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{
"device_list": [
{
"device_id": "realman",
"device_type": "realman",
"device_info": {
"cam_high": {
"type": "Intel RealSense D435"
},
"cam_left_wrist": {
"type": "Intel RealSense D435"
},
"cam_right_wrist": {
"type": "Intel RealSense D435"
},
"piper_left": {
"type": "RM65-B",
"parameter": [
"Left arm joint positions seven rotations(rad,rad,rad,rad,rad,rad,rad)",
"Left gripper joint positions open and close angle(rad)",
"Left end effector positions xyz(m,m,m)",
"Left end effector 6D pose xyz euler angles(6)"
]
},
"piper_right": {
"type": "RM65-B",
"parameter": [
"Right arm joint positions seven rotations(rad,rad,rad,rad,rad,rad,rad)",
"Right gripper joint positions open and close angle(rad)",
"Right end effector positions xyz(m,m,m)",
"Right end effector 6D pose xyz euler angles(6)"
]
}
}
}
]
} |