diff --git a/cmvr-es/service/grpc/src/grpc_system_service.cpp b/cmvr-es/service/grpc/src/grpc_system_service.cpp
index b79c036f..69c9002b 100644
--- a/cmvr-es/service/grpc/src/grpc_system_service.cpp
+++ b/cmvr-es/service/grpc/src/grpc_system_service.cpp
@@ -11,6 +11,79 @@
 using namespace cmvr::device;
 using namespace cmvr::service;
 
+namespace {
+
+namespace device = cmvr::device;
+
+cmvr::api::DeviceType toApiDeviceType(device::DeviceKind kind)
+{
+    switch (kind) {
+    case device::DeviceKind::AGV: return cmvr::api::DeviceType::AGV;
+    case device::DeviceKind::Arm:
+    case device::DeviceKind::Robot: return cmvr::api::DeviceType::Robot;
+    case device::DeviceKind::Battery: return cmvr::api::DeviceType::Battery;
+    case device::DeviceKind::BioHead: return cmvr::api::DeviceType::BioHead;
+    case device::DeviceKind::Camera: return cmvr::api::DeviceType::Camera;
+    case device::DeviceKind::CanBus: return cmvr::api::DeviceType::CanBus;
+    case device::DeviceKind::DexHand: return cmvr::api::DeviceType::DexHand;
+    case device::DeviceKind::Gripper: return cmvr::api::DeviceType::Gripper;
+    case device::DeviceKind::Microphone: return cmvr::api::DeviceType::Microphone;
+    case device::DeviceKind::Motor: return cmvr::api::DeviceType::Motor;
+    case device::DeviceKind::MotorSystem: return cmvr::api::DeviceType::MotorSystem;
+    case device::DeviceKind::MujocoViewer: return cmvr::api::DeviceType::MujocoViewer;
+    case device::DeviceKind::MujocoWorld: return cmvr::api::DeviceType::MujocoWorld;
+    case device::DeviceKind::Speaker: return cmvr::api::DeviceType::Speaker;
+    case device::DeviceKind::Unknown:
+    default: return cmvr::api::DeviceType::Unknown;
+    }
+}
+
+cmvr::api::DeviceKind toApiDeviceKind(device::DeviceKind kind)
+{
+    switch (kind) {
+    case device::DeviceKind::AGV: return cmvr::api::DEVICE_KIND_AGV;
+    case device::DeviceKind::Arm: return cmvr::api::DEVICE_KIND_ARM;
+    case device::DeviceKind::Battery: return cmvr::api::DEVICE_KIND_BATTERY;
+    case device::DeviceKind::BioHead: return cmvr::api::DEVICE_KIND_BIO_HEAD;
+    case device::DeviceKind::Camera: return cmvr::api::DEVICE_KIND_CAMERA;
+    case device::DeviceKind::CanBus: return cmvr::api::DEVICE_KIND_CAN_BUS;
+    case device::DeviceKind::DexHand: return cmvr::api::DEVICE_KIND_DEX_HAND;
+    case device::DeviceKind::Gripper: return cmvr::api::DEVICE_KIND_GRIPPER;
+    case device::DeviceKind::Microphone: return cmvr::api::DEVICE_KIND_MICROPHONE;
+    case device::DeviceKind::Motor: return cmvr::api::DEVICE_KIND_MOTOR;
+    case device::DeviceKind::MotorSystem: return cmvr::api::DEVICE_KIND_MOTOR_SYSTEM;
+    case device::DeviceKind::MujocoViewer: return cmvr::api::DEVICE_KIND_MUJOCO_VIEWER;
+    case device::DeviceKind::MujocoWorld: return cmvr::api::DEVICE_KIND_MUJOCO_WORLD;
+    case device::DeviceKind::Robot: return cmvr::api::DEVICE_KIND_ROBOT;
+    case device::DeviceKind::Speaker: return cmvr::api::DEVICE_KIND_SPEAKER;
+    case device::DeviceKind::Unknown:
+    default: return cmvr::api::DEVICE_KIND_UNKNOWN;
+    }
+}
+
+std::string vendorForDriverType(const std::string& driver_type)
+{
+    if (driver_type == "AuboARM") return "AUBO";
+    if (driver_type == "HuayanRobot") return "HUAYAN";
+    if (driver_type == "SeerRobokitAgv") return "SEER";
+    if (driver_type == "HikvisionCamera") return "HIKVISION";
+    if (driver_type == "RealSenseCamera") return "Intel RealSense";
+    if (driver_type == "MechmindCamera") return "Mech-Mind";
+    if (driver_type == "RH56DFTPDexhand") return "Inspire Robots";
+    if (driver_type == "ZeroSimTouchDexHand") return "ZeroSim";
+    if (driver_type == "EyouMotor") return "EYOU";
+    if (driver_type == "Ti5Motor") return "TI5";
+    if (driver_type == "MujocoMotor" || driver_type == "MujocoCamera") return "MuJoCo";
+    if (driver_type == "MyAgv" || driver_type == "MotorRobotArm"
+        || driver_type == "BioHeadRobot") return "CMVR";
+    if (driver_type == "FFMpegMicroPhone" || driver_type == "FFMpegSpeaker") return "FFmpeg";
+    if (driver_type == "UVCCamera") return "UVC";
+    if (driver_type == "PX6AXGen3") return "PX6AX";
+    return {};
+}
+
+} // namespace
+
 gRPCSystemServiceImpl::gRPCSystemServiceImpl()
     : dmgr_(DeviceManager::getInstance()),
       action_queue_(std::make_unique<ActionQueue>(
@@ -56,38 +129,14 @@ grpc::Status gRPCSystemServiceImpl::GetSystemStatus(grpc::ServerContext* context
     const api::GetSystemStatusCommand_Request* request, api::GetSystemStatusCommand_Feedback* response)
 {
     try {
-        std::list<std::pair<std::string, std::string>> dev_list;
-        dmgr_.getDeviceList(dev_list);
-        for (auto &pair: dev_list) {
+        const auto snapshot = dmgr_.snapshot();
+        for (const auto& device : snapshot.devices) {
             auto* dev = response->add_device_list();
-            dev->set_device_id(pair.first);
-            if (pair.second == "AGV") {
-                dev->set_device_type(api::DeviceType::AGV);
-            }
-            else if (pair.second == "Battery") {
-                dev->set_device_type(api::DeviceType::Battery);
-            }
-            else if (pair.second == "Camera") {
-                dev->set_device_type(api::DeviceType::Camera);
-            }
-            else if (pair.second == "DexHand") {
-                dev->set_device_type(api::DeviceType::DexHand);
-            }
-            else if (pair.second == "Gripper") {
-                dev->set_device_type(api::DeviceType::Gripper);
-            }
-            else if (pair.second == "Microphone") {
-                dev->set_device_type(api::DeviceType::Microphone);
-            }
-            else if (pair.second == "Robot") {
-                dev->set_device_type(api::DeviceType::Robot);
-            }
-            else if (pair.second == "Speaker") {
-                dev->set_device_type(api::DeviceType::Speaker);
-            }
-            else if (pair.second == "Unknown") {
-                dev->set_device_type(api::DeviceType::Unknown);
-            }
+            dev->set_device_id(device.id);
+            dev->set_device_type(toApiDeviceType(device.kind));
+            dev->set_device_kind(toApiDeviceKind(device.kind));
+            dev->set_driver_type(device.type_name);
+            dev->set_vendor(vendorForDriverType(device.type_name));
         }
         response->mutable_header()->set_success(true);
         setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
diff --git a/protos/cmvr/api/system_command.proto b/protos/cmvr/api/system_command.proto
index ac91ae03..bd35ae70 100644
--- a/protos/cmvr/api/system_command.proto
+++ b/protos/cmvr/api/system_command.proto
@@ -14,12 +14,43 @@ enum DeviceType {
     Microphone = 5;
     Robot = 6;
     Speaker = 7;
+    BioHead = 8;
+    Motor = 9;
+    MotorSystem = 10;
+    MujocoWorld = 11;
+    MujocoViewer = 12;
+    CanBus = 13;
     Unknown = 20;
 }
 
+// 设备在 cmvr-es 运行时中的稳定大类，与具体厂商驱动无关。
+enum DeviceKind {
+    DEVICE_KIND_UNKNOWN = 0;
+    DEVICE_KIND_AGV = 1;
+    DEVICE_KIND_ARM = 2;
+    DEVICE_KIND_BATTERY = 3;
+    DEVICE_KIND_BIO_HEAD = 4;
+    DEVICE_KIND_CAMERA = 5;
+    DEVICE_KIND_CAN_BUS = 6;
+    DEVICE_KIND_DEX_HAND = 7;
+    DEVICE_KIND_GRIPPER = 8;
+    DEVICE_KIND_MICROPHONE = 9;
+    DEVICE_KIND_MOTOR = 10;
+    DEVICE_KIND_MOTOR_SYSTEM = 11;
+    DEVICE_KIND_MUJOCO_VIEWER = 12;
+    DEVICE_KIND_MUJOCO_WORLD = 13;
+    DEVICE_KIND_ROBOT = 14;
+    DEVICE_KIND_SPEAKER = 15;
+}
+
 message DeviceList {
     string device_id = 1;
     DeviceType device_type = 2;
+    DeviceKind device_kind = 3;
+    // 具体运行时驱动类型，例如 AuboARM、HuayanRobot、SeerRobokitAgv。
+    string driver_type = 4;
+    // 厂商或驱动生态，例如 AUBO、HUAYAN、SEER。
+    string vendor = 5;
 }
 
 message GetSystemInfoCommand {