{
  "version": "v0.35",
  "checked_at": "2026-10-14T16:56:38.384367+00:00",
  "status": "passed",
  "scope": "Independent JSON / matrix-equilibrium / arithmetic audit, not CAD collision, material strength or hardware acceptance.",
  "inputs_sha256": {
    "parameters.json": "ae7bedcdfbc4a961400d310e3868b41f476892ef51cfd7cdeffc5611394ee83b",
    "parts.json": "ca46231e20c9cce605484ed6af24582750d0fafbbbf39ced495c58d4cdb8af26",
    "mass_layout.json": "ab729a160d9cdf4a67ff63f7ccc765e098fa95d45418dbbc5e1e19153d28f21b",
    "calculations.json": "13824f88623e507e996ec9a872075a7b1b43cce267d543855af427290781fee3"
  },
  "checks": [
    {
      "name": "mass_cg_normal",
      "status": "passed",
      "details": {
        "mass_reference_kg": 85.11374198373909,
        "cg_mm": [
          5.655521231152634,
          -28.638726296522577,
          467.9459987629528
        ]
      }
    },
    {
      "name": "mass_cg_moving",
      "status": "passed",
      "details": {
        "mass_reference_kg": 24.711290799339956,
        "cg_mm": [
          -62.52172894138668,
          -112.90584467646138,
          335.8630519685186
        ]
      }
    },
    {
      "name": "mass_cg_measured",
      "status": "passed",
      "details": {
        "mass_reference_kg": 22.040000189798,
        "cg_mm": [
          -87.37960719885982,
          -125.04038382864535,
          307.01907745428025
        ]
      }
    },
    {
      "name": "module_mass_cg_feet",
      "status": "passed",
      "details": {
        "mass_kg": 5.629723184399133,
        "cg_mm": [
          -1.2621273062397246e-15,
          -5.0485092249588986e-15,
          11.250262759043864
        ]
      }
    },
    {
      "name": "module_mass_cg_base",
      "status": "passed",
      "details": {
        "mass_kg": 11.95398,
        "cg_mm": [
          0.0,
          7.167018926500616e-15,
          80.0
        ]
      }
    },
    {
      "name": "module_mass_cg_posts",
      "status": "passed",
      "details": {
        "mass_kg": 13.193651999999997,
        "cg_mm": [
          -1.0340139732800234e-13,
          0.0,
          477.49999999999994
        ]
      }
    },
    {
      "name": "module_mass_cg_top",
      "status": "passed",
      "details": {
        "mass_kg": 10.802856000000002,
        "cg_mm": [
          0.0,
          -2.685869715734493e-15,
          874.9999999999998
        ]
      }
    },
    {
      "name": "module_mass_cg_Y",
      "status": "passed",
      "details": {
        "mass_kg": 7.34368,
        "cg_mm": [
          1.9351135554928868e-15,
          2.3463810893156177e-15,
          922.289250076256
        ]
      }
    },
    {
      "name": "module_mass_cg_Z",
      "status": "passed",
      "details": {
        "mass_kg": 14.149850609541952,
        "cg_mm": [
          170.1225829533443,
          22.497829224849824,
          672.5735502936183
        ]
      }
    },
    {
      "name": "module_mass_cg_sensor",
      "status": "passed",
      "details": {
        "mass_kg": 0.54,
        "cg_mm": [
          2.223368870446859e-15,
          1.8007180568770365e-16,
          455.0
        ]
      }
    },
    {
      "name": "module_mass_cg_wheel",
      "status": "passed",
      "details": {
        "mass_kg": 7.860449719644546,
        "cg_mm": [
          -13.904547945501319,
          -1.1765310769551156,
          266.894352659365
        ]
      }
    },
    {
      "name": "module_mass_cg_rotor",
      "status": "passed",
      "details": {
        "mass_kg": 1.571766578335022,
        "cg_mm": [
          -2.265649415380094e-15,
          -3.8248874384987395,
          180.0
        ]
      }
    },
    {
      "name": "module_mass_cg_drive",
      "status": "passed",
      "details": {
        "mass_kg": 11.608999891818431,
        "cg_mm": [
          -156.47778242530424,
          -236.07806143848072,
          347.62427317892684
        ]
      }
    },
    {
      "name": "module_mass_cg_guard",
      "status": "passed",
      "details": {
        "mass_kg": 0.45878399999999997,
        "cg_mm": [
          -7.034153780711487e-16,
          0.0,
          228.00000000000003
        ]
      }
    },
    {
      "name": "actual_mass_and_hardware_status",
      "status": "passed",
      "details": "Masses incomplete / unweighed; design review and analytical comparison remain explicit."
    },
    {
      "name": "54_static_force_and_moment_scenarios",
      "status": "passed",
      "details": {
        "cases": 54,
        "max_abs_residuals": {
          "vertical_force_N": 0.0,
          "about_X_Nm": 2.842170943040401e-14,
          "about_Y_Nm": 2.1316282072803006e-14,
          "longitudinal_N": 0.0,
          "yaw_Nm": 5.329070518200751e-15
        }
      }
    },
    {
      "name": "wheel_reservation_size_and_origin",
      "status": "passed",
      "details": {
        "expected_axis_mm": [
          0.0,
          0.0,
          180.0
        ],
        "expected_bbox_mm": [
          -110.0,
          110.0,
          -35.0,
          35.0,
          70.0,
          290.0
        ],
        "tyre_reservation_diameter_mm": 220,
        "tyre_reservation_width_mm": 70,
        "nominal_tread_bottom_mm": 80.0,
        "reserve_bottom_mm": 70.0,
        "reserve_is_not_actual_tire": true
      }
    },
    {
      "name": "wheel_speed_ratio_and_steady_drive",
      "status": "passed",
      "details": {
        "ratio": 1.5,
        "wheel_rpm": 1591.5494309189535,
        "motor_rpm": 2387.32414637843,
        "ideal_power_Fx100_W": 1666.6666666666667,
        "efficiency_0p9_is_assumption": true,
        "no_target_speed_hardware_qualification": true
      }
    },
    {
      "name": "energy_vs_physical_angular_momentum",
      "status": "passed",
      "details": {
        "cases": 9,
        "assumptions": "Parallel same-direction axes; physical angular momentum uses i, energy and drive torque use i squared. Other pulley / belt / encoder inertia and losses omitted."
      }
    },
    {
      "name": "main_sensor_signed_reaction",
      "status": "passed",
      "details": {
        "convention": "Sensor on measured wheel group; raw_Fz positive up = W_group minus N; external Fx agrees with global support model.",
        "cases": 15
      }
    },
    {
      "name": "absolute_main_sensor_My_and_pending_class",
      "status": "passed",
      "details": {
        "first_stage_max_abs_My_Nm": 56.386103160242975,
        "M3725A_is_comparison_only": true,
        "recommended_class_is_not_actual_selected_capacity": true,
        "maximum_occurs_Fx_positive_under_this_convention": true
      }
    },
    {
      "name": "inputs_stable_during_QA",
      "status": "passed",
      "details": "No checked design files changed during this run."
    }
  ],
  "findings": [
    {
      "id": "CALC-SIGN-01",
      "status": "corrected_and_verified",
      "issue": "Earlier sensor moment self-weight and contact terms used mixed action/reaction signs.",
      "correction": "Root corrected signed reaction channels and explicitly renamed contact Fx; all 15 signed cases now match independent vector cross products.",
      "absolute_capacity_conclusion_unchanged": true
    }
  ],
  "independent_mass_aggregates": {
    "normal": {
      "mass_reference_kg": 85.11374198373909,
      "cg_mm": [
        5.655521231152634,
        -28.638726296522577,
        467.9459987629528
      ]
    },
    "moving": {
      "mass_reference_kg": 24.711290799339956,
      "cg_mm": [
        -62.52172894138668,
        -112.90584467646138,
        335.8630519685186
      ]
    },
    "measured": {
      "mass_reference_kg": 22.040000189798,
      "cg_mm": [
        -87.37960719885982,
        -125.04038382864535,
        307.01907745428025
      ]
    }
  },
  "static_scenarios": [
    {
      "pose": {
        "N_N": 50,
        "Fx_N": -100,
        "Y_mm": -150,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 8.881784197001252e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        246.25565017679833,
        144.88376491116708,
        247.45657400125037,
        146.08468873561912
      ],
      "constructed_Fx_at_feet_N": [
        34.914864709040174,
        14.938089998620098,
        35.085135290959826,
        15.061910001379905
      ],
      "reconstructed_mu_with_1p5": 0.21267449914736886
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": -100,
        "Y_mm": -150,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 8.881784197001252e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        249.58898351013167,
        148.21709824450042,
        244.12324066791703,
        142.75135540228578
      ],
      "constructed_Fx_at_feet_N": [
        35.38747470714544,
        15.281769867508542,
        34.61252529285456,
        14.718230132491462
      ],
      "reconstructed_mu_with_1p5": 0.21267449914736886
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": -100,
        "Y_mm": -150,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 8.881784197001252e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        256.2556501767983,
        154.88376491116708,
        237.45657400125037,
        136.08468873561912
      ],
      "constructed_Fx_at_feet_N": [
        36.33269470335596,
        15.969129605285422,
        33.66730529664404,
        14.03087039471458
      ],
      "reconstructed_mu_with_1p5": 0.21267449914736886
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": -100,
        "Y_mm": 0,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        211.50583519546362,
        179.63357989250179,
        212.70675901991567,
        180.83450371695383
      ],
      "constructed_Fx_at_feet_N": [
        24.929226298274262,
        24.916710807484886,
        25.070773701725738,
        25.08328919251511
      ],
      "reconstructed_mu_with_1p5": 0.20806280336668517
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": -100,
        "Y_mm": 0,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": 1.5987211554602254e-14,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        214.83916852879696,
        182.96691322583513,
        209.37342568658232,
        177.5011703836205
      ],
      "constructed_Fx_at_feet_N": [
        25.32211106628765,
        25.37907259274419,
        24.67788893371235,
        24.62092740725581
      ],
      "reconstructed_mu_with_1p5": 0.20806280336668517
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": -100,
        "Y_mm": 0,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": -1.2434497875801753e-14,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        221.50583519546362,
        189.63357989250179,
        202.70675901991567,
        170.83450371695383
      ],
      "constructed_Fx_at_feet_N": [
        26.107880602314424,
        26.30379616326279,
        23.892119397685576,
        23.696203836737208
      ],
      "reconstructed_mu_with_1p5": 0.20806280336668517
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": -100,
        "Y_mm": 150,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 1.7763568394002505e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        176.7560202141289,
        214.3833948738365,
        177.95694403858096,
        215.58431869828854
      ],
      "constructed_Fx_at_feet_N": [
        14.949215678077255,
        34.90224304632871,
        15.050784321922745,
        35.09775695367129
      ],
      "reconstructed_mu_with_1p5": 0.24420438252833315
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": -100,
        "Y_mm": 150,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 8.881784197001252e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        180.08935354746225,
        217.71672820716984,
        174.62361070524761,
        212.2509853649552
      ],
      "constructed_Fx_at_feet_N": [
        15.231133764185765,
        35.44491945194723,
        14.768866235814235,
        34.55508054805277
      ],
      "reconstructed_mu_with_1p5": 0.24420438252833315
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": -100,
        "Y_mm": 150,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": -3.552713678800501e-15
      },
      "expected_foot_R_N": [
        186.7560202141289,
        224.3833948738365,
        167.95694403858096,
        205.58431869828854
      ],
      "constructed_Fx_at_feet_N": [
        15.794969936402783,
        36.530272263184266,
        14.205030063597217,
        33.46972773681574
      ],
      "reconstructed_mu_with_1p5": 0.24420438252833315
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 0,
        "Y_mm": -150,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        242.92231684346498,
        141.55043157783373,
        250.78990733458372,
        149.41802206895247
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 0,
        "Y_mm": -150,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        242.92231684346498,
        141.55043157783373,
        250.78990733458372,
        149.41802206895247
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 0,
        "Y_mm": -150,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        242.92231684346498,
        141.55043157783373,
        250.78990733458372,
        149.41802206895247
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 0,
        "Y_mm": 0,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": -1.9539925233402755e-14,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        208.17250186213028,
        176.30024655916844,
        216.040092353249,
        184.16783705028718
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 0,
        "Y_mm": 0,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": -1.9539925233402755e-14,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        208.17250186213028,
        176.30024655916844,
        216.040092353249,
        184.16783705028718
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 0,
        "Y_mm": 0,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": -1.9539925233402755e-14,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        208.17250186213028,
        176.30024655916844,
        216.040092353249,
        184.16783705028718
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 0,
        "Y_mm": 150,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": -1.2434497875801753e-14,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        173.42268688079557,
        211.05006154050315,
        181.2902773719143,
        218.91765203162188
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 0,
        "Y_mm": 150,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": -1.2434497875801753e-14,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        173.42268688079557,
        211.05006154050315,
        181.2902773719143,
        218.91765203162188
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 0,
        "Y_mm": 150,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": -1.2434497875801753e-14,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        173.42268688079557,
        211.05006154050315,
        181.2902773719143,
        218.91765203162188
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 100,
        "Y_mm": -150,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 8.881784197001252e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 5.329070518200751e-15
      },
      "expected_foot_R_N": [
        239.58898351013167,
        138.21709824450042,
        254.12324066791703,
        152.75135540228578
      ],
      "constructed_Fx_at_feet_N": [
        -33.96964471282964,
        -14.250730260843218,
        -36.03035528717035,
        -15.749269739156787
      ],
      "reconstructed_mu_with_1p5": 0.21267449914736886
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 100,
        "Y_mm": -150,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 8.881784197001252e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        236.25565017679833,
        134.88376491116708,
        257.4565740012504,
        156.08468873561912
      ],
      "constructed_Fx_at_feet_N": [
        -33.49703471472438,
        -13.907050391954774,
        -36.50296528527562,
        -16.092949608045227
      ],
      "reconstructed_mu_with_1p5": 0.21267449914736886
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 100,
        "Y_mm": -150,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": 2.1316282072803006e-14,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        229.58898351013167,
        128.21709824450042,
        264.12324066791706,
        162.75135540228578
      ],
      "constructed_Fx_at_feet_N": [
        -32.55181471851385,
        -13.219690654177892,
        -37.44818528148615,
        -16.78030934582211
      ],
      "reconstructed_mu_with_1p5": 0.21267449914736886
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 100,
        "Y_mm": 0,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": 1.7763568394002505e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        204.83916852879696,
        172.96691322583513,
        219.37342568658232,
        187.5011703836205
      ],
      "constructed_Fx_at_feet_N": [
        -24.143456762247485,
        -23.99198723696629,
        -25.85654323775251,
        -26.00801276303371
      ],
      "reconstructed_mu_with_1p5": 0.2080628033666852
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 100,
        "Y_mm": 0,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        201.50583519546362,
        169.63357989250179,
        222.70675901991567,
        190.83450371695383
      ],
      "constructed_Fx_at_feet_N": [
        -23.750571994234097,
        -23.529625451706984,
        -26.249428005765903,
        -26.470374548293012
      ],
      "reconstructed_mu_with_1p5": 0.20806280336668517
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 100,
        "Y_mm": 0,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": 0.0,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        194.83916852879696,
        162.96691322583513,
        229.37342568658232,
        197.5011703836205
      ],
      "constructed_Fx_at_feet_N": [
        -22.964802458207323,
        -22.604901881188386,
        -27.035197541792677,
        -27.39509811881161
      ],
      "reconstructed_mu_with_1p5": 0.20806280336668517
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 100,
        "Y_mm": 150,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 8.881784197001252e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 3.552713678800501e-15
      },
      "expected_foot_R_N": [
        170.08935354746225,
        207.71672820716984,
        184.62361070524761,
        222.2509853649552
      ],
      "constructed_Fx_at_feet_N": [
        -14.385379505860236,
        -33.81689023509168,
        -15.614620494139762,
        -36.18310976490833
      ],
      "reconstructed_mu_with_1p5": 0.24420438252833315
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 100,
        "Y_mm": 150,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 1.7763568394002505e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        166.7560202141289,
        204.3833948738365,
        187.95694403858096,
        225.58431869828854
      ],
      "constructed_Fx_at_feet_N": [
        -14.103461419751728,
        -33.274213829473155,
        -15.896538580248272,
        -36.725786170526845
      ],
      "reconstructed_mu_with_1p5": 0.24420438252833315
    },
    {
      "pose": {
        "N_N": 50,
        "Fx_N": 100,
        "Y_mm": 150,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 1.4210854715202004e-14,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        160.08935354746225,
        197.71672820716984,
        194.62361070524761,
        232.2509853649552
      ],
      "constructed_Fx_at_feet_N": [
        -13.539625247534708,
        -32.188861018236125,
        -16.460374752465288,
        -37.81113898176388
      ],
      "reconstructed_mu_with_1p5": 0.2442043825283332
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": -100,
        "Y_mm": -150,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 8.881784197001252e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": -1.7763568394002505e-15
      },
      "expected_foot_R_N": [
        228.75565017679833,
        137.38376491116708,
        229.95657400125037,
        138.58468873561912
      ],
      "constructed_Fx_at_feet_N": [
        34.9083688385869,
        14.934724940011309,
        35.091631161413105,
        15.065275059988695
      ],
      "reconstructed_mu_with_1p5": 0.22890168272307557
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": -100,
        "Y_mm": -150,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 8.881784197001252e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 1.7763568394002505e-15
      },
      "expected_foot_R_N": [
        232.08898351013167,
        140.71709824450042,
        226.62324066791703,
        135.25135540228578
      ],
      "constructed_Fx_at_feet_N": [
        35.41703924463818,
        15.297085197781898,
        34.582960755361825,
        14.702914802218105
      ],
      "reconstructed_mu_with_1p5": 0.22890168272307557
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": -100,
        "Y_mm": -150,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 8.881784197001252e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        238.75565017679833,
        147.38376491116708,
        219.95657400125037,
        128.58468873561912
      ],
      "constructed_Fx_at_feet_N": [
        36.434380056740736,
        16.021805713323072,
        33.565619943259264,
        13.97819428667693
      ],
      "reconstructed_mu_with_1p5": 0.22890168272307554
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": -100,
        "Y_mm": 0,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        199.00583519546362,
        167.13357989250179,
        200.20675901991567,
        168.33450371695383
      ],
      "constructed_Fx_at_feet_N": [
        24.924794217300914,
        24.910503868838223,
        25.07520578269909,
        25.089496131161773
      ],
      "reconstructed_mu_with_1p5": 0.22356821308614652
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": -100,
        "Y_mm": 0,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": 8.881784197001252e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        202.33916852879696,
        170.46691322583513,
        196.87342568658232,
        165.0011703836205
      ],
      "constructed_Fx_at_feet_N": [
        25.342282716115026,
        25.407322120140773,
        24.657717283884974,
        24.592677879859224
      ],
      "reconstructed_mu_with_1p5": 0.22356821308614652
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": -100,
        "Y_mm": 0,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        209.00583519546362,
        177.13357989250179,
        190.20675901991567,
        158.33450371695383
      ],
      "constructed_Fx_at_feet_N": [
        26.177259713743254,
        26.40095862274587,
        23.82274028625675,
        23.599041377254128
      ],
      "reconstructed_mu_with_1p5": 0.22356821308614655
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": -100,
        "Y_mm": 150,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": -1.4210854715202004e-14,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": -1.7763568394002505e-15
      },
      "expected_foot_R_N": [
        169.2560202141289,
        196.8833948738365,
        170.45694403858096,
        198.08431869828854
      ],
      "constructed_Fx_at_feet_N": [
        14.946973300220062,
        34.89358032970423,
        15.053026699779934,
        35.10641967029578
      ],
      "reconstructed_mu_with_1p5": 0.2658445143537687
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": -100,
        "Y_mm": 150,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 1.4210854715202004e-14,
        "about_Y_Nm": 8.881784197001252e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": -3.552713678800501e-15
      },
      "expected_foot_R_N": [
        172.58935354746225,
        200.21672820716984,
        167.12361070524761,
        194.7509853649552
      ],
      "constructed_Fx_at_feet_N": [
        15.241339457896668,
        35.48434591715705,
        14.75866054210333,
        34.51565408284296
      ],
      "reconstructed_mu_with_1p5": 0.2658445143537687
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": -100,
        "Y_mm": 150,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": -3.552713678800501e-15
      },
      "expected_foot_R_N": [
        179.2560202141289,
        206.8833948738365,
        160.45694403858096,
        188.08431869828854
      ],
      "constructed_Fx_at_feet_N": [
        15.830071773249879,
        36.665877092062686,
        14.169928226750121,
        33.33412290793732
      ],
      "reconstructed_mu_with_1p5": 0.2658445143537687
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 0,
        "Y_mm": -150,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        225.42231684346498,
        134.05043157783373,
        233.28990733458372,
        141.91802206895247
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 0,
        "Y_mm": -150,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        225.42231684346498,
        134.05043157783373,
        233.28990733458372,
        141.91802206895247
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 0,
        "Y_mm": -150,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        225.42231684346498,
        134.05043157783373,
        233.28990733458372,
        141.91802206895247
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 0,
        "Y_mm": 0,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": -1.9539925233402755e-14,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        195.67250186213028,
        163.80024655916844,
        203.540092353249,
        171.66783705028718
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 0,
        "Y_mm": 0,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": -1.9539925233402755e-14,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        195.67250186213028,
        163.80024655916844,
        203.540092353249,
        171.66783705028718
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 0,
        "Y_mm": 0,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": -1.9539925233402755e-14,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        195.67250186213028,
        163.80024655916844,
        203.540092353249,
        171.66783705028718
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 0,
        "Y_mm": 150,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 1.4210854715202004e-14,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        165.92268688079557,
        193.55006154050315,
        173.7902773719143,
        201.41765203162188
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 0,
        "Y_mm": 150,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 1.4210854715202004e-14,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        165.92268688079557,
        193.55006154050315,
        173.7902773719143,
        201.41765203162188
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 0,
        "Y_mm": 150,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 1.4210854715202004e-14,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        165.92268688079557,
        193.55006154050315,
        173.7902773719143,
        201.41765203162188
      ],
      "constructed_Fx_at_feet_N": [
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "reconstructed_mu_with_1p5": 0.0
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 100,
        "Y_mm": -150,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 8.881784197001252e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        222.08898351013167,
        130.71709824450042,
        236.62324066791703,
        145.25135540228578
      ],
      "constructed_Fx_at_feet_N": [
        -33.89102802648434,
        -14.210004424470133,
        -36.10897197351566,
        -15.789995575529868
      ],
      "reconstructed_mu_with_1p5": 0.22890168272307554
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 100,
        "Y_mm": -150,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 8.881784197001252e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        218.75565017679833,
        127.38376491116708,
        239.95657400125037,
        148.58468873561912
      ],
      "constructed_Fx_at_feet_N": [
        -33.38235762043306,
        -13.847644166699546,
        -36.61764237956694,
        -16.152355833300458
      ],
      "reconstructed_mu_with_1p5": 0.22890168272307554
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 100,
        "Y_mm": -150,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": 7.105427357601002e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        212.08898351013167,
        120.7170982445004,
        246.62324066791703,
        155.25135540228578
      ],
      "constructed_Fx_at_feet_N": [
        -32.36501680833051,
        -13.122923651158368,
        -37.6349831916695,
        -16.877076348841634
      ],
      "reconstructed_mu_with_1p5": 0.22890168272307557
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 100,
        "Y_mm": 0,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 1.4210854715202004e-14,
        "about_Y_Nm": 8.881784197001252e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        192.33916852879696,
        160.46691322583513,
        206.87342568658232,
        175.0011703836205
      ],
      "constructed_Fx_at_feet_N": [
        -24.089817219672685,
        -23.91686736623313,
        -25.910182780327315,
        -26.08313263376687
      ],
      "reconstructed_mu_with_1p5": 0.22356821308614655
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 100,
        "Y_mm": 0,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 2.842170943040401e-14,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        189.00583519546362,
        157.13357989250179,
        210.20675901991567,
        178.33450371695383
      ],
      "constructed_Fx_at_feet_N": [
        -23.672328720858573,
        -23.42004911493058,
        -26.32767127914143,
        -26.579950885069415
      ],
      "reconstructed_mu_with_1p5": 0.22356821308614655
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 100,
        "Y_mm": 0,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 1.4210854715202004e-14,
        "about_Y_Nm": 0.0,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        182.33916852879696,
        150.46691322583513,
        216.87342568658232,
        185.0011703836205
      ],
      "constructed_Fx_at_feet_N": [
        -22.837351723230345,
        -22.426412612325485,
        -27.162648276769655,
        -27.57358738767451
      ],
      "reconstructed_mu_with_1p5": 0.22356821308614652
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 100,
        "Y_mm": 150,
        "Z_mm": -40
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 1.4210854715202004e-14,
        "about_Y_Nm": 1.5987211554602254e-14,
        "longitudinal_N": 0.0,
        "yaw_Nm": 3.552713678800501e-15
      },
      "expected_foot_R_N": [
        162.58935354746225,
        190.21672820716984,
        177.12361070524761,
        204.7509853649552
      ],
      "constructed_Fx_at_feet_N": [
        -14.358240984866853,
        -33.71204915479859,
        -15.641759015133145,
        -36.287950845201415
      ],
      "reconstructed_mu_with_1p5": 0.2658445143537687
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 100,
        "Y_mm": 150,
        "Z_mm": 0
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 0.0,
        "about_Y_Nm": -5.329070518200751e-15,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        159.2560202141289,
        186.8833948738365,
        180.45694403858096,
        208.08431869828854
      ],
      "constructed_Fx_at_feet_N": [
        -14.063874827190249,
        -33.12128356734577,
        -15.936125172809751,
        -36.87871643265424
      ],
      "reconstructed_mu_with_1p5": 0.2658445143537687
    },
    {
      "pose": {
        "N_N": 100,
        "Fx_N": 100,
        "Y_mm": 150,
        "Z_mm": 80
      },
      "status": "passed",
      "residuals": {
        "vertical_force_N": 0.0,
        "about_X_Nm": 1.4210854715202004e-14,
        "about_Y_Nm": 1.4210854715202004e-14,
        "longitudinal_N": 0.0,
        "yaw_Nm": 0.0
      },
      "expected_foot_R_N": [
        152.58935354746225,
        180.21672820716984,
        187.12361070524761,
        214.7509853649552
      ],
      "constructed_Fx_at_feet_N": [
        -13.475142511837038,
        -31.939752392440134,
        -16.524857488162958,
        -38.06024760755987
      ],
      "reconstructed_mu_with_1p5": 0.2658445143537687
    }
  ],
  "partial_dynamics": [
    {
      "wheel_inertia_scenario_kgm2": 0.005,
      "ramp_s": 0.25,
      "energy_coefficient_kgm2": 0.006505250000000001,
      "physical_angular_momentum_coefficient_kgm2": 0.0060035,
      "status": "passed",
      "partial_rotor_energy_J": 90.35069444444444,
      "partial_frame_reaction_torque_Nm": 4.0023333333333335,
      "motor_accel_torque_eta0p9_Nm": 3.2124691358024693
    },
    {
      "wheel_inertia_scenario_kgm2": 0.005,
      "ramp_s": 1,
      "energy_coefficient_kgm2": 0.006505250000000001,
      "physical_angular_momentum_coefficient_kgm2": 0.0060035,
      "status": "passed",
      "partial_rotor_energy_J": 90.35069444444444,
      "partial_frame_reaction_torque_Nm": 1.0005833333333334,
      "motor_accel_torque_eta0p9_Nm": 0.8031172839506173
    },
    {
      "wheel_inertia_scenario_kgm2": 0.005,
      "ramp_s": 3,
      "energy_coefficient_kgm2": 0.006505250000000001,
      "physical_angular_momentum_coefficient_kgm2": 0.0060035,
      "status": "passed",
      "partial_rotor_energy_J": 90.35069444444444,
      "partial_frame_reaction_torque_Nm": 0.33352777777777776,
      "motor_accel_torque_eta0p9_Nm": 0.26770576131687246
    },
    {
      "wheel_inertia_scenario_kgm2": 0.01,
      "ramp_s": 0.25,
      "energy_coefficient_kgm2": 0.01150525,
      "physical_angular_momentum_coefficient_kgm2": 0.0110035,
      "status": "passed",
      "partial_rotor_energy_J": 159.79513888888886,
      "partial_frame_reaction_torque_Nm": 7.335666666666666,
      "motor_accel_torque_eta0p9_Nm": 5.6816049382716045
    },
    {
      "wheel_inertia_scenario_kgm2": 0.01,
      "ramp_s": 1,
      "energy_coefficient_kgm2": 0.01150525,
      "physical_angular_momentum_coefficient_kgm2": 0.0110035,
      "status": "passed",
      "partial_rotor_energy_J": 159.79513888888886,
      "partial_frame_reaction_torque_Nm": 1.8339166666666664,
      "motor_accel_torque_eta0p9_Nm": 1.4204012345679011
    },
    {
      "wheel_inertia_scenario_kgm2": 0.01,
      "ramp_s": 3,
      "energy_coefficient_kgm2": 0.01150525,
      "physical_angular_momentum_coefficient_kgm2": 0.0110035,
      "status": "passed",
      "partial_rotor_energy_J": 159.79513888888886,
      "partial_frame_reaction_torque_Nm": 0.6113055555555554,
      "motor_accel_torque_eta0p9_Nm": 0.4734670781893004
    },
    {
      "wheel_inertia_scenario_kgm2": 0.02,
      "ramp_s": 0.25,
      "energy_coefficient_kgm2": 0.02150525,
      "physical_angular_momentum_coefficient_kgm2": 0.0210035,
      "status": "passed",
      "partial_rotor_energy_J": 298.6840277777777,
      "partial_frame_reaction_torque_Nm": 14.002333333333333,
      "motor_accel_torque_eta0p9_Nm": 10.619876543209875
    },
    {
      "wheel_inertia_scenario_kgm2": 0.02,
      "ramp_s": 1,
      "energy_coefficient_kgm2": 0.02150525,
      "physical_angular_momentum_coefficient_kgm2": 0.0210035,
      "status": "passed",
      "partial_rotor_energy_J": 298.6840277777777,
      "partial_frame_reaction_torque_Nm": 3.500583333333333,
      "motor_accel_torque_eta0p9_Nm": 2.6549691358024687
    },
    {
      "wheel_inertia_scenario_kgm2": 0.02,
      "ramp_s": 3,
      "energy_coefficient_kgm2": 0.02150525,
      "physical_angular_momentum_coefficient_kgm2": 0.0210035,
      "status": "passed",
      "partial_rotor_energy_J": 298.6840277777777,
      "partial_frame_reaction_torque_Nm": 1.1668611111111111,
      "motor_accel_torque_eta0p9_Nm": 0.8849897119341563
    }
  ],
  "sensor_signed_cases": [
    {
      "N_N": 50,
      "Fx_N": -150,
      "status": "passed",
      "expected_sensor_on_group_reaction": {
        "raw_Fx_sensor_on_module_N": 150,
        "raw_Fz_reference_N": 166.13856786128255,
        "raw_Mx_reference_Nm": -27.02604948554848,
        "raw_My_reference_Nm": -37.363896839757025
      },
      "reported": {
        "raw_Fx_sensor_on_module_N": 150,
        "raw_Fz_reference_N": 166.13856786128255,
        "raw_Mx_reference_Nm": -27.026049485548473,
        "raw_My_reference_Nm": -37.363896839757025
      }
    },
    {
      "N_N": 50,
      "Fx_N": -100,
      "status": "passed",
      "expected_sensor_on_group_reaction": {
        "raw_Fx_sensor_on_module_N": 100,
        "raw_Fz_reference_N": 166.13856786128255,
        "raw_Mx_reference_Nm": -27.02604948554848,
        "raw_My_reference_Nm": -18.613896839757025
      },
      "reported": {
        "raw_Fx_sensor_on_module_N": 100,
        "raw_Fz_reference_N": 166.13856786128255,
        "raw_Mx_reference_Nm": -27.026049485548473,
        "raw_My_reference_Nm": -18.613896839757025
      }
    },
    {
      "N_N": 50,
      "Fx_N": 0,
      "status": "passed",
      "expected_sensor_on_group_reaction": {
        "raw_Fx_sensor_on_module_N": 0,
        "raw_Fz_reference_N": 166.13856786128255,
        "raw_Mx_reference_Nm": -27.02604948554848,
        "raw_My_reference_Nm": 18.886103160242975
      },
      "reported": {
        "raw_Fx_sensor_on_module_N": 0,
        "raw_Fz_reference_N": 166.13856786128255,
        "raw_Mx_reference_Nm": -27.026049485548473,
        "raw_My_reference_Nm": 18.886103160242975
      }
    },
    {
      "N_N": 50,
      "Fx_N": 100,
      "status": "passed",
      "expected_sensor_on_group_reaction": {
        "raw_Fx_sensor_on_module_N": -100,
        "raw_Fz_reference_N": 166.13856786128255,
        "raw_Mx_reference_Nm": -27.02604948554848,
        "raw_My_reference_Nm": 56.386103160242975
      },
      "reported": {
        "raw_Fx_sensor_on_module_N": -100,
        "raw_Fz_reference_N": 166.13856786128255,
        "raw_Mx_reference_Nm": -27.026049485548473,
        "raw_My_reference_Nm": 56.386103160242975
      }
    },
    {
      "N_N": 50,
      "Fx_N": 150,
      "status": "passed",
      "expected_sensor_on_group_reaction": {
        "raw_Fx_sensor_on_module_N": -150,
        "raw_Fz_reference_N": 166.13856786128255,
        "raw_Mx_reference_Nm": -27.02604948554848,
        "raw_My_reference_Nm": 75.13610316024298
      },
      "reported": {
        "raw_Fx_sensor_on_module_N": -150,
        "raw_Fz_reference_N": 166.13856786128255,
        "raw_Mx_reference_Nm": -27.026049485548473,
        "raw_My_reference_Nm": 75.13610316024298
      }
    },
    {
      "N_N": 100,
      "Fx_N": -150,
      "status": "passed",
      "expected_sensor_on_group_reaction": {
        "raw_Fx_sensor_on_module_N": 150,
        "raw_Fz_reference_N": 116.13856786128255,
        "raw_Mx_reference_Nm": -27.02604948554848,
        "raw_My_reference_Nm": -37.363896839757025
      },
      "reported": {
        "raw_Fx_sensor_on_module_N": 150,
        "raw_Fz_reference_N": 116.13856786128255,
        "raw_Mx_reference_Nm": -27.026049485548473,
        "raw_My_reference_Nm": -37.363896839757025
      }
    },
    {
      "N_N": 100,
      "Fx_N": -100,
      "status": "passed",
      "expected_sensor_on_group_reaction": {
        "raw_Fx_sensor_on_module_N": 100,
        "raw_Fz_reference_N": 116.13856786128255,
        "raw_Mx_reference_Nm": -27.02604948554848,
        "raw_My_reference_Nm": -18.613896839757025
      },
      "reported": {
        "raw_Fx_sensor_on_module_N": 100,
        "raw_Fz_reference_N": 116.13856786128255,
        "raw_Mx_reference_Nm": -27.026049485548473,
        "raw_My_reference_Nm": -18.613896839757025
      }
    },
    {
      "N_N": 100,
      "Fx_N": 0,
      "status": "passed",
      "expected_sensor_on_group_reaction": {
        "raw_Fx_sensor_on_module_N": 0,
        "raw_Fz_reference_N": 116.13856786128255,
        "raw_Mx_reference_Nm": -27.02604948554848,
        "raw_My_reference_Nm": 18.886103160242975
      },
      "reported": {
        "raw_Fx_sensor_on_module_N": 0,
        "raw_Fz_reference_N": 116.13856786128255,
        "raw_Mx_reference_Nm": -27.026049485548473,
        "raw_My_reference_Nm": 18.886103160242975
      }
    },
    {
      "N_N": 100,
      "Fx_N": 100,
      "status": "passed",
      "expected_sensor_on_group_reaction": {
        "raw_Fx_sensor_on_module_N": -100,
        "raw_Fz_reference_N": 116.13856786128255,
        "raw_Mx_reference_Nm": -27.02604948554848,
        "raw_My_reference_Nm": 56.386103160242975
      },
      "reported": {
        "raw_Fx_sensor_on_module_N": -100,
        "raw_Fz_reference_N": 116.13856786128255,
        "raw_Mx_reference_Nm": -27.026049485548473,
        "raw_My_reference_Nm": 56.386103160242975
      }
    },
    {
      "N_N": 100,
      "Fx_N": 150,
      "status": "passed",
      "expected_sensor_on_group_reaction": {
        "raw_Fx_sensor_on_module_N": -150,
        "raw_Fz_reference_N": 116.13856786128255,
        "raw_Mx_reference_Nm": -27.02604948554848,
        "raw_My_reference_Nm": 75.13610316024298
      },
      "reported": {
        "raw_Fx_sensor_on_module_N": -150,
        "raw_Fz_reference_N": 116.13856786128255,
        "raw_Mx_reference_Nm": -27.026049485548473,
        "raw_My_reference_Nm": 75.13610316024298
      }
    },
    {
      "N_N": 150,
      "Fx_N": -150,
      "status": "passed",
      "expected_sensor_on_group_reaction": {
        "raw_Fx_sensor_on_module_N": 150,
        "raw_Fz_reference_N": 66.13856786128255,
        "raw_Mx_reference_Nm": -27.02604948554848,
        "raw_My_reference_Nm": -37.363896839757025
      },
      "reported": {
        "raw_Fx_sensor_on_module_N": 150,
        "raw_Fz_reference_N": 66.13856786128255,
        "raw_Mx_reference_Nm": -27.026049485548473,
        "raw_My_reference_Nm": -37.363896839757025
      }
    },
    {
      "N_N": 150,
      "Fx_N": -100,
      "status": "passed",
      "expected_sensor_on_group_reaction": {
        "raw_Fx_sensor_on_module_N": 100,
        "raw_Fz_reference_N": 66.13856786128255,
        "raw_Mx_reference_Nm": -27.02604948554848,
        "raw_My_reference_Nm": -18.613896839757025
      },
      "reported": {
        "raw_Fx_sensor_on_module_N": 100,
        "raw_Fz_reference_N": 66.13856786128255,
        "raw_Mx_reference_Nm": -27.026049485548473,
        "raw_My_reference_Nm": -18.613896839757025
      }
    },
    {
      "N_N": 150,
      "Fx_N": 0,
      "status": "passed",
      "expected_sensor_on_group_reaction": {
        "raw_Fx_sensor_on_module_N": 0,
        "raw_Fz_reference_N": 66.13856786128255,
        "raw_Mx_reference_Nm": -27.02604948554848,
        "raw_My_reference_Nm": 18.886103160242975
      },
      "reported": {
        "raw_Fx_sensor_on_module_N": 0,
        "raw_Fz_reference_N": 66.13856786128255,
        "raw_Mx_reference_Nm": -27.026049485548473,
        "raw_My_reference_Nm": 18.886103160242975
      }
    },
    {
      "N_N": 150,
      "Fx_N": 100,
      "status": "passed",
      "expected_sensor_on_group_reaction": {
        "raw_Fx_sensor_on_module_N": -100,
        "raw_Fz_reference_N": 66.13856786128255,
        "raw_Mx_reference_Nm": -27.02604948554848,
        "raw_My_reference_Nm": 56.386103160242975
      },
      "reported": {
        "raw_Fx_sensor_on_module_N": -100,
        "raw_Fz_reference_N": 66.13856786128255,
        "raw_Mx_reference_Nm": -27.026049485548473,
        "raw_My_reference_Nm": 56.386103160242975
      }
    },
    {
      "N_N": 150,
      "Fx_N": 150,
      "status": "passed",
      "expected_sensor_on_group_reaction": {
        "raw_Fx_sensor_on_module_N": -150,
        "raw_Fz_reference_N": 66.13856786128255,
        "raw_Mx_reference_Nm": -27.02604948554848,
        "raw_My_reference_Nm": 75.13610316024298
      },
      "reported": {
        "raw_Fx_sensor_on_module_N": -150,
        "raw_Fz_reference_N": 66.13856786128255,
        "raw_Mx_reference_Nm": -27.026049485548473,
        "raw_My_reference_Nm": 75.13610316024298
      }
    }
  ]
}