diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index a91dc9e..4a8bfbd 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -37,13 +37,16 @@
     const std::vector<uint8_t> right_command = {
         0xFE, 0xFE, 0x0F, 0x3C, 0x0A, 0x40, 0x0A, 0x89, 0x03, 0xDE, 0x08, 0x43, 0x09, 0xA8, 0x07, 0xE1, 0x1E, 0xFA
     };
+    const std::vector<uint8_t> default_command = {
+        0xFE, 0xFE, 0x0F, 0x3C, 0x07, 0xF7, 0x08, 0x18, 0x08, 0x0B, 0x08, 0x4B, 0x0A, 0x7D, 0x08, 0x0A, 0x1E, 0xFA
+    };
 
     std::cout << "control_robotic_arm start" << std::endl;
     serial_port_->write(left_command);
     std::this_thread::sleep_for(std::chrono::seconds(3));
     serial_port_->write(right_command);
     std::this_thread::sleep_for(std::chrono::seconds(3));
-    serial_port_->write(init_command);
+    serial_port_->write(default_command);
     std::cout << "control_robotic_arm end" << std::endl;
 }
 
@@ -60,9 +63,9 @@
 
     std::cout << "move_to_i start" << std::endl;
     serial_port_->write(left_command);
-    std::this_thread::sleep_for(std::chrono::seconds(3));
+    std::this_thread::sleep_for(std::chrono::seconds(6));
     serial_port_->write(right_command);
-    std::this_thread::sleep_for(std::chrono::seconds(3));
+    std::this_thread::sleep_for(std::chrono::seconds(9));
     serial_port_->write(default_command);
     std::cout << "move_to_i end" << std::endl;
 }