[
 {
  "axis": "J1",
  "lo": 0.0,
  "hi": 179.0,
  "continuous": false,
  "zero": 0.0,
  "note": "正向 +179° / 反向 0°，总行程 179°（全对全动态扫描验证，含相邻件与电机）"
 },
 {
  "axis": "J2",
  "lo": -114.0,
  "hi": 113.0,
  "continuous": false,
  "zero": 0.0,
  "note": "正向 +113° / 反向 -114°，总行程 227°（全对全动态扫描验证，含相邻件与电机）"
 },
 {
  "axis": "J3",
  "lo": -108.0,
  "hi": 152.0,
  "continuous": false,
  "zero": 0.0,
  "note": "正向 +152° / 反向 -108°，总行程 260°（全对全动态扫描验证，含相邻件与电机）"
 },
 {
  "axis": "J4",
  "lo": -121.0,
  "hi": 121.0,
  "continuous": false,
  "zero": 0.0,
  "note": "正向 +121° / 反向 -121°，总行程 242°（P07 L型圆弧立柱优化实测，物理极限 ±122.6°，零干涉）"
 },
 {
  "axis": "J5",
  "lo": -89.0,
  "hi": 89.0,
  "continuous": false,
  "zero": 0.0,
  "note": "正向 +89° / 反向 -89°，总行程 178°（消除悬空块+R28相切大圆弧优化实测，物理极限 ±90.0°，零干涉）"
 },
 {
  "axis": "J6",
  "lo": -180.0,
  "hi": 180.0,
  "continuous": true,
  "zero": 0.0,
  "note": "整周无干涉，可 360° 连续旋转（全对全动态扫描验证）"
 }
]