| { |
| "engine": "Project Chrono / PyChrono two-joint arm dynamics", |
| "engine_version": "9.0.1", |
| "experiment": "Peak shoulder torque on fixed shoulder and elbow trajectories", |
| "link_density_kg_m3": 7800.0, |
| "distal_assembly_and_payload_mass_kg": 1.0, |
| "distal_assembly_inertia_kg_m2": [0.005, 0.02, 0.02], |
| "elbow_position_m": 0.3, |
| "distal_assembly_center_x_m": 0.4, |
| "gravity_m_s2": 9.81, |
| "shoulder_sine_amplitude_rad": 0.4, |
| "shoulder_sine_shift_rad": 0.4, |
| "elbow_sine_amplitude_rad": 0.15, |
| "elbow_sine_shift_rad": 0.15, |
| "trajectory_frequencies_Hz": [0.5, 0.6], |
| "duration_s": 2.0, |
| "time_step_s": 0.001, |
| "ignore_initial_torque_s": 0.02, |
| "required_relative_peak_torque_reduction": 0.1, |
| "maximum_candidate_peak_torque_N_m": 8.0, |
| "maximum_relative_mass_change": 0.000001, |
| "maximum_joint_pad_missing_mm3": 0.0001, |
| "maximum_envelope_excess_mm3": 0.0001, |
| "maximum_joint_bore_center_error_mm": 0.00001 |
| } |
|
|
