{ "status": "PASS", "schemaVersion": "vehiclelab.assembly-mapping-qualification.v1", "budgets": { "geometryM": 1e-8, "materialBasis": 1e-8, "jacobianPerCoordinate": 0.000005, "massComponentSI": 0.0002, "generalizedForceComponentSI": 0.002, "accelerationComponentSI": 0.00002, "rackEffortN": 0.0002, "contactForceN": 0.0002, "equilibriumResidualSI": 0.000001, "referenceEquilibriumGradientSI": 0.002, "trajectoryComponentSI": 0.00001, "referenceRefinementComponentSI": 0.000001, "energyResidualJ": 0.0002 }, "registry": [ { "id": "vehiclelab.quarter-car.linear-passive", "version": "0.2.0", "label": "Quarter-Car 2 DOF", "physicalDof": 2, "stateOrdering": [ "sprungDisplacement", "sprungVelocity", "unsprungDisplacement", "unsprungVelocity" ], "phenomena": ["vertical ride"], "suspensions": ["equivalent-linear"], "tires": ["linear vertical spring"], "steering": "none", "braking": "none", "roadContact": "one prescribed vertical road input", "definitionType": "vehiclelab.study-definition.v1", "requiredInputs": ["two masses", "spring/damper/tire stiffness"], "execution": [ { "method": "rk4", "backend": "vehiclelab.typescript.legacy-rk4.registry-v1", "qualification": "Quarter-Car analytical/literature qualification" }, { "method": "linear-frequency", "backend": "vehiclelab.typescript.linear-frequency.registry-v1", "qualification": "Quarter-Car analytical/literature qualification" } ], "qualification": { "id": "vehiclelab.accepted-regression.ml64.v1", "version": "1.0.0", "reference": "docs/review/milestones/ml-64/qualification-completion.json" }, "availability": "accepted", "userRunnable": true, "limits": ["Independent reference; not a projection of the applied assembly"] }, { "id": "vehiclelab.half-car.linear-passive", "version": "0.1.0", "label": "Half-Car 4 DOF", "physicalDof": 4, "stateOrdering": [ "heave", "heaveRate", "pitchNoseUp", "pitchRate", "frontVertical", "frontVerticalRate", "rearVertical", "rearVerticalRate" ], "phenomena": ["vertical ride", "small pitch"], "suspensions": ["equivalent-linear"], "tires": ["linear vertical spring"], "steering": "none", "braking": "none", "roadContact": "two prescribed vertical road inputs", "definitionType": "vehiclelab.half-car-study-definition.v1", "requiredInputs": ["body mass/pitch inertia", "axle masses/rates", "axle distances"], "execution": [ { "method": "rk4", "backend": "vehiclelab.typescript.legacy-rk4.registry-v1", "qualification": "Half-Car analytical/frequency qualification" }, { "method": "linear-frequency", "backend": "vehiclelab.typescript.linear-frequency.registry-v1", "qualification": "Half-Car analytical/frequency qualification" } ], "qualification": { "id": "vehiclelab.accepted-regression.ml64.v1", "version": "1.0.0", "reference": "docs/review/milestones/ml-64/qualification-completion.json" }, "availability": "accepted", "userRunnable": true, "limits": ["Independent axle model"] }, { "id": "vehiclelab.full-car.linear-passive", "version": "0.1.0", "label": "Full-Car Ride 7 DOF (legacy linear)", "physicalDof": 7, "stateOrdering": [ "heave", "heaveRate", "pitchNoseUp", "pitchRate", "rollLeftUp", "rollRate", "verticalFL", "verticalRateFL", "verticalFR", "verticalRateFR", "verticalRL", "verticalRateRL", "verticalRR", "verticalRateRR" ], "phenomena": ["vertical ride", "small pitch/roll"], "suspensions": ["equivalent-linear"], "tires": ["signed vertical perturbation spring"], "steering": "none", "braking": "none", "roadContact": "four prescribed vertical road heights; no tangential wrench", "definitionType": "vehiclelab.full-car-study-definition.v1", "requiredInputs": [ "sprung mass", "roll/pitch inertia", "four masses/rates", "axle distances/tracks" ], "execution": [ { "method": "rk4", "backend": "vehiclelab.typescript.legacy-rk4.registry-v1", "qualification": "Full-Car analytical/frozen-buffer qualification" }, { "method": "linear-frequency", "backend": "vehiclelab.typescript.linear-frequency.registry-v1", "qualification": "Full-Car analytical/frozen-buffer qualification" } ], "qualification": { "id": "vehiclelab.accepted-regression.ml64.v1", "version": "1.0.0", "reference": "docs/review/milestones/ml-64/qualification-completion.json" }, "availability": "accepted", "userRunnable": false, "limits": [ "retained for inspection/save; product Worker requires explicit geometry conversion", "Equilibrium-relative coordinates; not an absolute 14-DOF reduction" ] }, { "id": "vehiclelab.full-car.geometry-passive", "version": "1.0.0", "label": "Full-Car Ride 7 DOF (geometry)", "physicalDof": 7, "stateOrdering": [ "heave", "heaveRate", "pitchNoseUp", "pitchRate", "rollLeftUp", "rollRate", "verticalFL", "verticalRateFL", "verticalFR", "verticalRateFR", "verticalRL", "verticalRateRL", "verticalRR", "verticalRateRR" ], "phenomena": ["vertical ride", "small pitch/roll", "nonlinear suspension motion ratios"], "suspensions": ["double-wishbone-locked-heading"], "tires": ["signed vertical perturbation spring"], "steering": "none", "braking": "none", "roadContact": "four prescribed vertical road heights; no tangential wrench", "definitionType": "vehiclelab.full-car-study-definition.v1", "requiredInputs": [ "sprung mass", "roll/pitch inertia", "four masses/rates", "axle distances/tracks", "suspension hardpoints", "installed rates" ], "execution": [ { "method": "rk4", "backend": "vehiclelab.typescript.legacy-rk4.registry-v1", "qualification": "Full-Car analytical/frozen-buffer qualification" }, { "method": "linear-frequency", "backend": "vehiclelab.typescript.linear-frequency.registry-v1", "qualification": "Full-Car analytical/frozen-buffer qualification" } ], "qualification": { "id": "vehiclelab.accepted-regression.ml64.v1", "version": "1.0.0", "reference": "docs/review/milestones/ml-64/qualification-completion.json" }, "availability": "accepted", "userRunnable": true, "limits": [ "Ride workflow only; no dynamic handling coupling", "Equilibrium-relative coordinates; not an absolute 14-DOF reduction" ] }, { "id": "vehiclelab.full-car.geometry-unilateral-contact", "version": "1.0.0", "label": "Full-Car Ride 7 DOF (unilateral contact)", "physicalDof": 7, "stateOrdering": [ "heave", "heaveRate", "pitchNoseUp", "pitchRate", "rollLeftUp", "rollRate", "verticalFL", "verticalRateFL", "verticalFR", "verticalRateFR", "verticalRL", "verticalRateRL", "verticalRR", "verticalRateRR" ], "phenomena": ["vertical ride", "small pitch/roll", "nonlinear suspension motion ratios"], "suspensions": ["double-wishbone-locked-heading"], "tires": ["unilateral vertical spring"], "steering": "none", "braking": "none", "roadContact": "four prescribed vertical road heights; no tangential wrench", "definitionType": "vehiclelab.full-car-study-definition.v1", "requiredInputs": [ "sprung mass", "roll/pitch inertia", "four masses/rates", "axle distances/tracks", "suspension hardpoints", "installed rates" ], "execution": [ { "method": "rk4", "backend": "vehiclelab.typescript.legacy-rk4.registry-v1", "qualification": "Full-Car analytical/frozen-buffer qualification" } ], "qualification": { "id": "vehiclelab.accepted-regression.ml64.v1", "version": "1.0.0", "reference": "docs/review/milestones/ml-64/qualification-completion.json" }, "availability": "accepted", "userRunnable": true, "limits": [ "Ride workflow only; no dynamic handling coupling", "Equilibrium-relative coordinates; not an absolute 14-DOF reduction" ] }, { "id": "vehiclelab.vehicle.planar-handling", "version": "1.0.0", "label": "Planar Handling", "physicalDof": 2, "stateOrdering": ["lateralVelocity", "yawRate", "yaw", "worldX", "worldY"], "phenomena": ["lateral/yaw dynamics", "three kinematic world states"], "suspensions": ["none; static corner placement"], "tires": ["friction-limited lateral tire"], "steering": "prescribed tire heading, not physical rack", "braking": "none; constant forward speed constraint", "roadContact": "flat ground; prescribed static normal loads", "definitionType": "vehiclelab.planar-handling-study-definition.v1", "requiredInputs": [ "applied mass/dimensions", "separate yaw inertia", "four lateral tires", "positive prescribed speed" ], "execution": [ { "method": "rk4", "backend": "vehiclelab.typescript.legacy-rk4.registry-v1", "qualification": "ML57 algebra/independent trajectory qualification" } ], "qualification": { "id": "vehiclelab.accepted-regression.ml64.v1", "version": "1.0.0", "reference": "docs/review/milestones/ml-64/qualification-completion.json" }, "availability": "accepted", "userRunnable": true, "limits": ["Five states does not mean five dynamic DOFs; no vertical/longitudinal dynamics"] }, { "id": "vehiclelab.generic-coupled-14dof.ml59.v1", "version": "1.0.0", "label": "Generic 14 DOF fixed rack", "physicalDof": 14, "stateOrdering": [ "worldX", "worldY", "worldZ", "rollRH", "pitchRH", "yaw", "jFL", "jFR", "jRL", "jRR", "spinFL", "spinFR", "spinRL", "spinRR", "worldXRate", "worldYRate", "worldZRate", "rollRHRate", "pitchRHRate", "yawRate", "jFLRate", "jFRRate", "jRLRate", "jRRRate", "spinFLRate", "spinFRRate", "spinRLRate", "spinRRRate" ], "phenomena": [ "absolute spatial body dynamics", "four relative jounce coordinates", "four material rotor spins", "prescribed contact wrench / normal support" ], "suspensions": ["double-wishbone-rack-tie-rod"], "tires": ["prescribed contact wrench / normal support"], "steering": "fixed physical rack", "braking": "bounded prescribed rotor torque", "roadContact": "flat compliant point support; four loaded contacts for coupled tires", "definitionType": "CoupledVehicleDefinition (generic reference)", "requiredInputs": [ "central body tensor", "four mass/rotor inertias", "hardpoints and tie rods", "installed spring/damper/free lengths", "absolute support properties" ], "execution": [ { "method": "rk4", "backend": "vehiclelab.ml60.reference-ts.registry-v1", "qualification": "ML60 transient reference" }, { "method": "rk4", "backend": "vehiclelab.projected-newton-euler.ml61.v1", "qualification": "ML61/62A numerical/native qualification" }, { "method": "rk45", "backend": "vehiclelab.projected-newton-euler.ml61.v1", "qualification": "ML61/62A numerical/native qualification" }, { "method": "rk4", "backend": "vehiclelab.cpp-newton-euler.ml62.v1", "qualification": "ML61/62A numerical/native qualification" }, { "method": "rk45", "backend": "vehiclelab.cpp-newton-euler.ml62.v1", "qualification": "ML61/62A numerical/native qualification" } ], "qualification": { "id": "vehiclelab.accepted-regression.ml64.v1", "version": "1.0.0", "reference": "docs/review/milestones/ml-64/qualification-completion.json" }, "availability": "bounded-experimental", "userRunnable": true, "limits": [ "Generic reference only; never consumes applied Vehicle Assembly", "See model-specific short-duration envelope" ] }, { "id": "vehiclelab.generic-coupled-tires.ml63.v1", "version": "1.0.0", "label": "Generic 14 DOF coupled tires", "physicalDof": 14, "stateOrdering": [ "worldX", "worldY", "worldZ", "rollRH", "pitchRH", "yaw", "jFL", "jFR", "jRL", "jRR", "spinFL", "spinFR", "spinRL", "spinRR", "worldXRate", "worldYRate", "worldZRate", "rollRHRate", "pitchRHRate", "yawRate", "jFLRate", "jFRRate", "jRLRate", "jRRRate", "spinFLRate", "spinFRRate", "spinRLRate", "spinRRRate" ], "phenomena": [ "absolute spatial body dynamics", "four relative jounce coordinates", "four material rotor spins", "memoryless shared friction disk" ], "suspensions": ["double-wishbone-rack-tie-rod"], "tires": ["memoryless shared friction disk"], "steering": "fixed physical rack", "braking": "actual slip from signed rotor torque", "roadContact": "flat compliant point support; four loaded contacts for coupled tires", "definitionType": "CoupledVehicleDefinition (generic reference)", "requiredInputs": [ "central body tensor", "four mass/rotor inertias", "hardpoints and tie rods", "installed spring/damper/free lengths", "absolute support properties" ], "execution": [ { "method": "rk4", "backend": "vehiclelab.js-tires.optimized-ts-mechanics.ml63.v1", "qualification": "ML63 independent coupled-tire qualification" }, { "method": "rk45", "backend": "vehiclelab.js-tires.optimized-ts-mechanics.ml63.v1", "qualification": "ML63 independent coupled-tire qualification" }, { "method": "rk4", "backend": "vehiclelab.js-tires.cpp-mechanics.ml63.v1", "qualification": "ML63 independent coupled-tire qualification" }, { "method": "rk45", "backend": "vehiclelab.js-tires.cpp-mechanics.ml63.v1", "qualification": "ML63 independent coupled-tire qualification" } ], "qualification": { "id": "vehiclelab.accepted-regression.ml64.v1", "version": "1.0.0", "reference": "docs/review/milestones/ml-64/qualification-completion.json" }, "availability": "bounded-experimental", "userRunnable": true, "limits": [ "Generic reference only; never consumes applied Vehicle Assembly", "See model-specific short-duration envelope" ] }, { "id": "vehiclelab.prescribed-rack-maneuvers.ml64.v1", "version": "1.0.0", "label": "Generic 14 DOF steering/braking", "physicalDof": 14, "stateOrdering": [ "worldX", "worldY", "worldZ", "rollRH", "pitchRH", "yaw", "jFL", "jFR", "jRL", "jRR", "spinFL", "spinFR", "spinRL", "spinRR", "worldXRate", "worldYRate", "worldZRate", "rollRHRate", "pitchRHRate", "yawRate", "jFLRate", "jFRRate", "jRLRate", "jRRRate", "spinFLRate", "spinFRRate", "spinRLRate", "spinRRRate" ], "phenomena": [ "absolute spatial body dynamics", "four relative jounce coordinates", "four material rotor spins", "memoryless shared friction disk" ], "suspensions": ["double-wishbone-rack-tie-rod"], "tires": ["memoryless shared friction disk"], "steering": "prescribed moving physical front rack", "braking": "actual slip from signed rotor torque", "roadContact": "flat compliant point support; four loaded contacts for coupled tires", "definitionType": "CoupledVehicleDefinition (generic reference)", "requiredInputs": [ "central body tensor", "four mass/rotor inertias", "hardpoints and tie rods", "installed spring/damper/free lengths", "absolute support properties" ], "execution": [ { "method": "rk4", "backend": "vehiclelab.js-tires.ts-moving-mechanism.ml64.v1", "qualification": "ML64 34 cases / six independent trajectories" }, { "method": "rk45", "backend": "vehiclelab.js-tires.ts-moving-mechanism.ml64.v1", "qualification": "ML64 34 cases / six independent trajectories" } ], "qualification": { "id": "vehiclelab.accepted-regression.ml64.v1", "version": "1.0.0", "reference": "docs/review/milestones/ml-64/qualification-completion.json" }, "availability": "bounded-experimental", "userRunnable": true, "limits": [ "Generic reference only; never consumes applied Vehicle Assembly", "0.04–1 s; forward 5–25 m/s contact; bounded rack/slip/attitude" ] }, { "id": "vehiclelab.assembly-coupled-14dof.ml65.v1", "version": "1.0.0", "label": "Assembly 14 DOF — preparation only", "physicalDof": 14, "stateOrdering": [ "worldX", "worldY", "worldZ", "rollRH", "pitchRH", "yaw", "jFL", "jFR", "jRL", "jRR", "spinFL", "spinFR", "spinRL", "spinRR", "worldXRate", "worldYRate", "worldZRate", "rollRHRate", "pitchRHRate", "yawRate", "jFLRate", "jFRRate", "jRLRate", "jRRRate", "spinFLRate", "spinFRRate", "spinRLRate", "spinRRRate" ], "phenomena": [ "absolute spatial body dynamics", "four relative jounce coordinates", "four material rotor spins", "explicit four-corner shared friction disk" ], "suspensions": ["double-wishbone-rack-tie-rod"], "tires": ["explicit four-corner shared friction disk"], "steering": "explicit physical front rack; fixed rear", "braking": "actual slip from signed rotor torque", "roadContact": "flat compliant point support; four loaded contacts for coupled tires", "definitionType": "vehiclelab.prepared-assembly-model.v1", "requiredInputs": ["applied assembly", "versioned explicit physical complements"], "execution": [], "qualification": { "id": "vehiclelab.assembly-mapping-qualification.v1", "version": "1.0.0", "reference": "data/validation/assembly-mapping/evidence.json" }, "availability": "preparation-only", "userRunnable": false, "limits": [ "ML65 compilation/readiness qualification only", "ML66 user-facing execution and motion integration are future/planned", "Native moving-rack execution unsupported" ] } ], "fixtures": [ { "schemaVersion": "vehiclelab.assembly-mapping-fixture.v1", "description": "ML65 exact default applied assembly plus explicit educational complements; no measured vehicle", "fixtureRules": "Tie-rod length is design joint distance. Free length is design installed length plus declared sprung corner target/(installed rate*physical design motion ratio); target uses body weight and axle-distance statics. These are explicit educational fixture choices, not inferred user parameters.", "assembly": { "schemaVersion": "vehiclelab.vehicle-assembly.v1", "units": { "mass": "kg", "length": "m", "inertia": "kg_m2", "stiffness": "N_per_m", "damping": "N_s_per_m" }, "model": { "id": "vehiclelab.full-car.geometry-passive", "version": "1.0.0" }, "parameters": { "sprungMass": 1200, "pitchInertia": 2000, "rollInertia": 550, "frontLeftUnsprungMass": 30, "frontRightUnsprungMass": 31, "rearLeftUnsprungMass": 32, "rearRightUnsprungMass": 33, "frontLeftSuspensionStiffness": 15000, "frontRightSuspensionStiffness": 15500, "rearLeftSuspensionStiffness": 16000, "rearRightSuspensionStiffness": 16500, "frontLeftSuspensionDamping": 1250, "frontRightSuspensionDamping": 1300, "rearLeftSuspensionDamping": 1350, "rearRightSuspensionDamping": 1400, "frontLeftTireStiffness": 110000, "frontRightTireStiffness": 112000, "rearLeftTireStiffness": 115000, "rearRightTireStiffness": 117000, "cgToFrontAxle": 1.2, "cgToRearAxle": 1.5, "frontTrack": 1.6, "rearTrack": 1.58 }, "vehicle": { "schemaVersion": "vehiclelab.vehicle-definition.v1", "forceMappingVersion": "virtual-work.hermite.v1", "frontAxle": { "suspension": { "type": "double-wishbone", "geometry": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "metadata": { "name": "VehicleLab Generic Front Double Wishbone", "source": "generic" }, "orientationConstraint": "chassis-forward-projection", "hardpoints": { "upperFront": [0.14, -0.34, 0.16], "upperRear": [-0.14, -0.34, 0.16], "upperBall": [0, -0.06, 0.15], "lowerFront": [0.18, -0.4, -0.14], "lowerRear": [-0.18, -0.4, -0.14], "lowerBall": [0, -0.05, -0.16], "springUpper": [0.04, -0.29, 0.27], "springLower": [0.04, -0.15, -0.15], "damperUpper": [-0.05, -0.27, 0.26], "damperLower": [-0.05, -0.13, -0.15], "spindleReference": [0, 0.12, 0] } }, "left": { "springRateNpm": 33788.13482893926, "damperCoefficientNspm": 2422.5366753922335 }, "right": { "springRateNpm": 34914.405989903906, "damperCoefficientNspm": 2519.438142407923 }, "designSpringMotionRatio": 0.6662903452608893, "designDamperMotionRatio": 0.7183230890356328 } }, "rearAxle": { "suspension": { "type": "double-wishbone", "geometry": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "metadata": { "name": "VehicleLab Generic Rear Double Wishbone", "source": "generic" }, "orientationConstraint": "chassis-forward-projection", "hardpoints": { "upperFront": [0.16, -0.37, 0.17], "upperRear": [-0.16, -0.37, 0.17], "upperBall": [0, -0.065, 0.145], "lowerFront": [0.2, -0.43, -0.15], "lowerRear": [-0.2, -0.43, -0.15], "lowerBall": [0, -0.055, -0.17], "springUpper": [0.055, -0.31, 0.29], "springLower": [0.055, -0.18, -0.16], "damperUpper": [-0.055, -0.3, 0.28], "damperLower": [-0.055, -0.16, -0.16], "spindleReference": [0, 0.12, 0] } }, "left": { "springRateNpm": 39522.52842395264, "damperCoefficientNspm": 2907.250568315024 }, "right": { "springRateNpm": 40757.60743720116, "damperCoefficientNspm": 3014.9265152896546 }, "designSpringMotionRatio": 0.6362644097313019, "designDamperMotionRatio": 0.681436908106514 } }, "provenance": { "source": "generic-design-rate-conversion", "reference": "Incremental compression at design; original equivalent wheel coefficients retained in parameters." } }, "origins": { "body": "generic-default", "frontSuspension": "generic-default", "rearSuspension": "generic-default", "frontLeft": "generic-default", "frontRight": "generic-default", "rearLeft": "generic-default", "rearRight": "generic-default", "model": "generic-default" } }, "complements": { "schemaVersion": "vehiclelab.assembly-physical-complements.v1", "sourceAssemblySha256": "e7ad311ead2768d48efe5b36cdf0e8e366b13685ec721d3935ff842ed581b205", "targetModel": "vehiclelab.assembly-coupled-14dof.ml65.v1", "provenanceReference": "ML65 exact default applied assembly plus explicit educational complements; no measured vehicle", "units": "SI:m,kg,s,rad,N,kg_m2", "frame": "body-CG:x-forward,y-left,z-up", "bodyInertiaKgM2": [ [550, 12, -6], [12, 2000, 8], [-6, 8, 2300] ], "gravityMps2": 9.80665, "rules": { "assemblyInertia": "central-body-diagonals", "unsprungAllocation": "entire-corner-mass-at-wheel-centre", "rightGeometry": "reflect-left-in-body-xz", "heading": "replace-Ride-heading-with-explicit-physical-tie-rod", "verticalSupport": "reuse-assembly-vertical-stiffness-as-absolute-slope", "contact": "flat-compliant-point;loaded-height-rolling-radius", "spring": "installed-rate;explicit-absolute-free-length" }, "front": { "designWheelCentreZBodyM": -0.45, "rack": { "referenceM": [-0.12, 0, -0.12], "axis": [0, 1, 0], "leftOffsetM": 0.46, "rightOffsetM": -0.46, "minimumM": -0.01, "maximumM": 0.01 }, "left": { "outerTieRodM": [-0.12, -0.06, -0.12], "tieRodLengthM": 0.27999999999999997 }, "right": { "outerTieRodM": [-0.12, 0.06, -0.12], "tieRodLengthM": 0.27999999999999997 } }, "rear": { "designWheelCentreZBodyM": -0.45, "rack": { "referenceM": [-0.12, 0, -0.12], "axis": [0, 1, 0], "leftOffsetM": 0.45, "rightOffsetM": -0.45, "minimumM": -0.01, "maximumM": 0.01 }, "left": { "outerTieRodM": [-0.12, -0.06, -0.12], "tieRodLengthM": 0.27999999999999997 }, "right": { "outerTieRodM": [-0.12, 0.06, -0.12], "tieRodLengthM": 0.27999999999999997 } }, "corners": { "frontLeft": { "wheelAxialInertiaKgM2": 0.9, "wheelTransverseInertiaKgM2": 0.55, "springFreeLengthM": 0.5879205660836262, "minimumJounceM": -0.025, "maximumJounceM": 0.025, "effectiveVerticalRadiusM": 0.3 }, "frontRight": { "wheelAxialInertiaKgM2": 0.92, "wheelTransverseInertiaKgM2": 0.5650000000000001, "springFreeLengthM": 0.583236640481689, "minimumJounceM": -0.025, "maximumJounceM": 0.025, "effectiveVerticalRadiusM": 0.3 }, "rearLeft": { "wheelAxialInertiaKgM2": 0.9400000000000001, "wheelTransverseInertiaKgM2": 0.5800000000000001, "springFreeLengthM": 0.5723952433791785, "minimumJounceM": -0.025, "maximumJounceM": 0.025, "effectiveVerticalRadiusM": 0.3 }, "rearRight": { "wheelAxialInertiaKgM2": 0.96, "wheelTransverseInertiaKgM2": 0.5950000000000001, "springFreeLengthM": 0.5692439189478462, "minimumJounceM": -0.025, "maximumJounceM": 0.025, "effectiveVerticalRadiusM": 0.3 } }, "tires": { "frontLeft": { "schemaVersion": "vehiclelab.tire.combined-slip-force.v1", "model": { "id": "vehiclelab.tire.combined-isotropic-friction-circle", "version": "1.0.0" }, "slipStiffnessNPerRatio": 40000, "corneringStiffnessNPerRad": 35000, "frictionCoefficient": 0.75 }, "frontRight": { "schemaVersion": "vehiclelab.tire.combined-slip-force.v1", "model": { "id": "vehiclelab.tire.combined-isotropic-friction-circle", "version": "1.0.0" }, "slipStiffnessNPerRatio": 41000, "corneringStiffnessNPerRad": 36000, "frictionCoefficient": 0.77 }, "rearLeft": { "schemaVersion": "vehiclelab.tire.combined-slip-force.v1", "model": { "id": "vehiclelab.tire.combined-isotropic-friction-circle", "version": "1.0.0" }, "slipStiffnessNPerRatio": 42000, "corneringStiffnessNPerRad": 37000, "frictionCoefficient": 0.79 }, "rearRight": { "schemaVersion": "vehiclelab.tire.combined-slip-force.v1", "model": { "id": "vehiclelab.tire.combined-isotropic-friction-circle", "version": "1.0.0" }, "slipStiffnessNPerRatio": 43000, "corneringStiffnessNPerRad": 38000, "frictionCoefficient": 0.81 } } } }, { "schemaVersion": "vehiclelab.assembly-mapping-fixture.v1", "description": "ML65 explicit customized educational assembly; no measured vehicle", "fixtureRules": "Tie-rod length is design joint distance. Free length is design installed length plus declared sprung corner target/(installed rate*physical design motion ratio); target uses body weight and axle-distance statics. 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0.5999771929088071, "finalY": -0.00002278903057378981 } ], "negativeCases": [ { "name": "missing-bodyInertiaKgM2", "status": "requires-physical-inputs", "diagnostics": [ { "category": "missing-input", "path": "bodyInertiaKgM2", "message": "Explicit physical input required: Invalid input: expected tuple, received undefined" } ] }, { "name": "missing-front", "status": "requires-physical-inputs", "diagnostics": [ { "category": "missing-input", "path": "front", "message": "Explicit physical input required: Invalid input: expected object, received undefined" } ] }, { "name": "missing-rear", "status": "requires-physical-inputs", "diagnostics": [ { "category": "missing-input", "path": "rear", "message": "Explicit physical input required: Invalid input: expected object, received undefined" } ] }, { "name": "missing-corners", "status": "requires-physical-inputs", "diagnostics": [ { "category": "missing-input", "path": "corners", "message": "Explicit physical input required: Invalid input: expected object, received undefined" } ] }, { "name": "missing-tires", "status": "requires-physical-inputs", "diagnostics": [ { "category": "missing-input", "path": "tires", "message": "Explicit physical input required: Invalid input: expected object, received undefined" } ] }, { "name": "missing-rules", "status": "requires-physical-inputs", "diagnostics": [ { "category": "missing-input", "path": "rules", "message": "Explicit physical input required: Invalid input: expected object, received undefined" } ] }, { "name": "missing-gravityMps2", "status": "requires-physical-inputs", "diagnostics": [ { "category": "missing-input", "path": "gravityMps2", "message": "Explicit physical input required: Invalid input: expected number, received undefined" } ] }, { "name": "source-swap", "status": "invalid-definition", "diagnostics": [ { "category": "source-identity", "path": "sourceAssemblySha256", "message": "Complements belong to a different physical assembly. Rebind only after explicitly reviewing every changed physical input; no generic fallback is allowed." } ] }, { "name": "nonphysical-inertia", "status": "invalid-definition", "diagnostics": [ { "category": "physical-validity", "path": "bodyInertiaKgM2", "message": "Central tensor must be symmetric positive definite and satisfy physical inertia triangle inequalities: Mass diagonal is not positive." } ] }, { "name": "asymmetric-inertia", "status": "invalid-definition", "diagnostics": [ { "category": "physical-validity", "path": "bodyInertiaKgM2", "message": "Central tensor must be symmetric positive definite and satisfy physical inertia triangle inequalities: Mass matrix loses symmetry after diagonal equilibration." } ] }, { "name": "rotor-inertia", "status": "invalid-definition", "diagnostics": [ { "category": "physical-validity", "path": "corners.frontLeft", "message": "Axisymmetric rotor inertia requires Ia < 2 It; mass cannot substitute for inertia." } ] }, { "name": "tie-rod-closure", "status": "invalid-definition", "diagnostics": [ { "category": "preparation", "path": "physicalDefinition", "message": "left tie-rod design closure does not match its entered constant length (10 pm numerical closure tolerance; derive the length from the design joints)." } ] }, { "name": "singular-rack", "status": "invalid-definition", "diagnostics": [ { "category": "physical-validity", "path": "front.rack.axis", "message": "Supply a unit rack axis in the declared body-parallel axle frame." } ] }, { "name": "unqualified-tire", "status": "invalid-definition", "diagnostics": [ { "category": "physical-validity", "path": "tires.frontLeft", "message": "ML63 qualified tire parameter bounds required" } ] }, { "name": "unloaded-support", "status": "invalid-definition", "diagnostics": [ { "category": "preparation", "path": "physicalDefinition", "message": "Static line search rejected every bounded candidate at iteration 5; residual 6399.030877496595." } ] }, { "name": "wrong-units", "status": "invalid-definition", "diagnostics": [ { "category": "frame-units", "path": "units", "message": "Invalid input: expected \"SI:m,kg,s,rad,N,kg_m2\"" } ] }, { "name": "wrong-frame", "status": "invalid-definition", "diagnostics": [ { "category": "frame-units", "path": "frame", "message": "Invalid input: expected \"body-CG:x-forward,y-left,z-up\"" } ] }, { "name": "wrong-schemaVersion", "status": "invalid-definition", "diagnostics": [ { "category": "physical-validity", "path": "schemaVersion", "message": "Invalid input: expected \"vehiclelab.assembly-physical-complements.v1\"" } ] }, { "name": "MacPherson", "status": "unsupported-mechanism", "diagnostics": [ { "category": "unsupported-topology", "path": "vehicle.frontAxle.suspension.type", "message": "Only Double-Wishbone physical mapping is supported; MacPherson dynamics require separate qualification." } ] }, { "name": "linear-equivalent", "status": "unsupported-mechanism", "diagnostics": [ { "category": "unsupported-topology", "path": "vehicle", "message": "Legacy equivalent-linear suspension does not provide a reconstructible applied physical mechanism. 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