{ "shoulder_pan": { "id": 1, "drive_mode": 0, "homing_offset": 0, "range_min": 0, "range_max": 4095 }, "shoulder_lift": { "id": 2, "drive_mode": 0, "homing_offset": 0, "range_min": 0, "range_max": 4095 }, "elbow_flex": { "id": 3, "drive_mode": 0, "homing_offset": 0, "range_min": 0, "range_max": 4095 }, "wrist_flex": { "id": 4, "drive_mode": 0, "homing_offset": 0, "range_min": 0, "range_max": 4095 }, "wrist_roll": { "id": 5, "drive_mode": 0, "homing_offset": 0, "range_min": 0, "range_max": 4095 }, "gripper": { "id": 6, "drive_mode": 0, "homing_offset": 0, "range_min": 0, "range_max": 4095 } }