diff --git a/cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowiseActionService.java b/cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowiseActionService.java
index 0d9200c..15f064a 100644
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowiseActionService.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowiseActionService.java
@@ -207,8 +207,7 @@ public class FlowiseActionService {
             return "already running";
         }
 
-        String terminalId = "8c7c5d5d8c8b09df9d1e5fc9b76c46ab";
-//        String terminalId = "25d13e8ee0cbc2b1046e190f840b8ab0";
+        String terminalId = "4ed1246c465b97975f96c9ef8371a3bd";
         String bioId = "hc01";
         String spkId = "spk1";
 
@@ -218,61 +217,61 @@ public class FlowiseActionService {
             speakVO.setDeviceId(spkId);
             try {
                 // 张嘴
-//                edgeBioHeadService.speakStart(speakVO);
+                edgeBioHeadService.speakStart(speakVO);
                 log.info("张嘴动作触发完成");
 
-                // 摆头循环
-                boolean toRight = true;
-
-                while (actionRunning.get()) {
-
-                    double rad = toRight ? 0.1d : -0.1d;
-
-                    EdgeMoveJVO moveJVO = buildHeadMoveJVO(
-                            terminalId,
-                            bioId,
-                            rad
-                    );
-
-                    long t0 = System.currentTimeMillis();
-                    log.info(">>> moveJ start, rad={},time={}", rad, t0);
-                    String res = edgeHumanoidRobotService.moveJ(moveJVO);
-
-                    long t1 = System.currentTimeMillis();
-                    log.info(">>> moveJ end, rad={}, cost={}", rad, t1 - t0);
-
-                    // 判断返回
-                    try {
-                        JSONObject resJson = JSON.parseObject(res);
-                        if (!resJson.getBooleanValue("success")) {
-                            log.warn("moveJ 返回失败，res={}", res);
-                        }
-                    } catch (Exception ignore) {
-                    }
-
-                    toRight = !toRight;
-                }
+//                // 摆头循环
+//                boolean toRight = true;
+//
+//                while (actionRunning.get()) {
+//
+//                    double rad = toRight ? 0.1d : -0.1d;
+//
+//                    EdgeMoveJVO moveJVO = buildHeadMoveJVO(
+//                            terminalId,
+//                            bioId,
+//                            rad
+//                    );
+//
+//                    long t0 = System.currentTimeMillis();
+//                    log.info(">>> moveJ start, rad={},time={}", rad, t0);
+//                    String res = edgeHumanoidRobotService.moveJ(moveJVO);
+//
+//                    long t1 = System.currentTimeMillis();
+//                    log.info(">>> moveJ end, rad={}, cost={}", rad, t1 - t0);
+//
+//                    // 判断返回
+//                    try {
+//                        JSONObject resJson = JSON.parseObject(res);
+//                        if (!resJson.getBooleanValue("success")) {
+//                            log.warn("moveJ 返回失败，res={}", res);
+//                        }
+//                    } catch (Exception ignore) {
+//                    }
+//
+//                    toRight = !toRight;
+//                }
 
             } catch (Exception e) {
                 log.error("action 执行异常", e);
 
             } finally {
                 // 回正
-                try {
-                    EdgeMoveJVO resetVO = buildHeadMoveJVO(
-                            terminalId,
-                            bioId,
-                            0d
-                    );
-                    log.info("结束动作，头部回正 rad=0");
-                    edgeHumanoidRobotService.moveJ(resetVO);
-                } catch (Exception e) {
-                    log.error("头部回正异常", e);
-                }
+//                try {
+//                    EdgeMoveJVO resetVO = buildHeadMoveJVO(
+//                            terminalId,
+//                            bioId,
+//                            0d
+//                    );
+//                    log.info("结束动作，头部回正 rad=0");
+//                    edgeHumanoidRobotService.moveJ(resetVO);
+//                } catch (Exception e) {
+//                    log.error("头部回正异常", e);
+//                }
 
                 // 停止张嘴
                 try {
-//                    edgeBioHeadService.speakStop(speakVO);
+                    edgeBioHeadService.speakStop(speakVO);
                     log.info("speakStop 已调用");
                 } catch (Exception e) {
                     log.error("speakStop 调用失败", e);
@@ -309,7 +308,6 @@ public class FlowiseActionService {
         EdgeMoveJVO.JointCmd headCmd = new EdgeMoveJVO.JointCmd();
         headCmd.setJointName("HEAD_R");
         headCmd.setRad(rad);
-        headCmd.setVel(0d);
 
         vo.setCmds(Collections.singletonList(headCmd));
         return vo;