diff --git a/unitree_sdk2_python-master/example/g1/audio/g1_audio_to_wav.py b/unitree_sdk2_python-master/example/g1/audio/g1_audio_to_wav.py
new file mode 100644
index 0000000..88b8c58
--- /dev/null
+++ b/unitree_sdk2_python-master/example/g1/audio/g1_audio_to_wav.py
@@ -0,0 +1,277 @@
+#!/usr/bin/env python3
+import sys
+import time
+import socket
+import struct
+import threading
+import wave
+import numpy as np
+from typing import List, Tuple, Optional
+
+# 常量定义
+AUDIO_FILE_PATH = "../example/g1/audio/test.wav"
+AUDIO_SUBSCRIBE_TOPIC = "rt/audio_msg"
+GROUP_IP = "239.168.123.161"
+PORT = 5555
+
+WAV_SECOND = 5
+WAV_LEN = 16000 * 2 * WAV_SECOND
+
+class WavHandler:
+    """WAV文件处理类"""
+    
+    @staticmethod
+    def read_wave(file_path: str) -> Tuple[Optional[List[bytes]], int, int, bool]:
+        """读取WAV文件"""
+        try:
+            with wave.open(file_path, 'rb') as wav_file:
+                sample_rate = wav_file.getframerate()
+                num_channels = wav_file.getnchannels()
+                frames = wav_file.readframes(wav_file.getnframes())
+                
+                # 转换为字节列表
+                pcm_data = list(frames)
+                return pcm_data, sample_rate, num_channels, True
+        except Exception as e:
+            print(f"读取WAV文件失败: {e}")
+            return None, -1, 0, False
+    
+    @staticmethod
+    def write_wave(file_path: str, sample_rate: int, pcm_data: List[int], 
+                   sample_count: int, num_channels: int) -> bool:
+        """写入WAV文件"""
+        try:
+            with wave.open(file_path, 'wb') as wav_file:
+                wav_file.setnchannels(num_channels)
+                wav_file.setsampwidth(2)  # 16位
+                wav_file.setframerate(sample_rate)
+                
+                # 转换int16数据为bytes
+                pcm_bytes = struct.pack('<' + 'h' * len(pcm_data), *pcm_data)
+                wav_file.writeframes(pcm_bytes)
+            return True
+        except Exception as e:
+            print(f"写入WAV文件失败: {e}")
+            return False
+
+class G1AudioClient:
+    """Unitree G1音频客户端"""
+    
+    def __init__(self):
+        self.timeout = 10.0
+        self.volume = 50
+        
+    def init(self) -> bool:
+        """初始化客户端"""
+        print("G1AudioClient 初始化完成")
+        return True
+    
+    def set_timeout(self, timeout: float):
+        """设置超时时间"""
+        self.timeout = timeout
+    
+    def get_volume(self) -> Tuple[int, int]:
+        """获取音量"""
+        # 模拟API调用
+        return 0, self.volume
+    
+    def set_volume(self, volume: int) -> int:
+        """设置音量"""
+        try:
+            if 0 <= volume <= 100:
+                self.volume = volume
+                return 0  # 成功
+            return -1  # 参数错误
+        except Exception:
+            return -1
+    
+    def tts_maker(self, text: str, language: int = 0) -> int:
+        """文字转语音"""
+        try:
+            lang_str = "中文" if language == 0 else "英文"
+            print(f"TTS播放 ({lang_str}): {text}")
+            # 这里应该调用实际的TTS API
+            return 0
+        except Exception as e:
+            print(f"TTS失败: {e}")
+            return -1
+    
+    def play_stream(self, stream_name: str, timestamp: str, pcm_data: List[bytes]) -> int:
+        """播放音频流"""
+        try:
+            print(f"开始播放音频流: {stream_name}, 时间戳: {timestamp}")
+            print(f"PCM数据大小: {len(pcm_data)} 字节")
+            # 这里应该调用实际的音频播放API
+            return 0
+        except Exception as e:
+            print(f"播放音频流失败: {e}")
+            return -1
+    
+    def play_stop(self, stream_name: str) -> int:
+        """停止播放"""
+        try:
+            print(f"停止播放音频流: {stream_name}")
+            # 这里应该调用实际的停止播放API
+            return 0
+        except Exception as e:
+            print(f"停止播放失败: {e}")
+            return -1
+    
+    def led_control(self, r: int, g: int, b: int) -> int:
+        """LED控制"""
+        try:
+            print(f"LED控制 - R:{r}, G:{g}, B:{b}")
+            # 这里应该调用实际的LED控制API
+            return 0
+        except Exception as e:
+            print(f"LED控制失败: {e}")
+            return -1
+
+class AudioSubscriber:
+    """音频消息订阅器"""
+    
+    def __init__(self, topic: str):
+        self.topic = topic
+        self.running = False
+    
+    def init_channel(self, callback):
+        """初始化通道"""
+        self.callback = callback
+        self.running = True
+        print(f"音频订阅器初始化完成，主题: {self.topic}")
+    
+    def asr_handler(self, message: str):
+        """ASR消息处理器"""
+        if self.callback:
+            self.callback(message)
+
+def asr_handler(message: str):
+    """ASR消息处理函数"""
+    print(f'Topic:"{AUDIO_SUBSCRIBE_TOPIC}" recv: {message}')
+
+def thread_mic():
+    """麦克风录音线程"""
+    try:
+        # 创建UDP socket
+        sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        
+        # 绑定到本地地址
+        local_addr = ('', PORT)
+        sock.bind(local_addr)
+        
+        # 加入组播组
+        mreq = struct.pack('4sl', socket.inet_aton(GROUP_IP), socket.INADDR_ANY)
+        sock.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, mreq)
+        
+        total_bytes = 0
+        pcm_data = []
+        
+        print("开始录音!")
+        
+        while total_bytes < WAV_LEN:
+            try:
+                buffer, addr = sock.recvfrom(2048)
+                if len(buffer) > 0:
+                    # 将字节数据转换为int16样本
+                    sample_count = len(buffer) // 2
+                    samples = struct.unpack('<' + 'h' * sample_count, buffer[:sample_count * 2])
+                    pcm_data.extend(samples)
+                    total_bytes += len(buffer)
+            except socket.timeout:
+                continue
+            except Exception as e:
+                print(f"接收数据错误: {e}")
+                break
+        
+        # 保存录音文件
+        if WavHandler.write_wave("record.wav", 16000, pcm_data, len(pcm_data), 1):
+            print("录音完成! 保存到 record.wav")
+        else:
+            print("保存录音文件失败")
+            
+    except Exception as e:
+        print(f"录音线程错误: {e}")
+    finally:
+        if 'sock' in locals():
+            sock.close()
+
+def get_current_time_millisecond() -> int:
+    """获取当前时间戳(毫秒)"""
+    return int(time.time() * 1000)
+
+def main():
+    if len(sys.argv) < 2:
+        print("用法: python audio_client_example.py [NetworkInterface(eth0)]")
+        sys.exit(0)
+    
+    network_interface = sys.argv[1]
+    print(f"使用网络接口: {network_interface}")
+    
+    # 初始化通道工厂（在实际实现中需要）
+    print("初始化ChannelFactory...")
+    
+    # 创建音频客户端
+    client = G1AudioClient()
+    client.init()
+    client.set_timeout(10.0)
+    
+    # ASR消息订阅示例
+    subscriber = AudioSubscriber(AUDIO_SUBSCRIBE_TOPIC)
+    subscriber.init_channel(asr_handler)
+    
+    # 音量控制示例
+    ret, volume = client.get_volume()
+    print(f"GetVolume API ret:{ret}  volume = {volume}")
+    
+    ret = client.set_volume(100)
+    print(f"SetVolume to 100% , API ret:{ret}")
+    
+    # TTS示例
+    ret = client.tts_maker("你好。我是宇树科技的机器人。例程启动成功", 0)  # 自动播放
+    print(f"TtsMaker API ret:{ret}")
+    time.sleep(5)
+    
+    ret = client.tts_maker(
+        "Hello. I'm a robot from Unitree Robotics. The example has started successfully. ", 
+        1)  # 英文TTS
+    print(f"TtsMaker API ret:{ret}")
+    time.sleep(8)
+    
+    # 音频播放示例
+    pcm_data, sample_rate, num_channels, file_state = WavHandler.read_wave(AUDIO_FILE_PATH)
+    
+    print(f"wav文件 sample_rate = {sample_rate} num_channels = {num_channels} filestate = {file_state}")
+    
+    if file_state and sample_rate == 16000 and num_channels == 1:
+        timestamp = str(get_current_time_millisecond())
+        client.play_stream("example", timestamp, pcm_data)
+        print("开始播放音频流")
+        time.sleep(3)
+        print("停止播放音频流")
+        ret = client.play_stop("example")
+    else:
+        print("音频文件格式错误，请检查!")
+    
+    # LED控制示例
+    client.led_control(0, 255, 0)  # 绿色
+    time.sleep(1)
+    client.led_control(0, 0, 0)    # 关闭
+    time.sleep(1)
+    client.led_control(0, 0, 255)  # 蓝色
+    
+    print("AudioClient api测试完成，ASR开始...")
+    
+    # 启动麦克风录音线程
+    mic_thread = threading.Thread(target=thread_mic)
+    mic_thread.daemon = True
+    mic_thread.start()
+    
+    try:
+        while True:
+            time.sleep(1)  # 等待ASR消息
+    except KeyboardInterrupt:
+        print("\n程序退出")
+        sys.exit(0)
+
+if __name__ == "__main__":
+    main()
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