From aa34e4010ba04e40f2633a71a62afce7a87ee204 Mon Sep 17 00:00:00 2001
From: SuLvXiangXin <cgu19@fudan.edu.cn>
Date: Thu, 2 Jul 2026 10:54:53 +0800
Subject: [PATCH 1/2] Add R1 SDK support

---
 .../r1/high_level/r1_loco_client_example.py   |  89 ++++++
 .../r1/low_level/r1_ankle_swing_example.py    | 278 ++++++++++++++++++
 unitree_sdk2py/__init__.py                    |   3 +-
 unitree_sdk2py/r1/__init__.py                 |   1 +
 unitree_sdk2py/r1/loco/__init__.py            |   1 +
 unitree_sdk2py/r1/loco/r1_loco_api.py         |  19 ++
 unitree_sdk2py/r1/loco/r1_loco_client.py      |  72 +++++
 7 files changed, 462 insertions(+), 1 deletion(-)
 create mode 100644 example/r1/high_level/r1_loco_client_example.py
 create mode 100644 example/r1/low_level/r1_ankle_swing_example.py
 create mode 100644 unitree_sdk2py/r1/__init__.py
 create mode 100644 unitree_sdk2py/r1/loco/__init__.py
 create mode 100644 unitree_sdk2py/r1/loco/r1_loco_api.py
 create mode 100644 unitree_sdk2py/r1/loco/r1_loco_client.py

diff --git a/example/r1/high_level/r1_loco_client_example.py b/example/r1/high_level/r1_loco_client_example.py
new file mode 100644
index 00000000..b98dc1f8
--- /dev/null
+++ b/example/r1/high_level/r1_loco_client_example.py
@@ -0,0 +1,89 @@
+import sys
+
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.r1.loco.r1_loco_client import LocoClient
+
+
+def string_to_float_list(value: str):
+    return [float(item) for item in value.replace(",", " ").split()]
+
+
+def parse_args(argv):
+    args = {"network_interface": "lo"}
+    for arg in argv[1:]:
+        if arg.startswith("--"):
+            key_value = arg[2:].split("=", 1)
+            key = key_value[0]
+            value = key_value[1] if len(key_value) == 2 else ""
+            args[key] = value.strip('"')
+        elif args["network_interface"] == "lo":
+            args["network_interface"] = arg
+        else:
+            raise ValueError(f"unexpected argument: {arg}")
+    return args
+
+
+def parse_bool(value: str):
+    if value == "true":
+        return True
+    if value == "false":
+        return False
+    raise ValueError(f"invalid bool argument: {value}")
+
+
+def main():
+    args = parse_args(sys.argv)
+    ChannelFactoryInitialize(0, args["network_interface"])
+
+    client = LocoClient()
+    client.Init()
+    client.SetTimeout(10.0)
+
+    for key, value in args.items():
+        if key == "network_interface":
+            continue
+
+        print(f"Processing command: [{key}] with param: [{value}] ...")
+
+        if key == "get_fsm_id":
+            code, fsm_id = client.GetFsmId()
+            print(f"ret: {code}, current fsm_id: {fsm_id}")
+        elif key == "get_fsm_mode":
+            code, fsm_mode = client.GetFsmMode()
+            print(f"ret: {code}, current fsm_mode: {fsm_mode}")
+        elif key == "set_fsm_id":
+            print(f"ret: {client.SetFsmId(int(value))}")
+        elif key == "set_velocity":
+            param = string_to_float_list(value)
+            if len(param) == 3:
+                param.append(1.0)
+            if len(param) != 4:
+                raise ValueError(f"invalid param size for set_velocity: {len(param)}")
+            print(f"ret: {client.SetVelocity(param[0], param[1], param[2], param[3])}")
+        elif key == "damp":
+            print(f"ret: {client.Damp()}")
+        elif key == "start":
+            print(f"ret: {client.Start()}")
+        elif key == "stand_up":
+            print(f"ret: {client.StandUp()}")
+        elif key == "zero_torque":
+            print(f"ret: {client.ZeroTorque()}")
+        elif key == "stop_move":
+            print(f"ret: {client.StopMove()}")
+        elif key == "switch_move_mode":
+            print(f"ret: {client.SwitchMoveMode(parse_bool(value))}")
+        elif key == "move":
+            param = string_to_float_list(value)
+            if len(param) != 3:
+                raise ValueError(f"invalid param size for move: {len(param)}")
+            print(f"ret: {client.Move(param[0], param[1], param[2])}")
+        elif key == "set_speed_mode":
+            print(f"ret: {client.SetSpeedMode(int(value))}")
+        else:
+            raise ValueError(f"unknown command: {key}")
+
+        print("Done!")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/example/r1/low_level/r1_ankle_swing_example.py b/example/r1/low_level/r1_ankle_swing_example.py
new file mode 100644
index 00000000..76654076
--- /dev/null
+++ b/example/r1/low_level/r1_ankle_swing_example.py
@@ -0,0 +1,278 @@
+import struct
+import sys
+import time
+
+import numpy as np
+
+from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize, ChannelPublisher, ChannelSubscriber
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import IMUState_, LowCmd_, LowState_
+from unitree_sdk2py.utils.crc import CRC
+from unitree_sdk2py.utils.thread import RecurrentThread
+
+HG_CMD_TOPIC = "rt/lowcmd"
+HG_IMU_TORSO = "rt/secondary_imu"
+HG_STATE_TOPIC = "rt/lowstate"
+
+R1_NUM_MOTOR = 26
+
+Kp = [
+    200, 200, 200, 200, 200, 200,
+    200, 200, 200, 200, 200, 200,
+    300, 300,
+    100, 100, 100, 100, 50,
+    100, 100, 100, 100, 50,
+    50, 10,
+]
+
+Kd = [
+    3, 3, 3, 3, 3, 3,
+    3, 3, 3, 3, 3, 3,
+    5, 5,
+    2, 2, 2, 2, 2,
+    2, 2, 2, 2, 2,
+    2, 0.1,
+]
+
+JOINT_IDX_IN_IDL = [
+    0, 1, 2, 3, 4, 5,
+    6, 7, 8, 9, 10, 11,
+    12, 13,
+    15, 16, 17, 18, 19,
+    22, 23, 24, 25, 26,
+    29, 30,
+]
+
+
+class Mode:
+    PR = 0
+    AB = 1
+
+
+class R1JointIndex:
+    LeftHipPitch = 0
+    LeftHipRoll = 1
+    LeftHipYaw = 2
+    LeftKnee = 3
+    LeftAnklePitch = 4
+    LeftAnkleB = 4
+    LeftAnkleRoll = 5
+    LeftAnkleA = 5
+    RightHipPitch = 6
+    RightHipRoll = 7
+    RightHipYaw = 8
+    RightKnee = 9
+    RightAnklePitch = 10
+    RightAnkleB = 10
+    RightAnkleRoll = 11
+    RightAnkleA = 11
+    WaistRoll = 12
+    WaistYaw = 13
+    LeftShoulderPitch = 14
+    LeftShoulderRoll = 15
+    LeftShoulderYaw = 16
+    LeftElbow = 17
+    LeftWristRoll = 18
+    RightShoulderPitch = 19
+    RightShoulderRoll = 20
+    RightShoulderYaw = 21
+    RightElbow = 22
+    RightWristRoll = 23
+    HEAD_PITCH = 24
+    HEAD_YAW = 25
+
+
+class Custom:
+    def __init__(self):
+        self.time_ = 0.0
+        self.control_dt_ = 0.002
+        self.duration_ = 3.0
+        self.counter_ = 0
+        self.mode_pr_ = Mode.PR
+        self.mode_machine_ = 0
+        self.low_cmd = unitree_hg_msg_dds__LowCmd_()
+        self.low_state = None
+        self.motor_q = [0.0] * R1_NUM_MOTOR
+        self.motor_dq = [0.0] * R1_NUM_MOTOR
+        self.gamepad_A = False
+        self.gamepad_B = False
+        self.gamepad_X = False
+        self.gamepad_Y = False
+        self.crc = CRC()
+
+    def Init(self):
+        self.msc = MotionSwitcherClient()
+        self.msc.SetTimeout(5.0)
+        self.msc.Init()
+
+        status, result = self.msc.CheckMode()
+        while result and result.get("name"):
+            code, _ = self.msc.ReleaseMode()
+            if code != 0:
+                print("Failed to switch to Release Mode")
+            time.sleep(5)
+            status, result = self.msc.CheckMode()
+
+        self.lowcmd_publisher_ = ChannelPublisher(HG_CMD_TOPIC, LowCmd_)
+        self.lowcmd_publisher_.Init()
+
+        self.lowstate_subscriber = ChannelSubscriber(HG_STATE_TOPIC, LowState_)
+        self.lowstate_subscriber.Init(self.LowStateHandler, 1)
+
+        self.imutorso_subscriber = ChannelSubscriber(HG_IMU_TORSO, IMUState_)
+        self.imutorso_subscriber.Init(self.ImuTorsoHandler, 1)
+
+    def Start(self):
+        self.lowCmdWriteThreadPtr = RecurrentThread(
+            interval=self.control_dt_, target=self.LowCmdWrite, name="r1_lowcmd"
+        )
+        self.lowCmdWriteThreadPtr.Start()
+
+    def _update_gamepad(self, wireless_remote):
+        btn_value = struct.unpack_from("<H", bytes(wireless_remote), 2)[0]
+        self.gamepad_A = bool(btn_value & (1 << 8))
+        self.gamepad_B = bool(btn_value & (1 << 9))
+        self.gamepad_X = bool(btn_value & (1 << 10))
+        self.gamepad_Y = bool(btn_value & (1 << 11))
+
+    def ImuTorsoHandler(self, msg: IMUState_):
+        if self.counter_ % 500 == 0:
+            rpy = msg.rpy
+            print(f"IMU.torso.rpy: {rpy[0]:.2f} {rpy[1]:.2f} {rpy[2]:.2f}")
+
+    def LowStateHandler(self, msg: LowState_):
+        if msg.crc != self.crc.Crc(msg):
+            print("[ERROR] CRC Error")
+            return
+
+        self.low_state = msg
+
+        for i, idl_idx in enumerate(JOINT_IDX_IN_IDL):
+            motor_state = msg.motor_state[idl_idx]
+            self.motor_q[i] = motor_state.q
+            self.motor_dq[i] = motor_state.dq
+            if motor_state.motorstate and i <= R1JointIndex.RightAnkleRoll:
+                print(f"[ERROR] motor {idl_idx} with code {motor_state.motorstate}")
+
+        self._update_gamepad(msg.wireless_remote)
+
+        if self.mode_machine_ != msg.mode_machine:
+            if self.mode_machine_ == 0:
+                print(f"R1 type: {msg.mode_machine}")
+            self.mode_machine_ = msg.mode_machine
+
+        self.counter_ += 1
+        if self.counter_ % 500 == 0:
+            self.counter_ = 0
+            rpy = msg.imu_state.rpy
+            print(f"IMU.pelvis.rpy: {rpy[0]:.2f} {rpy[1]:.2f} {rpy[2]:.2f}")
+
+            print(f"gamepad_.A.pressed: {int(self.gamepad_A)}")
+            print(f"gamepad_.B.pressed: {int(self.gamepad_B)}")
+            print(f"gamepad_.X.pressed: {int(self.gamepad_X)}")
+            print(f"gamepad_.Y.pressed: {int(self.gamepad_Y)}")
+
+            ms = msg.motor_state
+            print(f"All {R1_NUM_MOTOR} Motors:", end="")
+            print("\nmode: ", end="")
+            for idl_idx in JOINT_IDX_IN_IDL:
+                print(f"{ms[idl_idx].mode},", end="")
+            print("\npos: ", end="")
+            for idl_idx in JOINT_IDX_IN_IDL:
+                print(f"{ms[idl_idx].q:.2f},", end="")
+            print("\nvel: ", end="")
+            for idl_idx in JOINT_IDX_IN_IDL:
+                print(f"{ms[idl_idx].dq:.2f},", end="")
+            print("\ntau_est: ", end="")
+            for idl_idx in JOINT_IDX_IN_IDL:
+                print(f"{ms[idl_idx].tau_est:.2f},", end="")
+            print("\ntemperature: ", end="")
+            for idl_idx in JOINT_IDX_IN_IDL:
+                print(f"{ms[idl_idx].temperature[0]},{ms[idl_idx].temperature[1]};", end="")
+            print("\nvol: ", end="")
+            for idl_idx in JOINT_IDX_IN_IDL:
+                print(f"{ms[idl_idx].vol:.2f},", end="")
+            print("\nsensor: ", end="")
+            for idl_idx in JOINT_IDX_IN_IDL:
+                print(f"{ms[idl_idx].sensor[0]},{ms[idl_idx].sensor[1]};", end="")
+            print("\nmotorstate: ", end="")
+            for idl_idx in JOINT_IDX_IN_IDL:
+                print(f"{ms[idl_idx].motorstate},", end="")
+            print("\nreserve: ", end="")
+            for idl_idx in JOINT_IDX_IN_IDL:
+                reserve = ms[idl_idx].reserve
+                print(f"{reserve[0]},{reserve[1]},{reserve[2]},{reserve[3]};", end="")
+            print()
+
+    def Control(self):
+        self.time_ += self.control_dt_
+
+        q_target = [0.0] * R1_NUM_MOTOR
+        dq_target = [0.0] * R1_NUM_MOTOR
+        tau_ff = [0.0] * R1_NUM_MOTOR
+
+        if self.time_ < self.duration_:
+            for i in range(R1_NUM_MOTOR):
+                ratio = np.clip(self.time_ / self.duration_, 0.0, 1.0)
+                q_target[i] = (1.0 - ratio) * self.motor_q[i]
+        elif self.time_ < self.duration_ * 2:
+            self.mode_pr_ = Mode.PR
+            max_p = np.pi * 30.0 / 180.0
+            max_r = np.pi * 30.0 / 180.0
+            t = self.time_ - self.duration_
+            q_target[R1JointIndex.LeftAnklePitch] = max_p * np.sin(2.0 * np.pi * t)
+            q_target[R1JointIndex.LeftAnkleRoll] = max_r * np.sin(2.0 * np.pi * t)
+            q_target[R1JointIndex.RightAnklePitch] = max_p * np.sin(2.0 * np.pi * t)
+            q_target[R1JointIndex.RightAnkleRoll] = -max_r * np.sin(2.0 * np.pi * t)
+        else:
+            self.mode_pr_ = Mode.AB
+            max_a = np.pi * 30.0 / 180.0
+            max_b = np.pi * 10.0 / 180.0
+            t = self.time_ - self.duration_ * 2
+            q_target[R1JointIndex.LeftAnkleA] = max_a * np.sin(np.pi * t)
+            q_target[R1JointIndex.LeftAnkleB] = max_b * np.sin(np.pi * t + np.pi)
+            q_target[R1JointIndex.RightAnkleA] = -max_a * np.sin(np.pi * t)
+            q_target[R1JointIndex.RightAnkleB] = -max_b * np.sin(np.pi * t + np.pi)
+
+        return q_target, dq_target, Kp, Kd, tau_ff
+
+    def LowCmdWrite(self):
+        if self.low_state is None:
+            return
+
+        q_target, dq_target, kp, kd, tau_ff = self.Control()
+
+        self.low_cmd.mode_pr = self.mode_pr_
+        self.low_cmd.mode_machine = self.mode_machine_
+
+        for i, idl_idx in enumerate(JOINT_IDX_IN_IDL):
+            motor_cmd = self.low_cmd.motor_cmd[idl_idx]
+            motor_cmd.mode = 1
+            motor_cmd.tau = tau_ff[i]
+            motor_cmd.q = q_target[i]
+            motor_cmd.dq = dq_target[i]
+            motor_cmd.kp = kp[i]
+            motor_cmd.kd = kd[i]
+
+        self.low_cmd.crc = self.crc.Crc(self.low_cmd)
+        self.lowcmd_publisher_.Write(self.low_cmd)
+
+
+if __name__ == "__main__":
+    print("WARNING: This example publishes low-level motor commands to R1.")
+    print("Ensure the robot is supported, stable, and has clear space around it.")
+    input("Press Enter to continue...")
+
+    if len(sys.argv) < 2:
+        print("Usage: r1_ankle_swing_example network_interface")
+        sys.exit(0)
+
+    ChannelFactoryInitialize(0, sys.argv[1])
+
+    custom = Custom()
+    custom.Init()
+    custom.Start()
+
+    while True:
+        time.sleep(10)
diff --git a/unitree_sdk2py/__init__.py b/unitree_sdk2py/__init__.py
index 0b7fc74b..3077f77a 100644
--- a/unitree_sdk2py/__init__.py
+++ b/unitree_sdk2py/__init__.py
@@ -1,4 +1,4 @@
-from . import idl, utils, core, rpc, comm, go2, b2, g1, h1, h2, a2, as2
+from . import idl, utils, core, rpc, comm, go2, b2, g1, h1, h2, r1, a2, as2
 
 __all__ = [
     "idl",
@@ -11,6 +11,7 @@
     "g1",
     "h1",
     "h2",
+    "r1",
     "a2",
     "as2",
 ]
diff --git a/unitree_sdk2py/r1/__init__.py b/unitree_sdk2py/r1/__init__.py
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/unitree_sdk2py/r1/__init__.py
@@ -0,0 +1 @@
+
diff --git a/unitree_sdk2py/r1/loco/__init__.py b/unitree_sdk2py/r1/loco/__init__.py
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/unitree_sdk2py/r1/loco/__init__.py
@@ -0,0 +1 @@
+
diff --git a/unitree_sdk2py/r1/loco/r1_loco_api.py b/unitree_sdk2py/r1/loco/r1_loco_api.py
new file mode 100644
index 00000000..ca1e3b53
--- /dev/null
+++ b/unitree_sdk2py/r1/loco/r1_loco_api.py
@@ -0,0 +1,19 @@
+"""
+R1 loco service constants.
+"""
+
+LOCO_SERVICE_NAME = "sport"
+LOCO_API_VERSION = "1.0.0.0"
+
+ROBOT_API_ID_LOCO_GET_FSM_ID = 7001
+ROBOT_API_ID_LOCO_GET_FSM_MODE = 7002
+
+ROBOT_API_ID_LOCO_SET_FSM_ID = 7101
+ROBOT_API_ID_LOCO_SET_VELOCITY = 7105
+ROBOT_API_ID_LOCO_SET_SPEED_MODE = 7107
+
+LOCO_ERR_LOCOSTATE_NOT_AVAILABLE = 7301
+LOCO_ERR_SCHEDULER_STATE_NOT_AVAILABLE = 7301
+LOCO_ERR_INVALID_FSM_ID = 7302
+LOCO_ERR_INVALID_TASK_ID = 7303
+LOCO_ERROR_FSM_ID_RETURN_DENIED = 7304
diff --git a/unitree_sdk2py/r1/loco/r1_loco_client.py b/unitree_sdk2py/r1/loco/r1_loco_client.py
new file mode 100644
index 00000000..bf15442c
--- /dev/null
+++ b/unitree_sdk2py/r1/loco/r1_loco_client.py
@@ -0,0 +1,72 @@
+import json
+
+from ...rpc.client import Client
+from .r1_loco_api import *
+
+
+class LocoClient(Client):
+    def __init__(self):
+        super().__init__(LOCO_SERVICE_NAME, False)
+        self.continous_move_ = False
+
+    def Init(self):
+        self._SetApiVerson(LOCO_API_VERSION)
+
+        self._RegistApi(ROBOT_API_ID_LOCO_GET_FSM_ID, 0)
+        self._RegistApi(ROBOT_API_ID_LOCO_GET_FSM_MODE, 0)
+
+        self._RegistApi(ROBOT_API_ID_LOCO_SET_FSM_ID, 0)
+        self._RegistApi(ROBOT_API_ID_LOCO_SET_VELOCITY, 0)
+        self._RegistApi(ROBOT_API_ID_LOCO_SET_SPEED_MODE, 0)
+
+    def GetFsmId(self):
+        code, data = self._Call(ROBOT_API_ID_LOCO_GET_FSM_ID, "{}")
+        if code != 0:
+            return code, None
+        return code, json.loads(data).get("data")
+
+    def GetFsmMode(self):
+        code, data = self._Call(ROBOT_API_ID_LOCO_GET_FSM_MODE, "{}")
+        if code != 0:
+            return code, None
+        return code, json.loads(data).get("data")
+
+    def SetFsmId(self, fsm_id: int):
+        parameter = json.dumps({"data": fsm_id})
+        code, _ = self._Call(ROBOT_API_ID_LOCO_SET_FSM_ID, parameter)
+        return code
+
+    def SetVelocity(self, vx: float, vy: float, omega: float, duration: float = 1.0):
+        parameter = json.dumps({"velocity": [vx, vy, omega], "duration": duration})
+        code, _ = self._Call(ROBOT_API_ID_LOCO_SET_VELOCITY, parameter)
+        return code
+
+    def SetSpeedMode(self, speed_mode: int):
+        parameter = json.dumps({"data": speed_mode})
+        code, _ = self._Call(ROBOT_API_ID_LOCO_SET_SPEED_MODE, parameter)
+        return code
+
+    def Damp(self):
+        return self.SetFsmId(1)
+
+    def Start(self):
+        return self.SetFsmId(811)
+
+    def StandUp(self):
+        return self.SetFsmId(4)
+
+    def ZeroTorque(self):
+        return self.SetFsmId(0)
+
+    def StopMove(self):
+        return self.SetVelocity(0.0, 0.0, 0.0)
+
+    def Move(self, vx: float, vy: float, vyaw: float, continous_move: bool = None):
+        if continous_move is None:
+            continous_move = self.continous_move_
+        duration = 864000.0 if continous_move else 1.0
+        return self.SetVelocity(vx, vy, vyaw, duration)
+
+    def SwitchMoveMode(self, flag: bool):
+        self.continous_move_ = flag
+        return 0

From df1b3b67daf9dccdd6c2c760b5877fb6c0441b8e Mon Sep 17 00:00:00 2001
From: SuLvXiangXin <cgu19@fudan.edu.cn>
Date: Thu, 2 Jul 2026 11:08:18 +0800
Subject: [PATCH 2/2] Add R1 camera examples

---
 example/r1/front_camera/camera_opencv.py | 35 ++++++++++++++++++++++++
 example/r1/front_camera/capture_image.py | 30 ++++++++++++++++++++
 unitree_sdk2py/r1/video/__init__.py      |  0
 unitree_sdk2py/r1/video/video_api.py     |  9 ++++++
 unitree_sdk2py/r1/video/video_client.py  | 15 ++++++++++
 5 files changed, 89 insertions(+)
 create mode 100644 example/r1/front_camera/camera_opencv.py
 create mode 100644 example/r1/front_camera/capture_image.py
 create mode 100644 unitree_sdk2py/r1/video/__init__.py
 create mode 100644 unitree_sdk2py/r1/video/video_api.py
 create mode 100644 unitree_sdk2py/r1/video/video_client.py

diff --git a/example/r1/front_camera/camera_opencv.py b/example/r1/front_camera/camera_opencv.py
new file mode 100644
index 00000000..542d2d6a
--- /dev/null
+++ b/example/r1/front_camera/camera_opencv.py
@@ -0,0 +1,35 @@
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.r1.video.video_client import VideoClient
+import cv2
+import numpy as np
+import sys
+
+
+if __name__ == "__main__":
+    if len(sys.argv) > 1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+
+    client = VideoClient()
+    client.SetTimeout(3.0)
+    client.Init()
+
+    code, data = client.GetImageSample()
+
+    while code == 0:
+        code, data = client.GetImageSample()
+
+        image_data = np.frombuffer(bytes(data), dtype=np.uint8)
+        image = cv2.imdecode(image_data, cv2.IMREAD_COLOR)
+
+        cv2.imshow("r1_front_camera", image)
+        if cv2.waitKey(20) == 27:
+            break
+
+    if code != 0:
+        print("Get image sample error. code:", code)
+    else:
+        cv2.imwrite("r1_front_image.jpg", image)
+
+    cv2.destroyWindow("r1_front_camera")
diff --git a/example/r1/front_camera/capture_image.py b/example/r1/front_camera/capture_image.py
new file mode 100644
index 00000000..6402d72a
--- /dev/null
+++ b/example/r1/front_camera/capture_image.py
@@ -0,0 +1,30 @@
+import time
+import sys
+
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.r1.video.video_client import VideoClient
+
+
+if __name__ == "__main__":
+    if len(sys.argv) > 1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+
+    client = VideoClient()
+    client.SetTimeout(3.0)
+    client.Init()
+
+    print("##################GetImageSample###################")
+    code, data = client.GetImageSample()
+
+    if code != 0:
+        print("get image sample error. code:", code)
+    else:
+        image_name = "./r1_front_image.jpg"
+        print("ImageName:", image_name)
+
+        with open(image_name, "+wb") as f:
+            f.write(bytes(data))
+
+    time.sleep(1)
diff --git a/unitree_sdk2py/r1/video/__init__.py b/unitree_sdk2py/r1/video/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/unitree_sdk2py/r1/video/video_api.py b/unitree_sdk2py/r1/video/video_api.py
new file mode 100644
index 00000000..83e6134a
--- /dev/null
+++ b/unitree_sdk2py/r1/video/video_api.py
@@ -0,0 +1,9 @@
+"""
+R1 camera video service constants.
+"""
+
+VIDEO_SERVICE_NAME = "videohub"
+VIDEO_API_VERSION = "1.0.0.1"
+
+VIDEO_API_ID_GETIMAGESAMPLE = 1001
+
diff --git a/unitree_sdk2py/r1/video/video_client.py b/unitree_sdk2py/r1/video/video_client.py
new file mode 100644
index 00000000..4c52edd4
--- /dev/null
+++ b/unitree_sdk2py/r1/video/video_client.py
@@ -0,0 +1,15 @@
+from ...rpc.client import Client
+from .video_api import *
+
+
+class VideoClient(Client):
+    def __init__(self):
+        super().__init__(VIDEO_SERVICE_NAME, False)
+
+    def Init(self):
+        self._SetApiVerson(VIDEO_API_VERSION)
+        self._RegistApi(VIDEO_API_ID_GETIMAGESAMPLE, 0)
+
+    def GetImageSample(self):
+        return self._CallBinary(VIDEO_API_ID_GETIMAGESAMPLE, [])
+