Robot_Arm/docs/travel.json

[
 {
  "axis": "J1",
  "lo": -180.0,
  "hi": 180.0,
  "continuous": true,
  "zero": 0.0,
  "combo_warn_deg": null,
  "note": "单轴整周无干涉（滑块按单轴限位给出）；组合扫描未发现该轴卡死"
 },
 {
  "axis": "J2",
  "lo": -92.0,
  "hi": 9.0,
  "continuous": false,
  "zero": 0.0,
  "combo_warn_deg": null,
  "note": "单轴正向 +9° / 反向 -92°，总行程 101°（单关节硬限位，含相邻件与电机）"
 },
 {
  "axis": "J3",
  "lo": -180.0,
  "hi": 180.0,
  "continuous": true,
  "zero": 0.0,
  "combo_warn_deg": 162.0,
  "note": "单轴整周无干涉（滑块按单轴限位给出）；组合折叠姿态下（其余关节同时处于各自极限）约 ±162° 起与躯干占位（台架 P01 立柱）干涉，见 travel_detail.combos，运行期由查看器碰撞模型按姿态夹取"
 },
 {
  "axis": "J4",
  "lo": -111.0,
  "hi": 16.0,
  "continuous": false,
  "zero": 0.0,
  "combo_warn_deg": 18.0,
  "note": "单轴正向 +16° / 反向 -111°，总行程 127°（单关节硬限位，含相邻件与电机）；组合折叠姿态下（其余关节同时处于各自极限）约 ±18° 起与躯干占位（台架 P01 立柱）干涉，见 travel_detail.combos，运行期由查看器碰撞模型按姿态夹取"
 },
 {
  "axis": "J5",
  "lo": -93.0,
  "hi": 34.0,
  "continuous": false,
  "zero": 0.0,
  "combo_warn_deg": 36.0,
  "note": "单轴正向 +34° / 反向 -93°，总行程 127°（单关节硬限位，含相邻件与电机）；组合折叠姿态下（其余关节同时处于各自极限）约 ±36° 起与躯干占位（台架 P01 立柱）干涉，见 travel_detail.combos，运行期由查看器碰撞模型按姿态夹取"
 },
 {
  "axis": "J6",
  "lo": -180.0,
  "hi": 180.0,
  "continuous": true,
  "zero": 0.0,
  "combo_warn_deg": null,
  "note": "单轴整周无干涉（滑块按单轴限位给出）；组合扫描未发现该轴卡死"
 }
]