| { |
| "device_list": [ |
| { |
| "device_id": "7xK992pQ", |
| "device_type": "realman", |
| "device_type_info": "具身双臂升降平台", |
| "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", |
| "dimension": { |
| "left_arm_joint_1": "rad", |
| "left_arm_joint_2": "rad", |
| "left_arm_joint_3": "rad", |
| "left_arm_joint_4": "rad", |
| "left_arm_joint_5": "rad", |
| "left_arm_joint_6": "rad", |
| "left_arm_joint_7": "rad", |
| "left_gripper_joint": "rad", |
| "left_end_effector_positions_x": "m", |
| "left_end_effector_positions_y": "m", |
| "left_end_effector_positions_z": "m", |
| "left_end_effector_quat_x": null, |
| "left_end_effector_quat_y": null, |
| "left_end_effector_quat_z": null, |
| "left_end_effector_quat_w": null |
| }, |
| "description": { |
| "left_arm_joint_1": null, |
| "left_arm_joint_2": null, |
| "left_arm_joint_3": null, |
| "left_arm_joint_4": null, |
| "left_arm_joint_5": null, |
| "left_arm_joint_6": null, |
| "left_arm_joint_7": null, |
| "left_gripper_joint": null, |
| "left_end_effector_positions_x": null, |
| "left_end_effector_positions_y": null, |
| "left_end_effector_positions_z": null, |
| "left_end_effector_quat_x": null, |
| "left_end_effector_quat_y": null, |
| "left_end_effector_quat_z": null, |
| "left_end_effector_quat_w": null |
| } |
| }, |
| "piper_right": { |
| "type": "RM65-B", |
| "dimension": { |
| "right_arm_joint_1": "rad", |
| "right_arm_joint_2": "rad", |
| "right_arm_joint_3": "rad", |
| "right_arm_joint_4": "rad", |
| "right_arm_joint_5": "rad", |
| "right_arm_joint_6": "rad", |
| "right_arm_joint_7": "rad", |
| "right_gripper_joint": "rad", |
| "right_end_effector_positions_x": "m", |
| "right_end_effector_positions_y": "m", |
| "right_end_effector_positions_z": "m", |
| "right_end_effector_quat_x": null, |
| "right_end_effector_quat_y": null, |
| "right_end_effector_quat_z": null, |
| "right_end_effector_quat_w": null |
| }, |
| "description": { |
| "right_arm_joint_1": null, |
| "right_arm_joint_2": null, |
| "right_arm_joint_3": null, |
| "right_arm_joint_4": null, |
| "right_arm_joint_5": null, |
| "right_arm_joint_6": null, |
| "right_arm_joint_7": null, |
| "right_gripper_joint": null, |
| "right_end_effector_positions_x": null, |
| "right_end_effector_positions_y": null, |
| "right_end_effector_positions_z": null, |
| "right_end_effector_quat_x": null, |
| "right_end_effector_quat_y": null, |
| "right_end_effector_quat_z": null, |
| "right_end_effector_quat_w": null |
| } |
| } |
| } |
| } |
| ] |
| } |
