From 693fa0ab7656c048739022a93460d691414b43c7 Mon Sep 17 00:00:00 2001
From: lgv <lgv2016@qq.com>
Date: Thu, 25 Jun 2026 09:09:12 +0800
Subject: [PATCH] fix : fix motor init vel set

---
 cmvr-es/config/devices/motor/ti5_motors.pb.txt | 10 ++++++++--
 cmvr-es/config/manager/device_manager.pb.txt   |  8 ++++----
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/cmvr-es/config/devices/motor/ti5_motors.pb.txt b/cmvr-es/config/devices/motor/ti5_motors.pb.txt
index 872446dc..0c80d376 100644
--- a/cmvr-es/config/devices/motor/ti5_motors.pb.txt
+++ b/cmvr-es/config/devices/motor/ti5_motors.pb.txt
@@ -29,9 +29,15 @@ motor {
       channel_id: 1
     }
     joint_limits {
-      source: JOINT_LIMIT_SOURCE_URDF
+      source: JOINT_LIMIT_SOURCE_CUSTOM
+      joints { joint_name: "R_SHOULDER_P" lower: -3.14 upper: 3.14 velocity: 5.0 }
+      joints { joint_name: "R_SHOULDER_R" lower: -0.78 upper: 1.57 velocity: 5.0 }
+      joints { joint_name: "R_SHOULDER_Y" lower: -3.14 upper: 3.14 velocity: 5.0 }
+      joints { joint_name: "R_ELBOW_R" lower: 0 upper: 2.05 velocity: 5.0 }
+      joints { joint_name: "R_WRIST_P" lower: -3.14 upper: 3.14 velocity: 5.0 }
+      joints { joint_name: "R_WRIST_Y" lower: -0.78 upper: 0.78 velocity: 5.0 }
+      joints { joint_name: "R_WRIST_R" lower: -0.57 upper: 1.57 velocity: 5.0 }
     }
-    joint_limits_urdf_path: "model/xiaoyan_description/dual_arm.urdf"
     motors { id: 16 joint_name: "R_SHOULDER_P" }
     motors { id: 17 joint_name: "R_SHOULDER_R" }
     motors { id: 18 joint_name: "R_SHOULDER_Y" }
diff --git a/cmvr-es/config/manager/device_manager.pb.txt b/cmvr-es/config/manager/device_manager.pb.txt
index 3a838edb..3f30fc04 100644
--- a/cmvr-es/config/manager/device_manager.pb.txt
+++ b/cmvr-es/config/manager/device_manager.pb.txt
@@ -21,7 +21,7 @@ device_manager {
     id: "paxini_tip_1"
     type: DEVICE_TYPE_DEXHAND
     config_file: "devices/dexhand/dexhand.pb.txt"
-    enable: true
+    enable: false
   }
 
   devices {
@@ -42,20 +42,20 @@ device_manager {
     id: "aubo_arm"
     type: DEVICE_TYPE_ROBOT_ARM
     config_file: "devices/arm/aubo_arm.pb.txt"
-    enable: true
+    enable: false
   }
 
   devices {
     id: "bio_head"
     type: DEVICE_TYPE_BIO_HEAD_ROBOT
     config_file: "devices/biohead/bio_head.pb.txt"
-    enable: true
+    enable: false
   }
 
   devices {
     id: "agv_1"
     type: DEVICE_TYPE_AGV
     config_file: "devices/agv/agv.pb.txt"
-    enable: true
+    enable: false
   }
 }