diff --git a/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py b/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py
index 271f1a0..004a3d5 100644
--- a/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py
+++ b/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py
@@ -279,13 +279,23 @@ class StereoHandDepthNode(Node):
         # msg_out.pose.position.y = float(X)
         # msg_out.pose.position.z = -float(Y)
         # self.get_logger().info(f"X:{X:.3f}, Y:{Y:.3f}, Z:{Z:.3f}")
-        msg_out.pose.orientation.x = float(self.target_quat[0])
-        msg_out.pose.orientation.y = float(self.target_quat[1])
-        msg_out.pose.orientation.z = float(self.target_quat[2])
-        msg_out.pose.orientation.w = float(self.target_quat[3])
-        msg_out.pose.position.x = float(self.target_pos[0])
-        msg_out.pose.position.y = float(self.target_pos[1])
-        msg_out.pose.position.z = float(self.target_pos[2])
+        # 对位置和姿态做简单平滑（滑动平均）
+        alpha = 0.2  # 平滑系数，0.0-1.0，越小越平滑
+        if not hasattr(self, 'smoothed_pos'):
+            self.smoothed_pos = self.target_pos.copy()
+            self.smoothed_quat = self.target_quat.copy()
+        else:
+            self.smoothed_pos = alpha * self.target_pos + (1 - alpha) * self.smoothed_pos
+            self.smoothed_quat = alpha * self.target_quat + (1 - alpha) * self.smoothed_quat
+            self.smoothed_quat = self.smoothed_quat / np.linalg.norm(self.smoothed_quat)  # 归一化
+
+        msg_out.pose.orientation.x = float(self.smoothed_quat[0])
+        msg_out.pose.orientation.y = float(self.smoothed_quat[1])
+        msg_out.pose.orientation.z = float(self.smoothed_quat[2])
+        msg_out.pose.orientation.w = float(self.smoothed_quat[3])
+        msg_out.pose.position.x = float(self.smoothed_pos[0])
+        msg_out.pose.position.y = float(self.smoothed_pos[1])
+        msg_out.pose.position.z = float(self.smoothed_pos[2])
         self.pub.publish(msg_out)
 
         # ----------- 可视化（调试用）-----------