diff --git a/config/dev_config.xml b/config/dev_config.xml
new file mode 100644
index 00000000..857fc924
--- /dev/null
+++ b/config/dev_config.xml
@@ -0,0 +1,141 @@
+<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">
+                <MotorManager>
+                    <Ti5Motor id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5Motor id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5Motor id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5Motor id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5Motor id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5Motor id="28" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5Motor id="1" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                </MotorManager>
+            </CanGroup>
+            <CanGroup id="RightArmCAN" channelId="1" enable="true">
+                <MotorManager>
+                    <Ti5Motor id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5Motor id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5Motor id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5Motor id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5Motor id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5Motor id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>
+                    <Ti5Motor id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>
+                </MotorManager>
+            </CanGroup>
+            <CanGroup id="NeckCAN" channelId ="2" enable="true">
+                <MotorManager>
+                    <Ti5Motor id="32" jointName="HEAD_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5Motor id="30" jointName="HEAD_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5Motor id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                </MotorManager>
+            </CanGroup>
+            <CanGroup id = "WaistCAN" channelId ="3" enable="false">
+                <MotorManager>
+                    <Ti5Motor id="14" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5Motor id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                </MotorManager>
+            </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_cam4" 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>
+                <Robot id="" urdfPath="">
+                    <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>
+                </Robot>
+            </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="50052"/>
+    </Server>
+
+</CMVR-ES>
\ No newline at end of file