{
  "schemaVersion": "vehiclelab.maneuver-summary.v1",
  "status": "PASS",
  "modelId": "vehiclelab.prescribed-rack-maneuvers.ml64.v1",
  "backendId": "vehiclelab.js-tires.ts-moving-mechanism.ml64.v1",
  "physicalSourceSha256": "81ec51a4f8424415ea45dc5b83b32fc2151837bc322833d287ab1b0f58cebd93",
  "verificationSourceSha256": "0a8bb5e06de751b74789e49a718e74a693ec1d2dff34800fb69b4281b426a425",
  "cases": 34,
  "independentTrajectories": 6,
  "maxStateComponentDiscrepancy": 2.4653942887198355e-7,
  "maxReferenceRefinementDifference": 3.094005123216448e-7,
  "maxAccelerationComponentDiscrepancy": 7.946948192838477e-7,
  "maxRackEffortDiscrepancyN": 0.000004803415814436107,
  "maxCornerForceDiscrepancyN": 0.0000027814803855719106,
  "maximumEnergyResidualJ": 0.00004522431666642568,
  "channelCount": 122,
  "presets": [
    {
      "name": "coast",
      "durationS": 0.6,
      "finalX": 8.999999999999984,
      "finalY": 1.3397111582122854e-16,
      "finalBodyForwardVelocity": 14.999999999844988,
      "finalYawRate": 2.395409443841714e-16,
      "rackWorkJ": 0,
      "rotorWorkJ": 0,
      "energyResidualJ": 4.1146062785099594e-25
    },
    {
      "name": "brake",
      "durationS": 0.6,
      "finalX": 8.985594534538492,
      "finalY": -5.868276008777337e-15,
      "finalBodyForwardVelocity": 14.95172469939989,
      "finalYawRate": -1.369489575971605e-15,
      "rackWorkJ": 0,
      "rotorWorkJ": -996.8826743923161,
      "energyResidualJ": 0.0000029129122860460654
    },
    {
      "name": "steer",
      "durationS": 0.6,
      "finalX": 8.999810575915697,
      "finalY": -0.02602454839010696,
      "finalBodyForwardVelocity": 14.99932431310162,
      "finalYawRate": -0.03583601153491647,
      "rackWorkJ": 0.009028336094629753,
      "rotorWorkJ": 0,
      "energyResidualJ": 8.151463581906881e-8
    },
    {
      "name": "pulse",
      "durationS": 0.6,
      "finalX": 8.999892323472372,
      "finalY": -0.01867974730334124,
      "finalBodyForwardVelocity": 14.999744710769624,
      "finalYawRate": -0.003800778591867457,
      "rackWorkJ": -0.000793993140742859,
      "rotorWorkJ": 0,
      "energyResidualJ": 8.151463581906881e-8
    },
    {
      "name": "combined",
      "durationS": 0.6,
      "finalX": 8.985406734403815,
      "finalY": -0.025878348139378605,
      "finalBodyForwardVelocity": 14.951061394897483,
      "finalYawRate": -0.03532931869279763,
      "rackWorkJ": 0.00902868891670725,
      "rotorWorkJ": -996.872799862293,
      "energyResidualJ": 0.000002917192201579155
    }
  ],
  "rk4SpinRateRefinementRatio": 19.438999890093744,
  "rk45": [
    {
      "relativeTolerance": 0.001,
      "rhs": 210,
      "accepted": 30,
      "rejected": 0,
      "energyResidualJ": 0.00001558802295575923
    },
    {
      "relativeTolerance": 0.000001,
      "rhs": 378,
      "accepted": 52,
      "rejected": 2,
      "energyResidualJ": 0.0000033446251079816136
    },
    {
      "relativeTolerance": 1e-9,
      "rhs": 1015,
      "accepted": 141,
      "rejected": 4,
      "energyResidualJ": 6.6243028840062834e-9
    }
  ],
  "budgets": {
    "stateComponentsRespectiveUnits": 0.00001,
    "referenceRefinementRespectiveUnits": 0.00001,
    "accelerationComponentsRespectiveUnits": 0.00002,
    "rackEffortN": 0.0001,
    "cornerForceN": 0.0002,
    "materialVelocityMps": 1e-7,
    "integratedWorkJ": 0.0002,
    "qualifiedDefaultEnergyJ": 0.0002,
    "interactiveEnergyJ": 0.02
  },
  "validityLimits": {
    "initialForwardSpeedMps": [8, 20],
    "contactForwardSpeedMps": [5, 25],
    "durationS": [0.04, 1],
    "requestedFixedStepsS": [0.001, 0.002, 0.004],
    "maximumRackAmplitudeM": 0.002,
    "maximumRackVelocityMps": 0.1,
    "maximumRackAccelerationMps2": 10,
    "minimumRackTransitionS": 0.04,
    "maximumBodyPlaneWheelHeadingRad": 0.05,
    "maximumAttitudeRad": 0.1,
    "maximumAbsoluteSlipRatio": 0.2,
    "maximumAbsoluteSlipAngleRad": 0.15,
    "maximumRelativeRotorRateRadps": 150,
    "maximumAngularCoordinateRateRadps": 1,
    "maximumJounceRateMps": 1,
    "regularJounceM": [-0.04, 0.04],
    "derivativeTravelMarginM": 0.00002,
    "maximumNormalLoadN": 20000,
    "maximumSupportCompressionFraction": 0.25,
    "requiredLoadedContacts": 4,
    "maximumTotalTorqueMagnitudeNm": 400,
    "maximumIntegrationAttempts": 12000,
    "maximumRhsEvaluations": 90000,
    "maximumOutputSamples": 1001,
    "maximumWallMs": 120000,
    "interactiveEnergyResidualBudgetJ": 0.02
  },
  "extendedRefinement": {
    "durationS": 1,
    "outputStepS": 0.02,
    "fixedStepsS": [0.002, 0.001],
    "stateComponentStepDifferences": [
      4.127365116346482e-12, 4.312689094732036e-12, 2.5157653738006047e-13, 5.84984746190495e-12,
      4.546983124222026e-12, 2.1182310191904946e-12, 3.734111452121866e-11, 3.6544396848914307e-11,
      8.870335801330117e-12, 7.197126141583743e-12, 5.142304360106209e-10, 4.658158303527671e-10,
      4.4209613747625554e-10, 4.545164244973421e-10, 1.0270984063254218e-9, 5.1391210731388526e-11,
      2.368312506826828e-11, 9.74850512813763e-11, 3.09628069711243e-10, 1.4114243801488513e-10,
      2.7074979133678845e-9, 2.8656874460214476e-9, 5.115148719089108e-10, 5.345861982253286e-10,
      1.0036813336000705e-7, 1.0255189408781007e-7, 9.883699192414497e-8, 1.0258566618404075e-7
    ],
    "adaptiveToFinestStateDifferences": [
      1.858069254012662e-12, 3.601784148710152e-11, 1.8242074517615947e-12, 3.0780704374233636e-11,
      1.1801404038030983e-12, 6.482106518213016e-13, 2.2131314142415093e-11, 2.18887373504284e-11,
      2.043941838697494e-11, 2.4811709978256324e-11, 1.8073365026793908e-10, 1.8534862533670093e-10,
      1.766267132552457e-10, 1.83032256018123e-10, 4.093454464282331e-10, 1.4897011402226212e-10,
      2.2621885701484823e-11, 4.930143810560894e-10, 1.2499019007294887e-10, 4.653166740808956e-11,
      6.685023298813597e-10, 6.08645620014947e-10, 6.205742187487262e-10, 3.8095534712900836e-10,
      3.839770812419374e-8, 4.119010554859415e-8, 3.9659411754655594e-8, 4.068318304462082e-8
    ],
    "energyResidualsJ": [1.7377395522544248e-8, 1.1233716179503972e-9]
  },
  "limitedPlanarChecks": [
    {
      "sign": 1,
      "actualFrontHeadingRad": -0.006459142869875132,
      "planarFinalYawRateRadps": -0.03332867976973692,
      "movingFinalYawRateRadps": -0.03583601153491647,
      "scope": "Sign check only: ML57 retains prescribed constant speed, nominal loads, equal prescribed front steer and its own inertia/tire parameters. No numerical trajectory agreement or parameter fitting is required."
    },
    {
      "sign": -1,
      "actualFrontHeadingRad": 0.006459142869875132,
      "planarFinalYawRateRadps": 0.03332867976973692,
      "movingFinalYawRateRadps": 0.03583601153482934,
      "scope": "Sign check only: ML57 retains prescribed constant speed, nominal loads, equal prescribed front steer and its own inertia/tire parameters. No numerical trajectory agreement or parameter fitting is required."
    }
  ],
  "expectedPhysicalRejections": [
    {
      "name": "excessive single-wheel braking at low friction",
      "config": {
        "schemaVersion": "vehiclelab.maneuver-config.v1",
        "maneuver": "combined",
        "wheelAlignment": "zero-loaded-toe",
        "initialSpeedMps": 15,
        "durationS": 0.6,
        "stepS": 0.002,
        "outputStride": 5,
        "steering": {
          "kind": "step",
          "amplitudeM": 0.0008,
          "startS": 0.08,
          "rampS": 0.12,
          "holdS": 0.08
        },
        "torque": {
          "amplitudeNm": -400,
          "startS": 0.08,
          "endS": 0.5,
          "distribution": { "frontLeft": 1, "frontRight": 0, "rearLeft": 0, "rearRight": 0 }
        },
        "tires": {
          "frontLeft": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.05
          },
          "frontRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.05
          },
          "rearLeft": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.05
          },
          "rearRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.05
          }
        }
      },
      "message": "Moving tire left forward5–25m/s,slip±.2/±.15rad or20000N envelope",
      "completedHistoryPublished": false
    }
  ]
}