初始提交：关节模组仿真平台

- 三接口契约：自包含 MJCF / 配置 schema / 报告计算规范
- Python 流水线：urdf_to_mjcf → generate_schema → simulate_report（validate_module 一键编排）
- 输入案例 urdf + 生成产物 output（自包含 MJCF/schema/报告/网格副本）
- 详细架构说明 docs/architecture.md

output/planetary_joint_split_motor_demo.json

@@ -0,0 +1,34 @@
+{
+  "module_id": "planetary_joint_split_motor_demo",
+  "name": "planetary_joint_split_motor_demo",
+  "model": "planetary_joint_split_motor_demo.xml",
+  "input_joint": "sun_input_joint",
+  "output_joint": "carrier_output_joint",
+  "gear_ratio": 5.9999999999999885,
+  "gear_ratio_source": "mimic",
+  "limits": {
+    "position": [
+      -37.6991118431,
+      37.6991118431
+    ],
+    "torque": [
+      -10.0,
+      10.0
+    ],
+    "velocity": [
+      -6.28318530718,
+      6.28318530718
+    ]
+  },
+  "simulation": {
+    "timestep": 0.001,
+    "duration": 4.0,
+    "kp": 20.0,
+    "kd": 0.3,
+    "amplitude": 6.283185307179586,
+    "frequency": 0.25,
+    "load_torque": -3.0,
+    "damping": 0.01,
+    "mode": "normal"
+  }
+}