{
  "schemaVersion": "vehiclelab.tire-vehicle-qualification.v1",
  "status": "PASS",
  "budgets": {
    "energyLedgerJ": 0.002,
    "independentPositionAndAngle": 0.000002,
    "independentRates": 0.00002,
    "referenceUncertainty": 0.00001,
    "independentAcceleration": 0.0002,
    "backendState": 0.000001
  },
  "budgetRationale": "Independent finite-difference Jacobians (20 micrometres/radians), inverse-dynamics time difference (0.1 ms), separately refined midpoint extrapolation and fixed-step convergence bound numerical uncertainty. SI/radian component budgets are absolute, not percentage force fits. The 2 mJ ledger budget is below 0.01% of representative dissipated/work energy and independently audited by refinement; zero-loss coast has its own 1e-10 m/s invariant.",
  "scenarios": [
    {
      "name": "coast",
      "config": {
        "schemaVersion": "vehiclelab.tire-vehicle-config.v1",
        "scenario": "coast",
        "tireMode": "combined",
        "wheelAlignment": "zero-loaded-toe",
        "initialSpeedMps": 15,
        "lateralVelocityMps": 0,
        "yawRateRadps": 0,
        "torqueNm": 0,
        "torqueDistribution": {
          "frontLeft": 0.25,
          "frontRight": 0.25,
          "rearLeft": 0.25,
          "rearRight": 0.25
        },
        "massScale": 1,
        "durationS": 0.08,
        "stepS": 0.002,
        "outputStride": 1,
        "tires": {
          "frontLeft": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "frontRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "rearLeft": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "rearRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          }
        }
      },
      "definitionIdentity": "{\"name\":\"ML-63 generic point-support reference (zero-loaded-toe; mass factor 1)\",\"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\":\"VehicleLab Generic Front Rack & Tie Rod (unmeasured)\",\"source\":\"generic\"},\"trackM\":1.6,\"rack\":{\"referenceM\":[-0.12,0,-0.12],\"axis\":[0,1,0],\"leftOffsetM\":0.46,\"rightOffsetM\":-0.46,\"minimumM\":-0.03,\"maximumM\":0.03},\"left\":{\"suspension\":{\"schemaVersion\":\"vehiclelab.suspension.v1\",\"mechanism\":\"double-wishbone\",\"metadata\":{\"name\":\"VehicleLab Generic Front Double Wishbone\",\"source\":\"generic\"},\"orientationConstraint\":\"chassis-forward-projection\",\"hardpoints\":{\"upperFront\":[0.14,-0.34,0.16],\"upperRear\":[-0.14,-0.34,0.16],\"upperBall\":[0,-0.06,0.15],\"lowerFront\":[0.18,-0.4,-0.14],\"lowerRear\":[-0.18,-0.4,-0.14],\"lowerBall\":[0,-0.05,-0.16],\"springUpper\":[0.04,-0.29,0.27],\"springLower\":[0.04,-0.15,-0.15],\"damperUpper\":[-0.05,-0.27,0.26],\"damperLower\":[-0.05,-0.13,-0.15],\"spindleReference\":[-0.00012633094542702648,0.11999993350203247,-3.705443328838598e-9]}},\"outerTieRodM\":[-0.12,-0.06,-0.12],\"tieRodLengthM\":0.27999999999999997},\"right\":{\"suspension\":{\"schemaVersion\":\"vehiclelab.suspension.v1\",\"mechanism\":\"double-wishbone\",\"metadata\":{\"name\":\"VehicleLab Generic Front Double Wishbone\",\"source\":\"generic\"},\"orientationConstraint\":\"chassis-forward-projection\",\"hardpoints\":{\"upperFront\":[0.14,0.34,0.16],\"upperRear\":[-0.14,0.34,0.16],\"upperBall\":[0,0.06,0.15],\"lowerFront\":[0.18,0.4,-0.14],\"lowerRear\":[-0.18,0.4,-0.14],\"lowerBall\":[0,0.05,-0.16],\"springUpper\":[0.04,0.29,0.27],\"springLower\":[0.04,0.15,-0.15],\"damperUpper\":[-0.05,0.27,0.26],\"damperLower\":[-0.05,0.13,-0.15],\"spindleReference\":[-0.00012633094542702632,-0.11999993350203247,-3.705443328838598e-9]}},\"outerTieRodM\":[-0.12,0.06,-0.12],\"tieRodLengthM\":0.27999999999999997}},\"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\":\"VehicleLab Generic Front Rack & Tie Rod (unmeasured)\",\"source\":\"generic\"},\"trackM\":1.6,\"rack\":{\"referenceM\":[-0.12,0,-0.12],\"axis\":[0,1,0],\"leftOffsetM\":0.46,\"rightOffsetM\":-0.46,\"minimumM\":-0.03,\"maximumM\":0.03},\"left\":{\"suspension\":{\"schemaVersion\":\"vehiclelab.suspension.v1\",\"mechanism\":\"double-wishbone\",\"metadata\":{\"name\":\"VehicleLab Generic Front Double Wishbone\",\"source\":\"generic\"},\"orientationConstraint\":\"chassis-forward-projection\",\"hardpoints\":{\"upperFront\":[0.14,-0.34,0.16],\"upperRear\":[-0.14,-0.34,0.16],\"upperBall\":[0,-0.06,0.15],\"lowerFront\":[0.18,-0.4,-0.14],\"lowerRear\":[-0.18,-0.4,-0.14],\"lowerBall\":[0,-0.05,-0.16],\"springUpper\":[0.04,-0.29,0.27],\"springLower\":[0.04,-0.15,-0.15],\"damperUpper\":[-0.05,-0.27,0.26],\"damperLower\":[-0.05,-0.13,-0.15],\"spindleReference\":[-0.0001257518328597708,0.11999993411030076,-3.668974277726278e-9]}},\"outerTieRodM\":[-0.12,-0.06,-0.12],\"tieRodLengthM\":0.27999999999999997},\"right\":{\"suspension\":{\"schemaVersion\":\"vehiclelab.suspension.v1\",\"mechanism\":\"double-wishbone\",\"metadata\":{\"name\":\"VehicleLab Generic Front Double Wishbone\",\"source\":\"generic\"},\"orientationConstraint\":\"chassis-forward-projection\",\"hardpoints\":{\"upperFront\":[0.14,0.34,0.16],\"upperRear\":[-0.14,0.34,0.16],\"upperBall\":[0,0.06,0.15],\"lowerFront\":[0.18,0.4,-0.14],\"lowerRear\":[-0.18,0.4,-0.14],\"lowerBall\":[0,0.05,-0.16],\"springUpper\":[0.04,0.29,0.27],\"springLower\":[0.04,0.15,-0.15],\"damperUpper\":[-0.05,0.27,0.26],\"damperLower\":[-0.05,0.13,-0.15],\"spindleReference\":[-0.00012575183285977248,-0.11999993411030077,-3.668974277726278e-9]}},\"outerTieRodM\":[-0.12,0.06,-0.12],\"tieRodLengthM\":0.27999999999999997}},\"originBodyM\":[-1.35,0,-0.45],\"fixedRackM\":0},\"corners\":{\"frontLeft\":{\"unsprungMassKg\":40,\"wheelAxialInertiaKgM2\":1,\"wheelTransverseInertiaKgM2\":0.6,\"installedSpringStiffnessNpm\":50000,\"springFreeLengthM\":0.5327188724235732,\"installedDamperNspm\":1500,\"minimumJounceM\":-0.04,\"maximumJounceM\":0.04,\"effectiveVerticalRadiusM\":0.3,\"normalStiffnessNpm\":200000},\"frontRight\":{\"unsprungMassKg\":40,\"wheelAxialInertiaKgM2\":1,\"wheelTransverseInertiaKgM2\":0.6,\"installedSpringStiffnessNpm\":50000,\"springFreeLengthM\":0.5327188724235732,\"installedDamperNspm\":1500,\"minimumJounceM\":-0.04,\"maximumJounceM\":0.04,\"effectiveVerticalRadiusM\":0.3,\"normalStiffnessNpm\":200000},\"rearLeft\":{\"unsprungMassKg\":40,\"wheelAxialInertiaKgM2\":1,\"wheelTransverseInertiaKgM2\":0.6,\"installedSpringStiffnessNpm\":50000,\"springFreeLengthM\":0.5327188724235732,\"installedDamperNspm\":1500,\"minimumJounceM\":-0.04,\"maximumJounceM\":0.04,\"effectiveVerticalRadiusM\":0.3,\"normalStiffnessNpm\":200000},\"rearRight\":{\"unsprungMassKg\":40,\"wheelAxialInertiaKgM2\":1,\"wheelTransverseInertiaKgM2\":0.6,\"installedSpringStiffnessNpm\":50000,\"springFreeLengthM\":0.5327188724235732,\"installedDamperNspm\":1500,\"minimumJounceM\":-0.04,\"maximumJounceM\":0.04,\"effectiveVerticalRadiusM\":0.3,\"normalStiffnessNpm\":200000}}}",
      "metrics": {
        "maximumEnergyBalanceErrorJ": 1.5131393879665686e-26,
        "peakAbsSlip": 2.3684757858670006e-16,
        "peakAbsSlipAngleRad": 3.976612682020397e-17,
        "minimumNormalLoadN": 3334.1302558655084,
        "maximumFrictionUtilization": 3.5838270189717335e-15,
        "finalDriveWorkJ": 0,
        "finalDampingLossJ": 1.3565901742729287e-28,
        "finalTangentialLossJ": 1.4995734862238393e-26
      },
      "finalVelocity": [15, -2.2348702947137465e-17],
      "counts": { "rhs": 280, "accepted": 40, "rejected": 0, "native": 882 },
      "maximumResidualSI": 2.5849394142282115e-26
    },
    {
      "name": "drive",
      "config": {
        "schemaVersion": "vehiclelab.tire-vehicle-config.v1",
        "scenario": "drive",
        "tireMode": "combined",
        "wheelAlignment": "zero-loaded-toe",
        "initialSpeedMps": 15,
        "lateralVelocityMps": 0,
        "yawRateRadps": 0,
        "torqueNm": 40,
        "torqueDistribution": {
          "frontLeft": 0.25,
          "frontRight": 0.25,
          "rearLeft": 0.25,
          "rearRight": 0.25
        },
        "massScale": 1,
        "durationS": 0.08,
        "stepS": 0.002,
        "outputStride": 1,
        "tires": {
          "frontLeft": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "frontRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "rearLeft": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "rearRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          }
        }
      },
      "definitionIdentity": "{\"name\":\"ML-63 generic point-support reference (zero-loaded-toe; mass factor 1)\",\"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\":\"VehicleLab Generic Front Rack & Tie Rod (unmeasured)\",\"source\":\"generic\"},\"trackM\":1.6,\"rack\":{\"referenceM\":[-0.12,0,-0.12],\"axis\":[0,1,0],\"leftOffsetM\":0.46,\"rightOffsetM\":-0.46,\"minimumM\":-0.03,\"maximumM\":0.03},\"left\":{\"suspension\":{\"schemaVersion\":\"vehiclelab.suspension.v1\",\"mechanism\":\"double-wishbone\",\"metadata\":{\"name\":\"VehicleLab Generic Front Double Wishbone\",\"source\":\"generic\"},\"orientationConstraint\":\"chassis-forward-projection\",\"hardpoints\":{\"upperFront\":[0.14,-0.34,0.16],\"upperRear\":[-0.14,-0.34,0.16],\"upperBall\":[0,-0.06,0.15],\"lowerFront\":[0.18,-0.4,-0.14],\"lowerRear\":[-0.18,-0.4,-0.14],\"lowerBall\":[0,-0.05,-0.16],\"springUpper\":[0.04,-0.29,0.27],\"springLower\":[0.04,-0.15,-0.15],\"damperUpper\":[-0.05,-0.27,0.26],\"damperLower\":[-0.05,-0.13,-0.15],\"spindleReference\":[-0.00012633094542702648,0.11999993350203247,-3.705443328838598e-9]}},\"outerTieRodM\":[-0.12,-0.06,-0.12],\"tieRodLengthM\":0.27999999999999997},\"right\":{\"suspension\":{\"schemaVersion\":\"vehiclelab.suspension.v1\",\"mechanism\":\"double-wishbone\",\"metadata\":{\"name\":\"VehicleLab Generic Front Double Wishbone\",\"source\":\"generic\"},\"orientationConstraint\":\"chassis-forward-projection\",\"hardpoints\":{\"upperFront\":[0.14,0.34,0.16],\"upperRear\":[-0.14,0.34,0.16],\"upperBall\":[0,0.06,0.15],\"lowerFront\":[0.18,0.4,-0.14],\"lowerRear\":[-0.18,0.4,-0.14],\"lowerBall\":[0,0.05,-0.16],\"springUpper\":[0.04,0.29,0.27],\"springLower\":[0.04,0.15,-0.15],\"damperUpper\":[-0.05,0.27,0.26],\"damperLower\":[-0.05,0.13,-0.15],\"spindleReference\":[-0.00012633094542702632,-0.11999993350203247,-3.705443328838598e-9]}},\"outerTieRodM\":[-0.12,0.06,-0.12],\"tieRodLengthM\":0.27999999999999997}},\"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\":\"VehicleLab Generic Front Rack & Tie Rod (unmeasured)\",\"source\":\"generic\"},\"trackM\":1.6,\"rack\":{\"referenceM\":[-0.12,0,-0.12],\"axis\":[0,1,0],\"leftOffsetM\":0.46,\"rightOffsetM\":-0.46,\"minimumM\":-0.03,\"maximumM\":0.03},\"left\":{\"suspension\":{\"schemaVersion\":\"vehiclelab.suspension.v1\",\"mechanism\":\"double-wishbone\",\"metadata\":{\"name\":\"VehicleLab Generic Front Double Wishbone\",\"source\":\"generic\"},\"orientationConstraint\":\"chassis-forward-projection\",\"hardpoints\":{\"upperFront\":[0.14,-0.34,0.16],\"upperRear\":[-0.14,-0.34,0.16],\"upperBall\":[0,-0.06,0.15],\"lowerFront\":[0.18,-0.4,-0.14],\"lowerRear\":[-0.18,-0.4,-0.14],\"lowerBall\":[0,-0.05,-0.16],\"springUpper\":[0.04,-0.29,0.27],\"springLower\":[0.04,-0.15,-0.15],\"damperUpper\":[-0.05,-0.27,0.26],\"damperLower\":[-0.05,-0.13,-0.15],\"spindleReference\":[-0.0001257518328597708,0.11999993411030076,-3.668974277726278e-9]}},\"outerTieRodM\":[-0.12,-0.06,-0.12],\"tieRodLengthM\":0.27999999999999997},\"right\":{\"suspension\":{\"schemaVersion\":\"vehiclelab.suspension.v1\",\"mechanism\":\"double-wishbone\",\"metadata\":{\"name\":\"VehicleLab Generic Front Double Wishbone\",\"source\":\"generic\"},\"orientationConstraint\":\"chassis-forward-projection\",\"hardpoints\":{\"upperFront\":[0.14,0.34,0.16],\"upperRear\":[-0.14,0.34,0.16],\"upperBall\":[0,0.06,0.15],\"lowerFront\":[0.18,0.4,-0.14],\"lowerRear\":[-0.18,0.4,-0.14],\"lowerBall\":[0,0.05,-0.16],\"springUpper\":[0.04,0.29,0.27],\"springLower\":[0.04,0.15,-0.15],\"damperUpper\":[-0.05,0.27,0.26],\"damperLower\":[-0.05,0.13,-0.15],\"spindleReference\":[-0.00012575183285977248,-0.11999993411030077,-3.668974277726278e-9]}},\"outerTieRodM\":[-0.12,0.06,-0.12],\"tieRodLengthM\":0.27999999999999997}},\"originBodyM\":[-1.35,0,-0.45],\"fixedRackM\":0},\"corners\":{\"frontLeft\":{\"unsprungMassKg\":40,\"wheelAxialInertiaKgM2\":1,\"wheelTransverseInertiaKgM2\":0.6,\"installedSpringStiffnessNpm\":50000,\"springFreeLengthM\":0.5327188724235732,\"installedDamperNspm\":1500,\"minimumJounceM\":-0.04,\"maximumJounceM\":0.04,\"effectiveVerticalRadiusM\":0.3,\"normalStiffnessNpm\":200000},\"frontRight\":{\"unsprungMassKg\":40,\"wheelAxialInertiaKgM2\":1,\"wheelTransverseInertiaKgM2\":0.6,\"installedSpringStiffnessNpm\":50000,\"springFreeLengthM\":0.5327188724235732,\"installedDamperNspm\":1500,\"minimumJounceM\":-0.04,\"maximumJounceM\":0.04,\"effectiveVerticalRadiusM\":0.3,\"normalStiffnessNpm\":200000},\"rearLeft\":{\"unsprungMassKg\":40,\"wheelAxialInertiaKgM2\":1,\"wheelTransverseInertiaKgM2\":0.6,\"installedSpringStiffnessNpm\":50000,\"springFreeLengthM\":0.5327188724235732,\"installedDamperNspm\":1500,\"minimumJounceM\":-0.04,\"maximumJounceM\":0.04,\"effectiveVerticalRadiusM\":0.3,\"normalStiffnessNpm\":200000},\"rearRight\":{\"unsprungMassKg\":40,\"wheelAxialInertiaKgM2\":1,\"wheelTransverseInertiaKgM2\":0.6,\"installedSpringStiffnessNpm\":50000,\"springFreeLengthM\":0.5327188724235732,\"installedDamperNspm\":1500,\"minimumJounceM\":-0.04,\"maximumJounceM\":0.04,\"effectiveVerticalRadiusM\":0.3,\"normalStiffnessNpm\":200000}}}",
      "metrics": {
        "maximumEnergyBalanceErrorJ": 2.488735523116514e-7,
        "peakAbsSlip": 0.000748151296223923,
        "peakAbsSlipAngleRad": 0.000012229833178688625,
        "minimumNormalLoadN": 3332.402135670487,
        "maximumFrictionUtilization": 0.011219581299082624,
        "finalDriveWorkJ": 38.1408245626481,
        "finalDampingLossJ": 0.00008149465933887747,
        "finalTangentialLossJ": 0.019410861080359686
      },
      "finalVelocity": [15.001745194400176, -1.8278817304479384e-17],
      "counts": { "rhs": 280, "accepted": 40, "rejected": 0, "native": 882 },
      "maximumResidualSI": 4.263256414560601e-14
    },
    {
      "name": "brake",
      "config": {
        "schemaVersion": "vehiclelab.tire-vehicle-config.v1",
        "scenario": "brake",
        "tireMode": "combined",
        "wheelAlignment": "zero-loaded-toe",
        "initialSpeedMps": 15,
        "lateralVelocityMps": 0,
        "yawRateRadps": 0,
        "torqueNm": 40,
        "torqueDistribution": {
          "frontLeft": 0.25,
          "frontRight": 0.25,
          "rearLeft": 0.25,
          "rearRight": 0.25
        },
        "massScale": 1,
        "durationS": 0.08,
        "stepS": 0.002,
        "outputStride": 1,
        "tires": {
          "frontLeft": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "frontRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "rearLeft": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "rearRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          }
        }
      },
      "definitionIdentity": "{\"name\":\"ML-63 generic point-support reference (zero-loaded-toe; mass factor 1)\",\"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\":\"VehicleLab Generic Front Rack & Tie Rod (unmeasured)\",\"source\":\"generic\"},\"trackM\":1.6,\"rack\":{\"referenceM\":[-0.12,0,-0.12],\"axis\":[0,1,0],\"leftOffsetM\":0.46,\"rightOffsetM\":-0.46,\"minimumM\":-0.03,\"maximumM\":0.03},\"left\":{\"suspension\":{\"schemaVersion\":\"vehiclelab.suspension.v1\",\"mechanism\":\"double-wishbone\",\"metadata\":{\"name\":\"VehicleLab Generic Front Double 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      "metrics": {
        "maximumEnergyBalanceErrorJ": 2.4895501326074876e-7,
        "peakAbsSlip": 0.0007482023738826562,
        "peakAbsSlipAngleRad": 0.000012243155542716327,
        "minimumNormalLoadN": 3332.2410940204495,
        "maximumFrictionUtilization": 0.011220391249746624,
        "finalDriveWorkJ": -38.0957202887689,
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        "finalTangentialLossJ": 0.019409146873688173
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      "finalVelocity": [14.998254810149705, -4.9515384524683837e-17],
      "counts": { "rhs": 280, "accepted": 40, "rejected": 0, "native": 882 },
      "maximumResidualSI": 5.684341886080802e-14
    },
    {
      "name": "lateral",
      "config": {
        "schemaVersion": "vehiclelab.tire-vehicle-config.v1",
        "scenario": "lateral",
        "tireMode": "combined",
        "wheelAlignment": "zero-loaded-toe",
        "initialSpeedMps": 15,
        "lateralVelocityMps": 0.3,
        "yawRateRadps": 0,
        "torqueNm": 0,
        "torqueDistribution": {
          "frontLeft": 0.25,
          "frontRight": 0.25,
          "rearLeft": 0.25,
          "rearRight": 0.25
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        "massScale": 1,
        "durationS": 0.08,
        "stepS": 0.002,
        "outputStride": 1,
        "tires": {
          "frontLeft": {
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            "model": {
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            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "frontRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
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            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "rearLeft": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
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            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "rearRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
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            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
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      "definitionIdentity": "{\"name\":\"ML-63 generic point-support reference (zero-loaded-toe; mass factor 1)\",\"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\":\"VehicleLab Generic Front Rack & Tie Rod (unmeasured)\",\"source\":\"generic\"},\"trackM\":1.6,\"rack\":{\"referenceM\":[-0.12,0,-0.12],\"axis\":[0,1,0],\"leftOffsetM\":0.46,\"rightOffsetM\":-0.46,\"minimumM\":-0.03,\"maximumM\":0.03},\"left\":{\"suspension\":{\"schemaVersion\":\"vehiclelab.suspension.v1\",\"mechanism\":\"double-wishbone\",\"metadata\":{\"name\":\"VehicleLab Generic Front Double 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      "metrics": {
        "maximumEnergyBalanceErrorJ": 8.286406227853149e-8,
        "peakAbsSlip": 0.0003087359105371504,
        "peakAbsSlipAngleRad": 0.019997333973150563,
        "minimumNormalLoadN": 3161.7755591895057,
        "maximumFrictionUtilization": 0.2998883132710629,
        "finalDriveWorkJ": 0,
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        "finalTangentialLossJ": 28.83897023940168
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      "finalVelocity": [15.000047403619496, 0.1969872811581447],
      "counts": { "rhs": 280, "accepted": 40, "rejected": 0, "native": 882 },
      "maximumResidualSI": 1.8189894035458565e-12
    },
    {
      "name": "combined",
      "config": {
        "schemaVersion": "vehiclelab.tire-vehicle-config.v1",
        "scenario": "combined",
        "tireMode": "combined",
        "wheelAlignment": "zero-loaded-toe",
        "initialSpeedMps": 15,
        "lateralVelocityMps": 0.3,
        "yawRateRadps": 0,
        "torqueNm": 40,
        "torqueDistribution": {
          "frontLeft": 0.25,
          "frontRight": 0.25,
          "rearLeft": 0.25,
          "rearRight": 0.25
        },
        "massScale": 1,
        "durationS": 0.08,
        "stepS": 0.002,
        "outputStride": 1,
        "tires": {
          "frontLeft": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "frontRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
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            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "rearLeft": {
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            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
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          },
          "rearRight": {
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            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
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        }
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      "metrics": {
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        "peakAbsSlip": 0.000983770091748747,
        "peakAbsSlipAngleRad": 0.019997333973150563,
        "minimumNormalLoadN": 3160.0356943274564,
        "maximumFrictionUtilization": 0.2998883132710629,
        "finalDriveWorkJ": 38.14105759782172,
        "finalDampingLossJ": 0.9486833378728343,
        "finalTangentialLossJ": 28.857880057553352
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      "finalVelocity": [15.001792600023416, 0.19699155035081747],
      "counts": { "rhs": 280, "accepted": 40, "rejected": 0, "native": 882 },
      "maximumResidualSI": 1.8189894035458565e-12
    },
    {
      "name": "saturated",
      "config": {
        "schemaVersion": "vehiclelab.tire-vehicle-config.v1",
        "scenario": "combined",
        "tireMode": "combined",
        "wheelAlignment": "zero-loaded-toe",
        "initialSpeedMps": 15,
        "lateralVelocityMps": 0.3,
        "yawRateRadps": 0,
        "torqueNm": 40,
        "torqueDistribution": {
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          "frontRight": 0.25,
          "rearLeft": 0.25,
          "rearRight": 0.25
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        "massScale": 1,
        "durationS": 0.08,
        "stepS": 0.002,
        "outputStride": 1,
        "tires": {
          "frontLeft": {
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            "model": {
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            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.05
          },
          "frontRight": {
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            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.05
          },
          "rearLeft": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
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            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.05
          },
          "rearRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
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            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.05
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        }
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      "definitionIdentity": "{\"name\":\"ML-63 generic point-support reference (zero-loaded-toe; mass factor 1)\",\"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\":\"VehicleLab Generic Front Rack & Tie Rod (unmeasured)\",\"source\":\"generic\"},\"trackM\":1.6,\"rack\":{\"referenceM\":[-0.12,0,-0.12],\"axis\":[0,1,0],\"leftOffsetM\":0.46,\"rightOffsetM\":-0.46,\"minimumM\":-0.03,\"maximumM\":0.03},\"left\":{\"suspension\":{\"schemaVersion\":\"vehiclelab.suspension.v1\",\"mechanism\":\"double-wishbone\",\"metadata\":{\"name\":\"VehicleLab Generic Front Double 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      "metrics": {
        "maximumEnergyBalanceErrorJ": 8.926478933801718e-8,
        "peakAbsSlip": 0.0021407615348710577,
        "peakAbsSlipAngleRad": 0.019997333973150563,
        "minimumNormalLoadN": 3271.9147440923525,
        "maximumFrictionUtilization": 1,
        "finalDriveWorkJ": 38.164267971001834,
        "finalDampingLossJ": 0.08811064781477171,
        "finalTangentialLossJ": 14.005748201396447
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      "finalVelocity": [15.001554469876924, 0.26304035427943057],
      "counts": { "rhs": 280, "accepted": 40, "rejected": 0, "native": 882 },
      "maximumResidualSI": 4.547473508864641e-13
    },
    {
      "name": "zero-friction",
      "config": {
        "schemaVersion": "vehiclelab.tire-vehicle-config.v1",
        "scenario": "combined",
        "tireMode": "combined",
        "wheelAlignment": "zero-loaded-toe",
        "initialSpeedMps": 15,
        "lateralVelocityMps": 0.3,
        "yawRateRadps": 0,
        "torqueNm": 40,
        "torqueDistribution": {
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          "frontRight": 0.25,
          "rearLeft": 0.25,
          "rearRight": 0.25
        },
        "massScale": 1,
        "durationS": 0.08,
        "stepS": 0.002,
        "outputStride": 1,
        "tires": {
          "frontLeft": {
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            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
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            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0
          },
          "frontRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
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            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
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          },
          "rearLeft": {
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            },
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            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0
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          "rearRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
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        }
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      "counts": { "rhs": 280, "accepted": 40, "rejected": 0, "native": 882 },
      "maximumResidualSI": 1.547373340571312e-14
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    {
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      "config": {
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        "tireMode": "combined",
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        "lateralVelocityMps": 0.3,
        "yawRateRadps": 0,
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        "durationS": 0.08,
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        "outputStride": 1,
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            "corneringStiffnessNPerRad": 40000,
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      "counts": { "rhs": 280, "accepted": 40, "rejected": 0, "native": 882 },
      "maximumResidualSI": 1.8189894035458565e-12
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    {
      "name": "heavy",
      "config": {
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        "scenario": "combined",
        "tireMode": "combined",
        "wheelAlignment": "zero-loaded-toe",
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        "lateralVelocityMps": 0.3,
        "yawRateRadps": 0,
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        "torqueDistribution": {
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        "massScale": 1.1,
        "durationS": 0.08,
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        "outputStride": 1,
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            "corneringStiffnessNPerRad": 40000,
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          "frontRight": {
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          "rearLeft": {
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      "metrics": {
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        "peakAbsSlip": 0.001006735068945057,
        "peakAbsSlipAngleRad": 0.019997333973150493,
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      "maximumResidualSI": 1.3642420526593924e-12
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    {
      "name": "asymmetric",
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        "tireMode": "combined",
        "wheelAlignment": "zero-loaded-toe",
        "initialSpeedMps": 15,
        "lateralVelocityMps": 0.3,
        "yawRateRadps": 0.03,
        "torqueNm": 40,
        "torqueDistribution": {
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        "massScale": 1,
        "durationS": 0.08,
        "stepS": 0.002,
        "outputStride": 1,
        "tires": {
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            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.08
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            "corneringStiffnessNPerRad": 40000,
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            "corneringStiffnessNPerRad": 40000,
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          "rearRight": {
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            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.4
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      "metrics": {
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      "counts": { "rhs": 280, "accepted": 40, "rejected": 0, "native": 882 },
      "maximumResidualSI": 1.3642420526593924e-12
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    {
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      "config": {
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        "tireMode": "combined",
        "wheelAlignment": "zero-loaded-toe",
        "initialSpeedMps": 15,
        "lateralVelocityMps": -0.3,
        "yawRateRadps": 0,
        "torqueNm": 40,
        "torqueDistribution": {
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          "rearRight": 0.25
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        "massScale": 1,
        "durationS": 0.08,
        "stepS": 0.002,
        "outputStride": 1,
        "tires": {
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            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
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          "frontRight": {
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            "corneringStiffnessNPerRad": 40000,
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            "corneringStiffnessNPerRad": 40000,
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          "rearRight": {
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            "corneringStiffnessNPerRad": 40000,
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      "metrics": {
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      "counts": { "rhs": 280, "accepted": 40, "rejected": 0, "native": 882 },
      "maximumResidualSI": 2.0463630789890885e-12
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    {
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        "scenario": "coast",
        "tireMode": "combined",
        "wheelAlignment": "accepted-generic",
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        "lateralVelocityMps": 0,
        "yawRateRadps": 0,
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        "torqueDistribution": {
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        "massScale": 1,
        "durationS": 0.08,
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        "outputStride": 1,
        "tires": {
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      "metrics": {
        "maximumEnergyBalanceErrorJ": 3.3425993917202135e-10,
        "peakAbsSlip": 0.000011994724300043288,
        "peakAbsSlipAngleRad": 0.0010656813416137201,
        "minimumNormalLoadN": 3334.1302558655193,
        "maximumFrictionUtilization": 0.015966032253063,
        "finalDriveWorkJ": 0,
        "finalDampingLossJ": 0.00006783325173716506,
        "finalTangentialLossJ": 0.2147438327317869
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      "finalVelocity": [14.999978355868599, 3.32876982379629e-17],
      "counts": { "rhs": 280, "accepted": 40, "rejected": 0, "native": 882 },
      "maximumResidualSI": 5.329070518200751e-15
    },
    {
      "name": "longitudinal-only",
      "config": {
        "schemaVersion": "vehiclelab.tire-vehicle-config.v1",
        "scenario": "combined",
        "tireMode": "longitudinal-only",
        "wheelAlignment": "zero-loaded-toe",
        "initialSpeedMps": 15,
        "lateralVelocityMps": 0.3,
        "yawRateRadps": 0,
        "torqueNm": 40,
        "torqueDistribution": {
          "frontLeft": 0.25,
          "frontRight": 0.25,
          "rearLeft": 0.25,
          "rearRight": 0.25
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        "massScale": 1,
        "durationS": 0.08,
        "stepS": 0.002,
        "outputStride": 1,
        "tires": {
          "frontLeft": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "frontRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "rearLeft": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "rearRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          }
        }
      },
      "definitionIdentity": "{\"name\":\"ML-63 generic point-support reference (zero-loaded-toe; mass factor 1)\",\"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\":\"VehicleLab Generic Front Rack & Tie Rod (unmeasured)\",\"source\":\"generic\"},\"trackM\":1.6,\"rack\":{\"referenceM\":[-0.12,0,-0.12],\"axis\":[0,1,0],\"leftOffsetM\":0.46,\"rightOffsetM\":-0.46,\"minimumM\":-0.03,\"maximumM\":0.03},\"left\":{\"suspension\":{\"schemaVersion\":\"vehiclelab.suspension.v1\",\"mechanism\":\"double-wishbone\",\"metadata\":{\"name\":\"VehicleLab Generic Front Double 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      "metrics": {
        "maximumEnergyBalanceErrorJ": 2.48994423034804e-7,
        "peakAbsSlip": 0.0007481622869226577,
        "peakAbsSlipAngleRad": 0.020006436842632026,
        "minimumNormalLoadN": 3332.3840846140483,
        "maximumFrictionUtilization": 0.0112197269825823,
        "finalDriveWorkJ": 38.140824661761556,
        "finalDampingLossJ": 0.00008104671643821422,
        "finalTangentialLossJ": 0.019407814608554796
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      "finalVelocity": [15.001745280804244, 0.29999999998241955],
      "counts": { "rhs": 280, "accepted": 40, "rejected": 0, "native": 882 },
      "maximumResidualSI": 5.684341886080802e-14
    },
    {
      "name": "lateral-only",
      "config": {
        "schemaVersion": "vehiclelab.tire-vehicle-config.v1",
        "scenario": "combined",
        "tireMode": "lateral-only",
        "wheelAlignment": "zero-loaded-toe",
        "initialSpeedMps": 15,
        "lateralVelocityMps": 0.3,
        "yawRateRadps": 0,
        "torqueNm": 40,
        "torqueDistribution": {
          "frontLeft": 0.25,
          "frontRight": 0.25,
          "rearLeft": 0.25,
          "rearRight": 0.25
        },
        "massScale": 1,
        "durationS": 0.08,
        "stepS": 0.002,
        "outputStride": 1,
        "tires": {
          "frontLeft": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "frontRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
              "id": "vehiclelab.tire.combined-isotropic-friction-circle",
              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "rearLeft": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
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              "version": "1.0.0"
            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "rearRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
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            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
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        }
      },
      "definitionIdentity": "{\"name\":\"ML-63 generic point-support reference (zero-loaded-toe; mass factor 1)\",\"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\":\"VehicleLab Generic Front Rack & Tie Rod (unmeasured)\",\"source\":\"generic\"},\"trackM\":1.6,\"rack\":{\"referenceM\":[-0.12,0,-0.12],\"axis\":[0,1,0],\"leftOffsetM\":0.46,\"rightOffsetM\":-0.46,\"minimumM\":-0.03,\"maximumM\":0.03},\"left\":{\"suspension\":{\"schemaVersion\":\"vehiclelab.suspension.v1\",\"mechanism\":\"double-wishbone\",\"metadata\":{\"name\":\"VehicleLab Generic Front Double 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      "metrics": {
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      "counts": { "rhs": 280, "accepted": 40, "rejected": 0, "native": 882 },
      "maximumResidualSI": 1.3642420526593924e-12
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    {
      "name": "lower-speed",
      "config": {
        "schemaVersion": "vehiclelab.tire-vehicle-config.v1",
        "scenario": "combined",
        "tireMode": "combined",
        "wheelAlignment": "zero-loaded-toe",
        "initialSpeedMps": 8,
        "lateralVelocityMps": 0.3,
        "yawRateRadps": 0,
        "torqueNm": 40,
        "torqueDistribution": {
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          "rearRight": 0.25
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        "massScale": 1,
        "durationS": 0.08,
        "stepS": 0.002,
        "outputStride": 1,
        "tires": {
          "frontLeft": {
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            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
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          "frontRight": {
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            "corneringStiffnessNPerRad": 40000,
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          "rearLeft": {
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            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
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          "rearRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
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            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
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      "definitionIdentity": "{\"name\":\"ML-63 generic point-support reference (zero-loaded-toe; mass factor 1)\",\"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\":\"VehicleLab Generic Front Rack & Tie Rod (unmeasured)\",\"source\":\"generic\"},\"trackM\":1.6,\"rack\":{\"referenceM\":[-0.12,0,-0.12],\"axis\":[0,1,0],\"leftOffsetM\":0.46,\"rightOffsetM\":-0.46,\"minimumM\":-0.03,\"maximumM\":0.03},\"left\":{\"suspension\":{\"schemaVersion\":\"vehiclelab.suspension.v1\",\"mechanism\":\"double-wishbone\",\"metadata\":{\"name\":\"VehicleLab Generic Front Double 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      "metrics": {
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        "minimumNormalLoadN": 3105.827055314092,
        "maximumFrictionUtilization": 0.5621021648107642,
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      "counts": { "rhs": 280, "accepted": 40, "rejected": 0, "native": 882 },
      "maximumResidualSI": 2.7284841053187847e-12
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    {
      "name": "upper-speed",
      "config": {
        "schemaVersion": "vehiclelab.tire-vehicle-config.v1",
        "scenario": "combined",
        "tireMode": "combined",
        "wheelAlignment": "zero-loaded-toe",
        "initialSpeedMps": 20,
        "lateralVelocityMps": 0.3,
        "yawRateRadps": 0,
        "torqueNm": 40,
        "torqueDistribution": {
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          "frontRight": 0.25,
          "rearLeft": 0.25,
          "rearRight": 0.25
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        "massScale": 1,
        "durationS": 0.08,
        "stepS": 0.002,
        "outputStride": 1,
        "tires": {
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            "model": {
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            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "frontRight": {
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            "corneringStiffnessNPerRad": 40000,
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          },
          "rearLeft": {
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            },
            "slipStiffnessNPerRatio": 40000,
            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "rearRight": {
            "schemaVersion": "vehiclelab.tire.combined-slip-force.v1",
            "model": {
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            "corneringStiffnessNPerRad": 40000,
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      "definitionIdentity": "{\"name\":\"ML-63 generic point-support reference (zero-loaded-toe; mass factor 1)\",\"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\":\"VehicleLab Generic Front Rack & Tie Rod (unmeasured)\",\"source\":\"generic\"},\"trackM\":1.6,\"rack\":{\"referenceM\":[-0.12,0,-0.12],\"axis\":[0,1,0],\"leftOffsetM\":0.46,\"rightOffsetM\":-0.46,\"minimumM\":-0.03,\"maximumM\":0.03},\"left\":{\"suspension\":{\"schemaVersion\":\"vehiclelab.suspension.v1\",\"mechanism\":\"double-wishbone\",\"metadata\":{\"name\":\"VehicleLab Generic Front Double 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      "metrics": {
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        "peakAbsSlip": 0.0009721356175343583,
        "peakAbsSlipAngleRad": 0.014998875151850626,
        "minimumNormalLoadN": 3188.108126175704,
        "maximumFrictionUtilization": 0.2249293518971562,
        "finalDriveWorkJ": 50.8516674550304,
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        "finalTangentialLossJ": 26.1148494111884
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    },
    "drive": {
      "config": {
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        "scenario": "drive",
        "tireMode": "combined",
        "wheelAlignment": "zero-loaded-toe",
        "initialSpeedMps": 15,
        "lateralVelocityMps": 0,
        "yawRateRadps": 0,
        "torqueNm": 40,
        "torqueDistribution": {
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        "durationS": 0.08,
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            "corneringStiffnessNPerRad": 40000,
            "frictionCoefficient": 0.8
          },
          "frontRight": {
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            "corneringStiffnessNPerRad": 40000,
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          "rearLeft": {
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            "corneringStiffnessNPerRad": 40000,
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      },
      "numerics": {
        "backendId": "vehiclelab.js-tires.cpp-mechanics.ml63.v1",
        "integrator": "rk45",
        "relativeTolerance": 0.000001,
        "absolutePositionM": 1e-10,
        "absoluteAngleRad": 1e-10,
        "absoluteVelocityMps": 1e-8,
        "absoluteAngularRateRadps": 1e-8,
        "minimumStepS": 1e-7,
        "maximumStepS": 0.004
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      "initialState": [
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      "definition": {
        "name": "ML-63 generic point-support reference (zero-loaded-toe; mass factor 1)",
        "gravityMps2": 9.80665,
        "sprungMassKg": 1200,
        "bodyInertiaKgM2": [
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          [0, 1800, 0],
          [0, 0, 2000]
        ],
        "front": {
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            "mechanism": "double-wishbone-rack-tie-rod",
            "headingConstraint": "physical-tie-rod",
            "steeringAxis": "lower-to-upper-ball-joints",
            "carrierConvention": "body-left-spindle-horizontal-forward",
            "metadata": {
              "name": "VehicleLab Generic Front Rack & Tie Rod (unmeasured)",
              "source": "generic"
            },
            "trackM": 1.6,
            "rack": {
              "referenceM": [-0.12, 0, -0.12],
              "axis": [0, 1, 0],
              "leftOffsetM": 0.46,
              "rightOffsetM": -0.46,
              "minimumM": -0.03,
              "maximumM": 0.03
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            "left": {
              "suspension": {
                "schemaVersion": "vehiclelab.suspension.v1",
                "mechanism": "double-wishbone",
                "metadata": {
                  "name": "VehicleLab Generic Front Double Wishbone",
                  "source": "generic"
                },
                "orientationConstraint": "chassis-forward-projection",
                "hardpoints": {
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              "outerTieRodM": [-0.12, -0.06, -0.12],
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                  "source": "generic"
                },
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          },
          "originBodyM": [1.35, 0, -0.45],
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        "rear": {
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            "steeringAxis": "lower-to-upper-ball-joints",
            "carrierConvention": "body-left-spindle-horizontal-forward",
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              "name": "VehicleLab Generic Front Rack & Tie Rod (unmeasured)",
              "source": "generic"
            },
            "trackM": 1.6,
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              "maximumM": 0.03
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            "left": {
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                "schemaVersion": "vehiclelab.suspension.v1",
                "mechanism": "double-wishbone",
                "metadata": {
                  "name": "VehicleLab Generic Front Double Wishbone",
                  "source": "generic"
                },
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        "wheelAlignment": "zero-loaded-toe",
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        "gravityMps2": 9.80665,
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        "bodyInertiaKgM2": [
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            "headingConstraint": "physical-tie-rod",
            "steeringAxis": "lower-to-upper-ball-joints",
            "carrierConvention": "body-left-spindle-horizontal-forward",
            "metadata": {
              "name": "VehicleLab Generic Front Rack & Tie Rod (unmeasured)",
              "source": "generic"
            },
            "trackM": 1.6,
            "rack": {
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                "orientationConstraint": "chassis-forward-projection",
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            "steeringAxis": "lower-to-upper-ball-joints",
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              "name": "VehicleLab Generic Front Rack & Tie Rod (unmeasured)",
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            "steeringAxis": "lower-to-upper-ball-joints",
            "carrierConvention": "body-left-spindle-horizontal-forward",
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}