cmvr-es/cmvr-es/config/manager/device_manager.pb.txt

device_manager {
  name: "cmvr_es"
  version: "0.1"
  description: "cmvr edge system version 0.1"
  init_all_motors_when_no_active_joints: true

  devices {
    id: "mujoco_world"
    type: DEVICE_TYPE_MUJOCO_WORLD
    config_file: "devices/mujoco/mujoco_world.pb.txt"
    enable: false
  }

  devices {
    id: "mujoco_motors"
    type: DEVICE_TYPE_MOTOR_SYSTEM
    config_file: "devices/motor/mujoco_motors.pb.txt"
    enable: false
  }

  devices {
    id: "mujoco_right_arm"
    type: DEVICE_TYPE_ROBOT_ARM
    config_file: "devices/arm/arm_mujoco_qp.pb.txt"
    enable: false
  }

  devices {
    id: "mujoco_viewer"
    type: DEVICE_TYPE_MUJOCO_VIEWER
    config_file: "devices/mujoco/mujoco_viewer.pb.txt"
    enable: false
  }

  devices {
    id: "mujoco_hand_cam"
    type: DEVICE_TYPE_CAMERA
    config_file: "devices/camera/camera.pb.txt"
    enable: false
  }

  devices {
    id: "right_hand_cam"
    type: DEVICE_TYPE_CAMERA
    config_file: "devices/camera/camera.pb.txt"
    enable: false
  }

    devices {
      id: "cam5"
      type: DEVICE_TYPE_CAMERA
      config_file: "devices/camera/camera.pb.txt"
      enable: false
    }


  devices {
    id: "hand2"
    type: DEVICE_TYPE_DEXHAND
    config_file: "devices/dexhand/dexhand.pb.txt"
    enable: false
  }

  devices {
    id: "paxini_tip_1"
    type: DEVICE_TYPE_DEXHAND
    config_file: "devices/dexhand/dexhand.pb.txt"
    enable: false
  }

  devices {
    id: "ti5_motors"
    type: DEVICE_TYPE_MOTOR_SYSTEM
    config_file: "devices/motor/ti5_motors.pb.txt"
    enable: false
  }

  devices {
    id: "ethercat_motors"
    type: DEVICE_TYPE_MOTOR_SYSTEM
    config_file: "devices/motor/ethercat_motors.pb.txt"
    enable: false
  }

  devices {
    id: "right_arm"
    type: DEVICE_TYPE_ROBOT_ARM
    config_file: "devices/arm/arm.pb.txt"
    enable: false
  }

  devices {
    id: "eyou_arm"
    type: DEVICE_TYPE_ROBOT_ARM
    config_file: "devices/arm/arm.pb.txt"
    enable: false
  }

  devices {
    id: "aubo_arm"
    type: DEVICE_TYPE_ROBOT_ARM
    config_file: "devices/arm/aubo_arm.pb.txt"
    enable: true
  }

  devices {
    id: "huayan_arm"
    type: DEVICE_TYPE_ROBOT_ARM
    config_file: "devices/arm/huayan_arm.pb.txt"
    enable: false
  }

  devices {
    id: "ume_right"
    type: DEVICE_TYPE_ROBOT_ARM
    config_file: "devices/arm/ume_arms.pb.txt"
    # Two gates must be explicitly changed after the physical safety review:
    # this entry and ume.hardware_enabled in the arm config.
    enable: false
  }

  devices {
    id: "ume_left"
    type: DEVICE_TYPE_ROBOT_ARM
    config_file: "devices/arm/ume_arms.pb.txt"
    # Two gates must be explicitly changed after the physical safety review.
    enable: false
  }

  devices {
    id: "bio_head"
    type: DEVICE_TYPE_BIO_HEAD_ROBOT
    config_file: "devices/biohead/bio_head.pb.txt"
    enable: false
  }
  
  devices {
    # 当前部署的控制器型号为 SRC1100；该值是设备实例 ID，不是后端类型名。
    id: "src1100"
    type: DEVICE_TYPE_AGV
    config_file: "devices/agv/seer_robokit.pb.txt"
    enable: true
  }

  devices {
      id: "hikvision_cam"
      type: DEVICE_TYPE_CAMERA
      config_file: "devices/camera/camera.pb.txt"
      # Host-development default: keep physical cameras disabled.
      enable: false
    }
  devices {
      id: "hikvision_thermal_cam"
      type: DEVICE_TYPE_CAMERA
      config_file: "devices/camera/camera.pb.txt"
      # Host-development default: keep physical cameras disabled.
      enable: false
    }

    devices {
      id: "mic1"
      type: DEVICE_TYPE_MICROPHONE
      config_file: "devices/microphone/microphone.pb.txt"
      # Host-development default: keep physical audio devices disabled.
      enable: false
    }

    devices {
      id: "spk1"
      type: DEVICE_TYPE_SPEAKER
      config_file: "devices/speaker/speaker.pb.txt"
      # Host-development default: keep physical audio devices disabled.
      enable: false
    }


    devices {
          id: "real_cam1"
          type: DEVICE_TYPE_CAMERA
          config_file: "devices/camera/camera.pb.txt"
          # Host-development default: keep physical cameras disabled.
          enable: true
        }
    devices {
          id: "usb_cam1"
          type: DEVICE_TYPE_CAMERA
          config_file: "devices/camera/camera.pb.txt"
          # Host-development default: keep physical cameras disabled.
          enable: true
        }
}