DDS topics·

⏱ 60s · ref

All rt/* topics currently discoverable on the G1 CycloneDDS domain.

Topic	Rate	Type	Content
`rt/lowstate`	500 Hz	`LowState_`	IMU + 29 motor states (q, dq, tau, temp, V)
`rt/bmsstate` / `rt/lf/bmsstate`	1 Hz	`BmsState_`	SOC, SOH, voltage, current, cycles
`rt/multiplestate`	50 Hz	`LowState_`	Combined state (FSM id, mode, balance, stand height)
`rt/inspire/state`	50 Hz	`HandState_`	Inspire hand finger positions
`rt/head/cam/image_color` (?)	—	—	head cam RGB — NOT in codebase; verify live via `g1_dds_discover()` before use
`rt/utlidar/cloud_livox_mid360`	10 Hz	`PointCloud2_`	Livox Mid-360 point cloud
`rt/lf/lowstate`	low-freq	`LowState_`	Low-freq LowState variant
`rt/lf/secondary_imu`	low-freq	`LowState_`	Secondary IMU
`rt/lf/sportmodestate`	low-freq	`SportModeState_`	Motion state (low-freq)
`rt/mainboardstate`	1 Hz	`MainBoardState_`	Fan / board temps
`rt/pressuresensorstate`	50 Hz	`PressSensorState_`	Foot pressure sensors
`rt/wirelesscontroller`	on-event	`WirelessController_`	Remote joystick (silent if unpaired)
`rt/odom`	—	`Odometry_`	Robot odometry (nav_msgs)
`rt/unitree_slam/odom`	—	`Odometry_`	Unitree SLAM odometry
`rt/unitree_slam/global_map`	—	`PointCloud2_`	Unitree SLAM global map
`rt/utlidar/lidar_state`	—	`LidarState_`	LiDAR sensor state

RPC request/response·

Every Client class in the SDK maps to a pair:

Service	Request	Response
`LocoClient`	`rt/api/loco/request`	`rt/api/loco/response`
`G1ArmActionClient`	`rt/api/arm/request`	`rt/api/arm/response`
`AudioClient`	`rt/api/audio/request`	`rt/api/audio/response`
`MotionSwitcherClient`	`rt/api/motion_switcher/request`	`rt/api/motion_switcher/response`
`VuiClient`	`rt/api/vui/request`	`rt/api/vui/response`
`RobotStateClient`	`rt/api/robot_state/request`	`rt/api/robot_state/response`

Payload: {"api_id": int, "parameter": str_json, "priority": int} → response {"code": int, "data": str_json}.

publish (dangerous — need `unsafe=True` via `g1_dds_publish`)·

Topic	Type	What
`rt/lowcmd`	`LowCmd_`	⚠ direct motor torques — will collapse the robot if misused
`rt/armsdk`	`LowCmd_`	arm gesture id (single-writer, use `g1_arm_action`)
`rt/bmscmd`	`BmsCmd_`	battery commands
`rt/inspire/cmd`	`HandCmd_`	Inspire hand commands
`rt/user_lowcmd`	`LowCmd_`	⚠ user low-level cmd
`rt/utlidar/switch`	`String_`	LiDAR ON/OFF switch (use `g1_lidar_switch`)

discover live·

g1_dds_list_topics()
# → ["rt/lowstate", "rt/bmsstate", "rt/armsdk", "rt/api/loco/request", ...]

g1_dds_discover()      # no args — scans the whole bus via `cyclonedds ls`
# → {"ok": True, "count": 12,
#    "live_topics": ["rt/lowstate", "rt/bmsstate", "rt/armsdk", ...]}

g1_dds_snapshot("rt/lowstate")   # read ONE actual sample from a topic
# → {"ok": True, "topic": "rt/lowstate", "sample": {...decoded IDL fields...}}

DDS config·

CycloneDDS config: /home/unitree/cyclonedds_ws/cyclonedds.xml
Interface: eth0 (not eth1, not WiFi — those don't see the motor bus)
Domain: 0
Env: CYCLONEDDS_URI=file:///home/unitree/cyclonedds_ws/cyclonedds.xml

env.sh in the repo sets this automatically.

SDK type reference·

The DDS types live under unitree_sdk2_python/unitree_sdk2py/idl/. Useful when writing a new subscriber:

unitree_hg::msg::dds_::LowState_   → 29 motors + IMU (also rt/multiplestate "combined state")
unitree_hg::msg::dds_::BmsState_   → battery
unitree_hg::msg::dds_::LowCmd_     → motor command (⚠) (also rt/armsdk, rt/user_lowcmd)
unitree_hg::msg::dds_::HandState_  → Inspire hand state