cmvr-es/config/dev_config_v2.xml

    <CMVR-ES>
    <Constants rootDir="/home/xtkuang/projects/cmvr-es"/>
    <Logger dir="../log" level="info" bufSize="5" logSize="1024"/>

    <HardwareManager>
        <CanManager>
            <CanGroup id="LeftArmCAN" channelId="0" enable="true">
                <MotorProtocolManager>
                    <Ti5MotorProtocol/>
                </MotorProtocolManager>
            </CanGroup>
            <CanGroup id="RightArmCAN" channelId="1" enable="true">
                <MotorProtocolManager>
                    <Ti5MotorProtocol/>
                </MotorProtocolManager>
            </CanGroup>
            <CanGroup id="NeckCAN" channelId ="2" enable="true">
                <MotorProtocolManager>
                    <Ti5MotorProtocol/>
                </MotorProtocolManager>
            </CanGroup>
            <CanGroup id = "WaistCAN" channelId ="3" enable="false">
                <MotorProtocolManager>
                    <Ti5MotorProtocol/>
                </MotorProtocolManager>
            </CanGroup>
        </CanManager>

        <SerialManager>
            <RS485Manager>
            </RS485Manager>
            <IOManager>
            </IOManager>
        </SerialManager>
    </HardwareManager>

    <DeviceManager>
        <Devices>
            <AGV>
            </AGV>
            <Battery>
            </Battery>

            <Camera>
<!--                <UVCCamera id="cam1" serial="/dev/video6" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
<!--                <UVCCamera id="cam2" serial="/dev/video14" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
<!--                <RealsenseCamera id="left_hand_cam" serial="243122072252" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
<!--                <RealsenseCamera id="right_hand_cam" serial="243122075614" w="1280" h="720" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
            </Camera>

            <DexHand>
<!--                <RH56DFTP id="left_hand" default_force="500" default_speed="500" ip_address="192.168.1.223" port="6000"/>-->
<!--                <RH56DFTP id="right_hand" default_force="500" default_speed="500" ip_address="192.168.1.223" port="6000"/>-->
            </DexHand>

            <Robot >
                <HumanoidRobot id="hc01" urdfPath="/home/lgv/cmvr/cmvr-es/config/robot_description/hc_description/dual_arm.urdf"
                               jointNames="L_SHOULDER_P,L_SHOULDER_R,L_SHOULDER_Y,L_ELBOW_R,L_WRIST_P,L_WRIST_Y,L_WRIST_R,R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R"
                               linkNames="PELVIS_S,L_SHOULDER_P_S,L_SHOULDER_R_S,L_SHOULDER_Y_S,L_ELBOW_R_S,L_WRIST_P_S,L_WRIST_Y_S,L_WRIST_R_S,R_SHOULDER_P_S,R_SHOULDER_R_S,R_SHOULDER_Y_S,R_ELBOW_R_S,R_WRIST_P_S,R_WRIST_Y_S,R_WRIST_R_S,R_FINGER_TIP,R_CAM"
                               baseLink="PELVIS_S">
                    <MotorManager>
                        <Motor id="23" canGroupId="LeftArmCAN" protocolType="Ti5MotorProtocol" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
                        <Motor id="24" canGroupId="LeftArmCAN" protocolType="Ti5MotorProtocol" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
                        <Motor id="25" canGroupId="LeftArmCAN" protocolType="Ti5MotorProtocol" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
                        <Motor id="26" canGroupId="LeftArmCAN" protocolType="Ti5MotorProtocol" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
                        <Motor id="27" canGroupId="LeftArmCAN" protocolType="Ti5MotorProtocol" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
                        <Motor id="28" canGroupId="LeftArmCAN" protocolType="Ti5MotorProtocol" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
                        <Motor id="1" canGroupId="LeftArmCAN" protocolType="Ti5MotorProtocol" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
                    </MotorManager>
                    <ControllerManager>
                        <ComponentGroup id="leftArm" CanGroupID="LeftArmCAN">
                            <JointPositionCtrl defaultSpeed="" defaultAcc=""/>
                            <CartesianController baseLine="" eeLink="" defaultSpeed="" defaultAcc=""/>
                        </ComponentGroup>
                        <ComponentGroup id="rightArm" CanGroupID="RightArmCAN">
                            <JointPositionCtrl/>
                        </ComponentGroup>
                        <ComponentGroup id="WholeBody" CanGroupID="LeftArmCAN,RightArmCAN,NeckCAN,WaistCAN">
                            <JointPositionCtrl/>
                        </ComponentGroup>
                    </ControllerManager>
                </HumanoidRobot>
<!--                <AuboRobot id="hc02" ip="127.0.0.1" usrname="aubo" password="123456">-->

<!--                </AuboRobot>-->
            </Robot>

            <BioHead>

            </BioHead >

            <Microphone>
<!--                <ffmpegMicPhone id="mic1" alsa="hw:0" channels="2" sampleRate="44100" volume="80"/>-->
<!--                <ffmpegMicPhone id="mic2" alsa="hw:1" channels="1" sampleRate="44100" volume="80"/>-->
            </Microphone>

            <Speaker>
<!--                <ffmpegSpeaker id="spk1" alas="hw:0,0" channels="2" sampleRate="44100" softResample="1" latency="50000" volume="80"/>-->
            </Speaker>

        </Devices>

        <HighLevelController>
            <BioHeadExpre headId="bio_head" />
            <CartesianWBC urdf="" />
            <ScreenTouch robotID="" DexhandID="" />
        </HighLevelController>
    </DeviceManager>

    <MonitorManager>
        <DiskMonitor id="file_monitor" freq="1">
            <!--            <Folder fileDir="/home/share/assets/audio" maxVolume="1000"/>-->
            <!--            <Folder fileDir="/home/share/assets/image" maxVolume="1000"/>-->
            <!--            <Folder fileDir="/home/share/assets/video" maxVolume="1000"/>-->
            <!--            <Folder fileDir="../log" maxVolume="1000"/>-->
        </DiskMonitor>

        <JointMonitor id="robot_joint_monitor" freq="200">
            <RobotJoint robotID="left_arm" motorID="0" maxTemp="80" maxCurrent="5" maxVel="2"/>
            <RobotJoint robotID="left_arm" motorID="1" maxTemp="80" maxCurrent="5" maxVel="2"/>
            <RobotJoint robotID="left_arm" motorID="2" maxTemp="80" maxCurrent="5" maxVel="2"/>
            <RobotJoint robotID="left_arm" motorID="3" maxTemp="80" maxCurrent="5" maxVel="2"/>
            <RobotJoint robotID="left_arm" motorID="4" maxTemp="80" maxCurrent="5" maxVel="2"/>
            <RobotJoint robotID="left_arm" motorID="6" maxTemp="80" maxCurrent="5" maxVel="2"/>
            <RobotJoint robotID="left_arm" motorID="7" maxTemp="80" maxCurrent="5" maxVel="2"/>
            <RobotJoint robotID="right_arm" motorID="0" maxTemp="80" maxCurrent="5" maxVel="2"/>
            <RobotJoint robotID="right_arm" motorID="1" maxTemp="80" maxCurrent="5" maxVel="2"/>
            <RobotJoint robotID="right_arm" motorID="2" maxTemp="80" maxCurrent="5" maxVel="2"/>
            <RobotJoint robotID="right_arm" motorID="3" maxTemp="80" maxCurrent="5" maxVel="2"/>
            <RobotJoint robotID="right_arm" motorID="4" maxTemp="80" maxCurrent="5" maxVel="2"/>
            <RobotJoint robotID="right_arm" motorID="6" maxTemp="80" maxCurrent="5" maxVel="2"/>
            <RobotJoint robotID="right_arm" motorID="7" maxTemp="80" maxCurrent="5" maxVel="2"/>
        </JointMonitor>
    </MonitorManager>

    <Server>
        <gRPCServer port="50053"/>
    </Server>

</CMVR-ES>