

dimos/robot/unitree/g1/skill_container.py

@@ -63,8 +63,8 @@
 
 class UnitreeG1SkillContainer(Module):
     rpc_calls: list[str] = [
-        "G1Connection.move",
-        "G1Connection.publish_request",
+        "G1ConnectionBase.move",
+        "G1ConnectionBase.publish_request",
     ]
 
     @rpc
@@ -90,7 +90,7 @@ def move(self, x: float, y: float = 0.0, yaw: float = 0.0, duration: float = 0.0
             duration: How long to move (seconds)
         """
 
-        move_rpc = self.get_rpc_calls("G1Connection.move")
+        move_rpc = self.get_rpc_calls("G1ConnectionBase.move")
         twist = Twist(linear=Vector3(x, y, 0), angular=Vector3(0, 0, yaw))
         move_rpc(twist, duration=duration)
         return f"Started moving with velocity=({x}, {y}, {yaw}) for {duration} seconds"
@@ -110,7 +110,7 @@ def _execute_g1_command(
         topic: str,
         command_name: str,
     ) -> str:
-        publish_request_rpc = self.get_rpc_calls("G1Connection.publish_request")
+        publish_request_rpc = self.get_rpc_calls("G1ConnectionBase.publish_request")
 
         if command_name not in command_dict:
             suggestions = difflib.get_close_matches(

dimos/robot/unitree/g1/system_prompt.py

@@ -0,0 +1,58 @@
+# Copyright 2026 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.
+
+G1_SYSTEM_PROMPT = """
+You are Daneel, an AI agent created by Dimensional to control a Unitree G1 humanoid robot.
+
+# CRITICAL: SAFETY
+Prioritize human safety above all else. Respect personal boundaries. Never take actions that could harm humans, damage property, or damage the robot.
+
+# IDENTITY
+You are Daneel. If someone says "daniel" or similar, ignore it (speech-to-text error). When greeted, briefly introduce yourself as an AI agent operating a humanoid robot.
+
+# COMMUNICATION
+Users hear you through speakers but cannot see text. Use `speak` to communicate your actions or responses. Be concise—one or two sentences.
+
+# AVAILABLE SKILLS
+
+## Movement
+Use `move` for direct velocity control:
+- `x`: forward/backward velocity (m/s). Required.
+- `y`: left/right velocity (m/s). Default 0.
+- `yaw`: rotational velocity (rad/s). Default 0.
+- `duration`: seconds to move. Default 0.
+
+Examples:
+- Walk forward: `move(x=0.5, duration=3.0)`
+- Walk backward: `move(x=-0.3, duration=2.0)`
+- Turn right 90°: `move(x=0.0, yaw=-1.57, duration=1.0)`
+- Turn left 90°: `move(x=0.0, yaw=1.57, duration=1.0)`
+
+## Arm Gestures
+Use `execute_arm_command` with one of these command names:
+- "Handshake", "HighFive", "Hug", "HighWave", "Clap", "FaceWave"
+- "LeftKiss", "ArmHeart", "RightHeart", "HandsUp", "XRay"
+- "RightHandUp", "Reject", "CancelAction"
+
+## Movement Modes
+Use `execute_mode_command` with: "WalkMode", "WalkControlWaist", or "RunMode"
+
+## Navigation
+- Use `navigate_with_text` for most navigation. It searches tagged locations first, then visible objects, then the semantic map.
+- Tag important locations with `tag_location` so you can return to them later.
+- During `start_exploration`, avoid calling other skills except `stop_movement`.
+
+# BEHAVIOR
+Be proactive. Infer reasonable actions from ambiguous requests. Inform the user of your assumption.
+"""