diff --git a/.gitignore b/.gitignore
index 0a0e505..ac37242 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,4 +2,5 @@ __pycache__/
 *.py[cod]
 *$py.class
 
-/logs/image/*
\ No newline at end of file
+/logs/image/*
+example/
\ No newline at end of file
diff --git a/main.py b/main.py
index 84d1430..82d6f11 100644
--- a/main.py
+++ b/main.py
@@ -71,7 +71,7 @@ def main():
         else:
             run_task_4_back(Ctrl, msg)
 
-        run_task_2_5_back(Ctrl, msg, direction=arrow_direction)
+        # run_task_2_5_back(Ctrl, msg, direction=arrow_direction)
 
         # run_task_2_back(Ctrl, msg)
 
diff --git a/task_4/task_4.py b/task_4/task_4.py
index 718b89e..d70115b 100644
--- a/task_4/task_4.py
+++ b/task_4/task_4.py
@@ -56,7 +56,7 @@ def run_task_4_back(ctrl, msg):
 
     # 向右移动0.5秒
     section('任务4-回程：向右移动', "移动")
-    go_lateral(ctrl, msg, distance=-0.1, speed=0.1, observe=True)  # DEBUG
+    go_lateral(ctrl, msg, distance=-0.1, speed=0.15, observe=True)  # DEBUG
 
     turn_degree_v2(ctrl, msg, degree=-90, absolute=True)
 
@@ -67,9 +67,12 @@ def run_task_4_back(ctrl, msg):
     turn_degree_v2(ctrl, msg, degree=-90, absolute=True)
     pass_bar(ctrl, msg)
 
+    turn_degree_v2(ctrl, msg, degree=90, absolute=True) 
     section('任务4-3：stone', "移动")
     go_straight(ctrl, msg, distance=1, speed=2)
 
+    turn_degree_v2(ctrl, msg, degree=90, absolute=True) 
+
     # Use enhanced calibration for better Y-axis correction on stone path
     go_straight(ctrl, msg, distance=4.5, speed=0.35, mode=11, gait_id=3, step_height=[0.21, 0.21], observe=True)
     # go_straight_with_enhanced_calibration(ctrl, msg, distance=4.5, speed=0.35, 
diff --git a/task_5/task_5.py b/task_5/task_5.py
index 07eb014..d74342b 100644
--- a/task_5/task_5.py
+++ b/task_5/task_5.py
@@ -246,11 +246,11 @@ def run_task_5(ctrl, msg, direction='left', observe=False):
     move_to_hori_line(ctrl, msg, target_distance=1.35, observe=observe)
 
     section('任务5-5：转弯', "转弯")
-    turn_degree_v2(ctrl, msg, degree=90)
+    turn_degree_v2(ctrl, msg, degree=-90, absolute=True)
     go_straight(ctrl, msg, distance=1.2, speed=0.6, observe=observe)
 
     section('任务5-6：转弯', "转弯")
-    arc_turn_around_hori_line(ctrl, msg, angle_deg=-90, target_distance=0.3, observe=observe)
+    arc_turn_around_hori_line(ctrl, msg, angle_deg=-85, target_distance=0.3, observe=observe)
 
     section('任务5-5：上货', "卸货")
     ctrl.base_msg.lie_down(wait_time=SLEEP_TIME)