关节电机	PulseMINus	PulseMAXus	Angle
L1_D1	500	2200	65-180
L1_D2	500	2500	0-120
L1_D3	500	2200	60-180
L2_D1	500	2300	0-125
L2_D2	500	2400	50-180
L2_D3	500	2300	0-135
L3_D1	550	2550	65-180
L3_D2	500	2500	0-120
L3_D3	500	2300	40-180
L4_D1	500	2300	0-110
L4_D2	600	2600	65-180
L4_D3	500	2200	0-120