// ctrl a single joint abs angle in deg
// spd: speed, angle/s^2
// acc: speed, angle/s^2 (max: 22.5)
// {"T":121,"angle":90,"spd":100,"acc":10,"torque":1000}
#define CMD_Gripper_JOINT_ANGLE 121
// torque-lock ctrl.
// off: {"T":210,"cmd":0}
//  on: {"T":210,"cmd":1}
#define CMD_TORQUE_CTRL 210
//{"T":105}
#define CMD_SERVO_RAD_FEEDBACK 105
//{"T":112,"mode":1,"g":60}
//{"T":112,"mode":0,"g":1000}
#define CMD_DYNAMIC_ADAPTATION 112
// {"T":101,"spd":100,"acc":10,"torque":1000}
#define CMD_Gripper_open 101
// {"T":102,"spd":100,"acc":10,"torque":1000}
#define CMD_Gripper_close 102
// {"T":502,"id":1}
#define CMD_SET_MIDDLE   502
// {"T":503,"id":1,"tor":200}
#define CMD_SET_EleMode   503
// 2: flow feedback.
// 1: [default]print debug info in serial.
// 0: don't print debug info in serial.
// {"T":605,,"cmd":1}
#define CMD_INFO_PRINT 605