docs: add Unitree G1 getting started documentation

[spomichter]

Summary

Adds comprehensive getting started documentation for the Unitree G1 humanoid robot platform, mirroring the structure of the existing Go2 docs.

Changes

• New: docs/platforms/humanoid/g1/index.md — full G1 getting started guide
• Updated: README.md — G1 link now points to the new docs instead of docs/todo.md

Documentation Covers

• Requirements and installation
• MuJoCo simulation quickstart
• Running on real G1 hardware (WebRTC connection + ROS nav)
• Module breakdown (what's running in each blueprint)
• Agentic control with natural language
• Arm gesture reference (14 gestures: handshake, high five, hug, etc.)
• Movement mode reference (walk, waist control, run)
• Keyboard teleop
• Complete blueprint table (11 blueprints) with hierarchy diagram
• Deep dive links to navigation, visualization, streams, transports, blueprints, and agents docs

How It Was Built

Used the Go2 docs as a structural guide, then examined all G1 source code:

• dimos/robot/unitree/g1/connection.py — WebRTC connection
• dimos/robot/unitree/g1/sim.py — MuJoCo simulation
• dimos/robot/unitree/g1/skill_container.py — arm gestures and movement modes
• All blueprints in dimos/robot/unitree/g1/blueprints/ (primitive, basic, perceptive, agentic)
• dimos/robot/all_blueprints.py — CLI blueprint registry

Closes DIM-576

[greptile-apps]

Greptile Summary

This PR adds comprehensive getting started documentation for the Unitree G1 humanoid robot platform. The documentation mirrors the structure of the existing Go2 docs and covers installation, simulation, hardware connection, blueprints, and agentic control.

Key additions:

• Complete G1 getting started guide at docs/platforms/humanoid/g1/index.md
• Updated README.md link to point to new documentation instead of placeholder
• Documentation of 11 blueprints with hierarchy diagram
• Arm gesture and movement mode reference tables
• Detailed module breakdown and usage examples

Issue found:

• Missing "XRay" arm gesture from the gesture reference table (exists in source code at skill_container.py:42 but not documented)

Confidence Score: 4/5

• This documentation-only PR is safe to merge with one minor correction needed
• Documentation is comprehensive and accurately reflects the codebase structure. Blueprint names, movement modes, and most arm gestures match the source code. Only issue is the missing XRay gesture in the reference table, which is a documentation completeness issue rather than a critical error.
• The arm gestures table in docs/platforms/humanoid/g1/index.md needs the XRay gesture added

Important Files Changed

Filename	Overview
README.md	Simple link update from placeholder to new G1 documentation
docs/platforms/humanoid/g1/index.md	Comprehensive G1 documentation added, missing one arm gesture (XRay) from the table

_{Last reviewed commit: 0ffb845}

[greptile-apps]

_{2 files reviewed, 1 comment}

_{Edit Code Review Agent Settings | Greptile}

[greptile-apps]

Missing the "XRay" gesture from the arm gestures table. According to dimos/robot/unitree/g1/skill_container.py:42, there's an XRay gesture defined as ("XRay", 24, "Hold arms in an X-ray pose position.") that should be included.

Suggested change

	### Arm Gestures
	The G1 agent can perform expressive arm gestures:
	| Gesture | Description |
	|---------|-------------|
	| Handshake | Perform a handshake gesture with the right hand |
	| HighFive | Give a high five with the right hand |
	| Hug | Perform a hugging gesture with both arms |
	| HighWave | Wave with the hand raised high |
	| Clap | Clap hands together |
	| FaceWave | Wave near the face level |
	| LeftKiss | Blow a kiss with the left hand |
	| ArmHeart | Make a heart shape with both arms overhead |
	| RightHeart | Make a heart gesture with the right hand |
	| HandsUp | Raise both hands up in the air |
	| RightHandUp | Raise only the right hand up |
	| Gesture | Description |
	|---------|-------------|
	| Handshake | Perform a handshake gesture with the right hand |
	| HighFive | Give a high five with the right hand |
	| Hug | Perform a hugging gesture with both arms |
	| HighWave | Wave with the hand raised high |
	| Clap | Clap hands together |
	| FaceWave | Wave near the face level |
	| LeftKiss | Blow a kiss with the left hand |
	| ArmHeart | Make a heart shape with both arms overhead |
	| RightHeart | Make a heart gesture with the right hand |
	| HandsUp | Raise both hands up in the air |
	| XRay | Hold arms in an X-ray pose position |
	| RightHandUp | Raise only the right hand up |
	| Reject | Make a rejection or "no" gesture |
	| CancelAction | Cancel any current arm action and return to neutral |