dexhand {
  dexhands {
    id: "right_hand_ap001"
    oymotion_ap001 {
      can_interface: "can0"
      hand_id: 2
      master_id: 1
      command_timeout_ms: 255
    }
  }

  dexhands {
    id: "hand1"
    rh56dftp {
      ip: "192.168.1.223"
      port: 6000
      poll_interval_ms: 10
    }
  }

  dexhands {
    id: "hand2"
    rh56dftp {
      ip: "192.168.1.224"
      port: 6000
      poll_interval_ms: 10
    }
  }

  dexhands {
    id: "paxini_tip_1"
    px_6ax_gen3 {
      serial_port: "/dev/ttyACM1"
      sensor_model: "S1813_core"
      module_id: 2
      baud_rate: 921600
      distributed_length: 153
      resultant_length: 3
      poll_interval_ms: 5
      response_timeout_ms: 200
      # 触觉数据最大有效期；超过此时间报不可用，不继续返回旧力值。
      max_sample_age_ms: 50
      response_header_bytes: 14
      tactile_rows: 1
      tactile_cols: 51
      tactile_finger: "INDEX"
      tactile_region: "TIP"
      sensor_name: "Paxini Gen3末端压力"
      polling_read_mode: PX_6AX_GEN3_POLLING_READ_MODE_RESULTANT_FORCE
      auto_calibrate: false
    }
  }

  dexhands {
    id: "mujoco_zero_touch_dexhand"
    zero_sim_touch {}
  }
}