diff --git a/unitree_guide/src/FSM/State_SwingTest.cpp b/unitree_guide/src/FSM/State_SwingTest.cpp
index 8695445..e546780 100755
--- a/unitree_guide/src/FSM/State_SwingTest.cpp
+++ b/unitree_guide/src/FSM/State_SwingTest.cpp
@@ -50,7 +50,7 @@ void State_SwingTest::run(){
     }
     
     if(_userValue.lx > 0){
-        _posGoal(1) = invNormalize(_userValue.lx, _initPos(1, 0), _initPos(1)+_yMax, 0, 1);
+        _posGoal(1) = invNormalize(_userValue.lx, _initPos(1), _initPos(1)+_yMax, 0, 1);
     }else{
         _posGoal(1) = invNormalize(_userValue.lx, _initPos(1)+_yMin, _initPos(1), -1, 0);
     }
@@ -99,4 +99,4 @@ void State_SwingTest::_torqueCtrl(){
     torque.segment(0, 3) = jaco0.transpose() * force0;
 
     _lowCmd->setTau(torque);
-}
\ No newline at end of file
+}