diff --git a/debug_execution.py b/debug_execution.py
index 8edc4f9..8da6eca 100644
--- a/debug_execution.py
+++ b/debug_execution.py
@@ -117,8 +117,9 @@ def debug_path_execution():
                 # 设置插值位置
                 arm_controller.set_joint_positions(interpolated.tolist())
                 
-                # 执行仿真步进（关键修复：让PyBullet执行控制命令）
-                p.stepSimulation(physicsClientId=physics_client)
+                # 执行多次仿真步进让控制器充分收敛
+                for _ in range(10):
+                    p.stepSimulation(physicsClientId=physics_client)
                 
                 # 等待timestep时间（和主程序相同）
                 time.sleep(timestep)
@@ -150,7 +151,8 @@ def debug_path_execution():
                     break
                 
                 # 执行仿真步进让机械臂继续收敛
-                p.stepSimulation(physicsClientId=physics_client)
+                for _ in range(10):
+                    p.stepSimulation(physicsClientId=physics_client)
                 time.sleep(timestep)
             
             # 记录最终实际位置