{
  "schemaVersion": "vehiclelab.tire-lateral-evidence.v1",
  "model": { "id": "vehiclelab.tire.lateral-clipped-linear", "version": "1.0.0" },
  "referenceMethod": "Independent branch solution plus explicit hand-computed forces and normal-load benchmarks; no production imports in reference module.",
  "budgets": { "absoluteN": 1e-10, "relative": 1e-12 },
  "analytical": [
    {
      "name": "zero",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "positive-linear-hand",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": -800,
      "forceN": -800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "negative-linear-hand",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": 800,
      "forceN": 800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "positive-saturation-hand",
      "slipAngleRad": 0.1,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": -3150,
      "forceN": -3150,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "negative-saturation-hand",
      "slipAngleRad": -0.1,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": 3150,
      "forceN": 3150,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "zero-friction",
      "slipAngleRad": 0.1,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "zero-load",
      "slipAngleRad": 0.1,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "boundary--1--1e-10",
      "slipAngleRad": -0.0393749999,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": 3149.999992,
      "forceN": 3149.999992,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "boundary--1-0",
      "slipAngleRad": -0.039375,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": 3150,
      "forceN": 3150,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "boundary--1-1e-10",
      "slipAngleRad": -0.0393750001,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": 3150,
      "forceN": 3150,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "boundary-1--1e-10",
      "slipAngleRad": 0.0393749999,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": -3149.999992,
      "forceN": -3149.999992,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "boundary-1-0",
      "slipAngleRad": 0.039375,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": -3150,
      "forceN": -3150,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "boundary-1-1e-10",
      "slipAngleRad": 0.0393750001,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": -3150,
      "forceN": -3150,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-0-0--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-0-0--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-0-0-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-0-0-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-0-0-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-0-1000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-40000-0-1000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-40000-0-1000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-40000-0-1000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-40000-0-1000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-40000-0-3500--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-40000-0-3500--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-40000-0-3500-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-40000-0-3500-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-40000-0-3500-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-40000-0-7000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-40000-0-7000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-40000-0-7000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-40000-0-7000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-40000-0-7000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-40000-0.3-0--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-0.3-0--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-0.3-0-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-0.3-0-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-0.3-0-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-0.3-1000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 1000,
      "referenceN": 300,
      "forceN": 300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-0.3-1000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 1000,
      "referenceN": 300,
      "forceN": 300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-0.3-1000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.3-1000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 1000,
      "referenceN": -300,
      "forceN": -300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-0.3-1000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 1000,
      "referenceN": -300,
      "forceN": -300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-0.3-3500--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 3500,
      "referenceN": 1050,
      "forceN": 1050,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-0.3-3500--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 3500,
      "referenceN": 400,
      "forceN": 400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.3-3500-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.3-3500-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 3500,
      "referenceN": -400,
      "forceN": -400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.3-3500-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 3500,
      "referenceN": -1050,
      "forceN": -1050,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-0.3-7000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 7000,
      "referenceN": 2100,
      "forceN": 2100,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-0.3-7000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 7000,
      "referenceN": 400,
      "forceN": 400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.3-7000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.3-7000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 7000,
      "referenceN": -400,
      "forceN": -400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.3-7000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.3,
      "normalForceN": 7000,
      "referenceN": -2100,
      "forceN": -2100,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-0.9-0--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-0.9-0--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-0.9-0-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-0.9-0-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-0.9-0-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-0.9-1000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 1000,
      "referenceN": 900,
      "forceN": 900,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-0.9-1000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 1000,
      "referenceN": 400,
      "forceN": 400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.9-1000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.9-1000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 1000,
      "referenceN": -400,
      "forceN": -400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.9-1000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 1000,
      "referenceN": -900,
      "forceN": -900,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-0.9-3500--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": 3150,
      "forceN": 3150,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-0.9-3500--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": 400,
      "forceN": 400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.9-3500-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.9-3500-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": -400,
      "forceN": -400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.9-3500-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": -3150,
      "forceN": -3150,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-0.9-7000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 7000,
      "referenceN": 6300,
      "forceN": 6300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-0.9-7000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 7000,
      "referenceN": 400,
      "forceN": 400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.9-7000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.9-7000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 7000,
      "referenceN": -400,
      "forceN": -400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-0.9-7000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 0.9,
      "normalForceN": 7000,
      "referenceN": -6300,
      "forceN": -6300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-1.5-0--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-1.5-0--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-1.5-0-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-1.5-0-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-1.5-0-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-40000-1.5-1000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 1000,
      "referenceN": 1500,
      "forceN": 1500,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-1.5-1000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 1000,
      "referenceN": 400,
      "forceN": 400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-1.5-1000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-1.5-1000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 1000,
      "referenceN": -400,
      "forceN": -400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-1.5-1000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 1000,
      "referenceN": -1500,
      "forceN": -1500,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-1.5-3500--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 3500,
      "referenceN": 5250,
      "forceN": 5250,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-1.5-3500--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 3500,
      "referenceN": 400,
      "forceN": 400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-1.5-3500-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-1.5-3500-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 3500,
      "referenceN": -400,
      "forceN": -400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-1.5-3500-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 3500,
      "referenceN": -5250,
      "forceN": -5250,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-40000-1.5-7000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 7000,
      "referenceN": 8000,
      "forceN": 8000,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-1.5-7000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 7000,
      "referenceN": 400,
      "forceN": 400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-1.5-7000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-1.5-7000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 7000,
      "referenceN": -400,
      "forceN": -400,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-40000-1.5-7000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 40000,
      "frictionCoefficient": 1.5,
      "normalForceN": 7000,
      "referenceN": -8000,
      "forceN": -8000,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0-0--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-0-0--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-0-0-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-0-0-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-0-0-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-0-1000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-80000-0-1000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-80000-0-1000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-80000-0-1000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-80000-0-1000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-80000-0-3500--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-80000-0-3500--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-80000-0-3500-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-80000-0-3500-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-80000-0-3500-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-80000-0-7000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-80000-0-7000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-80000-0-7000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-80000-0-7000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-80000-0-7000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-80000-0.3-0--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-0.3-0--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-0.3-0-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-0.3-0-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-0.3-0-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-0.3-1000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 1000,
      "referenceN": 300,
      "forceN": 300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-0.3-1000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 1000,
      "referenceN": 300,
      "forceN": 300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-0.3-1000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.3-1000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 1000,
      "referenceN": -300,
      "forceN": -300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-0.3-1000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 1000,
      "referenceN": -300,
      "forceN": -300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-0.3-3500--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 3500,
      "referenceN": 1050,
      "forceN": 1050,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-0.3-3500--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 3500,
      "referenceN": 800,
      "forceN": 800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.3-3500-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.3-3500-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 3500,
      "referenceN": -800,
      "forceN": -800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.3-3500-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 3500,
      "referenceN": -1050,
      "forceN": -1050,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-0.3-7000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 7000,
      "referenceN": 2100,
      "forceN": 2100,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-0.3-7000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 7000,
      "referenceN": 800,
      "forceN": 800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.3-7000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.3-7000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 7000,
      "referenceN": -800,
      "forceN": -800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.3-7000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.3,
      "normalForceN": 7000,
      "referenceN": -2100,
      "forceN": -2100,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-0.9-0--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-0.9-0--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-0.9-0-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-0.9-0-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-0.9-0-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-0.9-1000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 1000,
      "referenceN": 900,
      "forceN": 900,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-0.9-1000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 1000,
      "referenceN": 800,
      "forceN": 800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.9-1000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.9-1000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 1000,
      "referenceN": -800,
      "forceN": -800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.9-1000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 1000,
      "referenceN": -900,
      "forceN": -900,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-0.9-3500--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": 3150,
      "forceN": 3150,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-0.9-3500--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": 800,
      "forceN": 800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.9-3500-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.9-3500-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": -800,
      "forceN": -800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.9-3500-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": -3150,
      "forceN": -3150,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-0.9-7000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 7000,
      "referenceN": 6300,
      "forceN": 6300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-0.9-7000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 7000,
      "referenceN": 800,
      "forceN": 800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.9-7000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.9-7000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 7000,
      "referenceN": -800,
      "forceN": -800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-0.9-7000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 0.9,
      "normalForceN": 7000,
      "referenceN": -6300,
      "forceN": -6300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-1.5-0--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-1.5-0--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-1.5-0-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-1.5-0-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-1.5-0-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-80000-1.5-1000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 1000,
      "referenceN": 1500,
      "forceN": 1500,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-1.5-1000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 1000,
      "referenceN": 800,
      "forceN": 800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-1.5-1000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-1.5-1000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 1000,
      "referenceN": -800,
      "forceN": -800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-1.5-1000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 1000,
      "referenceN": -1500,
      "forceN": -1500,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-1.5-3500--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 3500,
      "referenceN": 5250,
      "forceN": 5250,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-1.5-3500--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 3500,
      "referenceN": 800,
      "forceN": 800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-1.5-3500-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-1.5-3500-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 3500,
      "referenceN": -800,
      "forceN": -800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-1.5-3500-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 3500,
      "referenceN": -5250,
      "forceN": -5250,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-1.5-7000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 7000,
      "referenceN": 10500,
      "forceN": 10500,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-80000-1.5-7000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 7000,
      "referenceN": 800,
      "forceN": 800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-1.5-7000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-1.5-7000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 7000,
      "referenceN": -800,
      "forceN": -800,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-80000-1.5-7000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 80000,
      "frictionCoefficient": 1.5,
      "normalForceN": 7000,
      "referenceN": -10500,
      "forceN": -10500,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0-0--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-0-0--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-0-0-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-0-0-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-0-0-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-0-1000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-160000-0-1000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-160000-0-1000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-160000-0-1000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-160000-0-1000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-160000-0-3500--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-160000-0-3500--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-160000-0-3500-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-160000-0-3500-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-160000-0-3500-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-160000-0-7000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-160000-0-7000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-160000-0-7000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-160000-0-7000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-160000-0-7000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "zero-friction"
    },
    {
      "name": "matrix-160000-0.3-0--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-0.3-0--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-0.3-0-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-0.3-0-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-0.3-0-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-0.3-1000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 1000,
      "referenceN": 300,
      "forceN": 300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.3-1000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 1000,
      "referenceN": 300,
      "forceN": 300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.3-1000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-0.3-1000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 1000,
      "referenceN": -300,
      "forceN": -300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.3-1000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 1000,
      "referenceN": -300,
      "forceN": -300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.3-3500--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 3500,
      "referenceN": 1050,
      "forceN": 1050,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.3-3500--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 3500,
      "referenceN": 1050,
      "forceN": 1050,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.3-3500-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-0.3-3500-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 3500,
      "referenceN": -1050,
      "forceN": -1050,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.3-3500-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 3500,
      "referenceN": -1050,
      "forceN": -1050,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.3-7000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 7000,
      "referenceN": 2100,
      "forceN": 2100,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.3-7000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 7000,
      "referenceN": 1600,
      "forceN": 1600,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-0.3-7000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-0.3-7000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 7000,
      "referenceN": -1600,
      "forceN": -1600,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-0.3-7000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.3,
      "normalForceN": 7000,
      "referenceN": -2100,
      "forceN": -2100,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.9-0--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-0.9-0--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-0.9-0-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-0.9-0-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-0.9-0-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-0.9-1000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 1000,
      "referenceN": 900,
      "forceN": 900,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.9-1000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 1000,
      "referenceN": 900,
      "forceN": 900,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.9-1000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-0.9-1000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 1000,
      "referenceN": -900,
      "forceN": -900,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.9-1000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 1000,
      "referenceN": -900,
      "forceN": -900,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.9-3500--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": 3150,
      "forceN": 3150,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.9-3500--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": 1600,
      "forceN": 1600,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-0.9-3500-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-0.9-3500-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": -1600,
      "forceN": -1600,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-0.9-3500-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 3500,
      "referenceN": -3150,
      "forceN": -3150,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.9-7000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 7000,
      "referenceN": 6300,
      "forceN": 6300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-0.9-7000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 7000,
      "referenceN": 1600,
      "forceN": 1600,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-0.9-7000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-0.9-7000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 7000,
      "referenceN": -1600,
      "forceN": -1600,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-0.9-7000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 0.9,
      "normalForceN": 7000,
      "referenceN": -6300,
      "forceN": -6300,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-1.5-0--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-1.5-0--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-1.5-0-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-1.5-0-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-1.5-0-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 0,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "unloaded"
    },
    {
      "name": "matrix-160000-1.5-1000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 1000,
      "referenceN": 1500,
      "forceN": 1500,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-1.5-1000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 1000,
      "referenceN": 1500,
      "forceN": 1500,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-1.5-1000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 1000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-1.5-1000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 1000,
      "referenceN": -1500,
      "forceN": -1500,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-1.5-1000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 1000,
      "referenceN": -1500,
      "forceN": -1500,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-1.5-3500--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 3500,
      "referenceN": 5250,
      "forceN": 5250,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-1.5-3500--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 3500,
      "referenceN": 1600,
      "forceN": 1600,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-1.5-3500-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 3500,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-1.5-3500-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 3500,
      "referenceN": -1600,
      "forceN": -1600,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-1.5-3500-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 3500,
      "referenceN": -5250,
      "forceN": -5250,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-1.5-7000--0.2",
      "slipAngleRad": -0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 7000,
      "referenceN": 10500,
      "forceN": 10500,
      "errorN": 0,
      "state": "saturated"
    },
    {
      "name": "matrix-160000-1.5-7000--0.01",
      "slipAngleRad": -0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 7000,
      "referenceN": 1600,
      "forceN": 1600,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-1.5-7000-0",
      "slipAngleRad": 0,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 7000,
      "referenceN": 0,
      "forceN": 0,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-1.5-7000-0.01",
      "slipAngleRad": 0.01,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 7000,
      "referenceN": -1600,
      "forceN": -1600,
      "errorN": 0,
      "state": "linear"
    },
    {
      "name": "matrix-160000-1.5-7000-0.2",
      "slipAngleRad": 0.2,
      "corneringStiffnessNPerRad": 160000,
      "frictionCoefficient": 1.5,
      "normalForceN": 7000,
      "referenceN": -10500,
      "forceN": -10500,
      "errorN": 0,
      "state": "saturated"
    }
  ],
  "contact": [
    {
      "name": "equilibrium",
      "wheelM": 0,
      "roadM": 0,
      "referenceLoadN": 3500,
      "normalForceN": 3500.0000000000005,
      "normalErrorN": 4.547473508864641e-13,
      "forceN": -3150.0000000000005,
      "errorN": 4.547473508864641e-13,
      "contactState": "loaded"
    },
    {
      "name": "reduced-compression",
      "wheelM": 0.02,
      "roadM": 0,
      "referenceLoadN": 1500,
      "normalForceN": 1500.0000000000002,
      "normalErrorN": 2.2737367544323206e-13,
      "forceN": -1350.0000000000002,
      "errorN": 2.2737367544323206e-13,
      "contactState": "loaded"
    },
    {
      "name": "increased-compression",
      "wheelM": -0.01,
      "roadM": 0,
      "referenceLoadN": 4500,
      "normalForceN": 4500.000000000001,
      "normalErrorN": 9.094947017729282e-13,
      "forceN": -4050.000000000001,
      "errorN": 9.094947017729282e-13,
      "contactState": "loaded"
    },
    {
      "name": "boundary",
      "wheelM": 0.035,
      "roadM": 0,
      "referenceLoadN": 0,
      "normalForceN": 0,
      "normalErrorN": 0,
      "forceN": 0,
      "errorN": 0,
      "contactState": "boundary"
    },
    {
      "name": "separation",
      "wheelM": 0.08,
      "roadM": 0,
      "referenceLoadN": 0,
      "normalForceN": 0,
      "normalErrorN": 0,
      "forceN": 0,
      "errorN": 0,
      "contactState": "separated"
    },
    {
      "name": "road-recontact",
      "wheelM": 0.08,
      "roadM": 0.06,
      "referenceLoadN": 1500,
      "normalForceN": 1500,
      "normalErrorN": 0,
      "forceN": -1350,
      "errorN": 0,
      "contactState": "loaded"
    },
    {
      "name": "restore-equilibrium",
      "wheelM": 0,
      "roadM": 0,
      "referenceLoadN": 3500,
      "normalForceN": 3500.0000000000005,
      "normalErrorN": 4.547473508864641e-13,
      "forceN": -3150.0000000000005,
      "errorN": 4.547473508864641e-13,
      "contactState": "loaded"
    }
  ],
  "rejected": [
    "load:NaN",
    "load:Infinity",
    "load:-Infinity",
    "load:-1",
    "load:2000001",
    "load:1.7976931348623157e+308",
    "angle:NaN",
    "angle:Infinity",
    "angle:-Infinity",
    "angle:3.141592653589793",
    "angle:1.7976931348623157e+308",
    "stiffness:0",
    "stiffness:-1",
    "stiffness:NaN",
    "stiffness:Infinity",
    "stiffness:1.7976931348623157e+308",
    "friction:-1",
    "friction:NaN",
    "friction:Infinity",
    "friction:6",
    "friction:1.7976931348623157e+308",
    "underflow",
    "legacy-isolation",
    "invalid-vertical-overflow",
    "model-identity",
    "result-overflow"
  ],
  "maximumForceErrorN": 9.094947017729282e-13,
  "maximumNormalErrorN": 9.094947017729282e-13,
  "exports": {
    "schema": "vehiclelab.tire-lateral-inspection.v1",
    "curvePoints": 244,
    "selectedForceN": -800,
    "roundTrip": true
  },
  "invariants": {
    "oddSymmetry": true,
    "frictionBound": true,
    "deterministic": true,
    "immutableInputs": true,
    "legacyIsolated": true,
    "capabilitiesIsolated": true
  }
}
