{
  "torso/perception_interface/middle_cam/state": {
    "camera_name": "realsense(hardcoded)",
    "camera_intrinsics": {}
  },
  "right_arm/perception_interface/right_cam/state": {
    "camera_name": "realsense(hardcoded)",
    "camera_intrinsics": {}
  },
  "left_arm/perception_interface/left_cam/state": {
    "camera_name": "realsense(hardcoded)",
    "camera_intrinsics": {}
  }
}