code: def _get_motor_parameters(json_file):
      
      with open(json_file) as motor_fd:
          global_config = json.load(motor_fd)
  
      motors = global_config["motors"]
      # Returned dict
      motor_config = {}
  
      # Add motor to the config
      for motor in motors:
          motor_config[motor] = motors[motor]
  
      return motor_config
docs: Returns a dictionary with joints as keys, and a description (dict) of each joint as value