{ "schemaVersion": "vehiclelab.numerical-optimization-evidence.v1", "evidenceId": "vehiclelab.ml61.numerical-qualification.v1", "baseline": "4330f9f134ee9e548beb79eedfa5b6fe0de36335", "status": "PASS", "budgets": { "positionHistoryAbsoluteSI": 2e-8, "rateHistoryAbsoluteSI": 0.000003, "referenceSelfDifferenceSI": 0.000001, "minimumRefinementRatio": 8, "maximumRefinementRatio": 32, "staticDriftSI": 1e-9, "energyBalanceFineJ": 0.000002, "supportGradientSI": 0.00002, "algebraicResidualSI": 0.000001 }, "mechanics": { "schemaVersion": "vehiclelab.optimized-coupled-vehicle-evidence.v1", "status": "PASS", "baseline": "4330f9f134ee9e548beb79eedfa5b6fe0de36335", "productRelease": "1.21.0", "scope": "Internal 14 mechanical DOFs / 28 chart states; absolute reduced-coordinate physical Double-Wishbone with fixed rack, central body inertia and axisymmetric wheel gyroscopic inertia; prescribed contact wrenches; limited compliant flat support and solved static references. No transient study, public Worker/option, advanced tire law or measured vehicle correlation.", "reference": "Independent circle/sphere/bisection mechanism; Cartesian material-frame finite differences; Newton–Euler mass/inertial forces; independent pivoted solve and potential-energy/work calculations. No production equation imports in reference.", "fixtureProvenance": "Unmeasured educational parallel/generic/skew linkage snapshots from the independently qualified steering reference. Explicit new SI inertial and installed-element assumptions; no empirical calibration.", "budgets": { "positionM": { "absolute": 2e-9, "relative": 2e-10 }, "linearJacobian": { "absolute": 0.000002, "relative": 2e-7 }, "angularJacobian": { "absolute": 0.000003, "relative": 2e-7 }, "massEntrySI": { "absolute": 0.002, "relative": 2e-7 }, "energyJ": { "absolute": 0.0002, "relative": 2e-7 }, "biasSI": { "absolute": 0.005, "relative": 0.00002 }, "potentialForceSI": { "absolute": 0.002, "relative": 2e-7 }, "appliedForceSI": { "absolute": 0.002, "relative": 2e-7 }, "accelerationSI": { "absolute": 0.0002, "relative": 0.000002 }, "powerW": { "absolute": 0.05, "relative": 0.00002 }, "staticResidualSI": { "absolute": 0.000001, "relative": 0 } }, "maxima": { "positionM": 1.0302869668521453e-13, "linearJacobian": 2.3382268343752344e-10, "angularJacobian": 7.734085594179874e-10, "massEntrySI": 3.193777047272306e-7, "energyJ": 1.3265162124298513e-7, "biasSI": 0.000015192391184193355, "potentialForceSI": 9.852501534624025e-7, "appliedForceSI": 3.1357740226667374e-7, "accelerationSI": 3.230083223115798e-8, "powerW": 0.000021404957806225863, "staticResidualSI": 4.18367562815547e-11 }, "counts": { "configurations": 12, "staticEquilibria": 2, "demonstrations": 6, "demonstrationRecords": 7, "energyChecks": 6, "rejected": 9, "mechanicalDOFs": 14, "coordinateStates": 28 }, "rows": [ { "geometry": "parallel", "configuration": "design", "definition": { "name": "ML59 unmeasured parallel Cartesian fixture", "gravityMps2": 9.80665, "sprungMassKg": 1200, "bodyInertiaKgM2": [ [600, 0, 0], [0, 1800, 0], [0, 0, 2000] ], "front": { "mechanism": { "schemaVersion": "vehiclelab.steering-study.v1", "mechanism": "double-wishbone-rack-tie-rod", "headingConstraint": "physical-tie-rod", "steeringAxis": "lower-to-upper-ball-joints", "carrierConvention": "body-left-spindle-horizontal-forward", "metadata": { "name": "Parallel arms / planar steering circle", "source": "custom" }, "trackM": 1.6, "rack": { "referenceM": [-0.12, 0, -0.15], "axis": [0, 1, 0], "leftOffsetM": 0.45, "rightOffsetM": -0.45, "minimumM": -0.03, "maximumM": 0.03 }, "left": { "suspension": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "orientationConstraint": "chassis-forward-projection", "metadata": { "name": "Parallel arms, independent elements", "source": "custom" }, "hardpoints": { "upperFront": [0.15, -0.4, 0.15], "upperRear": [-0.15, -0.4, 0.15], "upperBall": [0, -0.05, 0.15], "lowerFront": [0.15, -0.4, -0.15], "lowerRear": [-0.15, -0.4, -0.15], "lowerBall": [0, -0.05, -0.15], "springUpper": [0.06, -0.2, 0.3], "springLower": [0.04, -0.2, -0.15], "damperUpper": [-0.05, -0.17, 0.32], "damperLower": [-0.05, -0.13, -0.15], "spindleReference": [0, 0.12, 0] } }, "outerTieRodM": [-0.12, -0.05, -0.15], "tieRodLengthM": 0.3 }, "right": { "suspension": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "orientationConstraint": "chassis-forward-projection", "metadata": { "name": "Parallel arms, independent elements", "source": "custom" }, "hardpoints": { "upperFront": [0.15, 0.4, 0.15], "upperRear": [-0.15, 0.4, 0.15], "upperBall": [0, 0.05, 0.15], "lowerFront": [0.15, 0.4, -0.15], "lowerRear": [-0.15, 0.4, -0.15], "lowerBall": [0, 0.05, -0.15], "springUpper": [0.06, 0.2, 0.3], "springLower": [0.04, 0.2, -0.15], "damperUpper": [-0.05, 0.17, 0.32], "damperLower": [-0.05, 0.13, -0.15], "spindleReference": [0, -0.12, 0] } }, "outerTieRodM": [-0.12, 0.05, -0.15], "tieRodLengthM": 0.3 } }, "originBodyM": [1.35, 0, -0.45], "fixedRackM": 0 }, "rear": { "mechanism": { "schemaVersion": "vehiclelab.steering-study.v1", "mechanism": "double-wishbone-rack-tie-rod", "headingConstraint": "physical-tie-rod", "steeringAxis": "lower-to-upper-ball-joints", "carrierConvention": "body-left-spindle-horizontal-forward", "metadata": { "name": "Parallel arms / planar steering circle", "source": "custom" }, "trackM": 1.6, "rack": { "referenceM": [-0.12, 0, -0.15], "axis": [0, 1, 0], "leftOffsetM": 0.45, "rightOffsetM": -0.45, "minimumM": -0.03, "maximumM": 0.03 }, "left": { "suspension": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "orientationConstraint": "chassis-forward-projection", "metadata": { "name": "Parallel arms, independent elements", "source": "custom" }, "hardpoints": { "upperFront": [0.15, -0.4, 0.15], "upperRear": [-0.15, -0.4, 0.15], "upperBall": [0, -0.05, 0.15], "lowerFront": [0.15, -0.4, -0.15], "lowerRear": [-0.15, -0.4, -0.15], "lowerBall": [0, -0.05, -0.15], "springUpper": [0.06, -0.2, 0.3], "springLower": [0.04, -0.2, -0.15], "damperUpper": [-0.05, -0.17, 0.32], "damperLower": [-0.05, -0.13, -0.15], "spindleReference": [0, 0.12, 0] } }, "outerTieRodM": [-0.12, -0.05, -0.15], "tieRodLengthM": 0.3 }, "right": { "suspension": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "orientationConstraint": "chassis-forward-projection", "metadata": { "name": "Parallel arms, independent elements", "source": "custom" }, "hardpoints": { "upperFront": [0.15, 0.4, 0.15], "upperRear": [-0.15, 0.4, 0.15], "upperBall": [0, 0.05, 0.15], "lowerFront": [0.15, 0.4, -0.15], "lowerRear": [-0.15, 0.4, -0.15], "lowerBall": [0, 0.05, -0.15], "springUpper": [0.06, 0.2, 0.3], "springLower": [0.04, 0.2, -0.15], "damperUpper": [-0.05, 0.17, 0.32], "damperLower": [-0.05, 0.13, -0.15], "spindleReference": [0, -0.12, 0] } }, "outerTieRodM": [-0.12, 0.05, -0.15], "tieRodLengthM": 0.3 } }, "originBodyM": [-1.35, 0, -0.45], "fixedRackM": 0 }, "corners": { "frontLeft": { "unsprungMassKg": 40, "wheelAxialInertiaKgM2": 1, "wheelTransverseInertiaKgM2": 0.6, "installedSpringStiffnessNpm": 50000, "springFreeLengthM": 0.5404442251822082, "installedDamperNspm": 1500, "minimumJounceM": -0.04, "maximumJounceM": 0.04, "effectiveVerticalRadiusM": 0.3, "normalStiffnessNpm": 200000 }, "frontRight": { "unsprungMassKg": 40, "wheelAxialInertiaKgM2": 1, 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0, 0], "errors": { "positionM": 5.551115123125783e-17, "linearJacobian": 8.88558115974547e-11, "angularJacobian": 6.666678320499386e-11, "massEntrySI": 3.193777047272306e-7, "energyJ": 0, "biasSI": 3.700743415420888e-8, "potentialForceSI": 3.625791578087956e-8 }, "conditionInfinity": 4.066806064809252, "minIndependentPivot": 0.9994534287964247, "massSymmetry": 0, "maxEquationResidualSI": 1.8189894035458565e-12, "derivativeStudy": { "production": [ { "scale": 0.5, "maxBiasDifference": 3.700743415420888e-8 }, { "scale": 1, "maxBiasDifference": 3.700743415420888e-8 }, { "scale": 2, "maxBiasDifference": 3.700743415420888e-8 } ], "reference": [ { "timeStepS": 0.0001, "maxBiasDifference": 1.4802973661683552e-7 }, { "timeStepS": 0.0002, "maxBiasDifference": 3.700743415420888e-8 }, { "timeStepS": 0.0004, "maxBiasDifference": 9.25185853855222e-9 } ] } }, { "geometry": "parallel", "configuration": "tilted", "definition": { "name": "ML59 unmeasured parallel Cartesian fixture", "gravityMps2": 9.80665, "sprungMassKg": 1200, "bodyInertiaKgM2": [ [600, 0, 0], [0, 1800, 0], [0, 0, 2000] ], "front": { "mechanism": { "schemaVersion": "vehiclelab.steering-study.v1", "mechanism": "double-wishbone-rack-tie-rod", "headingConstraint": "physical-tie-rod", "steeringAxis": "lower-to-upper-ball-joints", "carrierConvention": "body-left-spindle-horizontal-forward", "metadata": { "name": "Parallel arms / planar steering circle", "source": "custom" }, "trackM": 1.6, "rack": { "referenceM": [-0.12, 0, -0.15], "axis": [0, 1, 0], "leftOffsetM": 0.45, "rightOffsetM": -0.45, "minimumM": -0.03, "maximumM": 0.03 }, "left": { "suspension": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "orientationConstraint": "chassis-forward-projection", "metadata": { "name": "Parallel arms, independent elements", "source": "custom" }, "hardpoints": { "upperFront": [0.15, -0.4, 0.15], "upperRear": [-0.15, -0.4, 0.15], "upperBall": [0, -0.05, 0.15], "lowerFront": [0.15, -0.4, -0.15], "lowerRear": [-0.15, -0.4, -0.15], "lowerBall": [0, -0.05, -0.15], "springUpper": [0.06, -0.2, 0.3], "springLower": [0.04, -0.2, -0.15], "damperUpper": [-0.05, -0.17, 0.32], "damperLower": [-0.05, -0.13, -0.15], "spindleReference": [0, 0.12, 0] } }, "outerTieRodM": [-0.12, -0.05, -0.15], "tieRodLengthM": 0.3 }, "right": { "suspension": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "orientationConstraint": "chassis-forward-projection", "metadata": { "name": "Parallel arms, independent elements", "source": "custom" }, "hardpoints": { "upperFront": [0.15, 0.4, 0.15], "upperRear": [-0.15, 0.4, 0.15], "upperBall": [0, 0.05, 0.15], "lowerFront": [0.15, 0.4, -0.15], "lowerRear": [-0.15, 0.4, -0.15], "lowerBall": [0, 0.05, -0.15], "springUpper": [0.06, 0.2, 0.3], "springLower": [0.04, 0.2, -0.15], "damperUpper": [-0.05, 0.17, 0.32], "damperLower": [-0.05, 0.13, -0.15], "spindleReference": [0, -0.12, 0] } }, "outerTieRodM": [-0.12, 0.05, -0.15], "tieRodLengthM": 0.3 } }, "originBodyM": [1.35, 0, -0.45], "fixedRackM": 0 }, "rear": { "mechanism": { "schemaVersion": "vehiclelab.steering-study.v1", "mechanism": "double-wishbone-rack-tie-rod", "headingConstraint": "physical-tie-rod", "steeringAxis": "lower-to-upper-ball-joints", "carrierConvention": "body-left-spindle-horizontal-forward", "metadata": { "name": "Parallel arms / planar steering circle", "source": "custom" }, "trackM": 1.6, "rack": { "referenceM": [-0.12, 0, -0.15], "axis": [0, 1, 0], "leftOffsetM": 0.45, "rightOffsetM": -0.45, "minimumM": -0.03, "maximumM": 0.03 }, "left": { "suspension": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "orientationConstraint": "chassis-forward-projection", "metadata": { "name": "Parallel arms, independent elements", "source": "custom" }, "hardpoints": { "upperFront": [0.15, -0.4, 0.15], "upperRear": [-0.15, -0.4, 0.15], "upperBall": [0, -0.05, 0.15], "lowerFront": [0.15, -0.4, -0.15], "lowerRear": [-0.15, -0.4, -0.15], "lowerBall": [0, -0.05, -0.15], "springUpper": [0.06, -0.2, 0.3], "springLower": [0.04, -0.2, -0.15], "damperUpper": [-0.05, -0.17, 0.32], "damperLower": [-0.05, -0.13, -0.15], "spindleReference": [0, 0.12, 0] } }, "outerTieRodM": [-0.12, -0.05, -0.15], "tieRodLengthM": 0.3 }, "right": { "suspension": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "orientationConstraint": "chassis-forward-projection", "metadata": { "name": "Parallel arms, independent elements", "source": "custom" }, "hardpoints": { "upperFront": [0.15, 0.4, 0.15], "upperRear": [-0.15, 0.4, 0.15], "upperBall": [0, 0.05, 0.15], "lowerFront": [0.15, 0.4, -0.15], "lowerRear": [-0.15, 0.4, -0.15], "lowerBall": [0, 0.05, -0.15], "springUpper": [0.06, 0.2, 0.3], "springLower": [0.04, 0.2, -0.15], "damperUpper": [-0.05, 0.17, 0.32], "damperLower": [-0.05, 0.13, -0.15], "spindleReference": [0, -0.12, 0] } }, "outerTieRodM": [-0.12, 0.05, -0.15], "tieRodLengthM": 0.3 } }, "originBodyM": [-1.35, 0, -0.45], "fixedRackM": 0 }, "corners": { "frontLeft": { "unsprungMassKg": 40, "wheelAxialInertiaKgM2": 1, "wheelTransverseInertiaKgM2": 0.6, "installedSpringStiffnessNpm": 50000, "springFreeLengthM": 0.5404442251822082, "installedDamperNspm": 1500, "minimumJounceM": -0.04, "maximumJounceM": 0.04, "effectiveVerticalRadiusM": 0.3, "normalStiffnessNpm": 200000 }, "frontRight": { "unsprungMassKg": 40, "wheelAxialInertiaKgM2": 1, "wheelTransverseInertiaKgM2": 0.6, "installedSpringStiffnessNpm": 50000, "springFreeLengthM": 0.5404442251822082, "installedDamperNspm": 1500, "minimumJounceM": -0.04, "maximumJounceM": 0.04, "effectiveVerticalRadiusM": 0.3, "normalStiffnessNpm": 200000 }, "rearLeft": { "unsprungMassKg": 40, "wheelAxialInertiaKgM2": 1, "wheelTransverseInertiaKgM2": 0.6, "installedSpringStiffnessNpm": 50000, "springFreeLengthM": 0.5404442251822082, "installedDamperNspm": 1500, "minimumJounceM": -0.04, "maximumJounceM": 0.04, "effectiveVerticalRadiusM": 0.3, "normalStiffnessNpm": 200000 }, "rearRight": { "unsprungMassKg": 40, "wheelAxialInertiaKgM2": 1, "wheelTransverseInertiaKgM2": 0.6, "installedSpringStiffnessNpm": 50000, "springFreeLengthM": 0.5404442251822082, "installedDamperNspm": 1500, "minimumJounceM": -0.04, "maximumJounceM": 0.04, "effectiveVerticalRadiusM": 0.3, "normalStiffnessNpm": 200000 } } }, "q": [1, -2, 0.74, 0.12, -0.17, 0.31, 0.012, -0.007, 0.009, -0.011, 0.2, -0.1, 0.4, 0.3], "qDot": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "errors": { "positionM": 8.881784197001252e-16, "linearJacobian": 1.03048014565843e-10, "angularJacobian": 2.619480951593367e-10, "massEntrySI": 3.114450919383671e-7, "energyJ": 0, "biasSI": 4.061304422809869e-7, "potentialForceSI": 2.3659049475099891e-7 }, "conditionInfinity": 4.391887845560112, "minIndependentPivot": 0.9994534844355848, "massSymmetry": 0, "maxEquationResidualSI": 8.384404281969182e-13, "derivativeStudy": { "production": [ { "scale": 0.5, "maxBiasDifference": 4.061304422809869e-7 }, { "scale": 1, "maxBiasDifference": 4.061304422809869e-7 }, { "scale": 2, "maxBiasDifference": 4.061304422809869e-7 } ], "reference": [ { "timeStepS": 0.0001, "maxBiasDifference": 0.0000016245217691239476 }, { "timeStepS": 0.0002, "maxBiasDifference": 4.061304422809869e-7 }, { "timeStepS": 0.0004, "maxBiasDifference": 1.0153261057024672e-7 } ] } }, { "geometry": "parallel", "configuration": "moving", "definition": { "name": "ML59 unmeasured parallel Cartesian fixture", "gravityMps2": 9.80665, "sprungMassKg": 1200, "bodyInertiaKgM2": [ [600, 0, 0], [0, 1800, 0], [0, 0, 2000] ], "front": { "mechanism": { "schemaVersion": "vehiclelab.steering-study.v1", "mechanism": "double-wishbone-rack-tie-rod", "headingConstraint": "physical-tie-rod", "steeringAxis": "lower-to-upper-ball-joints", "carrierConvention": "body-left-spindle-horizontal-forward", "metadata": { "name": "Parallel arms / planar steering circle", "source": "custom" }, "trackM": 1.6, "rack": { "referenceM": [-0.12, 0, -0.15], "axis": [0, 1, 0], "leftOffsetM": 0.45, "rightOffsetM": -0.45, "minimumM": -0.03, "maximumM": 0.03 }, "left": { "suspension": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "orientationConstraint": "chassis-forward-projection", "metadata": { "name": "Parallel arms, independent elements", "source": "custom" }, "hardpoints": { "upperFront": [0.15, -0.4, 0.15], "upperRear": [-0.15, -0.4, 0.15], "upperBall": [0, -0.05, 0.15], "lowerFront": [0.15, -0.4, -0.15], "lowerRear": [-0.15, -0.4, -0.15], "lowerBall": [0, -0.05, -0.15], "springUpper": [0.06, -0.2, 0.3], "springLower": [0.04, -0.2, -0.15], "damperUpper": [-0.05, -0.17, 0.32], "damperLower": [-0.05, -0.13, -0.15], "spindleReference": [0, 0.12, 0] } }, "outerTieRodM": [-0.12, -0.05, -0.15], "tieRodLengthM": 0.3 }, "right": { "suspension": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "orientationConstraint": "chassis-forward-projection", "metadata": { "name": "Parallel arms, independent elements", "source": "custom" }, "hardpoints": { "upperFront": [0.15, 0.4, 0.15], "upperRear": [-0.15, 0.4, 0.15], "upperBall": [0, 0.05, 0.15], "lowerFront": [0.15, 0.4, -0.15], "lowerRear": [-0.15, 0.4, -0.15], "lowerBall": [0, 0.05, -0.15], "springUpper": [0.06, 0.2, 0.3], "springLower": [0.04, 0.2, -0.15], "damperUpper": [-0.05, 0.17, 0.32], "damperLower": [-0.05, 0.13, -0.15], "spindleReference": [0, -0.12, 0] } }, "outerTieRodM": [-0.12, 0.05, -0.15], "tieRodLengthM": 0.3 } }, "originBodyM": [1.35, 0, -0.45], "fixedRackM": 0 }, "rear": { "mechanism": { "schemaVersion": "vehiclelab.steering-study.v1", "mechanism": "double-wishbone-rack-tie-rod", "headingConstraint": "physical-tie-rod", "steeringAxis": "lower-to-upper-ball-joints", "carrierConvention": "body-left-spindle-horizontal-forward", "metadata": { "name": "Parallel arms / planar steering circle", "source": "custom" }, "trackM": 1.6, "rack": { "referenceM": [-0.12, 0, -0.15], "axis": [0, 1, 0], "leftOffsetM": 0.45, "rightOffsetM": -0.45, "minimumM": -0.03, "maximumM": 0.03 }, "left": { "suspension": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "orientationConstraint": "chassis-forward-projection", "metadata": { "name": "Parallel arms, independent elements", "source": "custom" }, "hardpoints": { "upperFront": [0.15, -0.4, 0.15], "upperRear": [-0.15, -0.4, 0.15], "upperBall": [0, -0.05, 0.15], "lowerFront": [0.15, -0.4, -0.15], "lowerRear": [-0.15, -0.4, -0.15], "lowerBall": [0, -0.05, -0.15], "springUpper": [0.06, -0.2, 0.3], "springLower": [0.04, -0.2, -0.15], "damperUpper": [-0.05, -0.17, 0.32], "damperLower": [-0.05, -0.13, -0.15], "spindleReference": [0, 0.12, 0] } }, "outerTieRodM": [-0.12, -0.05, -0.15], "tieRodLengthM": 0.3 }, "right": { "suspension": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "orientationConstraint": "chassis-forward-projection", "metadata": { "name": "Parallel arms, independent elements", "source": "custom" }, "hardpoints": { "upperFront": [0.15, 0.4, 0.15], "upperRear": [-0.15, 0.4, 0.15], "upperBall": [0, 0.05, 0.15], "lowerFront": [0.15, 0.4, -0.15], "lowerRear": [-0.15, 0.4, -0.15], "lowerBall": [0, 0.05, -0.15], "springUpper": [0.06, 0.2, 0.3], "springLower": [0.04, 0.2, -0.15], "damperUpper": [-0.05, 0.17, 0.32], "damperLower": [-0.05, 0.13, -0.15], "spindleReference": [0, -0.12, 0] } }, "outerTieRodM": [-0.12, 0.05, -0.15], "tieRodLengthM": 0.3 } }, "originBodyM": [-1.35, 0, -0.45], "fixedRackM": 0 }, "corners": { "frontLeft": { "unsprungMassKg": 40, "wheelAxialInertiaKgM2": 1, "wheelTransverseInertiaKgM2": 0.6, "installedSpringStiffnessNpm": 50000, "springFreeLengthM": 0.5404442251822082, "installedDamperNspm": 1500, "minimumJounceM": -0.04, "maximumJounceM": 0.04, "effectiveVerticalRadiusM": 0.3, "normalStiffnessNpm": 200000 }, "frontRight": { "unsprungMassKg": 40, "wheelAxialInertiaKgM2": 1, "wheelTransverseInertiaKgM2": 0.6, "installedSpringStiffnessNpm": 50000, 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"double-wishbone", "orientationConstraint": "chassis-forward-projection", "metadata": { "name": "Generic front planar", "source": "custom" }, "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] } }, "outerTieRodM": [-0.12, -0.06, -0.12], "tieRodLengthM": 0.27999999999999997 }, "right": { "suspension": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "orientationConstraint": "chassis-forward-projection", "metadata": { "name": "Generic front planar", "source": "custom" }, "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], 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"chassis-forward-projection", "metadata": { "name": "Generic front planar", "source": "custom" }, "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] } }, "outerTieRodM": [-0.12, -0.06, -0.12], "tieRodLengthM": 0.27999999999999997 }, "right": { "suspension": { "schemaVersion": "vehiclelab.suspension.v1", "mechanism": "double-wishbone", "orientationConstraint": "chassis-forward-projection", "metadata": { "name": "Generic front planar", "source": "custom" }, "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], 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-0.007, 0.009, -0.011, 0.2, -0.1, 0.4, 0.3], "qDot": [2, -0.5, 0.1, 0.2, -0.3, 0.4, 0.1, -0.05, 0.04, -0.07, 20, 15, -10, 25], "acceleration": [ -0.9379035438106295, -1.6382959549940335, 0.03685478731306202, 1.4871490936485527, -0.2736299486220485, -0.04137174311803517, -15.942562666650145, -78.42518178504774, -91.56474789834789, -74.71250352669364, -26.230116302060853, -0.8399876153758288, -1.295469621218044, -0.7357983063781168 ], "contactGeneralizedSI": [ 89.46912339342879, 53.807768576771636, 3300, 2756.577944185594, -4616.301522980874, -49.83891211676493, 3197.2444134997077, 0, 0, 0, -26.17294905899186, 0, 0, 0 ], "maxEquationResidualSI": 1.8189894035458565e-12 }, { "id": "F-energy-balance", "checks": [ { "geometry": "parallel", "dampingNspm": 0, "independentEnergyRateW": -0.000018092123355017975, "expectedDissipationW": 0, "absoluteErrorW": 0.000018092123355017975 }, { "geometry": "parallel", "dampingNspm": 1500, "independentEnergyRateW": -16.866608473264932, "expectedDissipationW": -16.8665894591567, "absoluteErrorW": 0.00001901410823279548 }, { "geometry": "generic", "dampingNspm": 0, "independentEnergyRateW": -0.00001050769545448323, "expectedDissipationW": 0, "absoluteErrorW": 0.00001050769545448323 }, { "geometry": "generic", "dampingNspm": 1500, "independentEnergyRateW": -14.768901692150392, "expectedDissipationW": -14.768897465382175, "absoluteErrorW": 0.000004226768217208132 }, { "geometry": "skew", "dampingNspm": 0, "independentEnergyRateW": -0.000021404957806225863, "expectedDissipationW": 0, "absoluteErrorW": 0.000021404957806225863 }, { "geometry": "skew", "dampingNspm": 1500, "independentEnergyRateW": -15.081484238332147, "expectedDissipationW": -15.0814744734087, "absoluteErrorW": 0.00000976492344584301 } ] } ], "rejected": [ { "name": "singular physical tie-rod branch", "diagnostic": "front: left steering design loses constraint rank; revise steering-arm/rack geometry." }, { "name": "near-singular physical branch excluded from mechanics", "diagnostic": "frontLeft: regular physical tie-rod branch is required." }, { "name": "orientation chart", "diagnostic": "ZYX chart requires finite angles and |pitch| < acos(0.2)." }, { "name": "outside travel", "diagnostic": "frontLeft: jounce is outside the declared regular travel interval." }, { "name": "central stencil outside travel", "diagnostic": "Central inertia stencil leaves the qualified chart/branch: frontLeft: jounce is outside the declared regular travel interval." }, { "name": "negative mass", "diagnostic": "Finite positive mass and gravity in [0,20] m/s² are required." }, { "name": "nonphysical body inertia", "diagnostic": "Mass diagonal is not positive." }, { "name": "impossible static free length", "diagnostic": "Static line search rejected every bounded candidate at iteration 4; residual 307183.0640989359." }, { "name": "invalid contact", "diagnostic": "frontLeft: invalid contact supplies no force." } ] }, "optimizedRK4": { "schemaVersion": 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No stiff-solver or measured-vehicle accuracy claim." }