{
  "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
}