{
  "schema": "simplecad.std.planetary_joint.sop.v2",
  "design_id": "PJ_NW_S1_160_Txx_001",
  "units": "millimetre_degree",
  "axis_convention": {
    "main_axis": "x",
    "radial_plane": "yz",
    "right_handed": true
  },
  "assembly_layout": {
    "method": "semantic_axial_orbit",
    "calibration_role": "offline_dimensions_only",
    "rules": [
      {
        "selector": "instance:main_case",
        "mode": "root"
      },
      {
        "selector": "instance:motor_stator",
        "mode": "coaxial",
        "axial_mm": -70.0,
        "local_axis": "x",
        "axis_direction": 1,
        "clock_degrees": 0.0
      },
      {
        "selector": "instance:motor_rotor",
        "mode": "coaxial",
        "axial_mm": -65.0,
        "local_axis": "x",
        "axis_direction": 1,
        "clock_degrees": 0.0
      },
      {
        "selector": "instance:back_plate",
        "mode": "coaxial",
        "axial_mm": -80.0,
        "local_axis": "x",
        "axis_direction": 1,
        "clock_degrees": 0.0
      },
      {
        "selector": "instance:bearing_retainer",
        "mode": "coaxial",
        "axial_mm": 75.0,
        "local_axis": "x",
        "axis_direction": 1,
        "clock_degrees": 0.0
      },
      {
        "selector": "instance:output_bearing",
        "mode": "coaxial",
        "axial_mm": 65.0,
        "local_axis": "x",
        "axis_direction": 1,
        "clock_degrees": 0.0
      },
      {
        "selector": "instance:carrier",
        "mode": "coaxial",
        "axial_mm": 40.0,
        "local_axis": "x",
        "axis_direction": 1,
        "clock_degrees": 0.0
      },
      {
        "selector": "instance:output_shaft",
        "mode": "coaxial",
        "axial_mm": 80.0,
        "local_axis": "x",
        "axis_direction": 1,
        "clock_degrees": 0.0
      },
      {
        "selector": "instance:motor_coupling",
        "mode": "coaxial",
        "axial_mm": -30.0,
        "local_axis": "x",
        "axis_direction": 1,
        "clock_degrees": 0.0
      },
      {
        "selector": "instance:ring_gear",
        "mode": "coaxial",
        "axial_mm": 10.0,
        "local_axis": "x",
        "axis_direction": 1,
        "clock_degrees": 0.0
      },
      {
        "selector": "instance:sun_gear",
        "mode": "coaxial",
        "axial_mm": -20.0,
        "local_axis": "x",
        "axis_direction": 1,
        "clock_degrees": 0.0
      },
      {
        "selector": "definition:planet_gear_large",
        "mode": "orbit",
        "axial_mm": 0.0,
        "orbit_phase_degrees": 0.0,
        "local_axis": "x",
        "axis_direction": 1,
        "clock_degrees": 0.0,
        "clock_step_degrees": 120.0
      },
      {
        "selector": "definition:planet_gear_small",
        "mode": "orbit",
        "axial_mm": 20.0,
        "orbit_phase_degrees": 0.0,
        "local_axis": "x",
        "axis_direction": 1,
        "clock_degrees": 0.0,
        "clock_step_degrees": 120.0
      },
      {
        "selector": "definition:planet_bearing",
        "mode": "orbit",
        "axial_mm": 10.0,
        "orbit_phase_degrees": 0.0,
        "local_axis": "x",
        "axis_direction": 1,
        "clock_degrees": 0.0,
        "clock_step_degrees": 120.0
      }
    ]
  },
  "definitions": [
    {
      "id": "motor_stator",
      "family": "disc_motor_stator",
      "generator": "simplecadapi.std.planetary_joint.make_motor_stator_rpart",
      "source_mode": "cots_step",
      "maturity": "cots_step_verified",
      "cots_asset": {
        "path": "simplecadapi/std/assets/disc_motor_58kg_stator.cots.step",
        "sha256": "38ad6ed4f4f562987899c996cd7bac4d62e4310f9b208f7bd641c74d5a6825b5",
        "solid_count": 1,
        "geometry_editability": "immutable"
      },
      "connectors": [
        {
          "id": "axis",
          "kind": "frame"
        },
        {
          "id": "mount",
          "kind": "mount"
        }
      ]
    },
    {
      "id": "motor_rotor",
      "family": "disc_motor_rotor",
      "generator": "simplecadapi.std.planetary_joint.make_motor_rotor_rpart",
      "source_mode": "cots_step",
      "maturity": "cots_step_verified",
      "cots_asset": {
        "path": "simplecadapi/std/assets/disc_motor_58kg_rotor.cots.step",
        "sha256": "8323c3f74464b7d097a6726d7364f7cfcba922531c80dae20288541b0a421792",
        "solid_count": 1,
        "geometry_editability": "immutable"
      },
      "connectors": [
        {
          "id": "axis",
          "kind": "revolute_axis"
        },
        {
          "id": "output",
          "kind": "shaft_hub"
        }
      ]
    },
    {
      "id": "main_case",
      "family": "windowed_cylindrical_cage",
      "generator": "simplecadapi.std.planetary_joint.make_main_case_rpart",
      "source_mode": "formula_std",
      "maturity": "formula_verified",
      "connectors": [
        {
          "id": "axis",
          "kind": "frame"
        },
        {
          "id": "bottom",
          "kind": "mount"
        },
        {
          "id": "top",
          "kind": "mount"
        },
        {
          "id": "stage_axis",
          "kind": "gear_axis"
        },
        {
          "id": "sun_axis",
          "kind": "gear_axis"
        },
        {
          "id": "carrier_mount",
          "kind": "revolute_axis"
        },
        {
          "id": "motor_mount",
          "kind": "mount"
        },
        {
          "id": "bearing_mount",
          "kind": "bearing_seat"
        },
        {
          "id": "retainer_mount",
          "kind": "mount"
        },
        {
          "id": "back_plate_mount",
          "kind": "mount"
        }
      ]
    },
    {
      "id": "back_plate",
      "family": "windowed_annular_plate",
      "generator": "simplecadapi.std.planetary_joint.make_back_plate_rpart",
      "source_mode": "formula_std",
      "maturity": "formula_verified",
      "connectors": [
        {
          "id": "axis",
          "kind": "frame"
        },
        {
          "id": "bottom",
          "kind": "mount"
        },
        {
          "id": "top",
          "kind": "mount"
        }
      ]
    },
    {
      "id": "bearing_retainer",
      "family": "counterbored_retainer_ring",
      "generator": "simplecadapi.std.planetary_joint.make_bearing_retainer_rpart",
      "source_mode": "formula_std",
      "maturity": "formula_verified",
      "connectors": [
        {
          "id": "axis",
          "kind": "frame"
        },
        {
          "id": "bottom",
          "kind": "mount"
        },
        {
          "id": "top",
          "kind": "mount"
        }
      ]
    },
    {
      "id": "ring_gear",
      "family": "involute_internal_ring_gear",
      "generator": "simplecadapi.std.planetary_joint.make_ring_gear_rpart",
      "source_mode": "formula_std",
      "maturity": "formula_verified",
      "connectors": [
        {
          "id": "axis",
          "kind": "gear_axis"
        },
        {
          "id": "bottom",
          "kind": "mount"
        },
        {
          "id": "top",
          "kind": "mount"
        }
      ]
    },
    {
      "id": "sun_gear",
      "family": "involute_spur_gear",
      "generator": "simplecadapi.std.planetary_joint.make_sun_gear_rpart",
      "source_mode": "formula_std",
      "maturity": "formula_verified",
      "connectors": [
        {
          "id": "axis",
          "kind": "gear_axis"
        },
        {
          "id": "bottom",
          "kind": "mount"
        },
        {
          "id": "top",
          "kind": "mount"
        }
      ]
    },
    {
      "id": "planet_gear_large",
      "family": "involute_spur_gear",
      "generator": "simplecadapi.std.planetary_joint.make_planet_gear_large_rpart",
      "source_mode": "formula_std",
      "maturity": "formula_verified",
      "connectors": [
        {
          "id": "axis",
          "kind": "gear_axis"
        },
        {
          "id": "bottom",
          "kind": "mount"
        },
        {
          "id": "top",
          "kind": "mount"
        }
      ]
    },
    {
      "id": "planet_gear_small",
      "family": "involute_spur_gear",
      "generator": "simplecadapi.std.planetary_joint.make_planet_gear_small_rpart",
      "source_mode": "formula_std",
      "maturity": "formula_verified",
      "connectors": [
        {
          "id": "axis",
          "kind": "gear_axis"
        },
        {
          "id": "bottom",
          "kind": "mount"
        },
        {
          "id": "top",
          "kind": "mount"
        }
      ]
    },
    {
      "id": "carrier",
      "family": "planet_carrier",
      "generator": "simplecadapi.std.planetary_joint.make_carrier_rpart",
      "source_mode": "formula_std",
      "maturity": "formula_verified",
      "connectors": [
        {
          "id": "axis",
          "kind": "revolute_axis"
        },
        {
          "id": "bottom",
          "kind": "mount"
        },
        {
          "id": "top",
          "kind": "mount"
        },
        {
          "id": "output_mount",
          "kind": "shaft_hub"
        },
        {
          "id": "planet_axis_0",
          "kind": "revolute_axis"
        },
        {
          "id": "planet_axis_1",
          "kind": "revolute_axis"
        },
        {
          "id": "planet_axis_2",
          "kind": "revolute_axis"
        }
      ]
    },
    {
      "id": "output_shaft",
      "family": "output_flange_shaft",
      "generator": "simplecadapi.std.planetary_joint.make_output_shaft_rpart",
      "source_mode": "formula_std",
      "maturity": "formula_verified",
      "connectors": [
        {
          "id": "axis",
          "kind": "revolute_axis"
        },
        {
          "id": "bottom",
          "kind": "mount"
        },
        {
          "id": "top",
          "kind": "mount"
        },
        {
          "id": "output",
          "kind": "mount"
        }
      ]
    },
    {
      "id": "output_bearing",
      "family": "radial_bearing",
      "generator": "simplecadapi.std.bearing.make_bearing_rpart",
      "source_mode": "formula_std",
      "maturity": "formula_verified",
      "connectors": [
        {
          "id": "axis",
          "kind": "bearing_seat"
        },
        {
          "id": "bottom",
          "kind": "mount"
        },
        {
          "id": "top",
          "kind": "mount"
        }
      ]
    },
    {
      "id": "planet_bearing",
      "family": "flanged_radial_bearing",
      "generator": "simplecadapi.std.planetary_joint.make_planet_bearing_rpart",
      "source_mode": "formula_std",
      "maturity": "formula_verified",
      "connectors": [
        {
          "id": "axis",
          "kind": "bearing_seat"
        },
        {
          "id": "bottom",
          "kind": "mount"
        },
        {
          "id": "top",
          "kind": "mount"
        },
        {
          "id": "gear_seat",
          "kind": "bearing_seat"
        }
      ]
    },
    {
      "id": "motor_coupling",
      "family": "shaft_hub_coupling",
      "generator": "simplecadapi.std.planetary_joint.make_motor_coupling_rpart",
      "source_mode": "formula_std",
      "maturity": "formula_verified",
      "connectors": [
        {
          "id": "axis",
          "kind": "shaft_hub"
        },
        {
          "id": "bottom",
          "kind": "mount"
        },
        {
          "id": "top",
          "kind": "mount"
        },
        {
          "id": "sun_seat",
          "kind": "shaft_hub"
        }
      ]
    }
  ],
  "instances": [
    {
      "id": "main_case",
      "definition_id": "main_case"
    },
    {
      "id": "motor_stator",
      "definition_id": "motor_stator"
    },
    {
      "id": "motor_rotor",
      "definition_id": "motor_rotor"
    },
    {
      "id": "back_plate",
      "definition_id": "back_plate"
    },
    {
      "id": "bearing_retainer",
      "definition_id": "bearing_retainer"
    },
    {
      "id": "output_bearing",
      "definition_id": "output_bearing"
    },
    {
      "id": "carrier",
      "definition_id": "carrier"
    },
    {
      "id": "output_shaft",
      "definition_id": "output_shaft"
    },
    {
      "id": "motor_coupling",
      "definition_id": "motor_coupling"
    },
    {
      "id": "ring_gear",
      "definition_id": "ring_gear"
    },
    {
      "id": "sun_gear",
      "definition_id": "sun_gear"
    },
    {
      "id": "planet_0_large",
      "definition_id": "planet_gear_large",
      "pattern_index": 0
    },
    {
      "id": "planet_1_large",
      "definition_id": "planet_gear_large",
      "pattern_index": 1
    },
    {
      "id": "planet_2_large",
      "definition_id": "planet_gear_large",
      "pattern_index": 2
    },
    {
      "id": "planet_0_small",
      "definition_id": "planet_gear_small",
      "pattern_index": 0
    },
    {
      "id": "planet_1_small",
      "definition_id": "planet_gear_small",
      "pattern_index": 1
    },
    {
      "id": "planet_2_small",
      "definition_id": "planet_gear_small",
      "pattern_index": 2
    },
    {
      "id": "planet_bearing_0",
      "definition_id": "planet_bearing",
      "pattern_index": 0
    },
    {
      "id": "planet_bearing_1",
      "definition_id": "planet_bearing",
      "pattern_index": 1
    },
    {
      "id": "planet_bearing_2",
      "definition_id": "planet_bearing",
      "pattern_index": 2
    }
  ],
  "expected_definition_counts": [
    {
      "definition_id": "motor_stator",
      "count": 1
    },
    {
      "definition_id": "motor_rotor",
      "count": 1
    },
    {
      "definition_id": "main_case",
      "count": 1
    },
    {
      "definition_id": "back_plate",
      "count": 1
    },
    {
      "definition_id": "bearing_retainer",
      "count": 1
    },
    {
      "definition_id": "output_bearing",
      "count": 1
    },
    {
      "definition_id": "carrier",
      "count": 1
    },
    {
      "definition_id": "output_shaft",
      "count": 1
    },
    {
      "definition_id": "motor_coupling",
      "count": 1
    },
    {
      "definition_id": "ring_gear",
      "count": 1
    },
    {
      "definition_id": "sun_gear",
      "count": 1
    },
    {
      "definition_id": "planet_gear_large",
      "count": 3
    },
    {
      "definition_id": "planet_gear_small",
      "count": 3
    },
    {
      "definition_id": "planet_bearing",
      "count": 3
    }
  ],
  "assembly_root_instance_id": "main_case",
  "assembly_relations": [
    {
      "id": "case_ring",
      "type": "fixed",
      "a": {
        "instance_id": "main_case",
        "connector_id": "stage_axis"
      },
      "b": {
        "instance_id": "ring_gear",
        "connector_id": "axis"
      }
    },
    {
      "id": "case_sun",
      "type": "revolute",
      "motion_role": "input",
      "a": {
        "instance_id": "main_case",
        "connector_id": "sun_axis"
      },
      "b": {
        "instance_id": "sun_gear",
        "connector_id": "axis"
      }
    },
    {
      "id": "case_carrier",
      "type": "revolute",
      "motion_role": "output",
      "a": {
        "instance_id": "main_case",
        "connector_id": "carrier_mount"
      },
      "b": {
        "instance_id": "carrier",
        "connector_id": "axis"
      }
    },
    {
      "id": "case_stator",
      "type": "fixed",
      "a": {
        "instance_id": "main_case",
        "connector_id": "motor_mount"
      },
      "b": {
        "instance_id": "motor_stator",
        "connector_id": "mount"
      }
    },
    {
      "id": "rotor_coupling",
      "type": "shaft_hub",
      "a": {
        "instance_id": "motor_rotor",
        "connector_id": "output"
      },
      "b": {
        "instance_id": "motor_coupling",
        "connector_id": "axis"
      }
    },
    {
      "id": "coupling_sun",
      "type": "shaft_hub",
      "a": {
        "instance_id": "motor_coupling",
        "connector_id": "sun_seat"
      },
      "b": {
        "instance_id": "sun_gear",
        "connector_id": "bottom"
      }
    },
    {
      "id": "case_back_plate",
      "type": "fixed",
      "a": {
        "instance_id": "main_case",
        "connector_id": "back_plate_mount"
      },
      "b": {
        "instance_id": "back_plate",
        "connector_id": "top"
      }
    },
    {
      "id": "case_retainer",
      "type": "fixed",
      "a": {
        "instance_id": "main_case",
        "connector_id": "retainer_mount"
      },
      "b": {
        "instance_id": "bearing_retainer",
        "connector_id": "bottom"
      }
    },
    {
      "id": "retainer_bearing",
      "type": "bearing_support",
      "a": {
        "instance_id": "main_case",
        "connector_id": "bearing_mount"
      },
      "b": {
        "instance_id": "output_bearing",
        "connector_id": "bottom"
      }
    },
    {
      "id": "carrier_output",
      "type": "fixed",
      "a": {
        "instance_id": "carrier",
        "connector_id": "output_mount"
      },
      "b": {
        "instance_id": "output_shaft",
        "connector_id": "bottom"
      }
    },
    {
      "id": "p0_carrier",
      "type": "revolute",
      "motion_role": "planet_spin",
      "phase_offset_degrees": 0.0,
      "a": {
        "instance_id": "carrier",
        "connector_id": "planet_axis_0"
      },
      "b": {
        "instance_id": "planet_0_large",
        "connector_id": "axis"
      }
    },
    {
      "id": "p1_carrier",
      "type": "revolute",
      "motion_role": "planet_spin",
      "phase_offset_degrees": 0.0,
      "a": {
        "instance_id": "carrier",
        "connector_id": "planet_axis_1"
      },
      "b": {
        "instance_id": "planet_1_large",
        "connector_id": "axis"
      }
    },
    {
      "id": "p2_carrier",
      "type": "revolute",
      "motion_role": "planet_spin",
      "phase_offset_degrees": 0.0,
      "a": {
        "instance_id": "carrier",
        "connector_id": "planet_axis_2"
      },
      "b": {
        "instance_id": "planet_2_large",
        "connector_id": "axis"
      }
    },
    {
      "id": "p0_large_small",
      "type": "fixed",
      "a": {
        "instance_id": "planet_0_large",
        "connector_id": "top"
      },
      "b": {
        "instance_id": "planet_0_small",
        "connector_id": "bottom"
      }
    },
    {
      "id": "p1_large_small",
      "type": "fixed",
      "a": {
        "instance_id": "planet_1_large",
        "connector_id": "top"
      },
      "b": {
        "instance_id": "planet_1_small",
        "connector_id": "bottom"
      }
    },
    {
      "id": "p2_large_small",
      "type": "fixed",
      "a": {
        "instance_id": "planet_2_large",
        "connector_id": "top"
      },
      "b": {
        "instance_id": "planet_2_small",
        "connector_id": "bottom"
      }
    },
    {
      "id": "p0_bearing",
      "type": "bearing_support",
      "a": {
        "instance_id": "planet_0_large",
        "connector_id": "bottom"
      },
      "b": {
        "instance_id": "planet_bearing_0",
        "connector_id": "gear_seat"
      }
    },
    {
      "id": "p1_bearing",
      "type": "bearing_support",
      "a": {
        "instance_id": "planet_1_large",
        "connector_id": "bottom"
      },
      "b": {
        "instance_id": "planet_bearing_1",
        "connector_id": "gear_seat"
      }
    },
    {
      "id": "p2_bearing",
      "type": "bearing_support",
      "a": {
        "instance_id": "planet_2_large",
        "connector_id": "bottom"
      },
      "b": {
        "instance_id": "planet_bearing_2",
        "connector_id": "gear_seat"
      }
    }
  ],
  "transmission": {
    "type": "nw_planetary",
    "module_mm": 2.0,
    "pressure_angle_deg": 20.0,
    "teeth": {
      "sun": 16,
      "planet": 24,
      "planet_inner": 16,
      "ring": 56
    },
    "planet_count": 3,
    "center_radius_mm": 40.0,
    "center_tolerance_mm": 0.01,
    "fixed_member": "ring_gear",
    "input_member": "sun_gear",
    "output_member": "carrier",
    "fixed_ring_ratio": 6.25,
    "ratio_tolerance": 1e-06,
    "meshes": [
      {
        "id": "sun_p0_large",
        "type": "external",
        "a": "sun_gear",
        "b": "planet_0_large",
        "backlash_mm": 0.02
      },
      {
        "id": "sun_p1_large",
        "type": "external",
        "a": "sun_gear",
        "b": "planet_1_large",
        "backlash_mm": 0.02
      },
      {
        "id": "sun_p2_large",
        "type": "external",
        "a": "sun_gear",
        "b": "planet_2_large",
        "backlash_mm": 0.02
      },
      {
        "id": "ring_p0_small",
        "type": "internal",
        "a": "ring_gear",
        "b": "planet_0_small",
        "backlash_mm": 0.02
      },
      {
        "id": "ring_p1_small",
        "type": "internal",
        "a": "ring_gear",
        "b": "planet_1_small",
        "backlash_mm": 0.02
      },
      {
        "id": "ring_p2_small",
        "type": "internal",
        "a": "ring_gear",
        "b": "planet_2_small",
        "backlash_mm": 0.02
      }
    ]
  },
  "public_connectors": [
    {
      "id": "housing_mount",
      "source": {
        "instance_id": "main_case",
        "connector_id": "bottom"
      }
    },
    {
      "id": "input_axis",
      "source": {
        "instance_id": "motor_rotor",
        "connector_id": "axis"
      }
    },
    {
      "id": "output_axis",
      "source": {
        "instance_id": "output_shaft",
        "connector_id": "axis"
      }
    }
  ],
  "interference_contract": {
    "policy": "no_unlisted_positive_volume",
    "volume_tolerance_mm3": 1e-09,
    "motion_samples_degrees": [
      0.0,
      18.0,
      36.0,
      54.0,
      72.0
    ],
    "designed_interference_fits": [
      {
        "id": "case_ring_press_fit",
        "a": "main_case",
        "b": "ring_gear",
        "type": "source_matched_press_fit",
        "target_volume_mm3": 1.5,
        "volume_tolerance_mm3": 1e-06,
        "evidence": "source STEP assembly at nominal pose"
      }
    ]
  },
  "verification": {
    "default_geometry": "strict_brep",
    "assembly": "connector_residuals_and_collision",
    "motion": "willis_residual_and_interference_sweep",
    "parameter_sweeps": 5
  },
  "runtime_policy": {
    "teacher_geometry_allowed": false,
    "absolute_matrix_replay_allowed": false,
    "source_cad_required": false,
    "checksum_locked_cots_step_allowed": true
  }
}