From 39e27cdeb71be9b95b2a70e629642333bd2193da Mon Sep 17 00:00:00 2001
From: Krishna_Hundekari <113392023+KrishnaH96@users.noreply.github.com>
Date: Tue, 15 Sep 2026 23:20:05 +0000
Subject: [PATCH] fix(g1): route planner and teleop velocities to the sim
 connection (#4150)

(cherry picked from commit 8bfa1202bf28b1d81a42af1f3f11229aa2969d23)
---
 dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py
index 2e24f27c79..4cb63ecfd7 100644
--- a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py
+++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py
@@ -16,6 +16,7 @@
 """Basic G1 sim stack: base sensors plus sim connection and planner."""
 
 from dimos.core.coordination.blueprints import autoconnect
+from dimos.navigation.movement_manager.movement_manager import MovementManager
 from dimos.navigation.replanning_a_star.module import ReplanningAStarPlanner
 from dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_primitive_no_nav import (
     unitree_g1_primitive_no_nav,
@@ -26,4 +27,5 @@
     unitree_g1_primitive_no_nav,
     G1SimConnection.blueprint(),
     ReplanningAStarPlanner.blueprint(),
+    MovementManager.blueprint(),
 )