[
 {
  "axis": "J1",
  "lo": -1.9,
  "hi": 180.0,
  "continuous": false,
  "zero": 0.0,
  "note": "正向 +180° / 反向 -2°，总行程 182°"
 },
 {
  "axis": "J2",
  "lo": -123.0,
  "hi": 108.8,
  "continuous": false,
  "zero": 0.0,
  "note": "正向 +109° / 反向 -123°，总行程 232°"
 },
 {
  "axis": "J3",
  "lo": -180.0,
  "hi": 180.0,
  "continuous": true,
  "zero": 0.0,
  "note": "大臂轴向旋转，整周无干涉，可 360° 连续自转"
 },
 {
  "axis": "J4",
  "lo": -120.0,
  "hi": 120.0,
  "continuous": false,
  "zero": 0.0,
  "note": "肘部俯仰弯曲，正向 +120° / 反向 -120°"
 },
 {
  "axis": "J5",
  "lo": -108.9,
  "hi": 108.9,
  "continuous": false,
  "zero": 0.0,
  "note": "腕部俯仰，正向 +109° / 反向 -109°，总行程 218°"
 },
 {
  "axis": "J6",
  "lo": -180.0,
  "hi": 180.0,
  "continuous": true,
  "zero": 0.0,
  "note": "工具法兰自转，整周无干涉，可 360° 连续旋转"
 }
]