{
  "engine": "Project Chrono / PyChrono steering linkage",
  "engine_version": "9.0.1",
  "experiment": "Ackermann scrub work from STEP tie-rod pickup geometry",
  "wheelbase_m": 2.5,
  "front_track_m": 1.5,
  "rack_x_m": -0.25,
  "rack_half_width_m": 0.45,
  "rack_travel_m": -0.02,
  "rack_travel_duration_s": 1.0,
  "time_step_s": 0.001,
  "evaluation_rack_displacements_m": [-0.015, -0.02],
  "tire_normal_load_N": 2000.0,
  "tire_friction_limit": 0.8,
  "lateral_slip_stiffness": 15.0,
  "maneuver_distance_m": 10.0,
  "required_relative_scrub_work_reduction": 0.8,
  "maximum_turning_radius_m_at_15mm": 24.0,
  "maximum_turning_radius_m_at_20mm": 18.0,
  "minimum_tie_pickup_y_mm": -100.0,
  "maximum_tie_pickup_y_mm": -20.0,
  "maximum_hub_center_error_mm": 0.00001,
  "maximum_tie_pickup_x_error_mm": 0.00001,
  "maximum_relative_volume_change": 0.000001,
  "maximum_envelope_excess_mm3": 0.0001
}