diff --git a/src/LocoMuJoCo/ros2/ros2_py/robot_controller.py b/src/LocoMuJoCo/ros2/ros2_py/robot_controller.py
new file mode 100644
index 0000000000..b82a5de541
--- /dev/null
+++ b/src/LocoMuJoCo/ros2/ros2_py/robot_controller.py
@@ -0,0 +1,95 @@
+import sys
+import select
+import rclpy
+from rclpy.node import Node
+from my_interfaces.srv import RobotCtrl
+
+# 全局变量（提前初始化，避免未绑定）
+current_action_key = 'stop'
+action_switch_flag = False
+
+
+class RobotController(Node):
+    def __init__(self, name):
+        super().__init__(name)
+        # 创建服务客户端，连接机器人控制服务
+        self.client = self.create_client(RobotCtrl, 'robot_control')
+        # 等待服务上线
+        while not self.client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('等待服务 "robot_control" 启动...')
+        self.get_logger().info("操作提示：w=行走 | s=下蹲 | q=退出 | 其他键=停止")
+
+    def result_callback(self, future):
+        """服务调用结果的回调函数"""
+
+        response = future.result()
+        self.get_logger().info(f'指令执行成功：{response.message}')
+
+
+    def send_request(self, action):
+        """发送控制指令到服务端"""
+
+        request = RobotCtrl.Request()
+        request.command = action  # 传递动作指令
+        self.client.call_async(request).add_done_callback(self.result_callback)
+        self.get_logger().info(f'已发送指令：{action}')
+
+
+
+def read_keypress_non_blocking():
+    """非阻塞读取终端按键"""
+    if select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []):
+        key = sys.stdin.read(1)
+        return key.strip()
+    return None
+
+
+def main(args=None):
+    # 关键：声明使用全局变量（修复核心错误）
+    global current_action_key, action_switch_flag
+    
+    rclpy.init(args=args)
+    robot_controller = RobotController("robot_controller")
+
+    # 初始发送停止指令（此时current_action_key已绑定全局值'stop'）
+    robot_controller.send_request(current_action_key)
+
+    try:
+        # 主循环：非阻塞读取按键 + 处理ROS事件
+        while rclpy.ok():
+            # 1. 读取终端按键
+            key = read_keypress_non_blocking()
+            if key:
+                # 按键逻辑
+                if key == 'w' and current_action_key != "walk":
+                    current_action_key = "walk"
+                    action_switch_flag = True
+                elif key == 's' and current_action_key != "squat":
+                    current_action_key = "squat"
+                    action_switch_flag = True
+                elif key == 'q':  # q键退出
+                    robot_controller.get_logger().info("收到退出指令，程序终止")
+                    break
+                elif key not in ['w', 's']:  # 其他键停止
+                    if current_action_key != "stop":
+                        current_action_key = "stop"
+                        action_switch_flag = True
+
+            # 2. 检测动作切换并发送指令
+            if action_switch_flag:
+                robot_controller.send_request(current_action_key)
+                action_switch_flag = False  # 重置标记
+
+            # 3. 非阻塞处理ROS回调
+            rclpy.spin_once(robot_controller, timeout_sec=0.01)
+
+    except KeyboardInterrupt:
+        robot_controller.get_logger().info("用户强制退出")
+    finally:
+        robot_controller.destroy_node()
+        rclpy.shutdown()
+        print("程序已退出")
+
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/src/LocoMuJoCo/test.py b/src/LocoMuJoCo/test.py
new file mode 100644
index 0000000000..57d78354f5
--- /dev/null
+++ b/src/LocoMuJoCo/test.py
@@ -0,0 +1,66 @@
+import numpy as np
+import mujoco
+from mujoco import MjSpec
+from loco_mujoco import ImitationFactory
+from loco_mujoco import PATH_TO_MODELS
+import time
+
+def main():
+    # 配置环境参数
+    env_name = "UnitreeH1"
+    task = "walk"
+    n_episodes = 10
+    n_steps_per_episode = 500
+
+    # 创建自定义模型规格，添加几何体
+    def create_custom_spec():
+        # 加载UnitreeH1的默认模型
+        h1_model_path = PATH_TO_MODELS / "unitree_h1/h1.xml"
+        spec = MjSpec.from_file(str(h1_model_path))
+        
+        # 打印所有身体名称，确认地板身体的正确名称
+        print("模型中所有身体名称：")
+        for body in spec.bodies:
+            print(body.name)
+        
+        # 尝试查找地板身体（根据打印结果，模型中没有floor/ground，使用world作为父节点）
+        floor_body = spec.find_body("floor")
+        if floor_body is None:
+            floor_body = spec.find_body("ground")
+        if floor_body is None:
+            # 若仍找不到，使用根节点"world"作为父节点（模型中存在"world"身体）
+            floor_body = spec.find_body("world")
+            print("使用根节点'world'作为几何体的父节点")
+        
+        # 定义圆柱体几何体属性（size改为3个元素，符合Mujoco要求）
+        cylinder_attr = dict(
+            type=mujoco.mjtGeom.mjGEOM_CYLINDER,
+            size=[0.3, 1, 0.0],  # 修正：[半径, 半长度, 0]（必须3个元素）
+            pos=[8, 0, 1.0],       # 位置（相对于父节点world）
+            rgba=[1.0, 0.0, 0.0, 0.5],  # 红色半透明
+            contype=1,
+            conaffinity=1
+        )
+        
+        # 向父节点添加几何体
+        floor_body.add_geom(name="custom_cylinder", **cylinder_attr)
+        
+        return spec
+
+    # 创建带自定义几何体的环境
+    custom_spec = create_custom_spec()
+    env = ImitationFactory.make(
+        env_name,
+        default_dataset_conf=dict(task=task),
+        spec=custom_spec  # 传入自定义规格
+    )
+
+    # 播放轨迹并渲染
+    env.play_trajectory(
+        n_episodes=n_episodes,
+        n_steps_per_episode=n_steps_per_episode,
+        render=True
+    )
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file