diff --git a/document/chapter1/chapter1_quickstart.md b/document/chapter1/chapter1_quickstart.md
index b0574b8..d6d9038 100644
--- a/document/chapter1/chapter1_quickstart.md
+++ b/document/chapter1/chapter1_quickstart.md
@@ -8,7 +8,7 @@ Aimrt_Mujoco_Sim 旨在为机器人开发者提供一个快速上手的仿真平
 ## 1.2 安装说明
 
 ### 1.2.1 环境与依赖 (dependencies)
-- 环境（参考 [AimRT 安装与引用](https://docs.aimrt.org/tutorials/quick_start/installation_cpp.html)， 以选择合适的开发环境）
+- 环境（参考 [AimRT 安装与引用](https://docs.aimrt.org/v0.10.0-rc1/tutorials/quick_start/installation_cpp.html)， 以选择合适的开发环境）
 
     - cmake 3.24+
     - gcc 11.4+
@@ -17,10 +17,10 @@ Aimrt_Mujoco_Sim 旨在为机器人开发者提供一个快速上手的仿真平
 
 - 依赖 （在构建过程均通过 cmake 自动下载）
 
-    | 依赖名称 | 版本    | 说明     | git地址                                |
-    | -------- | ------- | -------- | -------------------------------------- |
-    | AimRT    | 0.10.0+ | 通信框架 | https://github.com/AimRT/AimRT.git     |
-    | mujoco   | 3.1.6   | 物理引擎 | https://github.com/deepmind/mujoco.git |
+    | 依赖名称 | 版本        | 说明     | git地址                                |
+    | -------- | ----------- | -------- | -------------------------------------- |
+    | AimRT    | 0.10.0-rc1+ | 通信框架 | https://github.com/AimRT/AimRT.git     |
+    | mujoco   | 3.1.6       | 物理引擎 | https://github.com/deepmind/mujoco.git |
 
 
 ### 1.2.2 构建并安装 (build and install)
@@ -42,6 +42,7 @@ Aimrt_Mujoco_Sim 旨在为机器人开发者提供一个快速上手的仿真平
 ```shell
 ./start_examples_inverted_pendulum_with_pid_control.sh
 ```
+当弹出 mujoco 可视化界面并看到倒立摆模型运动时，说明运行成功。
 
 ## 1.3 项目结构
 ``` shell
@@ -61,5 +62,5 @@ AIMRT_MUJOCO_SIM/
 └── CMakeLists.txt           # 项目根目录的 CMake 配置
 ```
 
-
+[返回目录](../index.md)
 
diff --git a/src/module/mujoco_sim_module/common/xmodel_reader.cc b/src/module/mujoco_sim_module/common/xmodel_reader.cc
new file mode 100644
index 0000000..5dab297
--- /dev/null
+++ b/src/module/mujoco_sim_module/common/xmodel_reader.cc
@@ -0,0 +1,129 @@
+// Copyright (c) 2023, AgiBot Inc.
+// All rights reserved.
+
+#include "mujoco_sim_module/common/xmodel_reader.h"
+#include <cstddef>
+
+namespace aimrt_mujoco_sim::mujoco_sim_module::common {
+std::optional<int32_t> GetJointSensorIdByJointName(const mjModel* m, std::string_view joint_name, mjtSensor sensor_type) {
+  int32_t jointId = mj_name2id(m, mjOBJ_JOINT, joint_name.data());
+  if (jointId < 0) {
+    AIMRT_ERROR_THROW("Invalid joint name: {}, cannot find a joint sensor.", joint_name);
+    return std::nullopt;
+  }
+
+  for (int32_t i = 0; i < m->nsensor; i++) {
+    if (m->sensor_type[i] == sensor_type && m->sensor_objid[i] == jointId) {
+      return i;
+    }
+  }
+  return std::nullopt;
+}
+
+std::optional<int32_t> GetJointvelIdByJointName(const mjModel* m, std::string_view joint_name) {
+  return GetJointSensorIdByJointName(m, joint_name, mjSENS_JOINTVEL);
+}
+
+std::optional<int32_t> GetJointposIdByJointName(const mjModel* m, std::string_view joint_name) {
+  return GetJointSensorIdByJointName(m, joint_name, mjSENS_JOINTPOS);
+}
+
+std::optional<int32_t> GetJointactfrcIdByJointName(const mjModel* m, std::string_view joint_name) {
+  return GetJointSensorIdByJointName(m, joint_name, mjSENS_JOINTACTFRC);
+}
+
+std::optional<std::string> GetJointSensorNameByJointName(const mjModel* m, std::string_view joint_name, mjtSensor sensor_type) {
+  if (auto sensor_id = GetJointSensorIdByJointName(m, joint_name, sensor_type)) {
+    return mj_id2name(m, mjOBJ_SENSOR, sensor_id.value_or(-1));
+  }
+  return std::nullopt;
+}
+
+std::optional<std::string> GetJointvelNameByJointName(const mjModel* m, std::string_view joint_name) {
+  return GetJointSensorNameByJointName(m, joint_name, mjSENS_JOINTVEL);
+}
+
+std::optional<std::string> GetJointposNameByJointName(const mjModel* m, std::string_view joint_name) {
+  return GetJointSensorNameByJointName(m, joint_name, mjSENS_JOINTPOS);
+}
+
+std::optional<std::string> GetJointactfrcNameByJointName(const mjModel* m, std::string_view joint_name) {
+  return GetJointSensorNameByJointName(m, joint_name, mjSENS_JOINTACTFRC);
+}
+
+std::optional<int32_t> GetJointActIdByJointName(const mjModel* m, std::string_view joint_name) {
+  int32_t joint_id = mj_name2id(m, mjOBJ_JOINT, joint_name.data());
+  if (joint_id < 0) {
+    AIMRT_ERROR_THROW("Invalid joint name: {}, cannot find a joint actuator.", joint_name);
+    return std::nullopt;
+  }
+
+  for (int i = 0; i < m->nu; i++) {
+    if (m->actuator_trntype[i] == mjTRN_JOINT && m->actuator_trnid[static_cast<ptrdiff_t>(i * 2)] == joint_id) {
+      return i;
+    }
+  }
+  return std::nullopt;
+}
+
+std::optional<std::string> GetJointActNameByJointName(const mjModel* m, std::string_view joint_name) {
+  if (auto actuator_id = GetJointActIdByJointName(m, joint_name.data())) {
+    return mj_id2name(m, mjOBJ_ACTUATOR, actuator_id.value_or(-1));
+  }
+  return std::nullopt;
+}
+
+std::optional<std::string> GetJointActTypeByJointName(const mjModel* m, std::string_view joint_name) {
+  if (!m || !joint_name.data()) return std::nullopt;
+  for (int32_t i = 0; i < m->nu; i++) {
+    int32_t targetId = m->actuator_trnid[static_cast<ptrdiff_t>(i * 2)];
+    if (m->actuator_trntype[i] == mjTRN_JOINT) {
+      const char* targetName = mj_id2name(m, mjOBJ_JOINT, targetId);
+      if (targetName && strcmp(targetName, joint_name.data()) == 0) {
+        // position
+        if (m->actuator_gaintype[i] == mjGAIN_FIXED &&
+            m->actuator_biastype[i] == mjBIAS_AFFINE &&
+            (m->actuator_dyntype[i] == mjDYN_NONE ||
+             m->actuator_dyntype[i] == mjDYN_FILTEREXACT)) {
+          if (m->actuator_biasprm[i * mjNBIAS + 1] == -m->actuator_gainprm[static_cast<ptrdiff_t>(i * mjNGAIN)]) {
+            return "position";
+          }
+        }
+        // velocity
+        if (m->actuator_gaintype[i] == mjGAIN_FIXED &&
+            m->actuator_biastype[i] == mjBIAS_AFFINE &&
+            m->actuator_dyntype[i] == mjDYN_NONE) {
+          if (m->actuator_biasprm[i * mjNBIAS + 2] == -m->actuator_gainprm[static_cast<ptrdiff_t>(i * mjNGAIN)]) {
+            return "velocity";
+          }
+        }
+        // motor
+        if (m->actuator_dyntype[i] == mjDYN_NONE &&
+            m->actuator_gaintype[i] == mjGAIN_FIXED &&
+            m->actuator_biastype[i] == mjBIAS_NONE) {
+          if (m->actuator_gainprm[static_cast<ptrdiff_t>(i * mjNGAIN)] == 1) {
+            return "motor";
+          }
+        }
+        // other (todo:(hj) adapt to other types of actuators)
+      }
+    }
+  }
+  // cannot find the joint name in the actuators
+  AIMRT_ERROR_THROW("The actuator type bound to joint {} is unsupported, only support position/velocity/motor.", joint_name);
+  return std::nullopt;
+}
+
+std::optional<int32_t> GetSensorIdBySensorName(const mjModel* m, std::string_view sensor_name) {
+  if (sensor_name.empty()) return std::nullopt;
+
+  int32_t sensor_id = mj_name2id(m, mjOBJ_SENSOR, sensor_name.data());
+  if (sensor_id < 0) {
+    AIMRT_ERROR_THROW("Invalid sensor name: {}.", sensor_name);
+    return std::nullopt;
+  }
+
+  return m->sensor_adr[sensor_id];
+}
+
+}  // namespace aimrt_mujoco_sim::mujoco_sim_module::common
\ No newline at end of file
diff --git a/src/module/mujoco_sim_module/common/xmodel_reader.h b/src/module/mujoco_sim_module/common/xmodel_reader.h
new file mode 100644
index 0000000..38dc765
--- /dev/null
+++ b/src/module/mujoco_sim_module/common/xmodel_reader.h
@@ -0,0 +1,30 @@
+// Copyright (c) 2023, AgiBot Inc.
+// All rights reserved.
+
+#pragma once
+
+#include <cstring>
+#include "mujoco/mjmodel.h"
+#include "mujoco_sim_module/global.h"
+#include "simulate.h"
+
+namespace aimrt_mujoco_sim::mujoco_sim_module::common {
+// joint sensor
+std::optional<int32_t> GetJointSensorIdByJointName(const mjModel* m, std::string_view joint_name, mjtSensor sensor_type);
+std::optional<int32_t> GetJointvelIdByJointName(const mjModel* m, std::string_view joint_name);
+std::optional<int32_t> GetJointposIdByJointName(const mjModel* m, std::string_view joint_name);
+std::optional<int32_t> GetJointactfrcIdByJointName(const mjModel* m, std::string_view joint_name);
+
+std::optional<std::string> GetJointSensorNameByJointName(const mjModel* m, std::string_view joint_name, mjtSensor sensor_type);
+std::optional<std::string> GetJointvelNameByJointName(const mjModel* m, std::string_view joint_name);
+std::optional<std::string> GetJointposNameByJointName(const mjModel* m, std::string_view joint_name);
+std::optional<std::string> GetJointactfrcNameByJointName(const mjModel* m, std::string_view joint_name);
+
+// joint actuator
+std::optional<int32_t> GetJointActIdByJointName(const mjModel* m, std::string_view joint_name);
+std::optional<std::string> GetJointActNameByJointName(const mjModel* m, std::string_view joint_name);
+std::optional<std::string> GetJointActTypeByJointName(const mjModel* m, std::string_view joint_name);
+
+// normal sensor
+std::optional<int32_t> GetSensorIdBySensorName(const mjModel* m, std::string_view sensor_name);
+}  // namespace aimrt_mujoco_sim::mujoco_sim_module::common
diff --git a/src/module/mujoco_sim_module/publisher/imu_sensor_publisher.cc b/src/module/mujoco_sim_module/publisher/imu_sensor_publisher.cc
index e1a1906..5f6e176 100644
--- a/src/module/mujoco_sim_module/publisher/imu_sensor_publisher.cc
+++ b/src/module/mujoco_sim_module/publisher/imu_sensor_publisher.cc
@@ -2,12 +2,12 @@
 // All rights reserved.
 
 #include "mujoco_sim_module/publisher/imu_sensor_publisher.h"
+#include "mujoco_sim_module/common/xmodel_reader.h"
 
 namespace YAML {
 template <>
 struct convert<aimrt_mujoco_sim::mujoco_sim_module::publisher::ImuSensorPublisherBase::Options> {
   using Options = aimrt_mujoco_sim::mujoco_sim_module::publisher::ImuSensorPublisherBase::Options;
-
   static Node encode(const Options& rhs) {
     Node node;
 
@@ -46,9 +46,9 @@ void ImuSensorPublisherBase::SetMj(mjModel* m, mjData* d) {
 }
 
 void ImuSensorPublisherBase::RegisterSensorAddr() {
-  sensor_addr_group_.framequat_addr = GetSensorAddr(m_, options_.bind_framequat),
-  sensor_addr_group_.gyro_addr = GetSensorAddr(m_, options_.bind_gyro),
-  sensor_addr_group_.accelerometer_addr = GetSensorAddr(m_, options_.bind_accelerometer);
+  sensor_addr_group_.framequat_addr = common::GetSensorIdBySensorName(m_, options_.bind_framequat).value_or(-1),
+  sensor_addr_group_.gyro_addr = common::GetSensorIdBySensorName(m_, options_.bind_gyro).value_or(-1),
+  sensor_addr_group_.accelerometer_addr = common::GetSensorIdBySensorName(m_, options_.bind_accelerometer).value_or(-1);
 }
 
 void ImuSensorPublisherBase::CopySensorData(int addr, auto& dest, size_t n) {
@@ -67,7 +67,8 @@ void ImuSensorPublisherBase::InitializeBase(YAML::Node options_node) {
 
 void ImuSensorPublisher::Initialize(YAML::Node options_node) {
   InitializeBase(options_node);
-  AIMRT_CHECK_ERROR_THROW(aimrt::channel::RegisterPublishType<aimrt::protocols::sensor::ImuState>(publisher_), "Register publish type failed.");
+  AIMRT_CHECK_ERROR_THROW(aimrt::channel::RegisterPublishType<aimrt::protocols::sensor::ImuState>(publisher_),
+                          "Register publish type failed.");
 }
 
 void ImuSensorPublisher::PublishSensorData() {
@@ -123,7 +124,8 @@ void ImuSensorPublisher::PublishSensorData() {
 #ifdef AIMRT_MUJOCO_SIM_BUILD_WITH_ROS2
 void ImuSensorRos2Publisher::Initialize(YAML::Node options_node) {
   InitializeBase(options_node);
-  AIMRT_CHECK_ERROR_THROW(aimrt::channel::RegisterPublishType<sensor_msgs::msg::Imu>(publisher_), "Register publish type failed.");
+  AIMRT_CHECK_ERROR_THROW(aimrt::channel::RegisterPublishType<sensor_msgs::msg::Imu>(publisher_),
+                          "Register publish type failed.");
 }
 
 void ImuSensorRos2Publisher::PublishSensorData() {
diff --git a/src/module/mujoco_sim_module/publisher/imu_sensor_publisher.h b/src/module/mujoco_sim_module/publisher/imu_sensor_publisher.h
index 87cf604..18401e3 100644
--- a/src/module/mujoco_sim_module/publisher/imu_sensor_publisher.h
+++ b/src/module/mujoco_sim_module/publisher/imu_sensor_publisher.h
@@ -2,13 +2,13 @@
 // All rights reserved.
 
 #pragma once
+#include "mujoco_sim_module/global.h"
+#include "mujoco_sim_module/publisher/publisher_base.h"
+#include "mujoco_sim_module/publisher/utils.h"
 
 #include "aimrt_module_protobuf_interface/channel/protobuf_channel.h"
 #include "aimrt_module_protobuf_interface/util/protobuf_tools.h"
 #include "imu.pb.h"
-#include "mujoco_sim_module/global.h"
-#include "mujoco_sim_module/publisher/publisher_base.h"
-#include "mujoco_sim_module/publisher/utils.h"
 
 #ifdef AIMRT_MUJOCO_SIM_BUILD_WITH_ROS2
   #include <sensor_msgs/msg/imu.hpp>
@@ -38,11 +38,8 @@ class ImuSensorPublisherBase : public PublisherBase {
   void Shutdown() override {}
 
   void SetPublisherHandle(aimrt::channel::PublisherRef publisher_handle) override { publisher_ = publisher_handle; }
-
   void SetExecutor(aimrt::executor::ExecutorRef executor) override { executor_ = executor; };
-
   void SetFreq(uint32_t freq) override { channel_frq_ = freq; };
-
   void SetMj(mjModel* m, mjData* d) override;
 
  protected:
@@ -95,6 +92,7 @@ class ImuSensorPublisher : public ImuSensorPublisherBase {
   std::string_view Type() const noexcept override { return "imu_sensor"; }
   void PublishSensorData() override;
 };
+
 #ifdef AIMRT_MUJOCO_SIM_BUILD_WITH_ROS2
 class ImuSensorRos2Publisher : public ImuSensorPublisherBase {
  public:
diff --git a/src/module/mujoco_sim_module/publisher/joint_sensor_publisher.cc b/src/module/mujoco_sim_module/publisher/joint_sensor_publisher.cc
index 9e8460d..ebb66a2 100644
--- a/src/module/mujoco_sim_module/publisher/joint_sensor_publisher.cc
+++ b/src/module/mujoco_sim_module/publisher/joint_sensor_publisher.cc
@@ -2,6 +2,7 @@
 // All rights reserved.
 
 #include "mujoco_sim_module/publisher/joint_sensor_publisher.h"
+#include "mujoco_sim_module/common/xmodel_reader.h"
 
 namespace YAML {
 template <>
@@ -16,9 +17,6 @@ struct convert<aimrt_mujoco_sim::mujoco_sim_module::publisher ::JointSensorPubli
       Node joint_node;
       joint_node["name"] = joint.name;
       joint_node["bind_joint"] = joint.bind_joint;
-      joint_node["bind_jointpos_sensor"] = joint.bind_jointpos_sensor;
-      joint_node["bind_jointvel_sensor"] = joint.bind_jointvel_sensor;
-      joint_node["bind_jointactuatorfrc_sensor"] = joint.bind_jointactuatorfrc_sensor;
       node["joints"].push_back(joint_node);
     }
 
@@ -32,16 +30,6 @@ struct convert<aimrt_mujoco_sim::mujoco_sim_module::publisher ::JointSensorPubli
         joint_node_options.name = joint_node["name"].as<std::string>();
         joint_node_options.bind_joint = joint_node["bind_joint"].as<std::string>();
 
-        if (joint_node["bind_jointpos_sensor"]) {
-          joint_node_options.bind_jointpos_sensor = joint_node["bind_jointpos_sensor"].as<std::string>();
-        }
-        if (joint_node["bind_jointvel_sensor"]) {
-          joint_node_options.bind_jointvel_sensor = joint_node["bind_jointvel_sensor"].as<std::string>();
-        }
-        if (joint_node["bind_jointactuatorfrc_sensor"]) {
-          joint_node_options.bind_jointactuatorfrc_sensor = joint_node["bind_jointactuatorfrc_sensor"].as<std::string>();
-        }
-
         rhs.joints.emplace_back(std::move(joint_node_options));
       }
     }
@@ -60,9 +48,9 @@ void JointSensorPublisherBase ::SetMj(mjModel* m, mjData* d) {
 void JointSensorPublisherBase::RegisterSensorAddr() {
   for (const auto& joint : options_.joints) {
     sensor_addr_vec_.emplace_back(SensorAddrGroup{
-        .jointpos_addr = GetSensorAddr(m_, joint.bind_jointpos_sensor),
-        .jointvel_addr = GetSensorAddr(m_, joint.bind_jointvel_sensor),
-        .jointactuatorfrc_addr = GetSensorAddr(m_, joint.bind_jointactuatorfrc_sensor)});
+        .jointpos_addr = common::GetJointposIdByJointName(m_, joint.bind_joint).value_or(-1),
+        .jointvel_addr = common::GetJointvelIdByJointName(m_, joint.bind_joint).value_or(-1),
+        .jointactuatorfrc_addr = common::GetJointactfrcIdByJointName(m_, joint.bind_joint).value_or(-1)});
 
     name_vec_.emplace_back(joint.name);
   }
@@ -179,5 +167,4 @@ void JointSensorRos2Publisher::PublishSensorData() {
   }
 }
 #endif
-
 }  // namespace aimrt_mujoco_sim::mujoco_sim_module::publisher
\ No newline at end of file
diff --git a/src/module/mujoco_sim_module/publisher/joint_sensor_publisher.h b/src/module/mujoco_sim_module/publisher/joint_sensor_publisher.h
index f8aaf2c..ee324c8 100644
--- a/src/module/mujoco_sim_module/publisher/joint_sensor_publisher.h
+++ b/src/module/mujoco_sim_module/publisher/joint_sensor_publisher.h
@@ -3,13 +3,14 @@
 
 #pragma once
 
-#include "aimrt_module_protobuf_interface/channel/protobuf_channel.h"
-#include "aimrt_module_protobuf_interface/util/protobuf_tools.h"
-#include "joint_state.pb.h"
 #include "mujoco_sim_module/global.h"
 #include "mujoco_sim_module/publisher/publisher_base.h"
 #include "mujoco_sim_module/publisher/utils.h"
 
+#include "aimrt_module_protobuf_interface/channel/protobuf_channel.h"
+#include "aimrt_module_protobuf_interface/util/protobuf_tools.h"
+#include "joint_state.pb.h"
+
 #ifdef AIMRT_MUJOCO_SIM_BUILD_WITH_ROS2
   #include "aimrt_module_ros2_interface/channel/ros2_channel.h"
   #include "sensor_ros2/msg/joint_state.hpp"
@@ -22,9 +23,6 @@ class JointSensorPublisherBase : public PublisherBase {
     struct Joint {
       std::string name;
       std::string bind_joint;
-      std::string bind_jointpos_sensor;
-      std::string bind_jointvel_sensor;
-      std::string bind_jointactuatorfrc_sensor;
     };
     std::vector<Joint> joints;
   };
diff --git a/src/module/mujoco_sim_module/publisher/touch_sensor_publisher.cc b/src/module/mujoco_sim_module/publisher/touch_sensor_publisher.cc
index ee77de6..371a6f0 100644
--- a/src/module/mujoco_sim_module/publisher/touch_sensor_publisher.cc
+++ b/src/module/mujoco_sim_module/publisher/touch_sensor_publisher.cc
@@ -2,6 +2,8 @@
 // All rights reserved.
 
 #include "mujoco_sim_module/publisher/touch_sensor_publisher.h"
+#include "mujoco_sim_module/common/xmodel_reader.h"
+
 namespace YAML {
 template <>
 struct convert<aimrt_mujoco_sim::mujoco_sim_module::publisher ::TouchSensorPublisherBase::Options> {
@@ -81,7 +83,7 @@ void TouchSensorPublisherBase::RegisterSensorAddr() {
                    options_.states[index].end(),
                    std::back_inserter(addr_vec),
                    [this](const Options::State& state) {
-                     return GetSensorAddr(m_, state.bind_touch_sensor);
+                     return common::GetSensorIdBySensorName(m_, state.bind_touch_sensor).value_or(-1);
                    });
 
     touch_sensor_num_vec_.emplace_back(addr_vec.size());
diff --git a/src/module/mujoco_sim_module/publisher/touch_sensor_publisher.h b/src/module/mujoco_sim_module/publisher/touch_sensor_publisher.h
index 557da7e..0cd11cb 100644
--- a/src/module/mujoco_sim_module/publisher/touch_sensor_publisher.h
+++ b/src/module/mujoco_sim_module/publisher/touch_sensor_publisher.h
@@ -2,13 +2,14 @@
 // All rights reserved.
 
 #pragma once
-#include "aimrt_module_protobuf_interface/channel/protobuf_channel.h"
-#include "aimrt_module_protobuf_interface/util/protobuf_tools.h"
-#include "mujoco_sim_module/global.h"
 #include "mujoco_sim_module/publisher/publisher_base.h"
 #include "mujoco_sim_module/publisher/utils.h"
 #include "touch_sensor_state.pb.h"
 
+#include "aimrt_module_protobuf_interface/channel/protobuf_channel.h"
+#include "aimrt_module_protobuf_interface/util/protobuf_tools.h"
+#include "mujoco_sim_module/global.h"
+
 #ifdef AIMRT_MUJOCO_SIM_BUILD_WITH_ROS2
   #include "aimrt_module_ros2_interface/channel/ros2_channel.h"
   #include "sensor_ros2/msg/touch_sensor_state.hpp"
diff --git a/src/module/mujoco_sim_module/publisher/utils.h b/src/module/mujoco_sim_module/publisher/utils.h
index 4506659..adea5d7 100644
--- a/src/module/mujoco_sim_module/publisher/utils.h
+++ b/src/module/mujoco_sim_module/publisher/utils.h
@@ -36,15 +36,4 @@ inline double GetAvgIntervalBase(const uint32_t channel_frq) {
   return avg_interval_base;
 }
 
-[[nodiscard]] inline int32_t GetSensorAddr(const mjModel* m, std::string_view sensor_name) {
-  if (sensor_name.empty()) {
-    return -1;
-  }
-
-  int32_t sensor_id = mj_name2id(m, mjOBJ_SENSOR, sensor_name.data());
-  AIMRT_CHECK_ERROR_THROW(sensor_id >= 0, "Invalid sensor name: {}.", sensor_name);
-
-  return m->sensor_adr[sensor_id];
-}
-
 }  // namespace aimrt_mujoco_sim::mujoco_sim_module::publisher
\ No newline at end of file
diff --git a/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.cc b/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.cc
index aabeb39..e26f497 100644
--- a/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.cc
+++ b/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.cc
@@ -3,6 +3,9 @@
 
 #include "mujoco_sim_module/subscriber/joint_actuator_subscriber.h"
 
+#include <cstddef>
+#include "mujoco_sim_module/common/xmodel_reader.h"
+
 namespace YAML {
 template <>
 struct convert<aimrt_mujoco_sim::mujoco_sim_module::subscriber::JointActuatorSubscriberBase::Options> {
@@ -15,8 +18,6 @@ struct convert<aimrt_mujoco_sim::mujoco_sim_module::subscriber::JointActuatorSub
       Node joint_node;
       joint_node["name"] = joint.name;
       joint_node["bind_joint"] = joint.bind_joint;
-      joint_node["bind_actuator_type"] = joint.bind_actuator_type;
-      joint_node["bind_actuator_name"] = joint.bind_actuator_name;
       node["joints"].push_back(joint_node);
     }
 
@@ -28,14 +29,7 @@ struct convert<aimrt_mujoco_sim::mujoco_sim_module::subscriber::JointActuatorSub
       for (const auto& joint_node : node["joints"]) {
         auto joint_node_options = Options::Joint{
             .name = joint_node["name"].as<std::string>(),
-            .bind_joint = joint_node["bind_joint"].as<std::string>(),
-            .bind_actuator_type = joint_node["bind_actuator_type"].as<std::string>(),
-            .bind_actuator_name = joint_node["bind_actuator_name"].as<std::string>()};
-
-        AIMRT_ASSERT(joint_node_options.bind_actuator_type == "position" ||
-                         joint_node_options.bind_actuator_type == "velocity" ||
-                         joint_node_options.bind_actuator_type == "motor",
-                     "Invalid bind_actuator_type '{}'.", joint_node_options.bind_actuator_type);
+            .bind_joint = joint_node["bind_joint"].as<std::string>()};
 
         rhs.joints.emplace_back(std::move(joint_node_options));
       }
@@ -64,15 +58,14 @@ void JointActuatorSubscriberBase::ApplyCtrlData() {
 }
 
 void JointActuatorSubscriberBase::RegisterActuatorAddr() {
-  uint32_t idx = 0;
   for (auto const& joint : options_.joints) {
-    uint32_t actuator_id = mj_name2id(m_, mjOBJ_ACTUATOR, joint.bind_actuator_name.c_str());
-    AIMRT_CHECK_ERROR_THROW(actuator_id >= 0, "Invalid bind_actuator_name '{}'.", joint.bind_actuator_name);
+    int32_t actuator_id = common::GetJointActIdByJointName(m_, joint.bind_joint).value_or(-1);
 
     actuator_addr_vec_.emplace_back(actuator_id);
     joint_names_vec_.emplace_back(joint.name);
+    joint_actuator_type_vec_.emplace_back(common::GetJointActTypeByJointName(m_, joint.bind_joint).value_or(""));
 
-    auto joint_id = m_->actuator_trnid[actuator_id * 2];
+    auto joint_id = m_->actuator_trnid[static_cast<int32_t>(actuator_id * 2)];
     actuator_bind_joint_sensor_addr_vec_.emplace_back(ActuatorBindJointSensorAddr{
         .pos_addr = m_->jnt_qposadr[joint_id],
         .vel_addr = m_->jnt_dofadr[joint_id],
@@ -120,11 +113,11 @@ void JointActuatorSubscriber::EventHandle(const std::shared_ptr<const aimrt::pro
     }
     uint32_t joint_idx = std::distance(joint_names_vec_.begin(), itr);
 
-    if (joint_options.bind_actuator_type == "position") {
+    if (joint_actuator_type_vec_[joint_idx] == "position") {
       new_command_array[joint_idx] = command.position();
-    } else if (joint_options.bind_actuator_type == "velocity") {
+    } else if (joint_actuator_type_vec_[joint_idx] == "velocity") {
       new_command_array[joint_idx] = command.velocity();
-    } else {
+    } else if (joint_actuator_type_vec_[joint_idx] == "motor") {
       // motor
       double state_posiotin = d_->qpos[actuator_bind_joint_sensor_addr_vec_[joint_idx].pos_addr];
       double state_velocity = d_->qvel[actuator_bind_joint_sensor_addr_vec_[joint_idx].vel_addr];
@@ -132,6 +125,8 @@ void JointActuatorSubscriber::EventHandle(const std::shared_ptr<const aimrt::pro
       new_command_array[joint_idx] = command.effort() +
                                      command.stiffness() * (command.position() - state_posiotin) +
                                      command.damping() * (command.velocity() - state_velocity);
+    } else {
+      AIMRT_WARN("Invalid joint actuator type '{}'.", joint_actuator_type_vec_[joint_idx]);
     }
   }
 
@@ -140,7 +135,6 @@ void JointActuatorSubscriber::EventHandle(const std::shared_ptr<const aimrt::pro
 }
 
 #ifdef AIMRT_MUJOCO_SIM_BUILD_WITH_ROS2
-
 void JointActuatorRos2Subscriber::Initialize(YAML::Node options_node) {
   InitializeBase(options_node);
 
@@ -169,11 +163,11 @@ void JointActuatorRos2Subscriber::EventHandle(const std::shared_ptr<const sensor
     }
     uint32_t joint_idx = std::distance(joint_names_vec_.begin(), itr);
 
-    if (joint_options.bind_actuator_type == "position") {
+    if (joint_actuator_type_vec_[joint_idx] == "position") {
       new_command_array[joint_idx] = command.position;
-    } else if (joint_options.bind_actuator_type == "velocity") {
+    } else if (joint_actuator_type_vec_[joint_idx] == "velocity") {
       new_command_array[joint_idx] = command.velocity;
-    } else {
+    } else if (joint_actuator_type_vec_[joint_idx] == "motor") {
       // motor
       double state_posiotin = d_->qpos[actuator_bind_joint_sensor_addr_vec_[joint_idx].pos_addr];
       double state_velocity = d_->qvel[actuator_bind_joint_sensor_addr_vec_[joint_idx].vel_addr];
@@ -181,6 +175,8 @@ void JointActuatorRos2Subscriber::EventHandle(const std::shared_ptr<const sensor
       new_command_array[joint_idx] = command.effort +
                                      command.stiffness * (command.position - state_posiotin) +
                                      command.damping * (command.velocity - state_velocity);
+    } else {
+      AIMRT_WARN("Invalid joint actuator type '{}'.", joint_actuator_type_vec_[joint_idx]);
     }
   }
 
diff --git a/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.h b/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.h
index 2a58ea1..ce763f8 100644
--- a/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.h
+++ b/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.h
@@ -3,8 +3,6 @@
 
 #pragma once
 
-#include <vector>
-
 #include "mujoco_sim_module/global.h"
 #include "mujoco_sim_module/subscriber/subscriber_base.h"
 
@@ -24,8 +22,6 @@ class JointActuatorSubscriberBase : public SubscriberBase {
     struct Joint {
       std::string name;
       std::string bind_joint;
-      std::string bind_actuator_type;
-      std::string bind_actuator_name;
     };
     std::vector<Joint> joints;
   };
@@ -66,6 +62,7 @@ class JointActuatorSubscriberBase : public SubscriberBase {
   std::vector<size_t> actuator_addr_vec_;
   std::atomic<double*> command_array_{nullptr};
   std::vector<std::string> joint_names_vec_;
+  std::vector<std::string> joint_actuator_type_vec_;
 
   std::vector<ActuatorBindJointSensorAddr> actuator_bind_joint_sensor_addr_vec_;
 };