| { | |
| "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 | |
| } | |
| } | |
| } | |
| } | |
| ] | |
| } |