From 7ecf0324f1f72393a255bfc8ad17bbfcf15bdea0 Mon Sep 17 00:00:00 2001
From: linbo <1034003879@qq.com>
Date: Sun, 20 Sep 2026 14:31:15 +0800
Subject: [PATCH] fix(config): preserve dev camera definitions

---
 cmvr-es/config/devices/camera/camera.pb.txt | 233 ++++++++++++--------
 1 file changed, 142 insertions(+), 91 deletions(-)

diff --git a/cmvr-es/config/devices/camera/camera.pb.txt b/cmvr-es/config/devices/camera/camera.pb.txt
index 1eb69fdd..3aa02fed 100644
--- a/cmvr-es/config/devices/camera/camera.pb.txt
+++ b/cmvr-es/config/devices/camera/camera.pb.txt
@@ -35,8 +35,8 @@ camera {
         stream_mode: STREAM_MODE_RGB
       }
       encoder {
-        width: 640
-        height: 360
+        width: 480
+        height: 320
         fps: 30
         codec: "H264"
         enable_stream_timestamp: true
@@ -48,21 +48,21 @@ camera {
   }
 
   cameras {
-    id: "cam3"
+    id: "left_hand_cam"
     realsense {
       serialNumber: "243122075614"
       camera_mode: CAMERA_MODE_VIDEO
       capture {
-        width: 640
-        height: 480
+        width: 1280
+        height: 720
         fps: 30
-        stream_mode: STREAM_MODE_RGBD
+        stream_mode: STREAM_MODE_RGB
       }
       encoder {
-        width: 640
-        height: 480
+        width: 480
+        height: 320
         fps: 30
-        codec: "H265"
+        codec: "H264"
         enable_stream_timestamp: true
         buffer_size: 30
       }
@@ -83,8 +83,8 @@ camera {
         stream_mode: STREAM_MODE_RGBD
       }
       encoder {
-        width: 1280
-        height: 720
+        width: 480
+        height: 320
         fps: 30
         codec: "H264"
         enable_stream_timestamp: true
@@ -92,7 +92,7 @@ camera {
       }
       consume_new_frame_only: false
       viewer_pip {
-        enable: true
+        enable: false
         left: -10
         bottom: 10
         width: 320
@@ -101,7 +101,57 @@ camera {
     }
   }
 
+  cameras {
+    id: "mujoco_external_touch_cam"
+    mujoco {
+      world_id: "mujoco_world"
+      camera_name: "external_touch_cam"
+      render {
+        width: 1280
+        height: 720
+        fps: 30
+        stream_mode: STREAM_MODE_RGBD
+      }
+      encoder {
+        width: 480
+        height: 320
+        fps: 30
+        codec: "H264"
+        enable_stream_timestamp: true
+        buffer_size: 30
+      }
+      consume_new_frame_only: false
+      viewer_pip {
+        enable: false
+        left: 10
+        bottom: 10
+        width: 320
+        height: 180
+      }
+    }
+  }
 
+  cameras {
+    id: "left_eye_cam"
+    uvc {
+      usb: "/dev/uvc_left_camera"
+      camera_mode: CAMERA_MODE_VIDEO
+      capture {
+        width: 640
+        height: 480
+        fps: 30
+        stream_mode: STREAM_MODE_RGB
+      }
+      encoder {
+        width: 640
+        height: 480
+        fps: 30
+        codec: "H265"
+        enable_stream_timestamp: true
+        buffer_size: 30
+      }
+    }
+  }
 
   cameras {
     id: "cam5"
@@ -128,87 +178,88 @@ camera {
   }
 
   cameras {
-      id: "hikvision_cam"
-      hikvision {
-        ip: "192.168.192.64"
-        port: 8000
-        username: "admin"
-        password: "okwy1688"
-        channel: 1
-        stream_type: 0
-        link_mode: 0
-        width: 1920
-        height: 1080
-        fps: 25
-        codec: "H264"
-        camera_mode: CAMERA_MODE_VIDEO
+    id: "hikvision_cam"
+    hikvision {
+      ip: "192.168.192.64"
+      port: 8000
+      username: "admin"
+      password: "okwy1688"
+      channel: 1
+      stream_type: 0
+      link_mode: 0
+      width: 1920
+      height: 1080
+      fps: 25
+      codec: "H264"
+      camera_mode: CAMERA_MODE_VIDEO
+      stream_mode: STREAM_MODE_RGB
+      buffer_size: 30
+    }
+  }
+
+  cameras {
+    id: "hikvision_thermal_cam"
+    hikvision {
+      ip: "192.168.192.65"
+      port: 8000
+      username: "admin"
+      password: "okwy1688"
+      channel: 1
+      stream_type: 0
+      link_mode: 0
+      width: 384
+      height: 288
+      fps: 50
+      codec: "H264"
+      camera_mode: CAMERA_MODE_VIDEO
+      stream_mode: STREAM_MODE_RGB
+      buffer_size: 30
+    }
+  }
+
+  cameras {
+    id: "real_cam1"
+    realsense {
+      serialNumber: "332522076896"
+      camera_mode: CAMERA_MODE_VIDEO
+      capture {
+        width: 640
+        height: 480
+        fps: 30
+        stream_mode: STREAM_MODE_RGBD
+      }
+      encoder {
+        width: 640
+        height: 480
+        fps: 30
+        codec: "h265_qsv"
+        enable_stream_timestamp: true
+        buffer_size: 30
+      }
+      align_mode: ALIGN_MODE_COLOR
+      sync: false
+    }
+  }
+
+  cameras {
+    id: "usb_cam1"
+    uvc {
+      usb: "/dev/video0"
+      camera_mode: CAMERA_MODE_VIDEO
+      capture {
+        width: 640
+        height: 480
+        fps: 30
         stream_mode: STREAM_MODE_RGB
+      }
+      encoder {
+        width: 640
+        height: 480
+        fps: 30
+        codec: "h265_qsv"
+        enable_stream_timestamp: true
         buffer_size: 30
       }
     }
-   cameras {
-        id: "hikvision_thermal_cam"
-        hikvision {
-          ip: "192.168.192.65"
-          port: 8000
-          username: "admin"
-          password: "okwy1688"
-          channel: 1
-          stream_type: 0
-          link_mode: 0
-          width: 384
-          height: 288
-          fps: 50
-          codec: "H264"
-          camera_mode: CAMERA_MODE_VIDEO
-          stream_mode: STREAM_MODE_RGB
-          buffer_size: 30
-        }
-      }
-
-   cameras {
-       id: "real_cam1"
-       realsense {
-         serialNumber: "332522076896"
-         camera_mode: CAMERA_MODE_VIDEO
-         capture {
-           width: 640
-           height: 480
-           fps: 30
-           stream_mode: STREAM_MODE_RGBD
-         }
-         encoder {
-           width: 640
-           height: 480
-           fps: 30
-           codec: "h265_qsv"
-           enable_stream_timestamp: true
-           buffer_size: 30
-         }
-         align_mode: ALIGN_MODE_COLOR
-         sync: false
-       }
-     }
-
-     cameras {
-         id: "usb_cam1"
-         uvc {
-           usb: "/dev/video0"
-           camera_mode: CAMERA_MODE_VIDEO
-           capture {
-             width: 640
-             height: 480
-             fps: 30
-             stream_mode: STREAM_MODE_RGB
-           }
-           encoder {
-             width: 640
-             height: 480
-             fps: 30
-             codec: "h265_qsv"
-             enable_stream_timestamp: true
-             buffer_size: 30
-           }
-         }
-       }
+  }
 }