{
    "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)"
                    ]
                }
            }
        }
    ]
}