diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/base_config.yml b/src/linkerhand_retarget/linkerhand_retarget/config/base_config.yml
index aeb6f6b..5d16ef4 100644
--- a/src/linkerhand_retarget/linkerhand_retarget/config/base_config.yml
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/base_config.yml
@@ -27,8 +27,8 @@ serial:
     baudrate: 2000000
     port: /dev/ttyUSB0
   right:
-    baudrate: 2000000
-    port: /dev/ttyUSB0
+    baudrate: null
+    port: null
   serial_debug: false
 system:
   can:
@@ -40,9 +40,9 @@ system:
   motion_device: eric
   motion_type: linkerforce
   retargeting_type: projection
-  rightpub: true
+  rightpub: false
   robotname_l: g20
-  robotname_r: l10
+  robotname_r: g20
   sapientype: left
   usecan: false
   usegui: false
@@ -51,6 +51,6 @@ system:
   useudp: true
   useudpserver: true
 udp:
-  ip: 0.0.0.0
+  ip: 192.168.11.88
   port: 8888
   serverport: 5551
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/hand_config.yml b/src/linkerhand_retarget/linkerhand_retarget/config/hand_config.yml
index 316bd57..8e32e01 100644
--- a/src/linkerhand_retarget/linkerhand_retarget/config/hand_config.yml
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/hand_config.yml
@@ -16,7 +16,7 @@ commandlower_left_l20: [255, 255, 255, 255, 255, 255, 0, 0, 0, 0, 255, None, Non
 commandupper_left_l20: [0, 0, 0, 0, 0, 0, 255, 255, 255, 255, 0, None, None, None, None, 0, 0, 0, 0, 0] 
 commandlower_right_g20: [255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, None, None, None, None, 255, 255, 255, 255, 255]
 commandupper_right_g20: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, None, None, None, None, 0, 0, 0, 0, 0]
-commandlower_left_g20: [255, 255, 255, 255, 255, 255, 0, 0, 0, 0, 255, None, None, None, None, 255, 255, 255, 255, 255]
+commandlower_left_g20: [255, 255, 255, 255, 255, 0, 0, 0, 0, 0, 255, None, None, None, None, 255, 255, 255, 255, 255]
 commandupper_left_g20: [0, 0, 0, 0, 0, 0, 255, 255, 255, 255, 0, None, None, None, None, 0, 0, 0, 0, 0] 
 commandlower_right_l7: [255, 255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None]
 commandupper_right_l7: [0, 0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/g20_config copy.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/g20_config copy.py
new file mode 100644
index 0000000..6ba8239
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/g20_config copy.py	
@@ -0,0 +1,473 @@
+# 手指配置常量
+FINGER_CONFIGS = {
+    # 含义解释：
+    # robot_idx：URDF关节序列
+
+    # 拇指旋转3个关节的加权系数，人手的0/1/2序列，对应URDF的第1关节(下标0)
+    'thumb_rotate': {
+        'name': '拇指旋转',
+        'joints': [1, 2],
+        'weights': {
+            'v1': [1, 0],
+            'v2': [1, 0]
+        },
+        'robot_idx': 0,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 1.0
+        }
+    },  
+    # 拇指侧摆3个关节的加权系数，人手的0/1/2序列，对应URDF的第2关节(下标1)
+    'thumb_abduction': {
+        'name': '拇指侧摆',
+        'joints': [0, 1, 2],
+        'weights': {
+            'v1': [0, 1, 0],
+            'v2': [0, 1, 0]
+        },
+        'robot_idx': 1,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 1.0
+        }
+    },
+    # 拇指根部弯曲3个关节的加权系数，人手的2/3/4序列，对应URDF的第3关节(下标2)
+    'thumb_root_flexion': {
+        'name': '拇指根部弯曲',
+        'joints': [2, 3, 4],
+        'weights': {
+            'v1': [1, 0, 0],
+            'v2': [1, 0, 0]
+        },
+        'robot_idx': 2,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None, 
+        # {  
+        #     'trigger_finger': 'thumb_abduction',
+        #     'threshold': 0.3,
+        #     'low_weight_config': {
+        #         'joints': [2, 3, 4],
+        #         'weights': [1, 0, 0],
+        #         'reverse_motion': False
+        #     },
+        #     'high_weight_config': {
+        #         'joints': [2, 3, 4],
+        #         'weights': [0.3, 0.0, 0.7],
+        #         'reverse_motion': False
+        #     }
+        # },
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 10
+        }
+    },
+    # 拇指指尖弯曲3个关节的加权系数，人手的2/3/4序列，对应URDF的第4关节(下标3)
+    'thumb_end_flexion': {
+        'name': '拇指指尖弯曲',
+        'joints': [2, 3, 4],
+        'weights': {
+            'v1': [0, 0.0, 1],
+            'v2': [0, 0.0, 1]
+        },
+        'robot_idx': 3,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1,
+            'extended_exp_factor': 20
+        }
+    },
+    # 食指ROLL旋转（侧摆）关节的加权系数，人手的5序列，对应URDF的第4关节(下标3)
+    'index_roll': {
+        'name': '食指',
+        'joints': [5],
+        'weights': {
+            'v1': [1],
+            'v2': [1]
+        },
+        'robot_idx': 5,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': False,
+            'scale_factor': 1.0,
+        }
+    },
+    # 食指弯曲（根部弯曲）的加权系数，人身的6/7/8序列，对应URDF的第4关节(下标3)
+    'index_root_flexion': {
+        'name': '食指',
+        'joints': [6, 7, 8],
+        'weights': {
+            'v1': [1, 0.0, 0],
+            'v2': [1, 0.0, 0]
+        },
+        'robot_idx': 6,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 5
+        }
+    },
+    # 食指弯曲（末端弯曲）的加权系数，人手的6/7/8序列，对应URDF的第4关节(下标3)
+    'index_end_flexion': {
+        'name': '食指',
+        'joints': [6, 7, 8],
+        'weights': {
+            'v1': [0, 0.0, 1],
+            'v2': [0, 0.0, 1]
+        },
+        'robot_idx': 7,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1,
+            'extended_exp_factor': 30
+        }
+    },
+    # 中指ROLL旋转（侧摆）关节的加权系数，人手的5序列，对应URDF的第4关节(下标3)
+    'middle_roll': {
+        'name': '中指',
+        'joints': [9],
+        'weights': {
+            'v1': [1],
+            'v2': [1]
+        },
+        'robot_idx': 9,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 1.0
+        }
+    },
+    # 中指弯曲（根部弯曲）的加权系数，人手的10/11/12序列，对应URDF的第6关节(下标5)
+    'middle_root_flexion': {
+        'name': '中指',
+        'joints': [10, 11, 12],
+        'weights': {
+            'v1': [1, 0.0, 0],
+            'v2': [1, 0.0, 0]
+        },
+        'robot_idx': 10,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 5
+        }
+    },
+    # 中指弯曲（末端弯曲）的加权系数，人手的10/11/12序列，对应URDF的第6关节(下标5)
+    'middle_end_flexion': {
+        'name': '中指',
+        'joints': [10, 11, 12],
+        'weights': {
+            'v1': [0, 0.0, 1],
+            'v2': [0, 0.0, 1]
+        },
+        'robot_idx': 11,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1,
+            'extended_exp_factor': 30
+        }
+    },
+    # 无名指ROLL旋转（侧摆）关节的加权系数，人手的5序列，对应URDF的第4关节(下标3)
+    'ring_roll': {
+        'name': '无名指',
+        'joints': [13],
+        'weights': {
+            'v1': [1],
+            'v2': [1]
+        },
+        'robot_idx': 13,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': False,
+            'scale_factor': 1.0,
+        }
+    },
+    # 无名指弯曲（根部弯曲）的加权系数，人手的14/15/16序列，对应URDF的第8关节(下标7)
+    'ring_root_flexion': {
+        'name': '无名指',
+        'joints': [14, 15, 16],
+        'weights': {
+            'v1': [1, 0.0, 0],
+            'v2': [1, 0.0, 0]
+        },
+        'robot_idx': 14,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 5
+        }
+    },
+    # 无名指弯曲（末端弯曲）的加权系数，人手的14/15/16序列，对应URDF的第8关节(下标7)
+    'ring_end_flexion': {
+        'name': '无名指',
+        'joints': [14, 15, 16],
+        'weights': {
+            'v1': [0, 0.0, 1],
+            'v2': [0, 0.0, 1]
+        },
+        'robot_idx': 15,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1,
+            'extended_exp_factor': 30
+        }
+    },
+    # 小指ROLL旋转（侧摆）关节的加权系数，人手的5序列，对应URDF的第4关节(下标3)
+    'pinky_roll': {
+        'name': '小指',
+        'joints': [17],
+        'weights': {
+            'v1': [1],
+            'v2': [1]
+        },
+        'robot_idx': 17,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': False,
+            'scale_factor': 1.0,
+        }
+    },
+    # 小指弯曲（根部弯曲）的加权系数，人手的18/19/20序列，对应URDF的第10关节(下标9)
+    'pinky_root_flexion': {
+        'name': '小指',
+        'joints': [18, 19, 20],
+        'weights': {
+            'v1': [1, 0.0, 0],
+            'v2': [1, 0.0, 0]
+        },
+        'robot_idx': 18,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 5
+        }
+    },
+    # 小指弯曲（末端弯曲）的加权系数，人手的18/19/20序列，对应URDF的第10关节(下标9)
+    'pinky_end_flexion': {
+        'name': '小指',
+        'joints': [18, 19, 20],
+        'weights': {
+            'v1': [0, 0.0, 1],
+            'v2': [0, 0.0, 1]
+        },
+        'robot_idx': 19,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1,
+            'extended_exp_factor': 30
+        }
+    }
+}
+
+# 映射顺序
+MAPPING_ORDER = [
+    'thumb_rotate', 'thumb_abduction', 'thumb_root_flexion', 'thumb_end_flexion', 
+    'index_roll', 'index_root_flexion', 'index_end_flexion', 
+    'middle_roll', 'middle_root_flexion', 'middle_end_flexion', 
+    'ring_roll', 'ring_root_flexion','ring_end_flexion', 
+    'pinky_roll', 'pinky_root_flexion', 'pinky_end_flexion'
+]
+
+# 三态默认配置
+MULTI_SEGMENT_CONFIG = {
+    'states': [
+        'original', 
+        'opose', 
+        # 'fist'  # 取消注释启用三段映射
+    ],
+    'state_names': {
+        'original': '张手',
+        'opose': 'O手势',
+        # 'fist': '握拳'
+    }
+}
+MULTI_SEGMENT_CONFIG_FROZEN = tuple(MULTI_SEGMENT_CONFIG['states'])
+
+ROBOT_ORIGINAL_LEFT = [
+    0.0, 0.0, 0.0, 0.0, 0.0, 
+    0.2, 0.0, 0.0, 0.0, 
+    0.0, 0.0, 0.0, 0.0, 
+    -0.2, 0.0, 0.0, 0.0, 
+    -0.2, 0.0, 0.0, 0.0
+]
+
+ROBOT_ORIGINAL_RIGHT = [
+    0.0, 0.0, 0.0, 0.0, 0.0, 
+    -0.2, 0.0, 0.0, 0.0, 
+    0.0, 0.0, 0.0, 0.0, 
+    0.2, 0.0, 0.0, 0.0, 
+    0.2, 0.0, 0.0, 0.0
+]
+
+ROBOT_OPOSE_LEFT = [
+    0.6, 1.2, 0.5, 0.6, 0.0, 
+    0.0, 0.7, 1.08, 0.00, 
+    0.0, 0.7, 1.08, 0.00 , 
+    0.0, 0.7, 1.08, 0.00, 
+    0.0, 0.7, 1.08, 0.00 
+]
+
+ROBOT_OPOSE_RIGHT = [
+    0.6, 1.2, 0.5, 0.6, 0.0, 
+    0.0, 0.7, 1.08, 0.00, 
+    0.0, 0.7, 1.08, 0.00, 
+    0.0, 0.7, 1.08, 0.00, 
+    0.0, 0.7, 1.08, 0.00
+]
+
+ROBOT_FIST_RIGHT = [
+    1.39, 1.57, 0.83, 1.25, 1.29,
+    0, 1.22, 1.75, 1.55,
+    0, 1.22, 1.75, 1.55,
+    0, 1.22, 1.75, 1.55,
+    0, 1.22, 1.75, 1.55
+]
+
+ROBOT_FIST_LEFT = [
+    1.39, 1.57, 0.83, 1.25, 1.29,
+    0, 1.22, 1.75, 1.55,
+    0, 1.22, 1.75, 1.55,
+    0, 1.22, 1.75, 1.55,
+    0, 1.22, 1.75, 1.55
+]
+
+# 电机输出约束配置 (20电机)
+MOTOR_CONSTRAINTS = {
+    'left': [
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 80, 'max': 255, 'enabled': True},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+    ],
+    'right': [
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 80, 'max': 255, 'enabled': True},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+    ]
+}
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/g20_config.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/g20_config.py
index 4941166..02a52be 100644
--- a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/g20_config.py
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/g20_config.py
@@ -432,9 +432,7 @@ MOTOR_CONSTRAINTS = {
         {'min': 0, 'max': 255, 'enabled': False},
         {'min': 0, 'max': 255, 'enabled': False},
         {'min': 0, 'max': 255, 'enabled': False},
-        # Left G20 thumb abduction is enabled by hand_config.yml. Keep the
-        # physically verified command away from the mechanical end stop.
-        {'min': 20, 'max': 255, 'enabled': True},
+        {'min': 0, 'max': 255, 'enabled': False},
         {'min': 0, 'max': 255, 'enabled': False},
         {'min': 0, 'max': 255, 'enabled': False},
         {'min': 0, 'max': 255, 'enabled': False},
@@ -472,4 +470,4 @@ MOTOR_CONSTRAINTS = {
         {'min': 0, 'max': 255, 'enabled': False},
         {'min': 0, 'max': 255, 'enabled': False},
     ]
-}
+}
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l10_config.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l10_config.py
index 05936b2..db74520 100644
--- a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l10_config.py
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l10_config.py
@@ -126,7 +126,7 @@ FINGER_CONFIGS = {
         'type': 'finger',
         'reverse_motion': {
             'v1': False,
-            'v2': True
+            'v2': False
         },
         'dynamic_weight': None,
         'extended_mapping': {
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_g20.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_g20.py
index 8fcd91c..1eec528 100644
--- a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_g20.py
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_g20.py
@@ -10,13 +10,6 @@ from ..config.g20_config import FINGER_CONFIGS, MAPPING_ORDER, ROBOT_OPOSE_RIGHT
 from typing import List
 from linkerhand.handcoreex import DynamicWeightMultiStateLinearMapper,MultiStateLinearMapper
 
-
-# The left G20 ring abduction motor runs opposite to the glove's corresponding
-# roll sensor. Keep this override local to LeftHand so the pinky and right-hand
-# mappings retain their native directions.
-LEFT_REVERSED_SIDE_SWINGS = ('ring_roll',)
-
-
 def _resolve_version_config(configs: dict, version: str) -> dict:
     """
     解析版本配置，将字典格式的 weights/reverse_motion 转换为具体值
@@ -307,7 +300,6 @@ class LeftHand:
 
         finger_configs = _resolve_version_config(FINGER_CONFIGS, self.glove_version)
         self.multi_state_mapper = DynamicWeightMultiStateLinearMapper(finger_configs, MAPPING_ORDER, is_debug=is_debug)
-        self._apply_side_direction_overrides()
 
         for config_name, config in FINGER_CONFIGS.items():
             if config.get('dynamic_weight'):
@@ -315,10 +307,6 @@ class LeftHand:
 
         self.motor_constraints = MOTOR_CONSTRAINTS['left']
 
-    def _apply_side_direction_overrides(self):
-        for finger_name in LEFT_REVERSED_SIDE_SWINGS:
-            self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = True
-
     def _apply_motor_constraints(self):
         for i, constraint in enumerate(self.motor_constraints):
             if constraint.get('enabled', False):
@@ -347,8 +335,6 @@ class LeftHand:
                 if version_key in config['reverse_motion']:
                     self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = config['reverse_motion'][version_key]
 
-        self._apply_side_direction_overrides()
-
     def initialize_mapper(self) -> bool:
         """
         初始化映射器
@@ -532,3 +518,4 @@ class LeftHand:
             self.g_jointvelocity[i] = 255
             self.last_jointvelocity[i] = self.g_jointvelocity[i]
             self.last_jointpositions[i] = self.g_jointpositions[i]
+
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/retarget.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/retarget.py
index 9ef7df7..4ae9a10 100644
--- a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/retarget.py
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/retarget.py
@@ -1247,7 +1247,7 @@ class Retarget():
                 self.node.get_logger().error("标定失败，退出程序")
                 return
             self.calibration = -1
-        self.node.create_timer(1.0/100, self.process_callback)  # 100Hz
+        self.node.create_timer(1.0/30, self.process_callback)  # 30Hz
 
     def stop_serial_threads(self):
         """停止串口线程，在 destroy_node 时调用"""
diff --git a/src/linkerhand_retarget/tests/unit/test_linkerforce_g20.py b/src/linkerhand_retarget/tests/unit/test_linkerforce_g20.py
deleted file mode 100644
index 46c0669..0000000
--- a/src/linkerhand_retarget/tests/unit/test_linkerforce_g20.py
+++ /dev/null
@@ -1,51 +0,0 @@
-from pathlib import Path
-
-import yaml
-
-from linkerhand_retarget.motion.linkerforce.hand.linkerforce_g20 import (
-    LeftHand,
-    RightHand,
-)
-from linkerhand_retarget.motion.linkerforce.config.g20_config import MOTOR_CONSTRAINTS
-
-
-class _HandCoreStub:
-    pass
-
-
-def test_left_g20_thumb_side_swing_has_a_safe_command_range():
-    package_dir = Path(__file__).resolve().parents[2] / 'linkerhand_retarget'
-    config = yaml.safe_load((package_dir / 'config' / 'hand_config.yml').read_text())
-
-    assert config['commandlower_left_g20'][5] == 255
-    assert config['commandupper_left_g20'][5] == 0
-    assert MOTOR_CONSTRAINTS['left'][5] == {
-        'min': 20,
-        'max': 255,
-        'enabled': True,
-    }
-
-
-def test_left_g20_reverses_only_ring_side_swing():
-    hand = LeftHand(_HandCoreStub())
-
-    assert hand.multi_state_mapper.finger_configs['index_roll']['reverse_motion'] is False
-    assert hand.multi_state_mapper.finger_configs['middle_roll']['reverse_motion'] is False
-    assert hand.multi_state_mapper.finger_configs['ring_roll']['reverse_motion'] is True
-    assert hand.multi_state_mapper.finger_configs['pinky_roll']['reverse_motion'] is False
-
-
-def test_left_g20_side_direction_overrides_survive_version_change():
-    hand = LeftHand(_HandCoreStub())
-
-    hand.set_glove_version('1.2.12')
-
-    assert hand.multi_state_mapper.finger_configs['ring_roll']['reverse_motion'] is True
-    assert hand.multi_state_mapper.finger_configs['pinky_roll']['reverse_motion'] is False
-
-
-def test_right_g20_side_directions_are_unchanged():
-    hand = RightHand(_HandCoreStub())
-
-    assert hand.multi_state_mapper.finger_configs['ring_roll']['reverse_motion'] is False
-    assert hand.multi_state_mapper.finger_configs['pinky_roll']['reverse_motion'] is False