{
  "motor_specs": {
    "module": "电机.STEP (60mm x 56mm)",
    "ratio": "25:1 2-stage planetary",
    "rated_continuous_Nm": 2.5,
    "peak_stall_Nm": 8.0,
    "allowable_thermal_Nm": 2.0
  },
  "payload_kg": 0.5,
  "joints": {
    "J1": {
      "distal_mass_kg": 2.18,
      "reach_tip_mm": 547,
      "static_horizontal_raw_Nm": 7.3,
      "static_horizontal_opt_Nm": 7.3,
      "static_working_pose_Nm": 0.65,
      "dynamic_accel_Nm": 0.43,
      "peak_combined_Nm": 7.72,
      "duty_cycle_raw_pct": 291.9,
      "duty_cycle_opt_pct": 291.9,
      "peak_stall_safety_factor": 1.04,
      "status": "WARN"
    },
    "J2": {
      "distal_mass_kg": 1.82,
      "reach_tip_mm": 464,
      "static_horizontal_raw_Nm": 5.32,
      "static_horizontal_opt_Nm": 2.84,
      "static_working_pose_Nm": 1.38,
      "dynamic_accel_Nm": 0.36,
      "peak_combined_Nm": 3.2,
      "duty_cycle_raw_pct": 212.8,
      "duty_cycle_opt_pct": 113.6,
      "peak_stall_safety_factor": 2.5,
      "status": "WARN"
    },
    "J3": {
      "distal_mass_kg": 1.454,
      "reach_tip_mm": 329,
      "static_horizontal_raw_Nm": 3.16,
      "static_horizontal_opt_Nm": 3.16,
      "static_working_pose_Nm": 0.88,
      "dynamic_accel_Nm": 0.15,
      "peak_combined_Nm": 3.31,
      "duty_cycle_raw_pct": 126.3,
      "duty_cycle_opt_pct": 126.3,
      "peak_stall_safety_factor": 2.41,
      "status": "WARN"
    },
    "J4": {
      "distal_mass_kg": 1.143,
      "reach_tip_mm": 171,
      "static_horizontal_raw_Nm": 0.09,
      "static_horizontal_opt_Nm": 0.09,
      "static_working_pose_Nm": 0.05,
      "dynamic_accel_Nm": 0.01,
      "peak_combined_Nm": 0.1,
      "duty_cycle_raw_pct": 3.6,
      "duty_cycle_opt_pct": 3.6,
      "peak_stall_safety_factor": 76.38,
      "status": "PASS"
    },
    "J5": {
      "distal_mass_kg": 0.842,
      "reach_tip_mm": 171,
      "static_horizontal_raw_Nm": 1.12,
      "static_horizontal_opt_Nm": 1.12,
      "static_working_pose_Nm": 0.52,
      "dynamic_accel_Nm": 0.02,
      "peak_combined_Nm": 1.14,
      "duty_cycle_raw_pct": 45.0,
      "duty_cycle_opt_pct": 45.0,
      "peak_stall_safety_factor": 6.99,
      "status": "PASS"
    },
    "J6": {
      "distal_mass_kg": 0.507,
      "reach_tip_mm": 60,
      "static_horizontal_raw_Nm": 0.08,
      "static_horizontal_opt_Nm": 0.08,
      "static_working_pose_Nm": 0.08,
      "dynamic_accel_Nm": 0.01,
      "peak_combined_Nm": 0.09,
      "duty_cycle_raw_pct": 3.2,
      "duty_cycle_opt_pct": 3.2,
      "peak_stall_safety_factor": 94.12,
      "status": "PASS"
    }
  }
}