diff --git a/ros2/src/udp_teleop/udp_teleop/arm_control.py b/ros2/src/udp_teleop/udp_teleop/arm_control.py
index 89884a3..6b4e7b6 100644
--- a/ros2/src/udp_teleop/udp_teleop/arm_control.py
+++ b/ros2/src/udp_teleop/udp_teleop/arm_control.py
@@ -128,7 +128,7 @@ class ArmJointState:
     def to_udp_message(self) -> bytes:
         """转换为 UDP 消息"""
         return (
-            f"JXB:{self.height + 290}:{self.j2}:{self.j3}:{self.j4}:"
+            f"JXB:{-self.height - 290}:{self.j2}:{self.j3}:{self.j4}:"
             f"{self.j5}:{self.j6}:0:0:EZHY\n"
         ).encode("utf-8")
 
diff --git a/ros2/src/udp_teleop/udp_teleop/keyboard_control.py b/ros2/src/udp_teleop/udp_teleop/keyboard_control.py
index a2c12c8..bcefe96 100644
--- a/ros2/src/udp_teleop/udp_teleop/keyboard_control.py
+++ b/ros2/src/udp_teleop/udp_teleop/keyboard_control.py
@@ -310,7 +310,7 @@ class KeyboardUdpControlNode(Node):
     def build_arm_cmd(self):
         joints = self.arm_joints
         return (
-            f"JXB:{self.arm_height + 290}:"
+            f"JXB:{-self.arm_height - 290}:"
             f"{joints[0]}:{joints[1]}:{joints[2]}:"
             f"{joints[3]}:{joints[4]}:0:0:EZHY\n"
         ).encode()