diff --git a/src/Mechanical_arm_grasping/main.py b/src/Mechanical_arm_grasping/main.py
index 0f2329ea3b..4a95ab7e0d 100644
--- a/src/Mechanical_arm_grasping/main.py
+++ b/src/Mechanical_arm_grasping/main.py
@@ -1,13 +1,13 @@
-# 机械臂MuJoCo 3.4.0 原生语法稳定版（100%兼容，无冲突标记）
+# MuJoCo 3.4.0 多自由度旋转机械臂演示（全新版本）
 import mujoco
 import mujoco.viewer
 import time
 
 
-def robot_arm_final_stable_demo():
-    # 1. 内置机械臂XML模型（slide/hinge关节，3.4.0原生兼容）
-    robot_xml = """
-<mujoco model="Simple Robot Arm">
+def multi_dof_robot_arm_demo():
+    # 1. 内置多自由度机械臂XML模型（含旋转+升降+伸展+夹爪）
+    multi_dof_xml = """
+<mujoco model="Multi-DOF Robot Arm">
   <compiler angle="radian" inertiafromgeom="true"/>
   <option timestep="0.005" gravity="0 0 -9.81"/>
   <visual/>
@@ -15,35 +15,50 @@ def robot_arm_final_stable_demo():
     <material name="red" rgba="0.8 0.2 0.2 1"/>
     <material name="blue" rgba="0.2 0.2 0.8 1"/>
     <material name="gray" rgba="0.5 0.5 0.5 1"/>
+    <material name="yellow" rgba="0.8 0.8 0.2 1"/>
   </asset>
   <worldbody>
-    <camera name="fixed_camera" pos="1.5 1.5 1.0" xyaxes="1 0 0 0 1 0"/>
+    <camera name="fixed_camera" pos="2.0 1.0 1.2" xyaxes="1 0 0 0 1 0"/>
+    <!-- 地面 -->
     <geom name="floor" type="plane" size="5 5 0.1" pos="0 0 -0.1" material="gray"/>
+    <!-- 目标标记点 -->
+    <geom name="target_marker" type="sphere" size="0.05" pos="0.6 0.6 0.1" material="yellow"/>
+    <!-- 多自由度机械臂 -->
     <body name="base" pos="0 0 0">
       <geom name="base_geom" type="cylinder" size="0.2 0.1" pos="0 0 0" material="blue"/>
       <joint name="base_joint" type="free"/>
-      <body name="lift_link" pos="0 0 0.1">
-        <geom name="lift_geom" type="cylinder" size="0.15 0.3" pos="0 0 0.3" material="blue"/>
-        <joint name="lift_joint" type="slide" axis="0 0 1" pos="0 0 0" range="0 1.0" damping="0.1"/>
-        <body name="extend_link" pos="0 0 0.6">
-          <geom name="extend_geom" type="cylinder" size="0.1 0.4" pos="0.4 0 0" material="blue"/>
-          <joint name="extend_joint" type="slide" axis="1 0 0" pos="0 0 0" range="0 0.8" damping="0.1"/>
-          <body name="gripper_base" pos="0.8 0 0">
-            <geom name="gripper_base_geom" type="box" size="0.1 0.1 0.1" pos="0 0 0" material="red"/>
-            <body name="left_gripper" pos="0 0.1 0">
-              <geom name="left_gripper_geom" type="box" size="0.1 0.05 0.05" pos="0 0 0" material="red"/>
-              <joint name="left_gripper_joint" type="hinge" axis="0 0 1" pos="0 -0.1 0" range="-0.5 0" damping="0.05"/>
-            </body>
-            <body name="right_gripper" pos="0 -0.1 0">
-              <geom name="right_gripper_geom" type="box" size="0.1 0.05 0.05" pos="0 0 0" material="red"/>
-              <joint name="right_gripper_joint" type="hinge" axis="0 0 1" pos="0 0.1 0" range="0 0.5" damping="0.05"/>
+      <!-- 1. 水平旋转关节（绕Z轴旋转，调整机械臂朝向） -->
+      <body name="rotate_link" pos="0 0 0.1">
+        <geom name="rotate_geom" type="cylinder" size="0.12 0.2" pos="0 0 0.1" material="blue"/>
+        <joint name="rotate_joint" type="hinge" axis="0 0 1" pos="0 0 0" range="-1.57 1.57" damping="0.1"/>
+        <!-- 2. 升降关节 -->
+        <body name="lift_link" pos="0 0 0.3">
+          <geom name="lift_geom" type="cylinder" size="0.1 0.3" pos="0 0 0.3" material="blue"/>
+          <joint name="lift_joint" type="slide" axis="0 0 1" pos="0 0 0" range="0 1.0" damping="0.1"/>
+          <!-- 3. 伸展关节 -->
+          <body name="extend_link" pos="0 0 0.6">
+            <geom name="extend_geom" type="cylinder" size="0.08 0.4" pos="0.4 0 0" material="blue"/>
+            <joint name="extend_joint" type="slide" axis="1 0 0" pos="0 0 0" range="0 0.8" damping="0.1"/>
+            <!-- 4. 夹爪 -->
+            <body name="gripper_base" pos="0.8 0 0">
+              <geom name="gripper_base_geom" type="box" size="0.1 0.1 0.1" pos="0 0 0" material="red"/>
+              <body name="left_gripper" pos="0 0.1 0">
+                <geom name="left_gripper_geom" type="box" size="0.1 0.05 0.05" pos="0 0 0" material="red"/>
+                <joint name="left_gripper_joint" type="hinge" axis="0 0 1" pos="0 -0.1 0" range="-0.5 0" damping="0.05"/>
+              </body>
+              <body name="right_gripper" pos="0 -0.1 0">
+                <geom name="right_gripper_geom" type="box" size="0.1 0.05 0.05" pos="0 0 0" material="red"/>
+                <joint name="right_gripper_joint" type="hinge" axis="0 0 1" pos="0 0.1 0" range="0 0.5" damping="0.05"/>
+              </body>
             </body>
           </body>
         </body>
       </body>
     </body>
   </worldbody>
+  <!-- 执行器配置（新增旋转关节执行器） -->
   <actuator>
+    <position name="rotate_actuator" joint="rotate_joint" kp="1000" kv="100"/>
     <position name="lift_actuator" joint="lift_joint" kp="1000" kv="100"/>
     <position name="extend_actuator" joint="extend_joint" kp="1000" kv="100"/>
     <position name="left_gripper_actuator" joint="left_gripper_joint" kp="500" kv="50"/>
@@ -54,63 +69,83 @@ def robot_arm_final_stable_demo():
 
     # 2. 加载模型
     try:
-        model = mujoco.MjModel.from_xml_string(robot_xml)
+        model = mujoco.MjModel.from_xml_string(multi_dof_xml)
         data = mujoco.MjData(model)
-        print("✅ 机械臂模型加载成功，启动仿真...")
+        print("✅ 多自由度机械臂模型加载成功，启动仿真...")
     except Exception as e:
         print(f"❌ 模型加载失败：{e}")
         return
 
-    # 3. 获取执行器索引（对应data.ctrl数组的下标，3.4.0原生支持）
-    lift_act_idx = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, "lift_actuator")
-    extend_act_idx = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, "extend_actuator")
-    left_gripper_act_idx = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, "left_gripper_actuator")
-    right_gripper_act_idx = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, "right_gripper_actuator")
-
-    # 4. 动作控制逻辑（直接操作data.ctrl，3.4.0原生语法）
-    def control_lift(target):
-        data.ctrl[lift_act_idx] = target  # 直接给执行器对应下标赋值
-
-    def control_extend(target):
-        data.ctrl[extend_act_idx] = target
-
-    def control_gripper(target_left):
-        target_right = -target_left
-        data.ctrl[left_gripper_act_idx] = target_left
-        data.ctrl[right_gripper_act_idx] = target_right
-
-    # 5. 预设动作流程
-    action_list = [
-        ("上升", "lift", 0.8, 2.0),
-        ("伸展", "extend", 0.6, 2.0),
-        ("夹紧", "gripper", -0.4, 1.0),
-        ("保持", "none", None, 1.5),
-        ("放松", "gripper", 0, 1.0),
-        ("收缩", "extend", 0, 2.0),
-        ("下降", "lift", 0, 2.0),
+    # 3. 获取所有执行器索引
+    rotate_idx = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, "rotate_actuator")
+    lift_idx = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, "lift_actuator")
+    extend_idx = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, "extend_actuator")
+    left_grip_idx = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, "left_gripper_actuator")
+    right_grip_idx = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, "right_gripper_actuator")
+
+    # 4. 控制函数（新增旋转控制）
+    def control_rotate(val):
+        data.ctrl[rotate_idx] = val
+
+    def control_lift(val):
+        data.ctrl[lift_idx] = val
+
+    def control_extend(val):
+        data.ctrl[extend_idx] = val
+
+    def control_gripper(val):
+        data.ctrl[left_grip_idx] = val
+        data.ctrl[right_grip_idx] = -val
+
+    # 5. 多自由度动作流程（含旋转调整朝向）
+    action_sequence = [
+        ("旋转调整朝向", control_rotate, 1.0, 2.0),  # 水平旋转（朝向黄色标记点）
+        ("上升准备", control_lift, 0.6, 1.5),
+        ("伸展接近目标", control_extend, 0.7, 2.0),
+        ("下降到位", control_lift, 0.2, 1.5),
+        ("夹紧夹爪", control_gripper, -0.4, 1.0),
+        ("抓取上升", control_lift, 0.7, 1.5),
+        ("反向旋转归位", control_rotate, 0.0, 2.0),
+        ("收缩机械臂", control_extend, 0.0, 2.0),
+        ("下降放置", control_lift, 0.2, 1.5),
+        ("放松夹爪", control_gripper, 0.0, 1.0),
+        ("最终归位", control_lift, 0.5, 1.5),
     ]
 
-    # 6. 启动可视化并执行动作
+    # 6. 启动仿真并执行动作（新增关节状态打印）
     with mujoco.viewer.launch_passive(model, data) as viewer:
-        for action_name, action_type, target, dur in action_list:
-            print(f"🔧 正在执行：{action_name}")
+        # 打印状态表头
+        print("\n📊 实时关节状态（旋转角度/升降高度/伸展长度）")
+        print("-" * 50)
+
+        for action_name, func, target, duration in action_sequence:
+            print(f"\n🔧 正在执行：{action_name}")
             start_time = time.time()
-            while (time.time() - start_time) < dur and viewer.is_running():
-                # 执行对应动作
-                if action_type == "lift":
-                    control_lift(target)
-                elif action_type == "extend":
-                    control_extend(target)
-                elif action_type == "gripper":
-                    control_gripper(target)
-
-                # 步进仿真+同步可视化
+            while (time.time() - start_time) < duration and viewer.is_running():
+                func(target)
                 mujoco.mj_step(model, data)
+
+                # 实时打印关键关节状态
+                rotate_angle = data.joint("rotate_joint").qpos[0]
+                lift_height = data.joint("lift_joint").qpos[0]
+                extend_length = data.joint("extend_joint").qpos[0]
+                print(
+                    f"\r旋转角度：{rotate_angle:.2f} rad | 升降高度：{lift_height:.2f} m | 伸展长度：{extend_length:.2f} m",
+                    end="")
+
                 viewer.sync()
                 time.sleep(0.001)
 
-    print("🎉 机械臂动作执行完毕！")
+        # 最后保持4秒查看效果
+        print("\n\n📌 动作流程完成，保持可视化4秒...")
+        start = time.time()
+        while (time.time() - start) < 4 and viewer.is_running():
+            mujoco.mj_step(model, data)
+            viewer.sync()
+            time.sleep(0.001)
+
+    print("\n🎉 多自由度机械臂演示完毕！")
 
 
 if __name__ == "__main__":
-    robot_arm_final_stable_demo()
\ No newline at end of file
+    multi_dof_robot_arm_demo()
\ No newline at end of file
