diff --git a/.gitignore b/.gitignore
index 82dbe5fa..48482deb 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,3 +5,4 @@
 /log
 /third_party/osqp/
 /third_party/OsqpEigen/
+/output
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d9772ffd..036831ca 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -59,7 +59,7 @@ protobuf_generate(
         TARGET proto-objects
         LANGUAGE grpc
         GENERATE_EXTENSIONS .grpc.pb.h .grpc.pb.cc
-        PLUGIN "protoc-gen-grpc=${PROJECT_SOURCE_DIR}/dependency/${ARCH}/third_party/grpc/v1.76.0/bin/grpc_cpp_plugin"
+        PLUGIN "protoc-gen-grpc=$<TARGET_FILE:gRPC::grpc_cpp_plugin>"
         IMPORT_DIRS ${PROTO_IMPORT_DIR}
         PROTOC_OUT_DIR ${PROTO_BINARY_DIR}
         USAGE_REQUIREMENT PRIVATE
@@ -115,6 +115,7 @@ target_link_libraries(cmvr_es PRIVATE
         cmvr_es::ik_solver
         cmvr_es::planner
         cmvr_es::device::humanoid_robot
+        cmvr_es::common
 )
 
 install(TARGETS cmvr_es RUNTIME DESTINATION bin)
diff --git a/cmvr-es/common/config/camera_config/camera_config.pb.txt b/cmvr-es/common/config/camera_config/camera_config.pb.txt
index 5b7f4382..a33b8bc2 100644
--- a/cmvr-es/common/config/camera_config/camera_config.pb.txt
+++ b/cmvr-es/common/config/camera_config/camera_config.pb.txt
@@ -1,6 +1,25 @@
-id: "cam1"
-usb: "/dev/video6"
-width: 640
-height: 480
-fps: 30
-codec: "H265"
+realsense_cameras {
+  id: "cam2"
+  serialNumber: "123456789012"
+  width: 1280
+  height: 720
+  fps: 30
+  codec: "H265"
+  camera_mode: CAMERA_MODE_VIDEO
+  stream_mode: STREAM_MODE_RGBD
+  align_mode: ALIGN_MODE_COLOR
+  buffer_size: 30
+  sync: true
+}
+
+uvc_cameras {
+  id: "cam1"
+  usb: "/dev/video0"
+  width: 640
+  height: 480
+  fps: 30
+  codec: "H265"
+  camera_mode: CAMERA_MODE_PHOTO
+  stream_mode: STREAM_MODE_RGB
+  buffer_size: 30
+}
diff --git a/cmvr-es/common/config/dexhand_config/dexhand_config.pb.txt b/cmvr-es/common/config/dexhand_config/dexhand_config.pb.txt
new file mode 100644
index 00000000..3ca234bd
--- /dev/null
+++ b/cmvr-es/common/config/dexhand_config/dexhand_config.pb.txt
@@ -0,0 +1,11 @@
+rh56dftp_dexhands {
+    id: "hand1"
+    ip: "192.168.1.213"
+    port: 6000
+}
+
+rh56dftp_dexhands {
+    id: "hand2"
+    ip: "192.168.1.214"
+    port: 6000
+}
\ No newline at end of file
diff --git a/cmvr-es/common/config/microphone_conifg/microphone_config.pb.txt b/cmvr-es/common/config/microphone_conifg/microphone_config.pb.txt
new file mode 100644
index 00000000..237e4033
--- /dev/null
+++ b/cmvr-es/common/config/microphone_conifg/microphone_config.pb.txt
@@ -0,0 +1,6 @@
+ffmpeg_microphones {
+    id: "mic1"
+    channels: 2
+    sampleRate: 44100
+    volume: 100
+}
\ No newline at end of file
diff --git a/cmvr-es/common/config/speaker_config/speaker_config.pb.txt b/cmvr-es/common/config/speaker_config/speaker_config.pb.txt
new file mode 100644
index 00000000..6f7abc1a
--- /dev/null
+++ b/cmvr-es/common/config/speaker_config/speaker_config.pb.txt
@@ -0,0 +1,3 @@
+ffmpeg_speakers {
+    id: "spk1"
+}
\ No newline at end of file
diff --git a/cmvr-es/common/utils/config_helper/include/config_helper.h b/cmvr-es/common/utils/config_helper/include/config_helper.h
index 47a8c61e..6f575d4c 100644
--- a/cmvr-es/common/utils/config_helper/include/config_helper.h
+++ b/cmvr-es/common/utils/config_helper/include/config_helper.h
@@ -5,6 +5,10 @@
 #include "common/utils/config_helper/include/config_setting.h"
 #include "common/utils/io/proto_message_utils.h"
 #include "cmvr/config/pinocchio_qp_ik_solver_config.pb.h"
+#include "cmvr/config/camera_config/camera_config.pb.h"
+#include "cmvr/config/dexhand_config/dexhand_config.pb.h"
+#include "cmvr/config/microphone_config/microphone_config.pb.h"
+#include "cmvr/config/speaker_config/speaker_conifg.pb.h"
 
 #define GET_CONFIG(file, para)                                             \
     ([&]() -> bool {                                                       \
@@ -47,6 +51,26 @@ namespace cmvr
             return SET_CONFIG(config, pinocchio_qp_ik_solver_config_file);
         }
 
+        static bool getCamerasConfig(config::CameraConfig& config)
+        {
+            return GET_CONFIG(camera_config_file, config);
+        }
+
+        static bool getDexHandsConfig(config::DexHandConfig& config)
+        {
+            return GET_CONFIG(dexhand_config_file, config);
+        }
+
+        static bool getMicroPhonesConfig(config::MicroPhoneConfig& config)
+        {
+            return GET_CONFIG(microphone_config_file, config);
+        }
+
+        static bool getSpeakersConfig(config::SpeakerConfig& config)
+        {
+            return GET_CONFIG(speaker_config_file, config);
+        }
+
     private:
         // Make macros able to call these (macros call ::cmvr::ConfigHelper::xxx)
         template <class T>
diff --git a/cmvr-es/common/utils/config_helper/include/config_setting.h b/cmvr-es/common/utils/config_helper/include/config_setting.h
index 4b5f1a84..25080311 100644
--- a/cmvr-es/common/utils/config_helper/include/config_setting.h
+++ b/cmvr-es/common/utils/config_helper/include/config_setting.h
@@ -1,3 +1,7 @@
 #pragma once
 #include "gflags/gflags.h"
-DECLARE_string(pinocchio_qp_ik_solver_config_file);
\ No newline at end of file
+DECLARE_string(pinocchio_qp_ik_solver_config_file);
+DECLARE_string(camera_config_file);
+DECLARE_string(dexhand_config_file);
+DECLARE_string(microphone_config_file);
+DECLARE_string(speaker_config_file);
\ No newline at end of file
diff --git a/cmvr-es/common/utils/config_helper/src/config_setting.cpp b/cmvr-es/common/utils/config_helper/src/config_setting.cpp
index 69f29208..0d3e514e 100644
--- a/cmvr-es/common/utils/config_helper/src/config_setting.cpp
+++ b/cmvr-es/common/utils/config_helper/src/config_setting.cpp
@@ -13,4 +13,21 @@ static std::string basePath()
 
 DEFINE_string(pinocchio_qp_ik_solver_config_file,
              basePath() + "ik_solver_config/pinocchio_qp_ik_solver_config.pb.txt",
-              "The configuration file for pinocchio qp ik solver");
\ No newline at end of file
+              "The configuration file for pinocchio qp ik solver");
+
+DEFINE_string(camera_config_file,
+             basePath() + "camera_config/camera_config.pb.txt",
+              "The configuration file for cameras");
+
+DEFINE_string(dexhand_config_file,
+             basePath() + "dexhand_config/dexhand_config.pb.txt",
+              "The configuration file for dexhands");
+
+DEFINE_string(microphone_config_file,
+             basePath() + "microphone_config/microphone_config.pb.txt",
+              "The configuration file for microphone");
+
+DEFINE_string(speaker_config_file,
+             basePath() + "speaker_config/speaker_config.pb.txt",
+              "The configuration file for speaker");
+
diff --git a/cmvr-es/controller/CMakeLists.txt b/cmvr-es/controller/CMakeLists.txt
index df6ae774..a80a810e 100644
--- a/cmvr-es/controller/CMakeLists.txt
+++ b/cmvr-es/controller/CMakeLists.txt
@@ -1,6 +1,3 @@
-#find_package(protobuf REQUIRED)
-
-
 file(GLOB SRC
         ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp
 )
@@ -11,7 +8,7 @@ add_library(controller SHARED ${SRC})
 target_include_directories(controller PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 target_link_libraries(controller PUBLIC
-        protobuf::libprotobuf
+        protobuf
         cmvr_es::device::humanoid_robot
         gtest
         gtest_main
diff --git a/cmvr-es/data_center/CMakeLists.txt b/cmvr-es/data_center/CMakeLists.txt
index f5fe7e12..5f3112d7 100644
--- a/cmvr-es/data_center/CMakeLists.txt
+++ b/cmvr-es/data_center/CMakeLists.txt
@@ -1,5 +1,3 @@
-#find_package(protobuf REQUIRED)
-
 add_library(data_center STATIC
     src/data_center.cpp
         src/motors_info.cpp
@@ -13,6 +11,6 @@ target_link_libraries(data_center PRIVATE
         cmvr_es::utils
         cmvr_es::device::canbus
         cmvr_es::device::ti5motor
-        protobuf::libprotobuf
-	glog
+        protobuf
+		glog
 )
diff --git a/cmvr-es/device_manager/CMakeLists.txt b/cmvr-es/device_manager/CMakeLists.txt
index 233f2f78..e53622b7 100644
--- a/cmvr-es/device_manager/CMakeLists.txt
+++ b/cmvr-es/device_manager/CMakeLists.txt
@@ -1,5 +1,3 @@
-find_package(osqp REQUIRED)
-
 add_library(device_manager STATIC
         src/device_factory.cpp
         src/device_manager.cpp
@@ -16,7 +14,7 @@ target_link_libraries(device_manager PRIVATE
         cmvr_es::device::realsense_camera
         cmvr_es::device::rh56dftp_dexhand
         cmvr::device::head_esp32
-        osqp::osqp
+        osqp
         cmvr_es::device::humanoid_robot
 #        cmvr_es::device::aubo_robot
 )
diff --git a/cmvr-es/device_manager/include/device_factory.h b/cmvr-es/device_manager/include/device_factory.h
index e398bd54..1fcce739 100644
--- a/cmvr-es/device_manager/include/device_factory.h
+++ b/cmvr-es/device_manager/include/device_factory.h
@@ -25,6 +25,8 @@ namespace cmvr::device {
         template <typename DeviceType>
         std::shared_ptr<DeviceType> create(const XmlNode& cfg);
 
+        template <typename DeviceType, typename ConfigType>
+        std::shared_ptr<DeviceType> createFromConfig(const ConfigType& cfg);
     private:
         std::shared_ptr<AbstractAGV> create_agv_(const XmlNode& cfg);
         std::shared_ptr<AbstractBattery> create_battery_(const XmlNode& cfg);
@@ -35,7 +37,6 @@ namespace cmvr::device {
         std::shared_ptr<AbstractRobot> create_robot_(const XmlNode& cfg);
         std::shared_ptr<AbstractSpeaker> create_speaker_(const XmlNode& cfg);
         std::shared_ptr<AbstractBiohead> create_biohead_(const XmlNode& cfg);
-
     };
 }
 
diff --git a/cmvr-es/device_manager/src/device_factory.cpp b/cmvr-es/device_manager/src/device_factory.cpp
index c2c5c842..9f27705d 100644
--- a/cmvr-es/device_manager/src/device_factory.cpp
+++ b/cmvr-es/device_manager/src/device_factory.cpp
@@ -12,6 +12,7 @@
 #include "devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h"
 #include "devices/robot/humanoid_robot/include/humanoid_robot.h"
 //#include "robot/ti5_robot/ti5_robot.h"
+#include "cmvr/api/system_command.pb.h"
 #include "data_center/include/motors_info.h"
 //#include "devices/robot/aubo_robot/include/aubo_robot.h"
 using namespace std;
@@ -172,3 +173,75 @@ std::shared_ptr<AbstractSpeaker> DeviceFactory::create_speaker_(const XmlNode& c
         return nullptr;
     }
 }
+
+template std::shared_ptr<AbstractCamera> DeviceFactory::createFromConfig<AbstractCamera>(const config::UVCCameraConfig& cfg);
+template std::shared_ptr<AbstractCamera> DeviceFactory::createFromConfig<AbstractCamera>(const config::RealSenseCameraConfig& cfg);
+template std::shared_ptr<AbstractDexHand> DeviceFactory::createFromConfig<AbstractDexHand>(const config::RH56DFTPDexHandConfig& cfg);
+template std::shared_ptr<AbstractMicrophone> DeviceFactory::createFromConfig<AbstractMicrophone>(const config::FFMpegMicroPhoneConfig& cfg);
+template std::shared_ptr<AbstractSpeaker> DeviceFactory::createFromConfig<AbstractSpeaker>(const config::FFMpegSpeakerConfig& cfg);
+template <typename DeviceType, typename ConfigType>
+std::shared_ptr<DeviceType> DeviceFactory::createFromConfig(const ConfigType& cfg)
+{
+    try {
+        if constexpr (std::is_same_v<DeviceType, AbstractCamera>)
+        {
+            if constexpr (std::is_same_v<ConfigType, config::UVCCameraConfig>)
+            {
+                return std::make_shared<UVCCamera>(cfg);
+            }
+            else if constexpr (std::is_same_v<ConfigType, config::RealSenseCameraConfig>)
+            {
+                return std::make_shared<RealsenseCamera>(cfg);
+            }
+            else
+            {
+                LOG(ERROR) << "[DeviceFactory]: Unsupported camera device type ";
+                throw runtime_error("[DeviceFactory]: Unsupported camera device type");
+            }
+        }
+        else if constexpr (std::is_same_v<DeviceType, AbstractDexHand>)
+        {
+            if constexpr (std::is_same_v<ConfigType, config::RH56DFTPDexHandConfig>)
+            {
+                return std::make_shared<RH56DFTPDexhand>(cfg);
+            }
+            else
+            {
+                LOG(ERROR) << "[DeviceFactory]: Unsupported dexhand device type ";
+                throw runtime_error("[DeviceFactory]: Unsupported dexhand device type");
+            }
+        }
+        else if constexpr (std::is_same_v<DeviceType, AbstractMicrophone>)
+        {
+            if constexpr (std::is_same_v<ConfigType, config::FFMpegMicroPhoneConfig>)
+            {
+                return std::make_shared<ffmpegMicroPhone>(cfg);
+            }
+            else
+            {
+                LOG(ERROR) << "[DeviceFactory]: Unsupported microphone device type ";
+                throw runtime_error("[DeviceFactory]: Unsupported microphone device type");
+            }
+        }
+        else if constexpr (std::is_same_v<DeviceType, AbstractSpeaker>)
+        {
+            if constexpr (std::is_same_v<ConfigType, config::FFMpegSpeakerConfig>)
+            {
+                return std::make_shared<ffmpegSpeaker>(cfg);
+            }
+            else
+            {
+                LOG(ERROR) << "[DeviceFactory]: Unsupported microphone device type ";
+                throw runtime_error("[DeviceFactory]: Unsupported microphone device type");
+            }
+        }
+        else {
+            LOG(ERROR) << "[DeviceFactory]: Unsupported device type";
+            throw runtime_error("[DeviceFactory]: Unsupported device type");
+        }
+    }
+    catch (const exception &e) {
+        return nullptr;
+    }
+}
+
diff --git a/cmvr-es/device_manager/src/device_manager.cpp b/cmvr-es/device_manager/src/device_manager.cpp
index 41f11282..fc9d35f8 100644
--- a/cmvr-es/device_manager/src/device_manager.cpp
+++ b/cmvr-es/device_manager/src/device_manager.cpp
@@ -4,6 +4,7 @@
 
 #include "../include/device_manager.h"
 
+#include "common/utils/config_helper/include/config_helper.h"
 using namespace std;
 using namespace cmvr::device;
 using namespace cmvr::device;
@@ -196,10 +197,6 @@ void DeviceManager::getSystemStatus(SystemStatus& status) const {
     }
 }
 
-// std::shared_ptr<AbstractMonitor> DeviceManager::getMonitor(const std::string& id) {
-//     return monitors_.at(id);
-// }
-
 void DeviceManager::init_devices_() {
     try{
         auto dmgr_node = cfg_.getChild("Devices");
@@ -235,36 +232,47 @@ void DeviceManager::init_devices_() {
             LOG(INFO) << "[DeviceManager]: Init AGV " << id << " Success";
         }
 
-        auto camera_node = dmgr_node.getChild("Camera");
-        for (auto &node: camera_node.getChildren()){
-            string id = node.getAttrString("id");
+        config::CameraConfig camera_config;
+        ConfigHelper::getCamerasConfig(camera_config);
+
+        for (int i = 0; i < camera_config.uvc_cameras().size(); i++) {
+            auto cam = camera_config.uvc_cameras(i);
+            auto id = cam.id();
             if (devices_.count(id)) {
                 LOG(ERROR) << "[DeviceManager]: Duplicate Camera Device ID" << id;
                 throw runtime_error("[DeviceManager]: Duplicate Camera Device ID" + id);
             }
-            auto device = dev_factory_->create<AbstractCamera>(node);
-            if (device == nullptr) {
-                throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
-            }
+            std::cout << "UVCCamera[" << i << "]: " << id << std::endl;
+            auto device = dev_factory_->createFromConfig<AbstractCamera,config::UVCCameraConfig>(cam);
+            devices_[id] = device;
+            std::get<std::shared_ptr<AbstractCamera>>(devices_[id])->init();
+        }
+        for (int i = 0; i < camera_config.realsense_cameras().size(); i++) {
+            auto cam = camera_config.realsense_cameras(i);
+            auto id = cam.id();
+            if (devices_.count(id)) {
+                LOG(ERROR) << "[DeviceManager]: Duplicate Camera Device ID" << id;
+                throw runtime_error("[DeviceManager]: Duplicate Camera Device ID" + id);
+            }
+            std::cout << "UVCCamera[" << i << "]: " << id << std::endl;
+            auto device = dev_factory_->createFromConfig<AbstractCamera,config::RealSenseCameraConfig>(cam);
             devices_[id] = device;
             std::get<std::shared_ptr<AbstractCamera>>(devices_[id])->init();
-            LOG(INFO) << "[DeviceManager]: Init Camera " << id << " Success";
         }
 
-        auto dexhand_node = dmgr_node.getChild("DexHand");
-        for (auto &node: dexhand_node.getChildren()){
-            string id = node.getAttrString("id");
+        config::DexHandConfig dexhand_cfg;
+        ConfigHelper::getDexHandsConfig(dexhand_cfg);
+        for (int i = 0; i < dexhand_cfg.rh56dftp_dexhands().size(); i++) {
+            auto dexhand = dexhand_cfg.rh56dftp_dexhands(i);
+            auto id = dexhand.id();
             if (devices_.count(id)) {
                 LOG(ERROR) << "[DeviceManager]: Duplicate DexHand Device ID" << id;
                 throw runtime_error("[DeviceManager]: Duplicate DexHand Device ID" + id);
             }
-            auto device = dev_factory_->create<AbstractDexHand>(node);
-            if (device == nullptr) {
-                throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
-            }
+            std::cout << "DexHand[" << i << "]: " << id << std::endl;
+            auto device = dev_factory_->createFromConfig<AbstractDexHand,config::RH56DFTPDexHandConfig>(dexhand);
             devices_[id] = device;
             std::get<std::shared_ptr<AbstractDexHand>>(devices_[id])->init();
-            LOG(INFO) << "[DeviceManager]: Init DexHand " << id << " Success";
         }
 
         auto robot_node = dmgr_node.getChild("Robot");
@@ -282,37 +290,38 @@ void DeviceManager::init_devices_() {
             std::get<std::shared_ptr<AbstractRobot>>(devices_[id])->init();
             LOG(INFO) << "[DeviceManager]: Init Robot " << id << " Success";
         }
-        auto microphone_node = dmgr_node.getChild("Microphone");
-        for (auto &node: microphone_node.getChildren()){
-            string id = node.getAttrString("id");
-            if (devices_.count(id))
-            {
-                LOG(ERROR) << "[DeviceManager]: Duplicate Microphone Device ID" << id;
-                throw runtime_error("[DeviceManager]: Duplicate Microphone Device ID" + id);
-            }
-            auto device = dev_factory_->create<AbstractMicrophone>(node);
-            if (device == nullptr) {
-                throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
+
+        config::MicroPhoneConfig micro_phone_config;
+        ConfigHelper::getMicroPhonesConfig(micro_phone_config);
+        for (int i = 0; i < micro_phone_config.ffmpeg_microphones().size(); i++) {
+            auto mic = micro_phone_config.ffmpeg_microphones(i);
+            auto id = mic.id();
+            if (devices_.count(id)) {
+                LOG(ERROR) << "[DeviceManager]: Duplicate MicroPhone Device ID" << id;
+                throw runtime_error("[DeviceManager]: Duplicate MicroPhone Device ID" + id);
             }
+            std::cout << "DexHand[" << i << "]: " << id << std::endl;
+            auto device = dev_factory_->createFromConfig<AbstractMicrophone,config::FFMpegMicroPhoneConfig>(mic);
             devices_[id] = device;
             std::get<std::shared_ptr<AbstractMicrophone>>(devices_[id])->init();
-            LOG(INFO) << "[DeviceManager]: Init Microphone " << id << " Success";
         }
-        auto speaker_node = dmgr_node.getChild("Speaker");
-        for (auto &node: speaker_node.getChildren()){
-            string id = node.getAttrString("id");
+
+        config::SpeakerConfig speaker_config;
+        ConfigHelper::getSpeakersConfig(speaker_config);
+        for (int i = 0; i < speaker_config.ffmpeg_speakers().size(); i++) {
+            auto speaker = speaker_config.ffmpeg_speakers(i);
+            auto id = speaker.id();
             if (devices_.count(id)) {
-                LOG(ERROR) << "[DeviceManager]: Duplicate AbstractSpeaker Device ID" << id;
-                throw runtime_error("[DeviceManager]: Duplicate AbstractSpeaker Device ID" + id);
-            }
-            auto device = dev_factory_->create<AbstractSpeaker>(node);
-            if (device == nullptr) {
-                throw std::runtime_error("[DeviceManager]: Factory returned nullptr for device ID: " + id);
+                LOG(ERROR) << "[DeviceManager]: Duplicate Speaker Device ID" << id;
+                throw runtime_error("[DeviceManager]: Duplicate Speaker Device ID" + id);
             }
+            std::cout << "DexHand[" << i << "]: " << id << std::endl;
+            auto device = dev_factory_->createFromConfig<AbstractSpeaker,config::FFMpegSpeakerConfig>(speaker);
             devices_[id] = device;
             std::get<std::shared_ptr<AbstractSpeaker>>(devices_[id])->init();
-            LOG(INFO) << "[DeviceManager]: Init Speaker " << id << " Success";
         }
+
+
         auto biohead_node = dmgr_node.getChild("BioHead");
         for (auto &node: biohead_node.getChildren()){
             string id = node.getAttrString("id");
diff --git a/cmvr-es/devices/abstract_device.h b/cmvr-es/devices/abstract_device.h
index b2904513..eff73bcd 100644
--- a/cmvr-es/devices/abstract_device.h
+++ b/cmvr-es/devices/abstract_device.h
@@ -18,6 +18,7 @@
 namespace cmvr::device {
     class AbstractDevice {
     public:
+        AbstractDevice() = default;
         explicit AbstractDevice(const XmlNode& config) {cfg_ = config;}
         virtual ~AbstractDevice() = default;
 
diff --git a/cmvr-es/devices/biohead/biohead_esp32/CMakeLists.txt b/cmvr-es/devices/biohead/biohead_esp32/CMakeLists.txt
index 1e661167..61740c7a 100644
--- a/cmvr-es/devices/biohead/biohead_esp32/CMakeLists.txt
+++ b/cmvr-es/devices/biohead/biohead_esp32/CMakeLists.txt
@@ -7,6 +7,8 @@ target_include_directories(head_esp32 PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 # 创建命名空间化的 ALIAS（建议使用项目命名空间）
 add_library(cmvr::device::head_esp32 ALIAS head_esp32)
 
+install(TARGETS head_esp32 LIBRARY DESTINATION lib)
+
 
 
 
diff --git a/cmvr-es/devices/camera/abstract_camera.h b/cmvr-es/devices/camera/abstract_camera.h
index ee47cdb4..dd1ceec1 100644
--- a/cmvr-es/devices/camera/abstract_camera.h
+++ b/cmvr-es/devices/camera/abstract_camera.h
@@ -5,6 +5,7 @@
 #include <opencv2/opencv.hpp>
 #include "../abstract_device.h"
 #include <Eigen/Core>
+#include "cmvr/config/camera_config/camera_config.pb.h"
 
 namespace cmvr::device {
     struct Rs2Intrinsics
@@ -44,6 +45,7 @@ namespace cmvr::device {
             PAUSED
         };
     public:
+        AbstractCamera() = default;
         explicit AbstractCamera(const XmlNode &cfg): AbstractDevice(cfg) {}
         ~AbstractCamera() override = default;
 
diff --git a/cmvr-es/devices/camera/realsense_camera/CMakeLists.txt b/cmvr-es/devices/camera/realsense_camera/CMakeLists.txt
index f4bd2f37..f5fd8ba9 100644
--- a/cmvr-es/devices/camera/realsense_camera/CMakeLists.txt
+++ b/cmvr-es/devices/camera/realsense_camera/CMakeLists.txt
@@ -4,20 +4,13 @@ target_include_directories(realsense_camera PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 add_library(cmvr_es::device::realsense_camera ALIAS realsense_camera) # ✅ 命名空间别名 OK
 
-# 查找 librealsense2
-find_package(realsense2 REQUIRED)
 # 链接 librealsense2
-target_link_libraries(realsense_camera PRIVATE realsense2::realsense2)
-
+target_link_libraries(realsense_camera PRIVATE realsense2)
 
+install(TARGETS realsense_camera LIBRARY DESTINATION lib)
 # --------------------------------------------------------
 # Unit test
 # --------------------------------------------------------
-find_package(glog REQUIRED)
-find_package(protobuf REQUIRED)
-find_package(PkgConfig REQUIRED)
-find_package(fcl REQUIRED)
-find_package(OpenCV REQUIRED)
 
 include_directories(
         ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/include
@@ -37,8 +30,9 @@ target_link_libraries(realsense_camera_test
         PRIVATE
         cmvr_es::device::realsense_camera
         cmvr_es::device_manager
-        protobuf::libprotobuf
-        glog::glog
+        cmvr_es::common
+        protobuf
+        glog
         gtest
         gtest_main
         pthread
diff --git a/cmvr-es/devices/camera/realsense_camera/include/realsense_camera.h b/cmvr-es/devices/camera/realsense_camera/include/realsense_camera.h
index f38b3587..7fce04b7 100644
--- a/cmvr-es/devices/camera/realsense_camera/include/realsense_camera.h
+++ b/cmvr-es/devices/camera/realsense_camera/include/realsense_camera.h
@@ -16,6 +16,7 @@ namespace cmvr::device{
     class RealsenseCamera final : public AbstractCamera {
     public:
         explicit RealsenseCamera(const XmlNode& config);
+        RealsenseCamera(const config::RealSenseCameraConfig& cam);
         ~RealsenseCamera() override;
 
         void init() override;
@@ -112,6 +113,8 @@ namespace cmvr::device{
         rs2_extrinsics Ec2d_;  // rgb -> 深度 的外参
         rs2_extrinsics Ed2c_;  //  rgb <- 深度 的外参
 
+
+        config::RealSenseCameraConfig camera_;
     };
 }
 
diff --git a/cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp b/cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp
index 7d50dfd1..fbd7574a 100644
--- a/cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp
+++ b/cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp
@@ -121,6 +121,50 @@ RealsenseCamera::RealsenseCamera(const XmlNode& config) : AbstractCamera(config)
     }
 }
 
+RealsenseCamera::RealsenseCamera(const config::RealSenseCameraConfig& camera):camera_(camera)
+{
+    serial_ = camera_.serialnumber();
+    if (serial_.empty()){
+        LOG(ERROR) << "[UVCCamera] (UVCCamera): empty device serial number";
+        throw runtime_error("[UVCCamera] (UVCCamera): empty device serial number");
+    }
+    fps_ = camera_.fps();
+    width_ = camera_.width();
+    height_ = camera_.height();
+    buffer_size_ = camera_.buffer_size();
+
+    state_.fps = fps_;
+    state_.width = width_;
+    state_.height = height_;
+    auto camera_mode = camera_.camera_mode();
+    if (camera_mode == config::CAMERA_MODE_PHOTO) {
+        mode_ = PHOTO_MODE;
+    }
+    else if (camera_mode == config::CAMERA_MODE_VIDEO){
+        mode_ = VIDEO_MODE;
+    }
+    else {
+        LOG(ERROR) << "[UVCCamera] (UVCCamera): invalid argument mode";
+        throw runtime_error("invalid argument mode");
+    }
+
+    auto stream_mode = camera_.stream_mode();
+    if (stream_mode == config::STREAM_MODE_RGB)
+    {
+        stream_mode_ = RGBD_MODE;
+    }
+    else if (stream_mode == config::STREAM_MODE_RGBD)
+    {
+        stream_mode_ = COLOR_MODE;
+    }
+    else if (stream_mode == config::STREAM_MODE_DEPTH)
+    {
+        stream_mode_ = DEPTH_MODE;
+    }
+
+    codec_ = camera_.codec();
+}
+
 RealsenseCamera::~RealsenseCamera() {
     // 停止采集线程，释放资源
     stop();
diff --git a/cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h b/cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h
index 31153d74..9c5cd4a0 100644
--- a/cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h
+++ b/cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h
@@ -5,14 +5,14 @@
 #ifndef CMVR_ES_UVC_CAMERA_H
 #define CMVR_ES_UVC_CAMERA_H
 
-#include "../../../../utils/base/include/ring_buffer.h"
-#include "../../abstract_camera.h"
+#include "utils/base/include/ring_buffer.h"
+#include "camera/abstract_camera.h"
 
 //使用ffmpeg来编码保存视频文件
 #define USE_FFMPEG_ENCODER 1
 
 #if USE_FFMPEG_ENCODER
-#include "../../../speaker/ffmpeg_speaker/include/ffmpeg_ptr.h"
+#include "speaker/ffmpeg_speaker/include/ffmpeg_ptr.h"
 #endif
 
 namespace cmvr::device {
@@ -70,6 +70,7 @@ namespace cmvr::device {
     class UVCCamera final : public AbstractCamera {
     public:
         explicit UVCCamera(const XmlNode& config);
+        UVCCamera(const cmvr::config::UVCCameraConfig& camera);
         ~UVCCamera() override;
 
         void init() override;
@@ -138,6 +139,9 @@ namespace cmvr::device {
         bool is_streaming_running = false;
         bool is_recording_running = false;
         int stream_count_ = 0;
+
+        config::UVCCameraConfig camera_;
+
     };
 }
 
diff --git a/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp b/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp
index 8bf600e3..fe7f2c97 100644
--- a/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp
+++ b/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp
@@ -44,7 +44,35 @@ UVCCamera::UVCCamera(const XmlNode& config) : AbstractCamera(config) {
         throw runtime_error(e.what());
     }
 }
+UVCCamera::UVCCamera(const config::UVCCameraConfig& camera):camera_(camera)
+{
+    serial_ = camera_.usb();
+    if (serial_.empty()){
+        LOG(ERROR) << "[UVCCamera] (UVCCamera): empty device serial number";
+        throw runtime_error("[UVCCamera] (UVCCamera): empty device serial number");
+    }
+    fps_ = camera_.fps();
+    width_ = camera_.width();
+    height_ = camera_.height();
+    buffer_size_ = camera_.buffer_size();
 
+    state_.fps = fps_;
+    state_.width = width_;
+    state_.height = height_;
+    auto mode = camera_.camera_mode();
+    if (mode == config::CAMERA_MODE_PHOTO) {
+        mode_ = PHOTO_MODE;
+    }
+    else if (mode == config::CAMERA_MODE_VIDEO){
+        mode_ = VIDEO_MODE;
+    }
+    else {
+        LOG(ERROR) << "[UVCCamera] (UVCCamera): invalid argument mode";
+        throw runtime_error("invalid argument mode");
+    }
+
+    codec_ = camera_.codec();
+}
 UVCCamera::~UVCCamera() {
     stop();
     if (stream_thread_ && stream_thread_->joinable())
diff --git a/cmvr-es/devices/canbus/CMakeLists.txt b/cmvr-es/devices/canbus/CMakeLists.txt
index 304bb3b4..76b2a460 100644
--- a/cmvr-es/devices/canbus/CMakeLists.txt
+++ b/cmvr-es/devices/canbus/CMakeLists.txt
@@ -1,7 +1,3 @@
-find_package(glog REQUIRED)
-find_package(protobuf REQUIRED)
-
-
 add_library(canbus SHARED
         ${CMAKE_CURRENT_SOURCE_DIR}/can_client/socket/socket_can_client_raw.cc
 #        ${CMAKE_CURRENT_SOURCE_DIR}/can_client/pcan/pcan_client.cc
@@ -14,13 +10,10 @@ add_library(cmvr_es::device::canbus ALIAS canbus)
 target_link_libraries(canbus
         PRIVATE
         cmvr_es::proto
-        glog::glog
-#        protobuf::libprotobuf
-
-##        proto-objects
-##        PUBLIC pcanbasic
+        glog
 )
 
+install(TARGETS canbus LIBRARY DESTINATION lib)
 # --------------------------------------------------------
 # Unit test
 # --------------------------------------------------------
@@ -35,7 +28,7 @@ target_link_libraries(socket_can_client_raw_test
         gtest
         gtest_main
         pthread
-        glog::glog
+        glog
         cmvr_es::proto
 )
 
@@ -51,7 +44,7 @@ target_link_libraries(protocol_data_test
         gtest
         gtest_main
         pthread
-        glog::glog
+        glog
         cmvr_es::proto
 )
 
@@ -66,7 +59,7 @@ target_link_libraries(message_manager_test
         gtest
         gtest_main
         pthread
-        glog::glog
+        glog
         cmvr_es::proto
 )
 
@@ -82,7 +75,7 @@ target_link_libraries(can_sender_test
         gtest
         gtest_main
         pthread
-        glog::glog
+        glog
         cmvr_es::proto
 )
 
@@ -97,7 +90,7 @@ target_link_libraries(can_receiver_test
         gtest
         gtest_main
         pthread
-        glog::glog
+        glog
         cmvr_es::proto
 )
 
diff --git a/cmvr-es/devices/dexhand/abstract_dexhand.h b/cmvr-es/devices/dexhand/abstract_dexhand.h
index 430d717f..803b322b 100644
--- a/cmvr-es/devices/dexhand/abstract_dexhand.h
+++ b/cmvr-es/devices/dexhand/abstract_dexhand.h
@@ -6,8 +6,8 @@
 #define CMVR_ES_ABSTRACT_DEXHAND_H
 #pragma once
 
-#include "../abstract_device.h"
-
+#include "devices/abstract_device.h"
+#include "cmvr/config/dexhand_config/dexhand_config.pb.h"
 namespace cmvr::device{
     // 单个触觉点数据（16位无符号整数）
     using TactilePoint = uint16_t;
@@ -205,6 +205,7 @@ namespace cmvr::device{
     };
     class AbstractDexHand: public AbstractDevice{
     public:
+        AbstractDexHand() = default;
         explicit AbstractDexHand(const XmlNode& cfg): AbstractDevice(cfg) {}
         ~AbstractDexHand() override = default;
 
diff --git a/cmvr-es/devices/dexhand/rh56dftp_dexhand/CMakeLists.txt b/cmvr-es/devices/dexhand/rh56dftp_dexhand/CMakeLists.txt
index 8b39c62a..adc2ce00 100644
--- a/cmvr-es/devices/dexhand/rh56dftp_dexhand/CMakeLists.txt
+++ b/cmvr-es/devices/dexhand/rh56dftp_dexhand/CMakeLists.txt
@@ -4,4 +4,6 @@ target_include_directories(rh56dftp_dexhand PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 add_library(cmvr_es::device::rh56dftp_dexhand ALIAS rh56dftp_dexhand)
 
-target_link_libraries(rh56dftp_dexhand PRIVATE cmvr_es::hardware -lmodbus)
\ No newline at end of file
+target_link_libraries(rh56dftp_dexhand PRIVATE cmvr_es::hardware -lmodbus)
+
+install(TARGETS rh56dftp_dexhand LIBRARY DESTINATION lib)
\ No newline at end of file
diff --git a/cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h b/cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h
index ccaccf55..43a59ddb 100644
--- a/cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h
+++ b/cmvr-es/devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h
@@ -43,6 +43,7 @@ namespace cmvr::device {
     class RH56DFTPDexhand  final : public AbstractDexHand{
     public:
         explicit RH56DFTPDexhand(const XmlNode& cfg);
+        RH56DFTPDexhand(const config::RH56DFTPDexHandConfig& cfg);
         ~RH56DFTPDexhand() override;
 
         void init() override;
@@ -70,6 +71,8 @@ namespace cmvr::device {
         std::string ip_address_;
         int port_;
         std::shared_ptr<ModbusController> controller_;
+
+        config::RH56DFTPDexHandConfig dexhandCfg_;
     };
 }
 
diff --git a/cmvr-es/devices/dexhand/rh56dftp_dexhand/src/rh56dftp_dexhand.cpp b/cmvr-es/devices/dexhand/rh56dftp_dexhand/src/rh56dftp_dexhand.cpp
index 06d04730..764ee0c6 100644
--- a/cmvr-es/devices/dexhand/rh56dftp_dexhand/src/rh56dftp_dexhand.cpp
+++ b/cmvr-es/devices/dexhand/rh56dftp_dexhand/src/rh56dftp_dexhand.cpp
@@ -219,6 +219,22 @@ RH56DFTPDexhand::RH56DFTPDexhand(const XmlNode& cfg):AbstractDexHand(cfg) {
     }
 
 }
+
+RH56DFTPDexhand::RH56DFTPDexhand(const config::RH56DFTPDexHandConfig& cfg):dexhandCfg_(cfg)
+{
+    try {
+        id_ = dexhandCfg_.id();
+        ip_address_ = dexhandCfg_.ip();
+        port_ = dexhandCfg_.port();
+        hand_tactile_sensors_.init();
+    }
+    catch (const exception& e) {
+        LOG(ERROR) << "[RH56DFTPDexhand] ([RH56DFTPDexhand]): Failed to parse XML: " << e.what();
+    }
+
+}
+
+
 RH56DFTPDexhand::~RH56DFTPDexhand() {
 }
 
diff --git a/cmvr-es/devices/microphone/abstract_microphone.h b/cmvr-es/devices/microphone/abstract_microphone.h
index 4e8e0159..fbdca1af 100644
--- a/cmvr-es/devices/microphone/abstract_microphone.h
+++ b/cmvr-es/devices/microphone/abstract_microphone.h
@@ -6,11 +6,12 @@
 #define CMVR_ES_ABSTRACT_MICROPHONE_H
 #pragma once
 
-#include "../abstract_device.h"
-
+#include "devices/abstract_device.h"
+#include "cmvr/config/microphone_config/microphone_config.pb.h"
 namespace cmvr::device{
     class AbstractMicrophone: public AbstractDevice {
     public:
+        AbstractMicrophone() = default;
         explicit AbstractMicrophone(const XmlNode &config): AbstractDevice(config) {}
         ~AbstractMicrophone() override = default;
 
diff --git a/cmvr-es/devices/microphone/ffmpeg_microphone/CMakeLists.txt b/cmvr-es/devices/microphone/ffmpeg_microphone/CMakeLists.txt
index 774224b6..87825571 100644
--- a/cmvr-es/devices/microphone/ffmpeg_microphone/CMakeLists.txt
+++ b/cmvr-es/devices/microphone/ffmpeg_microphone/CMakeLists.txt
@@ -7,4 +7,6 @@ add_library(cmvr_es::device::ffmpeg_microphone ALIAS ffmpeg_microphone)
 target_link_libraries(ffmpeg_microphone PRIVATE
         avfilter
         avdevice
-)
\ No newline at end of file
+)
+
+install(TARGETS ffmpeg_microphone LIBRARY DESTINATION lib)
\ No newline at end of file
diff --git a/cmvr-es/devices/microphone/ffmpeg_microphone/include/ffmpeg_microphone.h b/cmvr-es/devices/microphone/ffmpeg_microphone/include/ffmpeg_microphone.h
index 563df568..1898d138 100644
--- a/cmvr-es/devices/microphone/ffmpeg_microphone/include/ffmpeg_microphone.h
+++ b/cmvr-es/devices/microphone/ffmpeg_microphone/include/ffmpeg_microphone.h
@@ -7,10 +7,10 @@
 #include <mutex>
 #include <queue>
 #include <condition_variable>
-#include "../../abstract_microphone.h"
+#include "microphone/abstract_microphone.h"
 #include <boost/lockfree/spsc_queue.hpp>
-#include "../../../../utils/base/include/os.h"
-#include "../../../speaker/ffmpeg_speaker/include/ffmpeg_ptr.h"
+#include "utils/base/include/os.h"
+#include "speaker/ffmpeg_speaker/include/ffmpeg_ptr.h"
 
 namespace cmvr::device {
 
@@ -24,6 +24,7 @@ namespace cmvr::device {
         };
     public:
         explicit ffmpegMicroPhone(const XmlNode& cfg);
+        ffmpegMicroPhone(const config::FFMpegMicroPhoneConfig& cfg);
         ~ffmpegMicroPhone() override;
         void init() override;
         void start() override;
@@ -81,6 +82,8 @@ namespace cmvr::device {
 
         std::shared_ptr<std::thread> audio_thread_;
         std::mutex mtx_;
+
+        config::FFMpegMicroPhoneConfig config_;
     };
 
 }
diff --git a/cmvr-es/devices/microphone/ffmpeg_microphone/src/ffmpeg_microphone.cpp b/cmvr-es/devices/microphone/ffmpeg_microphone/src/ffmpeg_microphone.cpp
index 0baf6236..a78beff7 100644
--- a/cmvr-es/devices/microphone/ffmpeg_microphone/src/ffmpeg_microphone.cpp
+++ b/cmvr-es/devices/microphone/ffmpeg_microphone/src/ffmpeg_microphone.cpp
@@ -25,6 +25,23 @@ ffmpegMicroPhone::ffmpegMicroPhone(const XmlNode& cfg) : AbstractMicrophone(cfg)
     }
 }
 
+ffmpegMicroPhone::ffmpegMicroPhone(const config::FFMpegMicroPhoneConfig& cfg):input_fmt_ctx(nullptr), input_codec_ctx(nullptr), input_frame(nullptr),
+    output_fmt_ctx(nullptr), output_fmt(nullptr), audio_st(nullptr),
+    audio_codec_ctx(nullptr), audio_codec(nullptr), swr_ctx(nullptr),
+    audio_frame(nullptr), is_recording(false), is_paused(false),
+    sample_rate_(44100), channels_(2), config_(cfg)
+{
+    id_ = config_.id();
+    input_device_ = cfg_.getAttrString("alsa");
+    channels_ = config_.channels();
+    sample_rate_ = config_.samplerate();
+    state_.volume = config_.volume();
+    state_.is_initialized = false;
+    state_.is_running = false;
+    state_.is_error = false;
+    state_.error_message= "";
+}
+
 ffmpegMicroPhone::~ffmpegMicroPhone() {
     stop();
 }
diff --git a/cmvr-es/devices/motor/CMakeLists.txt b/cmvr-es/devices/motor/CMakeLists.txt
index 962f269f..532924d2 100644
--- a/cmvr-es/devices/motor/CMakeLists.txt
+++ b/cmvr-es/devices/motor/CMakeLists.txt
@@ -1,8 +1,5 @@
 add_subdirectory(ti5_motor)
 
-find_package(glog REQUIRED)
-find_package(protobuf REQUIRED)
-
 # --------------------------------------------------------
 # Unit test
 # --------------------------------------------------------
@@ -27,6 +24,6 @@ target_link_libraries(motor_manager_test
         gtest
         gtest_main
         pthread
-        glog::glog
+        glog
         cmvr_es::proto
 )
diff --git a/cmvr-es/devices/motor/ti5_motor/CMakeLists.txt b/cmvr-es/devices/motor/ti5_motor/CMakeLists.txt
index af430810..12121294 100644
--- a/cmvr-es/devices/motor/ti5_motor/CMakeLists.txt
+++ b/cmvr-es/devices/motor/ti5_motor/CMakeLists.txt
@@ -1,7 +1,3 @@
-find_package(glog REQUIRED)
-find_package(protobuf REQUIRED)
-
-
 add_library(ti5motor SHARED
         ${CMAKE_CURRENT_SOURCE_DIR}/canopen/protocol/ti5_motor_sdo_response.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/canopen/protocol/ti5_motor_tpdo1.cpp
@@ -20,6 +16,8 @@ add_library(cmvr_es::device::ti5motor ALIAS ti5motor)
 target_link_libraries(ti5motor
         PRIVATE
         cmvr_es::device::canbus
-        protobuf::libprotobuf
-        glog::glog
-)
\ No newline at end of file
+        protobuf
+        glog
+)
+
+install(TARGETS ti5motor LIBRARY DESTINATION lib)
\ No newline at end of file
diff --git a/cmvr-es/devices/robot/c701/CMakeLists.txt b/cmvr-es/devices/robot/c701/CMakeLists.txt
index f0628752..eccc7569 100644
--- a/cmvr-es/devices/robot/c701/CMakeLists.txt
+++ b/cmvr-es/devices/robot/c701/CMakeLists.txt
@@ -1,7 +1,3 @@
-find_package(glog REQUIRED)
-find_package(protobuf REQUIRED)
-
-
 add_library(c701 SHARED
         ${CMAKE_CURRENT_SOURCE_DIR}/motor/motor_controller.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/motor/protocol/ti5_motor_sdo_response.cpp
@@ -17,8 +13,8 @@ add_library(cmvr_es::robot::c701 ALIAS c701)
 target_link_libraries(c701
         PRIVATE
         cmvr_es::device::canbus
-        protobuf::libprotobuf
-        glog::glog
+        protobuf
+        glog
 )
 
 
@@ -47,7 +43,7 @@ target_link_libraries(motor_controller_test
         gtest
         gtest_main
         pthread
-        glog::glog
+        glog
         cmvr_es::proto
 )
 
diff --git a/cmvr-es/devices/robot/humanoid_robot/CMakeLists.txt b/cmvr-es/devices/robot/humanoid_robot/CMakeLists.txt
index 3c43821b..e80f5d7e 100644
--- a/cmvr-es/devices/robot/humanoid_robot/CMakeLists.txt
+++ b/cmvr-es/devices/robot/humanoid_robot/CMakeLists.txt
@@ -29,6 +29,7 @@ add_executable(humanoid_robot_test
 target_link_libraries(humanoid_robot_test
         PRIVATE
         cmvr_es::device_manager
+        cmvr_es::common
         cmvr_es::data_center
         osqp
         cmvr_es::device::humanoid_robot
diff --git a/cmvr-es/devices/speaker/abstract_speaker.h b/cmvr-es/devices/speaker/abstract_speaker.h
index bfda05ae..a6737922 100644
--- a/cmvr-es/devices/speaker/abstract_speaker.h
+++ b/cmvr-es/devices/speaker/abstract_speaker.h
@@ -6,11 +6,12 @@
 #define CMVR_ES_ABSTRACT_SPEAKER_H
 #pragma once
 
-#include "../abstract_device.h"
-
+#include "devices/abstract_device.h"
+#include "cmvr/config/speaker_config/speaker_conifg.pb.h"
 namespace cmvr::device{
     class AbstractSpeaker: public AbstractDevice {
     public:
+        AbstractSpeaker() = default;
         explicit AbstractSpeaker(const XmlNode &config): AbstractDevice(config) {}
         ~AbstractSpeaker() override = default;
 
diff --git a/cmvr-es/devices/speaker/ffmpeg_speaker/CMakeLists.txt b/cmvr-es/devices/speaker/ffmpeg_speaker/CMakeLists.txt
index a9c7dd75..3e2ddac9 100644
--- a/cmvr-es/devices/speaker/ffmpeg_speaker/CMakeLists.txt
+++ b/cmvr-es/devices/speaker/ffmpeg_speaker/CMakeLists.txt
@@ -4,4 +4,6 @@ target_include_directories(ffmpeg_speaker PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 add_library(cmvr_es::device::ffmpeg_speaker ALIAS ffmpeg_speaker)
 
-target_link_libraries(ffmpeg_speaker PRIVATE -lpulse-simple -lpulse)
\ No newline at end of file
+target_link_libraries(ffmpeg_speaker PRIVATE -lpulse-simple -lpulse)
+
+install(TARGETS ffmpeg_speaker LIBRARY DESTINATION lib)
\ No newline at end of file
diff --git a/cmvr-es/devices/speaker/ffmpeg_speaker/include/ffmpeg_speaker.h b/cmvr-es/devices/speaker/ffmpeg_speaker/include/ffmpeg_speaker.h
index 703c1fd1..05b1f1bb 100644
--- a/cmvr-es/devices/speaker/ffmpeg_speaker/include/ffmpeg_speaker.h
+++ b/cmvr-es/devices/speaker/ffmpeg_speaker/include/ffmpeg_speaker.h
@@ -22,6 +22,7 @@ namespace cmvr::device {
     class ffmpegSpeaker final : public AbstractSpeaker {
     public:
         explicit ffmpegSpeaker(const XmlNode& cfg);
+        ffmpegSpeaker(const config::FFMpegSpeakerConfig& cfg);
         ~ffmpegSpeaker() override;
 
         void init() override;
@@ -66,6 +67,8 @@ namespace cmvr::device {
         // 音频时钟同步
         std::atomic<int64_t> audio_pts_{0};
         std::chrono::time_point<std::chrono::steady_clock> playback_start_time_;
+
+        config::FFMpegSpeakerConfig config_;
     };
 
 }
diff --git a/cmvr-es/devices/speaker/ffmpeg_speaker/src/ffmpeg_speaker.cpp b/cmvr-es/devices/speaker/ffmpeg_speaker/src/ffmpeg_speaker.cpp
index 1b9b0ed4..585a1277 100644
--- a/cmvr-es/devices/speaker/ffmpeg_speaker/src/ffmpeg_speaker.cpp
+++ b/cmvr-es/devices/speaker/ffmpeg_speaker/src/ffmpeg_speaker.cpp
@@ -26,6 +26,23 @@ ffmpegSpeaker::ffmpegSpeaker(const XmlNode& cfg) : AbstractSpeaker(cfg) {
     }
 }
 
+ffmpegSpeaker::ffmpegSpeaker(const config::FFMpegSpeakerConfig& cfg):config_(cfg)
+{
+    state_.is_initialized = false;
+    state_.is_running = false;
+    state_.is_paused = false;
+    try {
+        id_ = config_.id();
+        memset(&sample_spec_, 0, sizeof(sample_spec_));
+        // state_.volume = config_.volume();
+    }
+    catch (const exception& e) {
+        LOG(ERROR) << "[ffmpegSpeaker] ([ffmpegSpeaker]): Failed to parse XML: " << e.what();
+    }
+}
+
+
+
 ffmpegSpeaker::~ffmpegSpeaker() {
     {
         std::lock_guard<std::mutex> lock(mtx_);
diff --git a/cmvr-es/hardware/CMakeLists.txt b/cmvr-es/hardware/CMakeLists.txt
index 040e8804..04e2acbd 100644
--- a/cmvr-es/hardware/CMakeLists.txt
+++ b/cmvr-es/hardware/CMakeLists.txt
@@ -9,3 +9,5 @@ target_include_directories(hardware PUBLIC
 
 target_link_libraries(hardware PRIVATE glog)
 add_library(cmvr_es::hardware ALIAS hardware)
+
+install(TARGETS hardware LIBRARY DESTINATION lib)
diff --git a/cmvr-es/main.cpp b/cmvr-es/main.cpp
index 96f9877c..73f3ad91 100644
--- a/cmvr-es/main.cpp
+++ b/cmvr-es/main.cpp
@@ -83,7 +83,7 @@ int main(int argc, char* argv[]) {
             return 1;
         }
         std::string exe_dir = dirname(exe_path);
-        config_path = exe_dir + "/../config/cabin_robot.xml";
+        config_path = exe_dir + "/config/cabin_robot.xml";
         std::cout << "Using default config path: " << config_path << std::endl;
     }
     else if (argc == 2){
diff --git a/cmvr-es/monitor/diskmonitor/CMakeLists.txt b/cmvr-es/monitor/diskmonitor/CMakeLists.txt
index d15a8fba..34c44ff8 100644
--- a/cmvr-es/monitor/diskmonitor/CMakeLists.txt
+++ b/cmvr-es/monitor/diskmonitor/CMakeLists.txt
@@ -4,4 +4,6 @@ target_include_directories(disk_monitor PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 target_link_libraries(disk_monitor PRIVATE cmvr_es::utils)
 
-add_library(cmvr_es::monitor::disk_monitor ALIAS disk_monitor)
\ No newline at end of file
+add_library(cmvr_es::monitor::disk_monitor ALIAS disk_monitor)
+
+install(TARGETS disk_monitor LIBRARY DESTINATION lib)
\ No newline at end of file
diff --git a/cmvr-es/monitor_manager/CMakeLists.txt b/cmvr-es/monitor_manager/CMakeLists.txt
index 822cdafc..fdff2289 100644
--- a/cmvr-es/monitor_manager/CMakeLists.txt
+++ b/cmvr-es/monitor_manager/CMakeLists.txt
@@ -10,4 +10,6 @@ target_link_libraries(monitor_manager PRIVATE
         cmvr_es::monitor::disk_monitor
 )
 
-add_library(cmvr_es::monitor_manager ALIAS monitor_manager)
\ No newline at end of file
+add_library(cmvr_es::monitor_manager ALIAS monitor_manager)
+
+install(TARGETS monitor_manager LIBRARY DESTINATION lib)
\ No newline at end of file
diff --git a/cmvr-es/planner/CMakeLists.txt b/cmvr-es/planner/CMakeLists.txt
index 1f572fd0..3eb13754 100644
--- a/cmvr-es/planner/CMakeLists.txt
+++ b/cmvr-es/planner/CMakeLists.txt
@@ -1,10 +1,3 @@
-find_package(Eigen3 3.3 REQUIRED NO_MODULE)
-find_package(osqp REQUIRED)
-find_package(OsqpEigen REQUIRED)
-find_package(PkgConfig REQUIRED)
-find_package(fcl REQUIRED)
-find_package(tinyxml2 REQUIRED)
-find_package(toppra REQUIRED)
 
 add_library(planner STATIC
     joint_space_planner/src/joint_space_planner.cpp
@@ -15,15 +8,14 @@ add_library(planner STATIC
 target_include_directories(planner PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 target_link_libraries(planner PUBLIC
-        Eigen3::Eigen
-        OsqpEigen::OsqpEigen
-        ${TINYXML2_LIBRARIES}
+        OsqpEigen
+		tinyxml2
         fcl
-        toppra::toppra
+        toppra
 )
 
 add_library(cmvr_es::planner ALIAS planner)
-
+install(TARGETS planner LIBRARY DESTINATION lib)
 
 
 # --------------------------------------------------------
@@ -47,12 +39,10 @@ target_link_libraries(joint_space_planner_test
         gtest_main
         pthread
         glog
-	cmvr_es::proto
+		cmvr_es::proto
         ccd
         fcl
-        ${OpenCV_LIBS}
-        Eigen3::Eigen
-        OsqpEigen::OsqpEigen
+        OsqpEigen
         
 )
 
diff --git a/cmvr-es/service/CMakeLists.txt b/cmvr-es/service/CMakeLists.txt
index 4885fef4..ad63551a 100644
--- a/cmvr-es/service/CMakeLists.txt
+++ b/cmvr-es/service/CMakeLists.txt
@@ -21,15 +21,11 @@ target_link_libraries(service PRIVATE
 )
 
 add_library(cmvr_es::service ALIAS service)
-
+install(TARGETS service LIBRARY DESTINATION lib)
 
 # --------------------------------------------------------
 # Unit test
 # --------------------------------------------------------
-find_package(glog REQUIRED)
-find_package(protobuf REQUIRED)
-find_package(PkgConfig REQUIRED)
-find_package(fcl REQUIRED)
 find_package(OpenCV REQUIRED)
 
 include_directories(
@@ -55,7 +51,7 @@ target_link_libraries(grpc_humanoid_robot_client_test
         gtest
         gtest_main
         pthread
-        glog::glog
+        glog
         cmvr_es::proto
         ccd
         fcl
@@ -78,11 +74,10 @@ target_link_libraries(grpc_hlc_client_test
         gtest
         gtest_main
         pthread
-        glog::glog
+        glog
         cmvr_es::proto
         ccd
         fcl
         cmvr_es::device_manager
-        ${OpenCV_LIBS}
 )
 
diff --git a/cmvr-es/simulate/mujoco/mujoco_viewer/CMakeLists.txt b/cmvr-es/simulate/mujoco/mujoco_viewer/CMakeLists.txt
index ae2d36bc..832abe79 100644
--- a/cmvr-es/simulate/mujoco/mujoco_viewer/CMakeLists.txt
+++ b/cmvr-es/simulate/mujoco/mujoco_viewer/CMakeLists.txt
@@ -19,10 +19,11 @@ target_link_libraries(mujoco_viewer PUBLIC
 )
 
 add_library(cmvr_es::mujoco_viewer ALIAS mujoco_viewer)
+install(TARGETS mujoco_viewer LIBRARY DESTINATION lib)
+
 # --------------------------------------------------------
 # Unit test
 # --------------------------------------------------------
-find_package(glog REQUIRED)
 find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
 find_package(Python3 COMPONENTS NumPy)
 
diff --git a/cmvr-es/utils/CMakeLists.txt b/cmvr-es/utils/CMakeLists.txt
index af5bb008..faec46ab 100644
--- a/cmvr-es/utils/CMakeLists.txt
+++ b/cmvr-es/utils/CMakeLists.txt
@@ -1,6 +1,3 @@
-find_package(Eigen3 3.3 REQUIRED NO_MODULE)
-find_package(PkgConfig REQUIRED)
-
 add_library(utils STATIC
         base/src/thread_pool.cpp
         base/src/timer.cpp
@@ -19,7 +16,6 @@ add_library(utils STATIC
 target_include_directories(utils PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 target_link_libraries(utils PRIVATE
-        Eigen3::Eigen
         osqp
         OsqpEigen
         fcl
@@ -28,3 +24,4 @@ target_link_libraries(utils PRIVATE
 )
 
 add_library(cmvr_es::utils ALIAS utils)
+install(TARGETS utils LIBRARY DESTINATION lib)
diff --git a/dependency/x86/third_party/grpc/v1.76.0/bin/grpc_cpp_plugin b/dependency/x86/third_party/grpc/v1.76.0/bin/grpc_cpp_plugin
index df8b9486..3576236b 100755
Binary files a/dependency/x86/third_party/grpc/v1.76.0/bin/grpc_cpp_plugin and b/dependency/x86/third_party/grpc/v1.76.0/bin/grpc_cpp_plugin differ
diff --git a/output/bin/cmvr_es b/output/bin/cmvr_es
index 7019d1d4..dd4a6eaa 100755
Binary files a/output/bin/cmvr_es and b/output/bin/cmvr_es differ
diff --git a/output/bin/config/camera_config/camera_config.pb.txt b/output/bin/config/camera_config/camera_config.pb.txt
index 5b7f4382..a33b8bc2 100644
--- a/output/bin/config/camera_config/camera_config.pb.txt
+++ b/output/bin/config/camera_config/camera_config.pb.txt
@@ -1,6 +1,25 @@
-id: "cam1"
-usb: "/dev/video6"
-width: 640
-height: 480
-fps: 30
-codec: "H265"
+realsense_cameras {
+  id: "cam2"
+  serialNumber: "123456789012"
+  width: 1280
+  height: 720
+  fps: 30
+  codec: "H265"
+  camera_mode: CAMERA_MODE_VIDEO
+  stream_mode: STREAM_MODE_RGBD
+  align_mode: ALIGN_MODE_COLOR
+  buffer_size: 30
+  sync: true
+}
+
+uvc_cameras {
+  id: "cam1"
+  usb: "/dev/video0"
+  width: 640
+  height: 480
+  fps: 30
+  codec: "H265"
+  camera_mode: CAMERA_MODE_PHOTO
+  stream_mode: STREAM_MODE_RGB
+  buffer_size: 30
+}
diff --git a/output/bin/srs_ik_test b/output/bin/srs_ik_test
index 33ce1762..e83ab4ac 100755
Binary files a/output/bin/srs_ik_test and b/output/bin/srs_ik_test differ
diff --git a/output/lib/libcommon.so b/output/lib/libcommon.so
index 66b24bdd..afa30830 100644
Binary files a/output/lib/libcommon.so and b/output/lib/libcommon.so differ
diff --git a/output/lib/libhumanoid_robot.so b/output/lib/libhumanoid_robot.so
index ada85a45..4faa12bc 100644
Binary files a/output/lib/libhumanoid_robot.so and b/output/lib/libhumanoid_robot.so differ
diff --git a/output/lib/libik_solver.so b/output/lib/libik_solver.so
index ffd24214..c579308e 100644
Binary files a/output/lib/libik_solver.so and b/output/lib/libik_solver.so differ
diff --git a/output/lib/libproto.so b/output/lib/libproto.so
index 48cdc557..4fcab5c5 100644
Binary files a/output/lib/libproto.so and b/output/lib/libproto.so differ
diff --git a/output/lib/libuvc_camera.so b/output/lib/libuvc_camera.so
index ee04dad1..3acad81b 100644
Binary files a/output/lib/libuvc_camera.so and b/output/lib/libuvc_camera.so differ
diff --git a/protos/cmvr/config/camera_config/camera_config.proto b/protos/cmvr/config/camera_config/camera_config.proto
index 7596bd14..b83fc083 100644
--- a/protos/cmvr/config/camera_config/camera_config.proto
+++ b/protos/cmvr/config/camera_config/camera_config.proto
@@ -11,6 +11,7 @@ enum CameraMode {
 enum StreamMode {
     STREAM_MODE_RGB = 0;
     STREAM_MODE_RGBD = 1;
+    STREAM_MODE_DEPTH = 2;
 }
 
 enum AlignMode {
@@ -19,7 +20,7 @@ enum AlignMode {
 }
 
 // RealSense摄像头
-message RealSenseCamera {
+message RealSenseCameraConfig {
     string id = 1;
     string serialNumber = 2;
     int32 width = 3;
@@ -29,19 +30,26 @@ message RealSenseCamera {
     CameraMode camera_mode = 7;
     StreamMode stream_mode = 8;
     AlignMode align_mode = 9;
+    int32 buffer_size = 10;
+    bool sync = 11;
 }
 
 // UVC摄像头
-message UVCCamera {
+message UVCCameraConfig {
     string id = 1;
     string usb = 2;  // 或者叫 device_path
     int32 width = 3;
     int32 height = 4;
     int32 fps = 5;
     string codec = 6;
+    CameraMode camera_mode = 7;
+    StreamMode stream_mode = 8;
+    int32 buffer_size = 9;
 }
 
 // 主配置消息 - 统一管理所有摄像头
 message CameraConfig {
-    repeated UVCCamera uvc_cameras = 1;
-}
\ No newline at end of file
+    repeated UVCCameraConfig uvc_cameras = 1;
+    repeated RealSenseCameraConfig realsense_cameras = 2;
+}
+
diff --git a/protos/cmvr/config/camera_config/uvc_camera_config.proto b/protos/cmvr/config/camera_config/uvc_camera_config.proto
deleted file mode 100644
index e69de29b..00000000
diff --git a/protos/cmvr/config/dexhand_config/dexhand_config.proto b/protos/cmvr/config/dexhand_config/dexhand_config.proto
new file mode 100644
index 00000000..e6a69a5b
--- /dev/null
+++ b/protos/cmvr/config/dexhand_config/dexhand_config.proto
@@ -0,0 +1,15 @@
+syntax = "proto3";
+package cmvr.config;
+
+message RH56DFTPDexHandConfig{
+    string id = 1;
+    string ip = 2;
+    int32  port = 3;
+
+}
+
+
+
+message DexHandConfig{
+    repeated RH56DFTPDexHandConfig rh56dftp_dexhands = 1;
+}
\ No newline at end of file
diff --git a/protos/cmvr/config/microphone_config/microphone_config.proto b/protos/cmvr/config/microphone_config/microphone_config.proto
new file mode 100644
index 00000000..56cdac05
--- /dev/null
+++ b/protos/cmvr/config/microphone_config/microphone_config.proto
@@ -0,0 +1,13 @@
+syntax = "proto3";
+package cmvr.config;
+
+message FFMpegMicroPhoneConfig{
+    string id = 1;
+    int32 channels = 2;
+    int32 sampleRate = 3;
+    int32 volume = 4;
+}
+
+message MicroPhoneConfig{
+    repeated FFMpegMicroPhoneConfig ffmpeg_microphones = 1;
+}
\ No newline at end of file
diff --git a/protos/cmvr/config/speaker_config/speaker_conifg.proto b/protos/cmvr/config/speaker_config/speaker_conifg.proto
new file mode 100644
index 00000000..b3478494
--- /dev/null
+++ b/protos/cmvr/config/speaker_config/speaker_conifg.proto
@@ -0,0 +1,10 @@
+syntax = "proto3";
+package cmvr.config;
+
+message FFMpegSpeakerConfig{
+    string id = 1;
+}
+
+message SpeakerConfig{
+    repeated FFMpegSpeakerConfig ffmpeg_speakers = 1;
+}
\ No newline at end of file