{
  "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"
  }
}