diff --git a/.gitignore b/.gitignore
index 9807aec..7e06825 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,3 +6,17 @@
 
 # 忽略所有层级的 log 文件夹及其内容
 **/log/
+
+**/msc/
+
+**/Log/
+
+**/.vscode/
+
+include/** 
+lib/**
+
+csp_log.csv
+camera_pose_data.json
+eye_to_hand_matrix.json
+hand_pose_data.json
diff --git a/.gitmodules b/.gitmodules
index 2c10dfa..35ae20f 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
+[submodule "hivecore_robot_arm"]
+	path = hivecore_robot_arm
+	url = ssh://git@192.168.10.50:2222/HiveCoreRD/hivecore_robot_arm.git
 [submodule "hivecore_robot_brain"]
 	path = hivecore_robot_brain
 	url = ssh://git@192.168.10.50:2222/HiveCoreRD/hivecore_robot_brain.git
diff --git a/README.md b/README.md
index 86e20db..8400ad6 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1 @@
 # hivecore_robot_os1
-
diff --git a/hivecore_robot_brain b/hivecore_robot_brain
index 30f7001..1ba451a 160000
--- a/hivecore_robot_brain
+++ b/hivecore_robot_brain
@@ -1 +1 @@
-Subproject commit 30f7001bbc373ebde3cb11e9ab0f5bb68bfc6a13
+Subproject commit 1ba451a3cccd2f11113a54406941e6de8edfb722
diff --git a/hivecore_robot_drivers b/hivecore_robot_drivers
index f55b8f6..bfe060e 160000
--- a/hivecore_robot_drivers
+++ b/hivecore_robot_drivers
@@ -1 +1 @@
-Subproject commit f55b8f6dfd7a1eed44d2bddc1232af468e21187c
+Subproject commit bfe060e01a2115bc03cb03b11925d13c174fec83
diff --git a/hivecore_robot_interfaces b/hivecore_robot_interfaces
index 5c655d6..e6ff6a8 160000
--- a/hivecore_robot_interfaces
+++ b/hivecore_robot_interfaces
@@ -1 +1 @@
-Subproject commit 5c655d6279d85006771cf7fda7c66e3b2a52a6c5
+Subproject commit e6ff6a8900f88873676b66c2c080137bd04a96cf
diff --git a/hivecore_robot_motion b/hivecore_robot_motion
index 01e0ab5..2f69f94 160000
--- a/hivecore_robot_motion
+++ b/hivecore_robot_motion
@@ -1 +1 @@
-Subproject commit 01e0ab59d5030f9e40675ae8256064f6c942caa2
+Subproject commit 2f69f94bbda2a53f98572b79db52404555b3f63a
diff --git a/hivecore_robot_vision b/hivecore_robot_vision
index 1c8f06e..c0638c2 160000
--- a/hivecore_robot_vision
+++ b/hivecore_robot_vision
@@ -1 +1 @@
-Subproject commit 1c8f06ecf92730e43c8f0aa4931cde638c286b05
+Subproject commit c0638c262eed64e444cd38a1cab93639c95d153c