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Close planar moments at the KinPy contact positions - #136
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rhorvath02 wants to merge 1 commit into
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rhorvath02 wants to merge 1 commit into
rhorvath02 wants to merge 1 commit into
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What
Close the suppressed 3 DOF roll and pitch moments using the same KinPy contact positions as the force output. The correction includes the changed moment arms of the base weight and aero reactions and balances the coupled vertical reactions.
At 12 m/s and 0.03 rad steering, the reproduced residuals fall from about 0.48 N·m roll and 0.23 N·m pitch to numerical noise. The 6/10/14 DOF load equations are unchanged.
Stacked on #135. This addresses the follow-up recorded during audit item 5.
How to check
All 18 offset-CG and steering-direction balance cases pass. The broader dynamics/GGV/lap run passed 260 tests and identified two stored equilibria from the old contact positions. Those cases were re-solved and pass independent tire inversion and transient closure at the existing tolerances. Lint and type checking pass. Final local CI passes with 1,039 tests passed and 21 skipped. GitHub lint, type checking, full tests, and PR-description checks pass. Container-toolchain CI is blocked by the OpenModelica download timeout.
The recorded Modelica baseline has not been changed. The fresh Docker baseline has 19 passes and the same two four-post/ramp-steer failures. All ten reported values match the earlier run. The existing image reports OpenModelica 1.27.1 and passes all 28 DOE checks.