diff --git a/robot_client/robots/realman/motors_bus.py b/robot_client/robots/realman/motors_bus.py
index f02cf634..e6ae04f2 100644
--- a/robot_client/robots/realman/motors_bus.py
+++ b/robot_client/robots/realman/motors_bus.py
@@ -1,6 +1,6 @@
 import time
 from typing import Any, Dict
-from Robotic_Arm.rm_robot_interface import *
+from Robotic_Arm.rm_robot_interface import RoboticArm,rm_thread_mode_e
 from lerobot.motors import Motor, MotorCalibration, MotorsBus
 #动作执行成功
 ACTION_SUCCESS = 0
@@ -224,6 +224,7 @@ class RealmanMotorsBus(MotorsBus):
             values = list(actionData.values())
             for k,v in enumerate(self.init_pose):
                 self.init_pose[k]+=values[k]
+            print(f"init_pose:{self.init_pose[:-1]}")
             self.rmarm.rm_movej_p(self.init_pose[:-1], 50, 0, 0, 0)
             # self.init_pose[6]+=actionData['gripper']
             # self.rmarm.rm_set_gripper_position(int(self.init_pose[6]*1000), False, 0)
@@ -310,15 +311,15 @@ class RealmanMotorsBus(MotorsBus):
         return 0,self.motors[motor].id
 
     def _encode_sign(self, data_name, ids_values):
-        raise NotImplementedError
+        pass
 
     def _decode_sign(self, data_name, ids_values):
-        raise NotImplementedError
+        pass
 
     def _split_into_byte_chunks(self, value, length):
-        raise NotImplementedError
+        pass
 
     def broadcast_ping(self, num_retry = 0, raise_on_error = False):
-        raise NotImplementedError
+        pass
     def _handshake(self) -> None:
         pass
diff --git a/robot_client/teleoperators/xbox/xbox.py b/robot_client/teleoperators/xbox/xbox.py
index 7fd06610..044a1454 100644
--- a/robot_client/teleoperators/xbox/xbox.py
+++ b/robot_client/teleoperators/xbox/xbox.py
@@ -90,38 +90,36 @@ class Xbox(Teleoperator):
         hat_right = hat[0] == 1  # X+
         # print(f"方向键状态: up={hat_up}, down={hat_down}, left={hat_left}, right={hat_right}")
         # 计算各轴速度
-        pose_speeds['x.vel'] = -current_linear_step if hat_left else (current_linear_step if hat_right else 0.0)  # X
-        pose_speeds['y.vel'] = current_linear_step if hat_up else (-current_linear_step if hat_down else 0.0)  # Y
+        pose_speeds['x.vel'] = current_linear_step if hat_left else (-current_linear_step if hat_right else 0.0)  # X
+        pose_speeds['y.vel'] = -current_linear_step if hat_up else (current_linear_step if hat_down else 0.0)  # Y
 
-        # 左摇杆X轴
-        z_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(1))
-        print(f"Z轴非线性映射: {self.joystick.get_axis(1)} -> {z_mapping}")
-        pose_speeds['z.vel'] = z_mapping * current_angular_step * 2  # RY
+        # 左右扳机控制z轴
+        right_tiger = ((self.joystick.get_axis(5)+1)/2)
+        left_tiger = ((self.joystick.get_axis(4)+1)/2)
+        z_mapping = self.apply_nonlinear_mapping(left_tiger - right_tiger)
+        pose_speeds['z.vel'] = z_mapping * current_angular_step * 2
 
-        #左摇杆X轴控制RX旋转
+        #右摇杆X轴控制RX旋转
         # 设置RX旋转速度
         rx_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(2))
         # print(f"RX轴非线性映射: {x_axis} -> {rx_mapping}")
         pose_speeds['rx.vel'] = rx_mapping * current_angular_step * 2  # RX
 
-        # 左摇杆Y轴控制RY旋转
+        # 右摇杆Y轴控制RY旋转
         # 设置RY旋转速度
-        ry_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(3))
+        ry_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(3))
         # print(f"RY轴非线性映射: {y_axis} -> {ry_mapping}")
         pose_speeds['ry.vel'] = ry_mapping * current_angular_step * 2  # RY
     
-        # 左右扳机控制RZ旋转
+        # 左摇杆X轴RZ旋转
         # 设置RZ旋转速度
-        right_tiger = ((self.joystick.get_axis(5)+1)/2)
-        left_tiger = ((self.joystick.get_axis(4)+1)/2)
-        print(f"左右扳机: {left_tiger} {right_tiger}")
-        rz_mapping = self.apply_nonlinear_mapping(left_tiger - right_tiger)
+        rz_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(0))
         # print(f"RZ轴非线性映射: {z_axis} -> {rz_mapping}")
         pose_speeds['rz.vel'] = rz_mapping * current_angular_step * 2  # RZ
 
-        # 右摇杆Y轴控制夹爪
+        # 左摇杆Y轴控制夹爪
         # 设置夹爪开合速度
-        gripper_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(0))
+        gripper_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(1))
         # print(f"gripper轴非线性映射: {self.joystick.get_axis(0)} -> {gripper_mapping}")
         pose_speeds['gripper.vel'] = gripper_mapping * current_angular_step * 2  # RY
         
diff --git a/test.py b/test.py
index 9f1f3dca..47df3ba5 100644
--- a/test.py
+++ b/test.py
@@ -1,10 +1,18 @@
 import time
-from Robotic_Arm.rm_robot_interface import *
+import pygame
 if __name__=="__main__":
-    rmarm = RoboticArm(rm_thread_mode_e.RM_DUAL_MODE_E)
-    rmarm.rm_create_robot_arm("192.168.3.18", 8080)
-    rmarm.rm_set_arm_run_mode(0)
+    pygame.init()
+    pygame.joystick.init()
+    joystick = pygame.joystick.Joystick(0)
+    print(joystick.get_name())
     while True:
-        ret = rmarm.rm_get_arm_software_info()
-        print(ret)
-        time.sleep(1)
\ No newline at end of file
+        pygame.event.wait()
+        a={
+            "leftx":joystick.get_axis(0),
+           "lefty":joystick.get_axis(1),
+            "rightx":joystick.get_axis(2),
+           "righty":joystick.get_axis(3),
+           "left_bj":joystick.get_axis(4),
+           "right_bj":joystick.get_axis(5),
+        }
+        print(a)
\ No newline at end of file