{
    "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
                    }
                }
            }
        }
    ]
}