diff --git a/realman_src/realman_mix_control.py b/realman_src/realman_mix_control.py
index c19dd246..fdd6a8ba 100644
--- a/realman_src/realman_mix_control.py
+++ b/realman_src/realman_mix_control.py
@@ -95,9 +95,9 @@ class ServoArm:
             # 返回默认配置
             return {
                 "port": "/dev/ttyUSB0",
-                "baudrate": 9600,
-                "hex_data": "00 00 00 00",
-                "arm_axis": 7
+                "baudrate": 460800,
+                "hex_data": "55 AA 02 00 00 67",
+                "arm_axis": 6
             }
 
     def _bytes_to_signed_int(self, byte_data):
@@ -134,7 +134,6 @@ class ServoArm:
         grasp_byte_data = bytearray.fromhex(grasp_hex)
         # 夹爪进行归一化处理
         grasp_value = self._bytes_to_signed_int(grasp_byte_data)/1000
-        # print(grasp_value)
 
         joints["grasp"] = grasp_value
         return joints
@@ -241,9 +240,8 @@ class HybridController:
         ]
         
         # 控制参数
-        self.linear_step = 0.01      # 线性移动步长(m)
-        self.angular_step = 0.1      # 角度步长(rad)
-        self.joint_step = 0.5          # 关节角度步长(度)
+        self.linear_step = 0.005      # 线性移动步长(m)
+        self.angular_step = 0.05      # 角度步长(rad)
         
         # 夹爪状态和速度
         self.gripper_speed = 10
@@ -323,10 +321,8 @@ class HybridController:
 
             # 从串口获取主臂关节状态
             if self.servo_arm and self.servo_arm.connected:
-                # print("ok")
                 try:
                     self.master_joint_actions = self.servo_arm.get_joint_actions()
-                    # print(self.master_joint_actions)
                     if self.master_joint_actions:
                         logging.debug(f"主臂关节状态: {self.master_joint_actions}")
                     
@@ -342,10 +338,8 @@ class HybridController:
             else:
                 # 末端控制模式，使用Xbox控制
                 self.update_end_pose()
-        
-
             time.sleep(0.02)
-            print('gripper:', self.gripper)
+            # print('gripper:', self.gripper)
     
     def update_joint_control(self):
         """更新关节角度控制 - 优先使用主臂数据"""
@@ -434,10 +428,17 @@ class HybridController:
         for i in range(3, 6):
             self.pose[i] = self._normalize_angle(self.pose[i])
 
-    def update_state(self, end_pose, joint_state):
-        """更新状态信息（从机械臂获取当前状态）"""
+    def update_joint_state(self, joint):
+        self.joint = joint
+
+    def update_endpose_state(self, end_pose):
         self.pose = end_pose
-        self.joint = joint_state
+
+    def update_state(self, state):
+        """更新状态信息（从机械臂获取当前状态）"""
+        self.pose = state['end_pose']
+        self.joint = state['joint']
+        self.gripper = state['gripper']
             
     def get_action(self) -> Dict:
         """获取当前控制命令"""
@@ -453,7 +454,7 @@ class HybridController:
                 'RY': self.pose[4],
                 'RZ': self.pose[5],
             },
-            'joint_angles': self.joint[:6],  # 只取前6个关节
+            'joint_angles': self.joint,
             'gripper': int(self.gripper)
         }
     
@@ -519,6 +520,9 @@ if __name__ == "__main__":
             if action['control_mode'] == 'joint':
                 # 关节控制模式（主模式）
                 target_joints = action['joint_angles']
+                ret = arm.rm_get_current_arm_state()
+                current_pose = ret[1].get('pose', init_pose)
+                teleop.update_endpose_state(current_pose)
                 
             else:
                 # 末端位姿控制模式
@@ -532,7 +536,10 @@ if __name__ == "__main__":
                 ]
                 
                 # 使用笛卡尔空间运动控制末端位姿
-                result = arm.rm_movej_p(target_pose, 50, 0, 0, 1)
+                result = arm.rm_movej_p(target_pose, 50, 0, 0, 0)
+                ret = arm.rm_get_current_arm_state()
+                current_joint = ret[1].get('joint', init_joint)
+                teleop.update_joint_state(current_joint)
             
             # 夹爪控制
             arm.rm_set_gripper_position(action['gripper'], True, 2)
@@ -541,9 +548,7 @@ if __name__ == "__main__":
             ret = arm.rm_get_current_arm_state()
             if ret[0] == 0:  # 成功获取状态
                 current_pose = ret[1].get('pose', [0]*6)
-                current_joint = ret[1].get('joint', [0]*7)
-                
-                # teleop.update_state(current_pose, current_joint)
+                current_joint = ret[1].get('joint', [0]*6)
                 
                 print(f"当前位姿: {current_pose}")
                 print(f"当前关节: {current_joint[:6]}")  # 只显示前6个关节