diff --git a/unitree_sdk2py/g1/status/g1_health_api.py b/unitree_sdk2py/g1/status/g1_health_api.py
new file mode 100644
index 0000000..825b8ca
--- /dev/null
+++ b/unitree_sdk2py/g1/status/g1_health_api.py
@@ -0,0 +1,14 @@
+"""
+" service name
+"""
+HEALTH_SERVICE_NAME = "health"
+
+"""
+" service api version
+"""
+HEALTH_API_VERSION = "1.0.0"
+
+"""
+" api id
+"""
+ROBOT_API_ID_GET_HEALTH_STATUS = 9001
\ No newline at end of file
diff --git a/unitree_sdk2py/g1/status/g1_health_client.py b/unitree_sdk2py/g1/status/g1_health_client.py
new file mode 100644
index 0000000..cb85a26
--- /dev/null
+++ b/unitree_sdk2py/g1/status/g1_health_client.py
@@ -0,0 +1,18 @@
+import json
+from ...rpc.client import Client
+from .g1_health_api import *
+
+class G1HealthClient(Client):
+    def __init__(self):
+        super().__init__(HEALTH_SERVICE_NAME, False)
+        self._SetApiVerson(HEALTH_API_VERSION)
+        self._RegistApi(ROBOT_API_ID_GET_HEALTH_STATUS, 0)
+
+    def GetHealthStatus(self):
+        p = {}
+        parameter = json.dumps(p)
+        code, data = self._Call(ROBOT_API_ID_GET_HEALTH_STATUS, parameter)
+        if code == 0:
+            return code, json.loads(data)
+        else:
+            return code, None
\ No newline at end of file
diff --git a/unitree_sdk2py/g1/visual_feedback/__init__.py b/unitree_sdk2py/g1/visual_feedback/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/unitree_sdk2py/g1/visual_feedback/visual_feedback_api.py b/unitree_sdk2py/g1/visual_feedback/visual_feedback_api.py
new file mode 100644
index 0000000..cb6d33d
--- /dev/null
+++ b/unitree_sdk2py/g1/visual_feedback/visual_feedback_api.py
@@ -0,0 +1,16 @@
+"""
+Visual Feedback API for G1 robot.
+Defines sensor data structures and threshold values for obstacle detection.
+"""
+
+# Threshold distances in meters
+SAFE_DISTANCE = 1.5   # Green zone
+WARNING_DISTANCE = 0.7 # Yellow zone
+CRITICAL_DISTANCE = 0.3 # Red zone
+
+# Display colors
+DISPLAY_COLORS = {
+    "SAFE": "GREEN",
+    "WARNING": "YELLOW",
+    "CRITICAL": "RED"
+}
\ No newline at end of file
diff --git a/unitree_sdk2py/g1/visual_feedback/visual_feedback_client.py b/unitree_sdk2py/g1/visual_feedback/visual_feedback_client.py
new file mode 100644
index 0000000..87193bd
--- /dev/null
+++ b/unitree_sdk2py/g1/visual_feedback/visual_feedback_client.py
@@ -0,0 +1,48 @@
+"""
+Visual Feedback Client
+Processes sensor data and provides visual feedback to the user.
+"""
+
+import time
+import random  # Simulated sensor data
+from .visual_feedback_api import SAFE_DISTANCE, WARNING_DISTANCE, CRITICAL_DISTANCE, DISPLAY_COLORS
+
+class VisualFeedbackClient:
+    def __init__(self):
+        self.initialized = False
+
+    def initialize(self):
+        # Initialize sensors or connections if needed
+        self.initialized = True
+        print("Visual Feedback Client initialized.")
+
+    def get_obstacle_distance(self):
+        """
+        Simulate reading distance from sensors.
+        Replace with actual sensor reading in real implementation.
+        """
+        # Random distance between 0.1 and 2.0 meters
+        return round(random.uniform(0.1, 2.0), 2)
+
+    def update_display(self, distance: float):
+        """
+        Update visual feedback based on distance
+        """
+        if distance >= SAFE_DISTANCE:
+            color = DISPLAY_COLORS["SAFE"]
+        elif distance >= WARNING_DISTANCE:
+            color = DISPLAY_COLORS["WARNING"]
+        else:
+            color = DISPLAY_COLORS["CRITICAL"]
+
+        # In real robot: send command to LED/display
+        print(f"[Visual Feedback] Distance: {distance} m → {color}")
+
+# Example usage
+if __name__ == "__main__":
+    client = VisualFeedbackClient()
+    client.initialize()
+    while True:
+        d = client.get_obstacle_distance()
+        client.update_display(d)
+        time.sleep(1)
diff --git a/unitree_sdk2py/g1/voice_control/__init__.py b/unitree_sdk2py/g1/voice_control/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/unitree_sdk2py/g1/voice_control/vui_client.py b/unitree_sdk2py/g1/voice_control/vui_client.py
new file mode 100644
index 0000000..cf8f245
--- /dev/null
+++ b/unitree_sdk2py/g1/voice_control/vui_client.py
@@ -0,0 +1,37 @@
+"""
+VUIClient starter module
+Processes voice commands and sends them to the robot
+"""
+
+from .vui_client_api import VOICE_COMMANDS
+import random  # Simülate
+
+class VUIClient:
+    def __init__(self):
+        self.initialized = False
+
+    def initialize(self):
+        # Initialize voice recognition system (placeholder)
+        self.initialized = True
+        print("VUI Client initialized.")
+
+    def listen_command(self):
+        """
+        Simulate listening to a voice command.
+        Replace with actual voice recognition in real implementation.
+        """
+        return random.choice(list(VOICE_COMMANDS.keys()))
+
+    def execute_command(self, command):
+        if command in VOICE_COMMANDS:
+            print(f"[Voice Command] Executing: {VOICE_COMMANDS[command]}")
+        else:
+            print(f"[Voice Command] Unknown command: {command}")
+
+# Example usage
+if __name__ == "__main__":
+    client = VUIClient()
+    client.initialize()
+    while True:
+        cmd = client.listen_command()
+        client.execute_command(cmd)
diff --git a/unitree_sdk2py/g1/voice_control/vui_client_api.py b/unitree_sdk2py/g1/voice_control/vui_client_api.py
new file mode 100644
index 0000000..f80e44b
--- /dev/null
+++ b/unitree_sdk2py/g1/voice_control/vui_client_api.py
@@ -0,0 +1,13 @@
+"""
+VUIClient API for G1 robot.
+Defines command structure and supported voice commands.
+"""
+
+# Supported commands
+VOICE_COMMANDS = {
+    "move_forward": "Move forward",
+    "move_backward": "Move backward",
+    "turn_left": "Turn left",
+    "turn_right": "Turn right",
+    "stop": "Stop"
+}