File size: 4,281 Bytes
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{
"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
}
}
}
}
]
} |