diff --git a/lerobot/common/robot_devices/motors/realman_dual.py b/lerobot/common/robot_devices/motors/realman_dual.py
index cc293b73..2d2f04d9 100644
--- a/lerobot/common/robot_devices/motors/realman_dual.py
+++ b/lerobot/common/robot_devices/motors/realman_dual.py
@@ -1,31 +1,117 @@
 import time
+import threading
 from typing import Dict
+from dataclasses import dataclass
+from contextlib import contextmanager
 from lerobot.common.robot_devices.motors.configs import RealmanDualMotorsBusConfig
 from Robotic_Arm.rm_robot_interface import *
 
 
+def compare_joint_difference(master_joints, follow_joints, threshold=30.0):
+    """
+    比较主臂和从臂关节数据的差异
+    
+    Args:
+        master_joints (list): 主臂关节数据 [joint1, joint2, ..., joint6]
+        follow_joints (list): 从臂关节数据 [joint1, joint2, ..., joint6]
+        threshold (float): 差异阈值（度），默认5度
+    
+    Returns:
+        bool: True表示差异在阈值内，False表示超过阈值
+    """
+    # 检查数据长度
+    if len(master_joints) != len(follow_joints):
+        return False
+    
+    # 计算每个关节的绝对差异
+    for i in range(len(master_joints)):
+        diff = abs(master_joints[i] - follow_joints[i])
+        if diff > threshold:
+            return False
+    
+    return True
+
+
+@dataclass
+class ArmState:
+    """机械臂状态数据类"""
+    joint_positions: list
+    gripper_position: int
+    pose: list
+
+
 class RealmanDualMotorsBus:
     """
         对Realman SDK的二次封装
     """
-    def __init__(self, 
-                 config: RealmanDualMotorsBusConfig):
+    def __init__(self, config: RealmanDualMotorsBusConfig):
+        self.config = config
+        self._initialize_arms()
+        self._initialize_parameters()
+        self._initialize_positions()
+        self._initialize_threading()
+        
+    def _initialize_arms(self):
+        """初始化机械臂连接"""
         self.left_rmarm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
         self.right_rmarm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
-        self.handle_left = self.left_rmarm.rm_create_robot_arm(config.left_ip, config.left_port)
-        self.handle_right = self.right_rmarm.rm_create_robot_arm(config.right_ip, config.right_port)
-        self.motors = config.motors
-        self.axis = config.axis
-        self.joint_count = self.axis['left_joint']+self.axis['left_gripper'] + self.axis['right_joint'] + self.axis['right_gripper']
-        self.init_joint_position = config.init_joint['joint'] # [6 joints + 1 gripper + 6 joints + 1 gripper]
-        self.safe_disable_position = config.init_joint['joint']
+        self.handle_left = self.left_rmarm.rm_create_robot_arm(
+            self.config.left_ip, self.config.left_port
+        )
+        self.handle_right = self.right_rmarm.rm_create_robot_arm(
+            self.config.right_ip, self.config.right_port
+        )
+        
+    def _initialize_parameters(self):
+        """初始化参数"""
+        self.motors = self.config.motors
+        self.axis = self.config.axis
+        self.joint_count = sum(self.axis.values())
         self.left_offset = self.axis['left_joint']
-        self.left_rmarm.rm_movej(self.init_joint_position[:self.left_offset], 5, 0, 0, 1)
-        self.right_rmarm.rm_movej(self.init_joint_position[self.left_offset+1:-1], 5, 0, 0, 1)
+        
+    def _initialize_positions(self):
+        """初始化位置"""
+        self.init_joint_position = self.config.init_joint['joint']
+        self.safe_disable_position = self.config.init_joint['joint']
+        
+        # 移动到初始位置
+        self._move_to_initial_position()
+        
+        # 获取初始姿态
         time.sleep(3)
-        left_ret = self.left_rmarm.rm_get_current_arm_state()
-        right_ret = self.right_rmarm.rm_get_current_arm_state()
-        self.init_pose = left_ret[1]['pose'] + right_ret[1]['pose']
+        self.init_pose = self._get_initial_pose()
+        
+    def _initialize_threading(self):
+        """初始化线程控制"""
+        self.left_slow_busy = False
+        self.right_slow_busy = False
+        self._thread_lock = threading.Lock()
+
+        # 添加读取相关的线程控制
+        self._state_cache = {}
+        self._cache_lock = threading.Lock()
+        self._keep_reading = True
+        
+        # 启动后台读取线程
+        self._start_background_readers()
+
+    def _start_background_readers(self):
+        """启动后台读取线程"""
+        # 左臂读取线程
+        threading.Thread(
+            target=self._left_read_task,
+            daemon=True,
+            name="left_arm_reader"
+        ).start()
+        
+        # 右臂读取线程
+        threading.Thread(
+            target=self._right_read_task,
+            daemon=True,
+            name="right_arm_reader"
+        ).start()
+    
+
 
     @property
     def motor_names(self) -> list[str]:
@@ -39,75 +125,115 @@ class RealmanDualMotorsBus:
     def motor_indices(self) -> list[int]:
         return [idx for idx, _ in self.motors.values()]
 
-
-    def connect(self, enable=True) -> bool:
-        '''
-        使能机械臂并检测使能状态,尝试5s,如果使能超时则退出程序
-        '''
-        enable_flag = False
-        loop_flag = False
-        # 设置超时时间（秒）
-        timeout = 5
-        # 记录进入循环前的时间
+    @contextmanager
+    def _timeout_context(self, timeout: float = 5.0):
+        """超时上下文管理器"""
         start_time = time.time()
-        elapsed_time_flag = False
+        try:
+            yield lambda: time.time() - start_time < timeout
+        except Exception as e:
+            raise TimeoutError(f"操作超时: {e}")
+
+    def _left_read_task(self):
+        """左臂后台读取任务 - 模仿_left_slow_task的风格"""
+        while self._keep_reading:
+            try:
+                left_state = self._read_arm_state(self.left_rmarm, "left")
+                with self._cache_lock:
+                    self._state_cache.update(left_state)
+            except Exception as e:
+                print(f"左臂读取失败: {e}")
+            time.sleep(0.005)
+
+    def _right_read_task(self):
+        """右臂后台读取任务 - 模仿_right_slow_task的风格"""
+        while self._keep_reading:
+            try:
+                right_state = self._read_arm_state(self.right_rmarm, "right")
+                with self._cache_lock:
+                    self._state_cache.update(right_state)
+            except Exception as e:
+                print(f"右臂读取失败: {e}")
+            time.sleep(0.005)
+    
+    def _read_arm_state(self, arm: RoboticArm, prefix: str) -> dict:
+        """读取单臂状态 - 保持原有逻辑"""
+        joint_msg = arm.rm_get_current_arm_state()[1]
+        gripper_msg = arm.rm_get_gripper_state()[1]
         
-        while not loop_flag:
-            elapsed_time = time.time() - start_time
-            print("--------------------")
+        joint_state = joint_msg['joint']
+        gripper_state = gripper_msg['actpos']
+        
+        state_dict = {}
+        for i in range(6):
+            state_dict[f"{prefix}_joint_{i+1}"] = joint_state[i] / 180
+        state_dict[f"{prefix}_gripper"] = (gripper_state - 500) / 500
+        return state_dict
+
+    def _move_to_initial_position(self):
+        """移动到初始位置"""
+        left_joints = self.init_joint_position[:self.left_offset]
+        right_joints = self.init_joint_position[self.left_offset+1:-1]
+        
+        self.left_rmarm.rm_movej(left_joints, 5, 0, 0, 1)
+        self.right_rmarm.rm_movej(right_joints, 5, 0, 0, 1)
+        
+    def _get_initial_pose(self) -> list:
+        """获取初始姿态"""
+        left_ret = self.left_rmarm.rm_get_current_arm_state()
+        right_ret = self.right_rmarm.rm_get_current_arm_state()
+        return left_ret[1]['pose'] + right_ret[1]['pose']
+
+    def _validate_joint_count(self, joints: list, expected_count: int):
+        """验证关节数量"""
+        if len(joints) != expected_count:
+            raise ValueError(f"关节数量不匹配: 期望 {expected_count}, 实际 {len(joints)}")
+
+    def _extract_joint_state(self, state: dict, arm_prefix: str) -> list:
+        """提取关节状态"""
+        return [state[v] * 180 for v in state if f"{arm_prefix}" in v]
+
+    def _execute_slow_movement(self, arm: str, joint_data: list):
+        """执行慢速运动"""
+        busy_flag = f"{arm}_slow_busy"
+        
+        if not getattr(self, busy_flag):
+            setattr(self, busy_flag, True)
             
-            if enable:
-                # 获取机械臂状态
-                left_ret = self.left_rmarm.rm_get_current_arm_state()
-                right_ret = self.right_rmarm.rm_get_current_arm_state()
-                if left_ret[0] == 0 and right_ret[0] == 0:  # 成功获取状态
-                    enable_flag = True
+            target_method = getattr(self, f"_{arm}_slow_task")
+            threading.Thread(
+                target=target_method,
+                args=(joint_data.copy(),),
+                daemon=True
+            ).start()
+
+    def _left_slow_task(self, joint_data: list):
+        """左臂慢速任务"""
+        try:
+            self.write_left_joint_slow(joint_data)
+        finally:
+            self.left_slow_busy = False
+
+    def _right_slow_task(self, joint_data: list):
+        """右臂慢速任务"""
+        try:
+            self.write_right_joint_slow(joint_data)
+        finally:
+            self.right_slow_busy = False
+
+    def _execute_arm_action(self, arm: str, action: dict, master_joint: list, follow_joint: list):
+        """执行单臂动作"""
+        controller_status = action['master_controller_status'][arm]
+        
+        if controller_status['infrared'] == 1:
+            if compare_joint_difference(master_joint, follow_joint):
+                if arm == 'left':
+                    self.write_left_joint_canfd(master_joint)
+                else:
+                    self.write_right_joint_canfd(master_joint)
             else:
-                enable_flag = False
-                # 断开所有连接，销毁线程
-                RoboticArm.rm_destory()
-            print("使能状态:", enable_flag)
-            print("--------------------")
-            if(enable_flag == enable):
-                loop_flag = True
-                enable_flag = True
-            else: 
-                loop_flag = False
-                enable_flag = False
-            # 检查是否超过超时时间
-            if elapsed_time > timeout:
-                print("超时....")
-                elapsed_time_flag = True
-                enable_flag = True
-                break
-            time.sleep(1)
+                self._execute_slow_movement(arm, master_joint)
 
-        resp = enable_flag
-        print(f"Returning response: {resp}")
-        return resp
-    
-    def motor_names(self):
-        return
-
-    def set_calibration(self):
-        return
-    
-    def revert_calibration(self):
-        return
-
-    def apply_calibration(self):
-        """
-            移动到初始位置
-        """
-        self.write(target_joint=self.init_joint_position)
-
-    def write(self, target_joint: list):
-        assert len(target_joint) == self.joint_count, "len of target joint is not equal the count of joint"
-        self.left_rmarm.rm_movej_follow(target_joint[:self.left_offset])
-        self.left_rmarm.rm_set_gripper_position(target_joint[self.left_offset], block=False, timeout=2)
-        self.right_rmarm.rm_movej_follow(target_joint[self.left_offset+1:-1])
-        self.right_rmarm.rm_set_gripper_position(target_joint[-1], block=False, timeout=2)
-    
     def write_endpose(self, target_endpose: list):
         assert target_endpose == 12, "the length of target pose is not equal 12"
         self.left_rmarm.rm_movej_p(target_endpose[:6], 50, 0, 0, 1)
@@ -115,18 +241,16 @@ class RealmanDualMotorsBus:
 
     def write_left_joint_slow(self, left_joint: list):
         assert len(left_joint) == self.left_offset, "len of left master joint is not equal the count of left joint"
-        self.left_rmarm.rm_movej(left_joint, 5, 0, 0, 0)
-        # self.left_rmarm.rm_movej_follow(left_joint)
+        self.left_rmarm.rm_movej(left_joint, 5, 0, 0, 1)
     
     def write_right_joint_slow(self, right_joint: list):
         assert len(right_joint) == self.left_offset, "len of right master joint is not equal the count of right joint"
-        self.right_rmarm.rm_movej(right_joint, 5, 0, 0, 0)
-        # self.right_rmarm.rm_movej_follow(right_joint)
+        self.right_rmarm.rm_movej(right_joint, 5, 0, 0, 1)
 
     def write_left_joint_canfd(self, left_joint: list):
         assert len(left_joint) == self.left_offset, "len of left master joint is not equal the count of left joint"
         self.left_rmarm.rm_movej_canfd(left_joint, False)
-
+        
     def write_right_joint_canfd(self, right_joint: list):
         assert len(right_joint) == self.left_offset, "len of right master joint is not equal the count of right joint"
         self.right_rmarm.rm_movej_canfd(right_joint, False)
@@ -140,48 +264,91 @@ class RealmanDualMotorsBus:
         self.left_rmarm.rm_set_gripper_position(left_gripper, False, 2)
         self.right_rmarm.rm_set_gripper_position(right_gripper, False, 2)
 
-    def read(self) -> Dict:
-        """
-            - 机械臂关节消息,单位1度;[-1, 1]
-            - 机械臂夹爪消息,[-1, 1]
-        """
-        left_joint_msg = self.left_rmarm.rm_get_current_arm_state()[1]
-        left_joint_state = left_joint_msg['joint']
-        right_joint_msg = self.right_rmarm.rm_get_current_arm_state()[1]
-        right_joint_state = right_joint_msg['joint']
-
-        left_gripper_msg = self.left_rmarm.rm_get_gripper_state()[1]
-        left_gripper_state = left_gripper_msg['actpos']
-        right_gripper_msg = self.right_rmarm.rm_get_gripper_state()[1]
-        right_gripper_state = right_gripper_msg['actpos']
-        
-        return {
-            "left_joint_1": left_joint_state[0]/180,
-            "left_joint_2": left_joint_state[1]/180,
-            "left_joint_3": left_joint_state[2]/180,
-            "left_joint_4": left_joint_state[3]/180,
-            "left_joint_5": left_joint_state[4]/180,
-            "left_joint_6": left_joint_state[5]/180,
-            "left_gripper": (left_gripper_state-500)/500,
-            "right_joint_1": right_joint_state[0]/180,
-            "right_joint_2": right_joint_state[1]/180,
-            "right_joint_3": right_joint_state[2]/180,
-            "right_joint_4": right_joint_state[3]/180,
-            "right_joint_5": right_joint_state[4]/180,
-            "right_joint_6": right_joint_state[5]/180,
-            "right_gripper": (right_gripper_state-500)/500
-        }
-    
     def read_current_arm_joint_state(self):
         return self.left_rmarm.rm_get_current_arm_state()[1]['joint'] + self.right_rmarm.rm_get_current_arm_state()[1]['joint']
     
     def read_current_arm_endpose_state(self):
         return self.left_rmarm.rm_get_current_arm_state()[1]['pose'] + self.right_rmarm.rm_get_current_arm_state()[1]['pose']
+    
+    ########################## lerobot function ##########################
 
-    def safe_disconnect(self):
-        """ 
-            Move to safe disconnect position
+    def connect(self, enable: bool = True) -> bool:
+        """使能机械臂并检测使能状态"""
+        with self._timeout_context() as is_timeout_valid:
+            while is_timeout_valid():
+                try:
+                    if enable:
+                        left_ret = self.left_rmarm.rm_get_current_arm_state()
+                        right_ret = self.right_rmarm.rm_get_current_arm_state()
+                        if left_ret[0] == 0 and right_ret[0] == 0:
+                            print("机械臂使能成功")
+                            return True
+                    else:
+                        RoboticArm.rm_destory()
+                        print("机械臂断开连接")
+                        return True
+                except Exception as e:
+                    print(f"连接异常: {e}")
+                time.sleep(1)
+        print("连接超时")
+        return False
+
+    def set_calibration(self):
+        raise NotImplementedError
+    
+    def revert_calibration(self):
+        raise NotImplementedError
+
+    def apply_calibration(self):
         """
-        self.write(target_joint=self.safe_disable_position)
-        # 断开所有连接，销毁线程
-        RoboticArm.rm_destory()
\ No newline at end of file
+            移动到初始位置
+        """
+        self.write(target_joint=self.init_joint_position)
+
+    def write(self, target_joint: list):
+        """写入关节位置"""
+        self._validate_joint_count(target_joint, self.joint_count)
+        
+        left_joints = target_joint[:self.left_offset]
+        left_gripper = target_joint[self.left_offset]
+        right_joints = target_joint[self.left_offset+1:-1]
+        right_gripper = target_joint[-1]
+        
+        self.left_rmarm.rm_movej_follow(left_joints)
+        self.left_rmarm.rm_set_gripper_position(left_gripper, block=False, timeout=2)
+        self.right_rmarm.rm_movej_follow(right_joints)
+        self.right_rmarm.rm_set_gripper_position(right_gripper, block=False, timeout=2)
+    
+    def write_action(self, action: dict, state: dict):
+        # 提取状态数据
+        follow_left_joint = self._extract_joint_state(state, "left_joint")
+        follow_right_joint = self._extract_joint_state(state, "right_joint")
+
+        # 提取动作数据
+        master_left_joint = action['left_joint_actions']
+        master_right_joint = action['right_joint_actions']
+        left_gripper = int(action['left_gripper_actions'] * 1000)
+        right_gripper = int(action['right_gripper_actions'] * 1000)
+        # 执行夹爪动作
+        self.write_dual_gripper(left_gripper, right_gripper)
+        
+        # 执行关节动作
+        self._execute_arm_action('left', action, master_left_joint, follow_left_joint)
+        self._execute_arm_action('right', action, master_right_joint, follow_right_joint)
+
+    def read(self) -> Dict:
+        """读取机械臂状态 - 直接从缓存获取"""
+        with self._cache_lock:
+            return self._state_cache.copy()
+    
+    def safe_disconnect(self):
+        """安全断开连接"""
+        try:
+            self.write(target_joint=self.safe_disable_position)
+            time.sleep(2)  # 等待移动完成
+        except Exception as e:
+            print(f"移动到安全位置失败: {e}")
+        finally:
+            RoboticArm.rm_destory()
+
+    ########################## lerobot function ##########################
\ No newline at end of file
diff --git a/lerobot/common/robot_devices/robots/configs.py b/lerobot/common/robot_devices/robots/configs.py
index 5beece4a..74e6f853 100644
--- a/lerobot/common/robot_devices/robots/configs.py
+++ b/lerobot/common/robot_devices/robots/configs.py
@@ -765,7 +765,7 @@ class RealmanDualRobotConfig(RobotConfig):
                 left_port = 8080,
                 right_ip = "192.168.3.19",
                 right_port = 8080,
-                init_joint = {'joint': [-175, 90, 90, 45, 90, -90, 10, 175, 90, 90, -45, 90, 90, 10]},
+                init_joint = {'joint': [-170, 90, 0, 90, 120, 0, 10, 170, 90, 0, -90, 120, 0, 10]},
                 motors={
                     # name: (index, model)
                     "left_joint_1": [1, "realman"],
diff --git a/lerobot/common/robot_devices/robots/realman_dual.py b/lerobot/common/robot_devices/robots/realman_dual.py
index 99f4ec80..ce0e29e3 100644
--- a/lerobot/common/robot_devices/robots/realman_dual.py
+++ b/lerobot/common/robot_devices/robots/realman_dual.py
@@ -5,6 +5,8 @@
 import time
 import torch
 import numpy as np
+import logging
+from typing import Optional, Tuple, Dict
 from dataclasses import dataclass, field, replace
 from collections import deque
 from lerobot.common.robot_devices.teleop.gamepad_dual import HybridController
@@ -14,6 +16,7 @@ from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError,
 from lerobot.common.robot_devices.robots.configs import RealmanDualRobotConfig
 
 
+
 class RealmanDualRobot:
     def __init__(self, config: RealmanDualRobotConfig | None = None, **kwargs):
         if config is None:
@@ -39,19 +42,84 @@ class RealmanDualRobot:
             'servo_config_file': config.servo_config_file
         }
         
-        # build state-action cache
-        self.joint_queue = deque(maxlen=2)
-        self.last_endpose = self.arm.init_pose
+        # 初始化遥操作
+        self._initialize_teleop()
+        # init state
+        self._initialize_state()
 
-        # build gamepad teleop
+    def _initialize_teleop(self):
+        """初始化遥操作"""
+        self.init_info = {
+            'init_joint': self.arm.init_joint_position,
+            'init_pose': self.arm.init_pose,
+            'max_gripper': self.config.max_gripper,
+            'min_gripper': self.config.min_gripper,
+            'servo_config_file': self.config.servo_config_file
+        }
+        
         if not self.inference_time:
             self.teleop = HybridController(self.init_info)
         else:
             self.teleop = None
-        
+            
+    def _initialize_state(self):
+        """初始化状态"""
+        self.joint_queue = deque(maxlen=2)
+        self.last_endpose = self.arm.init_pose
         self.logs = {}
         self.is_connected = False
 
+    def _read_robot_state(self) -> dict:
+        """读取机器人状态"""
+        before_read_t = time.perf_counter()
+        state = self.arm.read()
+        self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
+        return state
+
+    def _execute_action(self, action: dict, state: dict):
+        """执行动作"""
+        before_write_t = time.perf_counter()
+        
+        if action['control_mode'] == 'joint':
+            self.arm.write_action(action, state)
+        # 可以添加其他控制模式的处理
+        
+        self.logs["write_pos_dt_s"] = time.perf_counter() - before_write_t
+
+    def _prepare_record_data(self) -> Tuple[Dict, Dict]:
+        """准备记录数据"""
+        if len(self.joint_queue) < 2:
+            return {}, {}
+            
+        state = torch.as_tensor(list(self.joint_queue[0]), dtype=torch.float32)
+        action = torch.as_tensor(list(self.joint_queue[-1]), dtype=torch.float32)
+        # 捕获图像
+        images = self._capture_images()
+        # 构建输出字典
+        obs_dict = {
+            "observation.state": state,
+            **{f"observation.images.{name}": img for name, img in images.items()}
+        }
+        action_dict = {"action": action}
+        return obs_dict, action_dict
+    
+    def _update_state_queue(self):
+        """更新状态队列"""
+        current_state = list(self.arm.read().values())
+        self.joint_queue.append(current_state)
+    
+    def _capture_images(self) -> Dict[str, torch.Tensor]:
+        """捕获图像"""
+        images = {}
+        for name, camera in self.cameras.items():
+            before_camread_t = time.perf_counter()
+            image = camera.async_read()
+            images[name] = torch.from_numpy(image)
+            
+            self.logs[f"read_camera_{name}_dt_s"] = camera.logs["delta_timestamp_s"]
+            self.logs[f"async_read_camera_{name}_dt_s"] = time.perf_counter() - before_camread_t
+        return images
+
     @property
     def camera_features(self) -> dict:
         cam_ft = {}
@@ -143,7 +211,6 @@ class RealmanDualRobot:
         if not self.inference_time:
             self.teleop.reset()
 
-
     def teleop_step(
         self, record_data=False
     ) -> None | tuple[dict[str, torch.Tensor], dict[str, torch.Tensor]]:
@@ -153,83 +220,23 @@ class RealmanDualRobot:
         if self.teleop is None and self.inference_time:
             self.teleop = HybridController(self.init_info)
 
-        # read target pose state as 
-        before_read_t = time.perf_counter()
-        state = self.arm.read() # read current joint position from robot
-        action = self.teleop.get_action() # target joint position and pose end pos from gamepad
-        self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
-
-        if action['control_mode'] == 'joint':
-            # 关节控制模式（主模式）
-            # do action
-            before_write_t = time.perf_counter()
-            left_joint = action['master_joint_actions'][:self.arm.left_offset]
-            # left_joint = [v*180 for v in action['master_joint_actions'][:self.arm.left_offset]]
-            left_gripper = int(action['master_joint_actions'][self.arm.left_offset] * 1000)
-            right_joint = action['master_joint_actions'][self.arm.left_offset+1:-1]
-            # right_joint = [v*180 for v in action['master_joint_actions'][self.arm.left_offset+1:-1]]
-            right_gripper = int(action['master_joint_actions'][-1] * 1000)
-
-            self.arm.write_dual_gripper(left_gripper, right_gripper)
-            # print(left_gripper, right_gripper)
-            if action['master_controller_status']['left']['infrared'] == 1:
-                if action['master_controller_status']['left']['button'] == 1:
-                    self.arm.write_left_joint_canfd(left_joint)
-                else:
-                    self.arm.write_left_joint_slow(left_joint)
-                    print(action['master_controller_status']['left'], action['master_controller_status']['right'])
-                    print('left', left_joint)
-                    print(state)
+        try:
+            # 读取当前状态
+            state = self._read_robot_state()
+            # 获取动作
+            action = self.teleop.get_action()
+            # 执行动作
+            self._execute_action(action, state)
+            # 更新状态队列
+            self._update_state_queue()
             
-            if action['master_controller_status']['right']['infrared'] == 1:
-                if action['master_controller_status']['right']['button'] == 1:
-                    self.arm.write_right_joint_canfd(right_joint)
-                    print('right', left_joint)
-                else:
-                    self.arm.write_right_joint_slow(right_joint)
-                    print('right', left_joint)
-                
-            self.joint_queue.append(list(self.arm.read().values()))
-            self.logs["write_pos_dt_s"] = time.perf_counter() - before_write_t
-
-        # else:
-        #     target_pose = list(action['end_pose'])
-        #     # do action
-        #     before_write_t = time.perf_counter()
-        #     if self.last_endpose != target_pose:
-        #         self.arm.write_endpose_canfd(target_pose)
-        #         self.last_endpose = target_pose
-        #     self.arm.write_gripper(action['gripper'])
+            if record_data:
+                data = self._prepare_record_data()
+                return data
             
-        #     target_joints = self.arm.read_current_arm_joint_state()
-        #     self.joint_queue.append(list(self.arm.read().values()))
-        #     self.teleop.update_joint_state(target_joints)
-        #     self.logs["write_pos_dt_s"] = time.perf_counter() - before_write_t
-        
-        if not record_data:
-            return
-        
-        state = torch.as_tensor(list(self.joint_queue[0]), dtype=torch.float32)
-        action = torch.as_tensor(list(self.joint_queue[-1]), dtype=torch.float32)
-
-        # Capture images from cameras
-        images = {}
-        for name in self.cameras:
-            before_camread_t = time.perf_counter()
-            images[name] = self.cameras[name].async_read()
-            images[name] = torch.from_numpy(images[name])
-            self.logs[f"read_camera_{name}_dt_s"] = self.cameras[name].logs["delta_timestamp_s"]
-            self.logs[f"async_read_camera_{name}_dt_s"] = time.perf_counter() - before_camread_t
-
-        # Populate output dictionnaries
-        obs_dict, action_dict = {}, {}
-        obs_dict["observation.state"] = state
-        action_dict["action"] = action
-        for name in self.cameras:
-            obs_dict[f"observation.images.{name}"] = images[name]
-
-        return obs_dict, action_dict
-
+        except Exception as e:
+            logging.error(f"遥操作步骤失败: {e}")
+            return None
 
 
     def send_action(self, action: torch.Tensor) -> torch.Tensor:
@@ -249,7 +256,6 @@ class RealmanDualRobot:
         return action
 
 
-
     def capture_observation(self) -> dict:
         """capture current images and joint positions"""
         if not self.is_connected:
diff --git a/lerobot/common/robot_devices/robots/utils.py b/lerobot/common/robot_devices/robots/utils.py
index 2ed4cd8f..ac2b9eed 100644
--- a/lerobot/common/robot_devices/robots/utils.py
+++ b/lerobot/common/robot_devices/robots/utils.py
@@ -25,7 +25,8 @@ from lerobot.common.robot_devices.robots.configs import (
     So100RobotConfig,
     So101RobotConfig,
     StretchRobotConfig,
-    RealmanRobotConfig
+    RealmanRobotConfig,
+    RealmanDualRobotConfig
 )
 
 
@@ -87,6 +88,11 @@ def make_robot_from_config(config: RobotConfig):
         from lerobot.common.robot_devices.robots.realman import RealmanRobot
 
         return RealmanRobot(config)
+    
+    elif isinstance(config, RealmanDualRobotConfig):
+        from lerobot.common.robot_devices.robots.realman_dual import RealmanDualRobot
+
+        return RealmanDualRobot(config)
 
     else:
         from lerobot.common.robot_devices.robots.stretch import StretchRobot
diff --git a/lerobot/common/robot_devices/teleop/gamepad_dual.py b/lerobot/common/robot_devices/teleop/gamepad_dual.py
index cf3517f2..f0a4af40 100644
--- a/lerobot/common/robot_devices/teleop/gamepad_dual.py
+++ b/lerobot/common/robot_devices/teleop/gamepad_dual.py
@@ -6,43 +6,94 @@ import binascii
 import logging
 import yaml
 from typing import Dict
+from dataclasses import dataclass
 from Robotic_Arm.rm_robot_interface import *
 from .servo_server import ServoArmServer
 
 
+@dataclass
+class ControllerConfig:
+    """控制器配置"""
+    init_joint: list
+    init_pose: list
+    max_gripper: int
+    min_gripper: int
+    config_file: str
+
+
 class HybridController:
     def __init__(self, init_info):
-        self.init_joint = init_info['init_joint']
-        self.init_pose = init_info.get('init_pose', [0]*12)
-        self.max_gripper = init_info['max_gripper']
-        self.min_gripper = init_info['min_gripper']
-        self.config_file = init_info['servo_config_file']
-        self.joint = self.init_joint.copy()
-        self.pose = self.init_pose.copy()
-        self.master_dual_arm = ServoArmServer(self.config_file)
-
+        self.config = self._parse_init_info(init_info)
+        self.joint = self.config.init_joint.copy()
+        self.pose = self.config.init_pose.copy()
         self.joint_control_mode = True
+        
+        self._initialize_master_arm()
+
+    def _parse_init_info(self, init_info: dict) -> ControllerConfig:
+        """解析初始化信息"""
+        return ControllerConfig(
+            init_joint=init_info['init_joint'],
+            init_pose=init_info.get('init_pose', [0]*12),
+            max_gripper=init_info['max_gripper'],
+            min_gripper=init_info['min_gripper'],
+            config_file=init_info['servo_config_file']
+        )
+
+    def _initialize_master_arm(self):
+        """初始化主控臂"""
+        try:
+            self.master_dual_arm = ServoArmServer(self.config.config_file)
+        except Exception as e:
+            logging.error(f"初始化主控臂失败: {e}")
+            raise
 
     def get_action(self) -> Dict:
-        master_controller_status = {}
-        master_controller_status['left'] = self.master_dual_arm.get_controller_status(arm='left')
-        master_controller_status['right'] = self.master_dual_arm.get_controller_status(arm='left')
+        """获取控制动作"""
+        try:
+            master_joint_actions = self.master_dual_arm.get_joint_data()
+            return self._format_action(master_joint_actions)
+        except Exception as e:
+            logging.error(f"获取动作失败: {e}")
+
+    def _format_action(self, master_joint_actions: dict) -> dict:
+        """格式化动作数据"""
+        master_controller_status = {
+            'left': master_joint_actions['left_controller_status'],
+            'right': master_joint_actions['right_controller_status']
+        }
         
         return {
             'control_mode': 'joint' if self.joint_control_mode else 'end_pose',
-            'master_joint_actions': self.master_dual_arm.get_joint_data()['dual_joint_actions'],
+            'master_joint_actions': master_joint_actions['dual_joint_actions'],
+            'left_joint_actions': master_joint_actions['left_joint_actions'][:-1],
+            'right_joint_actions': master_joint_actions['right_joint_actions'][:-1],
+            'left_gripper_actions': master_joint_actions['left_joint_actions'][-1],  # 修复bug
+            'right_gripper_actions': master_joint_actions['right_joint_actions'][-1],
             'master_controller_status': master_controller_status,
             'end_pose': self.pose
         }
 
+    def switch_control_mode(self):
+        """切换控制模式"""
+        self.joint_control_mode = not self.joint_control_mode
+        mode = "关节" if self.joint_control_mode else "末端"
+        print(f"切换到{mode}控制模式")
+
     def stop(self):
-        if self.master_dual_arm:
-            self.master_dual_arm.shutdown()
-        print("混合控制器已退出")
-
+        """停止控制器"""
+        try:
+            if hasattr(self, 'master_dual_arm') and self.master_dual_arm:
+                self.master_dual_arm.shutdown()
+            print("混合控制器已退出")
+        except Exception as e:
+            logging.error(f"停止控制器失败: {e}")
+    
     def reset(self):
-        pass
-
+        """重置控制器"""
+        self.joint = self.config.init_joint.copy()
+        self.pose = self.config.init_pose.copy()
+        self.joint_control_mode = True
 
 # 使用示例
 if __name__ == "__main__":
diff --git a/lerobot/common/robot_devices/teleop/servo_server.py b/lerobot/common/robot_devices/teleop/servo_server.py
index 2df933d3..b615eb17 100644
--- a/lerobot/common/robot_devices/teleop/servo_server.py
+++ b/lerobot/common/robot_devices/teleop/servo_server.py
@@ -22,6 +22,8 @@ class ServoArmServer:
         self.latest_data = {
             'left_joint_actions': {},
             'right_joint_actions': {},
+            'left_controller_status': {},
+            'right_controller_status': {},
             'timestamp': time.time()
         }
         
@@ -30,6 +32,7 @@ class ServoArmServer:
         # 启动数据采集线程
         self._start_data_collection()
 
+
     def _initialize_arms(self):
         """初始化左右机械臂"""
         try:
@@ -47,42 +50,77 @@ class ServoArmServer:
     def _start_data_collection(self):
         """启动数据采集线程"""
         self.running = True
-        self.data_thread = threading.Thread(target=self._data_collection_loop)
-        self.data_thread.daemon = True
-        self.data_thread.start()
-        logging.info("数据采集线程已启动")
+        
+        # 创建左臂数据采集线程
+        self.left_data_thread = threading.Thread(target=self._left_arm_data_loop)
+        self.left_data_thread.daemon = True
+        self.left_data_thread.start()
+        
+        # 创建右臂数据采集线程
+        self.right_data_thread = threading.Thread(target=self._right_arm_data_loop)
+        self.right_data_thread.daemon = True
+        self.right_data_thread.start()
+        
+        logging.info("左右机械臂数据采集线程已启动")
     
-    def _data_collection_loop(self):
-        """数据采集循环"""
+    def _left_arm_data_loop(self):
+        """左机械臂数据采集循环"""
         while self.running:
             try:
                 left_actions = {}
-                right_actions = {}
+                left_controller_status = {}
                 
                 # 获取左机械臂数据
                 if self.left_servo_arm and self.left_servo_arm.connected:
                     left_actions = self.left_servo_arm.get_joint_actions()
+                    left_controller_status = self.left_servo_arm.get_controller_status()
                 
-                # 获取右机械臂数据
-                if self.right_servo_arm and self.right_servo_arm.connected:
-                    right_actions = self.right_servo_arm.get_joint_actions()
-                
-                if self._check_val_safety(left_actions) == False or self._check_val_safety(right_actions) == False:
+                if self._check_val_safety(left_actions) == False:
+                    time.sleep(0.02)
                     continue
-
-                # 更新最新数据
+                # 更新左机械臂数据
                 with self.data_lock:
-                    self.latest_data = {
-                        'dual_joint_actions': [left_actions[k] for k in left_actions] + [right_actions[k] for k in right_actions],
-                        'left_joint_actions': left_actions,
-                        'right_joint_actions': right_actions,
-                        'timestamp': time.time()
-                    }
+                    self.latest_data['left_joint_actions'] = [left_actions[k] for k in left_actions]
+                    self.latest_data['left_controller_status'] = left_controller_status
+                    # 更新dual_joint_actions
+                    if self.latest_data['right_joint_actions']:
+                        self.latest_data['dual_joint_actions'] = self.latest_data['left_joint_actions'] + self.latest_data['right_joint_actions']
+                    self.latest_data['timestamp'] = time.time()
                 
                 time.sleep(0.02)  # 50Hz采集频率
                 
             except Exception as e:
-                logging.error(f"数据采集错误: {e}")
+                logging.error(f"左机械臂数据采集错误: {e}")
+                time.sleep(0.1)
+
+    def _right_arm_data_loop(self):
+        """右机械臂数据采集循环"""
+        while self.running:
+            try:
+                right_actions = {}
+                right_controller_status = {}
+                
+                # 获取右机械臂数据
+                if self.right_servo_arm and self.right_servo_arm.connected:
+                    right_actions = self.right_servo_arm.get_joint_actions()
+                    right_controller_status = self.right_servo_arm.get_controller_status()
+                
+                if self._check_val_safety(right_actions) == False:
+                    time.sleep(0.02)
+                    continue
+                # 更新右机械臂数据
+                with self.data_lock:
+                    self.latest_data['right_joint_actions'] = [right_actions[k] for k in right_actions]
+                    self.latest_data['right_controller_status'] = right_controller_status
+                    # 更新dual_joint_actions
+                    if self.latest_data['left_joint_actions']:
+                        self.latest_data['dual_joint_actions'] = self.latest_data['left_joint_actions'] + self.latest_data['right_joint_actions']
+                    self.latest_data['timestamp'] = time.time()
+                
+                time.sleep(0.02)  # 50Hz采集频率
+                
+            except Exception as e:
+                logging.error(f"右机械臂数据采集错误: {e}")
                 time.sleep(0.1)
     
     def _check_val_safety(self, data: dict):
@@ -102,34 +140,23 @@ class ServoArmServer:
             return self.latest_data.copy()
     
     def get_left_joint_actions(self):
-        """获取左机械臂关节数据"""
+        """获取左机械臂关节数据和控制器状态"""
         with self.data_lock:
             return {
                 'data': self.latest_data['left_joint_actions'],
+                'controller_status': self.latest_data['left_controller_status'],
                 'timestamp': self.latest_data['timestamp']
             }
     
     def get_right_joint_actions(self):
-        """获取右机械臂关节数据"""
+        """获取右机械臂关节数据和控制器状态"""
         with self.data_lock:
             return {
                 'data': self.latest_data['right_joint_actions'],
+                'controller_status': self.latest_data['right_controller_status'],
                 'timestamp': self.latest_data['timestamp']
             }
     
-    def get_controller_status(self, arm='left'):
-        """获取控制器状态"""
-        try:
-            if arm == 'left' and self.left_servo_arm:
-                return self.left_servo_arm.get_controller_status()
-            elif arm == 'right' and self.right_servo_arm:
-                return self.right_servo_arm.get_controller_status()
-            else:
-                return {'error': f'Invalid arm: {arm}'}
-        except Exception as e:
-            logging.error(f"获取控制器状态错误: {e}")
-            return {'error': str(e)}
-    
     def get_connection_status(self):
         """获取连接状态"""
         return {