diff --git a/README.md b/README.md
index 1162821..7f1610d 100644
--- a/README.md
+++ b/README.md
@@ -76,13 +76,13 @@ set_workspace_transform(transform)
get_workspace_transform()
home(axis_list=None)
calibrate_joint(joint_index, save_result)
-move_to(x, y, z, f, move_immediately=False, blocking=True, timeout=1)
-dwell(time_s, blocking, timeout=1)
-set_max_acceleration(linear_accel, angular_accel)
-wait_for_stop(polling_interval_ms=10, disable_callbacks=True)
-set_servo_parameter(pos_kp=150, pos_ki=50000, vel_kp=0.2, vel_ki=100, vel_filter_tc=0.0025)
-enable_motors(enable)
+move_to(x, y, z, f, move_immediately, blocking, timeout)
set_pose(x, y, z)
+dwell(time_s, blocking, timeout)
+enable_motors(enable)
+wait_for_stop(polling_interval_ms, disable_callbacks)
+set_max_acceleration(linear_accel, angular_accel)
+set_servo_parameter(pos_kp, pos_ki, vel_kp, vel_ki, vel_filter_tc)
```
## ⚙ CAD-Files
@@ -143,16 +143,25 @@ Each command is acknowledged with either an **`ok`** or **`error`** response.
If a command provides additional information (e.g., the *get position* command), that information is returned **before** the `ok` message.
The client must wait for an acknowledgment from the previous command before sending the next one—otherwise, behavior is undefined.
-
| Command | Description |
|----------------|-----------------------------------------------------------------------------|
-| `G0 X Y Z F` | Move the end-effector in a straight line to the specified position.
• `X`: target position on X-axis
• `Y`: target position on Y-axis
• `Z`: target position on Z-axis
• `F`: feed rate (movement speed) |
-| `G1 X Y Z F` | Same as `G0`. |
-| `M204 L A` | Set current acceleration.
• `L`: linear acceleration (m/s²)
• `A`: angular acceleration (rad/s²) |
-| `M50` | Get current actuator pose (position). |
-| `M51` | Get motion controller and servo loop update frequency. |
+| `G0 X Y Z F` | Move the end-effector in a straight line to the specified position.
• `X`, `Y`, `Z`: target positions
• `F`: feed rate |
+| `G1 X Y Z F` | Same as `G0`. |
+| `G4 S/P` | Dwell/pause for a specified time.
• `S`: seconds
• `P`: milliseconds |
+| `G24 X Y Z A B C` | Directly set current pose for servo loops. Optional rotation with `A`, `B`, `C`. |
+| `G28 A-F` | Home one or more joints.
• Optional joint selection `A`–`F`. |
+| `M17` | Enable motors and read current pose as the start pose. |
+| `M18` | Disable motors. |
+| `M50` | Get current internal position (X, Y, Z). |
+| `M51` | Get current encoder angles (in degrees) and raw encoder values. |
| `M52` | Get the number of items in the planner queue. |
-| `M53` | Check if all moves are finished. Returns `1` if finished, `0` otherwise. |
+| `M53` | Check if all planned moves are finished (`1` = finished, `0` = not finished). |
+| `M55 A B C D F` | Set servo loop parameters.
• `A`, `B`: position PI controller gains (P and I)
• `C`, `D`: velocity PI controller gains (P and I)
• `F`: velocity filter time constant |
+| `M56 J S` | Calibrate a joint.
• `J`: joint index
• `S`: save calibration result |
+| `M57` | Get device and servo loop info: homing/calibration state, angles, loop frequencies, and file list. |
+| `M58` | Get firmware version. |
+| `M204 L A` | Set linear and angular acceleration.
• `L`: linear acceleration
• `A`: angular acceleration |
+
## Youtube Video
[](https://youtu.be/MgQbPdiuUTw)