{
    "COM_PORT": "COM9",
    "step_per_revolution": 48,
    "joints": [
        {
            "id": 1,
            "name": "base",
            "step_range": [0, 2838]
        },
        {
            "id": 2,
            "name": "shoulder",
            "step_range": [-1000, 1000]
        },
        {
            "id": 3,
            "name": "gripper_1",
            "step_range": [0, 144]
        },
        {
            "id": 4,
            "name": "gripper_2",
            "step_range": [-180, 180]
        },
        {
            "id": 5,
            "name": "gripper_3",
            "step_range": [-180, 180]
        },
        {
            "id": 6,
            "name": "elbow",
            "step_range": [-180, 180]
        }
    ],
    "coordinates": {
        "x": {
            "min": 0,
            "max": 100
        },
        "y": {
            "min": 0,
            "max": 100
        },
        "z": {
            "min": 0,
            "max": 100
        }
    }
}