Hmm… Thinking about it, I guess SG-1 is a bit more action oriented. But I think that’s because it went on much longer than Atlantis. If Atlantis had less action, it was because it tried and failed - not because it was intending to be more “talky”. One of the defining moments of Atlantis is a gigantic engagement in space. It was so important they changed the show’s intro to include it.
Rest assured, SG-1 has a lot of great dialog and thought-provoking stories, too. I guess you got unlucky and saw all the “YEEHAW, MURIKA!” episodes. XD
One episode in particular is really rough because it focuses on the emotional aftermath of a single action scene.
The reason I called SG-1 “well-rounded” is because it’s a terrific balance between action and character. Atlantis does the same with less on-location filming, and a smaller budget. It’s really hard to pick one over the other because you should treat both as a complete set.