Request for example with G1 robot

[Fatyhich]

Hello, dear developers !

I'm trying to work with G1 unitree robot in simulator. It successfully running and I can see robot on scene, but I can't control it :(

We have only 1 example for Go2 robot, and it working based on unitree_go idl. But for G1 we need to use unitree_hg idl

And there is critical difference, for example in command message:
from pocket unitree_go for class LowCmd_:

class LowCmd_(idl.IdlStruct, typename="unitree_go.msg.dds_.LowCmd_"):
    head: types.array[types.uint8, 2]
    level_flag: types.uint8
    frame_reserve: types.uint8
    sn: types.array[types.uint32, 2]
    version: types.array[types.uint32, 2]
    bandwidth: types.uint16
    motor_cmd: types.array['unitree_sdk2py.idl.unitree_go.msg.dds_.MotorCmd_', 20]
    bms_cmd: 'unitree_sdk2py.idl.unitree_go.msg.dds_.BmsCmd_'
    wireless_remote: types.array[types.uint8, 40]
    led: types.array[types.uint8, 12]
    fan: types.array[types.uint8, 2]
    gpio: types.uint8
    reserve: types.uint32
    crc: types.uint32

and same class LowCmd_ but from pocket unitree_hg:

class LowCmd_(idl.IdlStruct, typename="unitree_hg.msg.dds_.LowCmd_"):
    mode_pr: types.uint8
    mode_machine: types.uint8
    motor_cmd: types.array['unitree_sdk2py.idl.unitree_hg.msg.dds_.MotorCmd_', 35]
    reserve: types.array[types.uint32, 4]
    crc: types.uint32

They are so different and for me hard to understand how to adopt example with Go2 for G1 at least to control robot.

In example we have code which is configuring msg for motors. how to deal with new hg version ? any suggestions or source where I can read about it ?