diff --git a/examples/bigDemo.cpp b/examples/bigDemo.cpp
index 472292e..db75603 100644
--- a/examples/bigDemo.cpp
+++ b/examples/bigDemo.cpp
@@ -1,5 +1,7 @@
 #include "control/unitreeArm.h"
 
+using namespace UNITREE_ARM;
+
 class Z1ARM : public unitreeArm{
 public:
     Z1ARM():unitreeArm(true){};
diff --git a/examples/example_CtrlByFSM.cpp b/examples/example_CtrlByFSM.cpp
index c2d41bf..16afd6f 100644
--- a/examples/example_CtrlByFSM.cpp
+++ b/examples/example_CtrlByFSM.cpp
@@ -1,5 +1,7 @@
 #include "control/unitreeArm.h"
 
+using namespace UNITREE_ARM;
+
 int main() {
     Vec6 posture[2];
     unitreeArm arm(true);
diff --git a/examples/example_JointCtrl.cpp b/examples/example_JointCtrl.cpp
index 503ccc4..150ee91 100644
--- a/examples/example_JointCtrl.cpp
+++ b/examples/example_JointCtrl.cpp
@@ -1,5 +1,7 @@
 #include "control/unitreeArm.h"
 
+using namespace UNITREE_ARM;
+
 class JointTraj{
 public:
     JointTraj(){};
diff --git a/examples/example_lowCmd_send.cpp b/examples/example_lowCmd_send.cpp
index 7978411..17a7682 100644
--- a/examples/example_lowCmd_send.cpp
+++ b/examples/example_lowCmd_send.cpp
@@ -1,5 +1,7 @@
 #include "control/unitreeArm.h"
 
+using namespace UNITREE_ARM;
+
 class Z1ARM : public unitreeArm{
 public:
     Z1ARM():unitreeArm(true){
diff --git a/include/unitree_arm_sdk/control/ctrlComponents.h b/include/unitree_arm_sdk/control/ctrlComponents.h
index 4a60351..b4faddc 100644
--- a/include/unitree_arm_sdk/control/ctrlComponents.h
+++ b/include/unitree_arm_sdk/control/ctrlComponents.h
@@ -8,6 +8,7 @@
 #include "utilities/loop.h"
 #include "model/ArmModel.h"
 
+namespace UNITREE_ARM {
 struct CtrlComponents{
 public:
     CtrlComponents(double deltaT, bool hasUnitreeGripper);
@@ -48,4 +49,5 @@ private:
     UDPPort *_udp;
 };
 
+}
 #endif
\ No newline at end of file
diff --git a/include/unitree_arm_sdk/control/unitreeArm.h b/include/unitree_arm_sdk/control/unitreeArm.h
index 2a833b9..8fc4a2f 100644
--- a/include/unitree_arm_sdk/control/unitreeArm.h
+++ b/include/unitree_arm_sdk/control/unitreeArm.h
@@ -3,6 +3,8 @@
 
 #include "control/ctrlComponents.h"
 
+namespace UNITREE_ARM {
+
 class unitreeArm{
 public:
 unitreeArm(bool hasUnitreeGripper);
@@ -162,4 +164,5 @@ LowlevelState *lowstate;//same as _ctrlComp->lowstate
 CtrlComponents *_ctrlComp;
 };
 
+}
 #endif
diff --git a/include/unitree_arm_sdk/math/mathTools.h b/include/unitree_arm_sdk/math/mathTools.h
index 05e1804..420ab78 100644
--- a/include/unitree_arm_sdk/math/mathTools.h
+++ b/include/unitree_arm_sdk/math/mathTools.h
@@ -5,6 +5,8 @@
 #include <math.h>
 #include "math/mathTypes.h"
 
+namespace UNITREE_ARM {
+
 template<typename T>
 T max(T value){
     return value;
@@ -241,4 +243,5 @@ private:
     double _zoomFactor;
     std::string _valueName;
 };
+}
 #endif
\ No newline at end of file
diff --git a/include/unitree_arm_sdk/math/typeTrans.h b/include/unitree_arm_sdk/math/typeTrans.h
index 0f422e8..bcc4ab3 100644
--- a/include/unitree_arm_sdk/math/typeTrans.h
+++ b/include/unitree_arm_sdk/math/typeTrans.h
@@ -5,6 +5,7 @@
 #include <vector>
 #include <Eigen/Dense>
 
+namespace UNITREE_ARM {
 namespace typeTrans{
 
 inline void addValue(std::vector<double> &vec, double value){
@@ -71,5 +72,5 @@ inline void extractVector(std::vector<double> &vec, T &t, Args&... rest){
 }
 
 }
-
+}
 #endif  // TYPETRANS_H
\ No newline at end of file
diff --git a/include/unitree_arm_sdk/message/LowlevelCmd.h b/include/unitree_arm_sdk/message/LowlevelCmd.h
index 899441a..e63122d 100644
--- a/include/unitree_arm_sdk/message/LowlevelCmd.h
+++ b/include/unitree_arm_sdk/message/LowlevelCmd.h
@@ -5,6 +5,7 @@
 #include <vector>
 #include <iostream>
 
+namespace UNITREE_ARM {
 struct LowlevelCmd{
 private:
     size_t _dof = 6;
@@ -76,5 +77,5 @@ Vec6 getQ();
 Vec6 getQd();
 };
 
-
+}
 #endif  //LOWLEVELCMD_H
diff --git a/include/unitree_arm_sdk/message/LowlevelState.h b/include/unitree_arm_sdk/message/LowlevelState.h
index b0163fa..9386e9c 100644
--- a/include/unitree_arm_sdk/message/LowlevelState.h
+++ b/include/unitree_arm_sdk/message/LowlevelState.h
@@ -6,6 +6,8 @@
 #include "math/mathTypes.h"
 #include "message/arm_common.h"
 
+namespace UNITREE_ARM {
+
 Vec6 PosturetoVec6(const Posture p);
 Posture Vec6toPosture(const Vec6 p);
 
@@ -46,4 +48,5 @@ public:
     double getGripperTau() {return tau.at(tau.size()-1);}
 };
 
+}
 #endif  //LOWLEVELSTATE_HPP
diff --git a/include/unitree_arm_sdk/message/arm_common.h b/include/unitree_arm_sdk/message/arm_common.h
index b19d8c0..dcfe624 100644
--- a/include/unitree_arm_sdk/message/arm_common.h
+++ b/include/unitree_arm_sdk/message/arm_common.h
@@ -5,6 +5,7 @@
 
 #pragma pack(1)
 
+namespace UNITREE_ARM {
 // 4 Byte
 enum class ArmFSMState{
     INVALID,
@@ -112,5 +113,5 @@ constexpr int JointCmd_LENGTH   = (sizeof(JointCmd));
 constexpr int JointState_LENGTH = (sizeof(JointState));
 
 #pragma pack()
-
+}
 #endif  // _UNITREE_ARM_ARM_MSG_H_
\ No newline at end of file
diff --git a/include/unitree_arm_sdk/message/udp.h b/include/unitree_arm_sdk/message/udp.h
index df5a224..eaa9493 100644
--- a/include/unitree_arm_sdk/message/udp.h
+++ b/include/unitree_arm_sdk/message/udp.h
@@ -8,6 +8,7 @@
 #include <vector>
 #include "utilities/timer.h"
 
+namespace UNITREE_ARM {
 enum class BlockYN{
     YES,
     NO
@@ -53,7 +54,7 @@ private:
     size_t _sentLength;
     fd_set _rSet;
 };
-
+}
 
 
 #endif
\ No newline at end of file
diff --git a/include/unitree_arm_sdk/model/ArmModel.h b/include/unitree_arm_sdk/model/ArmModel.h
index 1b4d16e..decfef2 100644
--- a/include/unitree_arm_sdk/model/ArmModel.h
+++ b/include/unitree_arm_sdk/model/ArmModel.h
@@ -5,8 +5,9 @@
 #include "thirdparty/robotics.h"
 #include "thirdparty/quadProgpp/QuadProg++.hh"
 
-using namespace robo;
 
+namespace UNITREE_ARM {
+using namespace robo;
 class ArmModel{
 public:
     ArmModel(Vec3 endPosLocal, double endEffectorMass, Vec3 endEffectorCom, Mat3 endEffectorInertia);
@@ -146,5 +147,5 @@ private:
     void setParam_V3_6();
     double _theta2Bias;
 };
-
+}
 #endif
\ No newline at end of file
diff --git a/include/unitree_arm_sdk/utilities/loop.h b/include/unitree_arm_sdk/utilities/loop.h
index f901a40..7db9e98 100644
--- a/include/unitree_arm_sdk/utilities/loop.h
+++ b/include/unitree_arm_sdk/utilities/loop.h
@@ -12,6 +12,7 @@
 #include <boost/bind.hpp>
 #include "utilities/timer.h"
 
+namespace UNITREE_ARM {
 typedef boost::function<void ()> Callback;
 
 class Loop {
@@ -54,5 +55,5 @@ public:
 private:
   boost::function<void ()>  _fp;
 };
-
+}
 #endif  // _UNITREE_ARM_LOOP_H_
\ No newline at end of file
diff --git a/include/unitree_arm_sdk/utilities/timer.h b/include/unitree_arm_sdk/utilities/timer.h
index 40701da..25e5c29 100644
--- a/include/unitree_arm_sdk/utilities/timer.h
+++ b/include/unitree_arm_sdk/utilities/timer.h
@@ -7,21 +7,19 @@
 #include <sys/time.h>
 #include <sys/timerfd.h>
 
-//时间戳  微秒级， 需要#include <sys/time.h> 
+namespace UNITREE_ARM {
+
 inline long long getSystemTime(){
     struct timeval t;  
     gettimeofday(&t, NULL);
     return 1000000 * t.tv_sec + t.tv_usec;  
 }
-//时间戳  秒级， 需要getSystemTime()
+
 inline double getTimeSecond(){
     double time = getSystemTime() * 0.000001;
     return time;
 }
-/*
-等待函数，微秒级，从startTime开始等待waitTime微秒
-目前不推荐使用，建议使用AbsoluteTimer类
-*/
+
 inline void absoluteWait(long long startTime, long long waitTime){
     if(getSystemTime() - startTime > waitTime){
         std::cout << "[WARNING] The waitTime=" << waitTime << " of function absoluteWait is not enough!" << std::endl
@@ -52,5 +50,5 @@ private:
     double _nextWaitTime;
     itimerspec _timerSpec;
 };
-
+}
 #endif
\ No newline at end of file
diff --git a/lib/libZ1_SDK_Linux64.so b/lib/libZ1_SDK_Linux64.so
index 6d8c4be..33d82e6 100644
Binary files a/lib/libZ1_SDK_Linux64.so and b/lib/libZ1_SDK_Linux64.so differ