diff --git a/include/custom_robot.hpp b/include/custom_robot.hpp
index 2c062ef..0e1f535 100644
--- a/include/custom_robot.hpp
+++ b/include/custom_robot.hpp
@@ -36,7 +36,8 @@ public:
     void processCmd(const nlohmann::json& message);
     bool processOacCmd(const std::string& cmd, const nlohmann::json& message);
     bool processSportCmd(const std::string& cmd, const nlohmann::json& message);
-    void publishCmdResponse(const std::string& type, const std::string& cmd, bool success);
+    bool processRscCmd(const std::string& cmd, const nlohmann::json& message);
+    void printServiceList(const std::vector<unitree::robot::go2::ServiceState>& serviceList, int filterStatus = -1);
 
 private:
     std::string generateRandomClientId() const;
diff --git a/src/custom_robot.cpp b/src/custom_robot.cpp
index 19611f0..7616922 100644
--- a/src/custom_robot.cpp
+++ b/src/custom_robot.cpp
@@ -242,12 +242,13 @@ void CustomRobot::processCmd(const nlohmann::json& message) {
             success = processOacCmd(cmd, message);
         } else if (type == "sport") {
             success = processSportCmd(cmd, message);
+        } else if (type == "rsc") {
+            success = processRscCmd(cmd, message);
         } else {
             LOG_ERROR("Unknown command type: " + type);
             return;
         }
         LOG_INFO(cmd + ", success: " + std::string(success ? "true" : "false"));
-        // publishCmdResponse(type, cmd, success);
         
     } catch (const std::exception& e) {
         LOG_ERROR("Error processing cmd: " + std::string(e.what()));
@@ -328,6 +329,86 @@ bool CustomRobot::processOacCmd(const std::string& cmd, const nlohmann::json& me
     }
 }
 
+bool CustomRobot::processRscCmd(const std::string& cmd, const nlohmann::json& message) {
+    try {
+        if (cmd == "list") {
+            LOG_INFO("Received service list query command");
+            
+            std::vector<unitree::robot::go2::ServiceState> serviceList;
+            if (!GetServiceList(serviceList)) {
+                LOG_ERROR("Failed to get service list");
+                return false;
+            }
+            
+            LOG_INFO("Successfully retrieved service list with " + std::to_string(serviceList.size()) + " services");
+            
+            int filterStatus = -1; 
+            if (message.contains("param") && message["param"].contains("status")) {
+                filterStatus = message["param"]["status"];
+                LOG_INFO("Filtering services by status: " + std::to_string(filterStatus));
+            }
+            
+            printServiceList(serviceList, filterStatus);
+            return true;
+            
+        } else if (cmd == "switch") {
+            if (!message.contains("param") || 
+                !message["param"].contains("name") || 
+                !message["param"].contains("enable")) {
+                LOG_ERROR("Service switch command missing required parameters (name, enable)");
+                return false;
+            }
+            
+            std::string serviceName = message["param"]["name"];
+            bool enable = message["param"]["enable"];
+            
+            bool result = SwitchService(serviceName, enable);
+            if (result) {
+                LOG_INFO("Service switch completed successfully");
+            }
+            return result;
+            
+        } else {
+            LOG_ERROR("Unknown service command: " + cmd);
+            return false;
+        }
+        
+    } catch (const std::exception& e) {
+        LOG_ERROR("Error processing service cmd: " + std::string(e.what()));
+        return false;
+    }
+}
+
+void CustomRobot::printServiceList(const std::vector<unitree::robot::go2::ServiceState>& serviceList, int filterStatus) {
+    std::string filterDesc = "All Services";
+    if (filterStatus == 0) {
+        filterDesc = "INACTIVE Services Only";
+    } else if (filterStatus == 1) {
+        filterDesc = "ACTIVE Services Only";
+    }
+    
+    LOG_INFO("=== Service Status Report (" + filterDesc + ") ===");
+    
+    int matchCount = 0;
+    for (const auto& service : serviceList) {
+        if (filterStatus != -1 && service.status != filterStatus) {
+            continue;
+        }
+        std::string statusStr = (service.status == 1) ? "ACTIVE" : "INACTIVE";
+        
+        LOG_INFO("Service: " + service.name + " | Status: " + statusStr + " | Protect: " + 
+                (service.protect ? "YES" : "NO"));
+        matchCount++;
+    }
+    
+    if (filterStatus != -1) {
+        LOG_INFO("Found " + std::to_string(matchCount) + " services matching filter criteria");
+    }
+    
+    LOG_INFO("=== End Service Report ===");
+}
+
+
 bool CustomRobot::processSportCmd(const std::string& cmd, const nlohmann::json& message) {
     if (!controller_) {
         LOG_ERROR("Controller not initialized");
@@ -365,28 +446,6 @@ bool CustomRobot::processSportCmd(const std::string& cmd, const nlohmann::json&
     }
 }
 
-void CustomRobot::publishCmdResponse(const std::string& type, const std::string& cmd, bool success) {
-    if (!mqttClient_ || !mqttClient_->isConnected()) {
-        return;
-    }
-    
-    try {
-        nlohmann::json response;
-        response["type"] = type;
-        response["cmd"] = cmd;
-        response["success"] = success;
-        response["timestamp"] = std::time(nullptr);
-        
-        std::string responseTopic = config_.topic_prefix + "/response";
-        mqttClient_->publishJson(responseTopic, response, 1, false);
-        
-        LOG_DEBUG("Published command response: " + response.dump());
-        
-    } catch (const std::exception& e) {
-        LOG_ERROR("Failed to publish command response: " + std::string(e.what()));
-    }
-}
-
 std::string CustomRobot::generateRandomClientId() const {
     std::string baseId = config_.mqtt_client_id;
     
@@ -411,5 +470,4 @@ std::string CustomRobot::generateRandomClientId() const {
     return ss.str();
 }
 
-
 } // namespace custom