The Server Manager imports initial topology from the IP Availability Manager. After the topology is imported, Server Manager discovers domain-specific entities related to the features and creates additional topology objects for those features.
As a first step of discovery, VeloCloud Orchestrator (VCO) is discovered based on ICMP discovery. If the orchestrator device is not ICMP pingable, then workaround would be to add the device manually to the IP server. See Case 2 mentioned in the Installing SMARTS IP-AM section in the VSA 10.1.2-Deployment Scenario > VeloCloud SD-WAN Monitoring to manually add the orchestrator device to IP server. On discovery of VeloCloud Orchestrator (Host) in IP domain manager, ESM server imports the Host from IP Domain Manager and further does a complete discovery of VeloCloud topology.