alice-physics 2.2.0

# Vehicle and robot multibody (MBD) coverage of ALICE-Physics, against an
# external reference frame.
#
# What this table is: every capability that the standard texts (Pacejka, Tire
# and Vehicle Dynamics; Gillespie, Fundamentals of Vehicle Dynamics;
# Featherstone, Rigid Body Dynamics Algorithms; Siciliano et al., Robotics:
# Modelling, Planning and Control; Shabana, Dynamics of Multibody Systems),
# reference tools (MuJoCo, Drake, Chrono::Vehicle, CarSim) and standard
# benchmarks (steady-state cornering and the understeer gradient, ISO 3888 lane
# change, ISO 7401 step steer, four-bar and slider-crank kinematics, Andrews'
# squeezing mechanism, PUMA 560 inverse dynamics, hover thrust balance) expect
# of vehicles, robots, ragdolls, characters and rotorcraft built from rigid
# bodies, one [[item]] per capability, with what the crate has today. The rows
# are written by hand: the axes and the items come from the reference frame,
# not from the modules that exist, so a missing capability is visible instead of
# absent.
#
# Boundary with the other tables (one capability lives in one table only):
#   - joints, joint motors (the PD law), gear / rack / pulley joints, closed
#     loops as a position constraint, the articulated-body algorithm, CRBA,
#     RNEA, Baumgarte position correction and the double pendulum belong to the
#     rigid-body table (COV-RIGID-*); rows here that depend on them cite the id
#   - aerodynamic laws (lift / drag coefficients, atmosphere) belong to the
#     environment table; the rotor thrust law and the vehicle's own drag / lift
#     use are here
#   - sensors, state estimation and learned or neural control laws belong to
#     the sensing table
#   - ropes, cloth and soft bodies belong to the SOFT table
#   - boats and buoyancy belong to the environment table
# A capability built from several existing parts without a test is
# `implemented-no-oracle`; a benchmark that can be assembled from existing
# functions but has no test is `missing` with the recipe in `evidence`.
#
# status (exactly one of):
#   implemented+oracle     implemented, and at least one non-ignored test checks
#                          it against an independent reference
#   implemented-no-oracle  implemented, no such test
#   partial                implemented with a restriction that the source states;
#                          `limitation` quotes it, and the source carries a
#                          `LIMITATION(<id>)` comment at that place
#   missing                not implemented
#   out-of-scope           not a capability of this field (reason in `evidence`)
#
# This axis is separate from the test ignore reasons (`known defect: ...`,
# `src gap: ...`, `diagnostic`, `runtime`). A capability that exists with a
# recorded defect keeps its status and cites the known-defect test in
# `evidence`; it is not `missing`.
#
# keys: id (COV-MBD-NNN) / axis / item / source (book, chapter, standard or
# reference-tool feature; no quoted text) / status / evidence
# (`src/...rs::symbol`, `tests/...rs::test_fn`) / oracle_candidate / limitation
# (verbatim quote of the source, required for `partial`).
#
# Reference values marked "参照値要確認" are to be checked against the original
# publication before any test uses them. Lines marked "(推測)" were judged from
# a search that found nothing and are to be confirmed.
#
# Checked by scripts/coverage_check.py (tests: scripts/test_coverage_check.py).

[[item]]
id = "COV-MBD-001"
axis = "tyre"
item = "brush (Fiala) tyre model with combined slip on the friction ellipse"
source = "Pacejka, Tire and Vehicle Dynamics ch.3 (brush model); Gillespie, Fundamentals of Vehicle Dynamics ch.10"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/tire.rs::BrushTire src/vehicle_dynamics/tire.rs::brush_pure_lateral_matches_fiala_closed_form src/vehicle_dynamics/tire.rs::brush_combined_slip_matches_closed_form src/vehicle_dynamics/tire.rs::brush_locked_wheel_is_exactly_minus_mu_kinetic_fz"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-002"
axis = "tyre"
item = "Magic Formula pure-slip curves F = D sin(C atan(B s - E (B s - atan B s)))"
source = "Pacejka, Tire and Vehicle Dynamics ch.4 (Magic Formula); Chrono::Vehicle / CarSim tyre models"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/tire.rs::MagicFormulaTire src/vehicle_dynamics/tire.rs::mf_matches_pacejka_formula_on_slip_grid src/vehicle_dynamics/tire.rs::mf_pure_slip_equals_d_sin_formula"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-003"
axis = "tyre"
item = "Magic Formula combined slip (weighting functions G_xa, G_yk)"
source = "Pacejka, Tire and Vehicle Dynamics ch.4.3 (combined slip)"
status = "partial"
evidence = "純すべり曲線を摩擦楕円へ半径方向に射影するだけで、重み関数による結合は無い src/vehicle_dynamics/tire.rs::force src/vehicle_dynamics/tire.rs::mf_combined_slip_is_scaled_onto_the_ellipse"
oracle_candidate = "同じ κ, α で重み関数の結合と楕円射影の差を測る (係数は原典の例、参照値要確認)"
limitation = "src/vehicle_dynamics/tire.rs::MagicFormulaTire 'Pacejka Magic Formula (pure-slip curves, combined by the friction ellipse).'"

[[item]]
id = "COV-MBD-004"
axis = "tyre"
item = "full Magic Formula coefficient set (load-dependent B, C, D, E via dfz, horizontal / vertical shifts, .tir parameter files)"
source = "Pacejka, Tire and Vehicle Dynamics ch.4.3 (MF 5.2 / 6.1); Chrono::Vehicle TMeasy / Pacejka"
status = "missing"
evidence = "係数は B, C, E の 6 個だけで D = μ F_z (src/vehicle_dynamics/tire.rs::MagicFormulaTire)、shift と荷重依存の係数は無い 分割: 子の行 COV-MBD-143〜144 この行の status は子のうち最も実装の少ないもの (missing) に合わせて手で保つ (検査器は親子を見ない)"
oracle_candidate = "原典の係数表で F_y(α, F_z) の曲線族を突合 (参照値要確認)"
limitation = ""

[[item]]
id = "COV-MBD-005"
axis = "tyre"
item = "tyre load sensitivity (cornering stiffness and peak friction vs normal load)"
source = "Pacejka, Tire and Vehicle Dynamics ch.1, ch.4; Gillespie, Fundamentals of Vehicle Dynamics ch.10"
status = "missing"
evidence = "brush の傾きは荷重に依らない (src/vehicle_dynamics/tire.rs::BrushTire)、MF も D = μ F_z で μ は荷重に依らない"
oracle_candidate = "荷重 2 倍で横力が 2 倍未満になることを測る"
limitation = ""

[[item]]
id = "COV-MBD-006"
axis = "tyre"
item = "self-aligning moment M_z (pneumatic trail)"
source = "Pacejka, Tire and Vehicle Dynamics ch.3.2, ch.4; Gillespie, Fundamentals of Vehicle Dynamics ch.10"
status = "missing"
evidence = "出力は縦力と横力だけ (src/vehicle_dynamics/tire.rs::TireForce)"
oracle_candidate = "brush の pneumatic trail t = a/3 (小すべり) の閉形式"
limitation = ""

[[item]]
id = "COV-MBD-007"
axis = "tyre"
item = "overturning moment M_x and rolling-resistance moment M_y from the tyre model"
source = "Pacejka, Tire and Vehicle Dynamics ch.4.3"
status = "missing"
evidence = "出力は縦力と横力だけ (src/vehicle_dynamics/tire.rs::TireForce)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-008"
axis = "tyre"
item = "camber thrust (inclination angle)"
source = "Pacejka, Tire and Vehicle Dynamics ch.3, ch.4; Gillespie, Fundamentals of Vehicle Dynamics ch.10"
status = "missing"
evidence = "camber / inclination の語は src/vehicle_dynamics と src/vehicle.rs で 0 件、車輪は路面法線に対して直立の扱い"
oracle_candidate = "brush の camber 剛性で F_y = C_γ γ (小角)"
limitation = ""

[[item]]
id = "COV-MBD-009"
axis = "tyre"
item = "transient tyre: relaxation length (first-order lag of slip)"
source = "Pacejka, Tire and Vehicle Dynamics ch.7, ch.8"
status = "missing"
evidence = "slip は毎 sweep 現在の接点速度から計算 (src/vehicle_dynamics/mod.rs::update)、relaxation の語は 0 件"
oracle_candidate = "操舵ステップで横力が σ / v の時定数で立ち上がる閉形式"
limitation = ""

[[item]]
id = "COV-MBD-010"
axis = "tyre"
item = "slip definition with a low-speed velocity floor (stand-still stability)"
source = "Pacejka, Tire and Vehicle Dynamics ch.2 (low-speed slip); Chrono::Vehicle"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/mod.rs::DynamicVehicleConfig src/vehicle_dynamics/mod.rs::lateral_friction_does_not_overshoot_at_low_speed src/vehicle_dynamics/mod.rs::friction_never_reverses_contact_velocity"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-011"
axis = "tyre"
item = "rigid-ring / flexible-belt tyre for short-wavelength road inputs (SWIFT, FTire)"
source = "Pacejka, Tire and Vehicle Dynamics ch.9, ch.10"
status = "missing"
evidence = "タイヤは接点 1 点の力の法則のみ 分割: 子の行 COV-MBD-145〜146 この行の status は子のうち最も実装の少ないもの (missing) に合わせて手で保つ (検査器は親子を見ない)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-012"
axis = "tyre"
item = "tyre vertical compliance and enveloping of road unevenness (contact patch, not a single ray)"
source = "Pacejka, Tire and Vehicle Dynamics ch.10; Chrono::Vehicle"
status = "missing"
evidence = "接地は 1 本の ray probe で、タイヤ半径方向の剛性も無い (src/vehicle_dynamics/mod.rs::update)"
oracle_candidate = "段差乗り越えの接点力"
limitation = ""

[[item]]
id = "COV-MBD-013"
axis = "tyre"
item = "tyre thermal state, wear, and inflation pressure acting on stiffness / grip"
source = "Pacejka, Tire and Vehicle Dynamics ch.1; FTire"
status = "missing"
evidence = "空気圧は hydroplaning の判定にだけ使う (src/vehicle_dynamics/mod.rs::DynamicVehicleConfig) 分割: 子の行 COV-MBD-147〜149 この行の status は子のうち最も実装の少ないもの (missing) に合わせて手で保つ (検査器は親子を見ない)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-014"
axis = "tyre"
item = "rolling resistance force C_rr F_z"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.4; Wong, Theory of Ground Vehicles ch.1"
status = "partial"
evidence = "src/vehicle_dynamics/mod.rs::update tests/analytic_vehicle_dynamics.rs::rolling_resistance_coast_down_is_linear src/vehicle_dynamics/mod.rs::rolling_resistance_never_reverses_the_roll"
oracle_candidate = "車輪 spin にも転がり抵抗モーメントを掛けた時の惰行の閉形式"
limitation = "src/vehicle_dynamics/mod.rs::update 'it does not act on the spin'"

[[item]]
id = "COV-MBD-015"
axis = "suspension"
item = "spring-damper suspension per wheel (progressive rate, bump stop, separate bump / rebound damping)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.5; Chrono::Vehicle suspension templates"
status = "partial"
evidence = "src/vehicle_dynamics/mod.rs::update tests/vehicle_dynamics_degenerate.rs::heavy_chassis_settles_at_closed_form_ride_height tests/vehicle_dynamics_degenerate.rs::light_chassis_settles_at_closed_form_ride_height tests/analytic_vehicle_wiring.rs::progressive_rate_and_bump_stop_add_to_the_spring tests/analytic_vehicle_wiring.rs::damping_resists_velocity_with_separate_bump_and_rebound_rates"
oracle_candidate = "硬いばね・粗い dt で安定限界 (ω_n dt)² + 2 c dt / m < 4 を境に発散 / 収束が切り替わることを測る"
limitation = "src/vehicle_dynamics/mod.rs::update 'The suspension is coupled explicitly, one impulse per frame.'"

[[item]]
id = "COV-MBD-016"
axis = "suspension"
item = "suspension and tyre forces applied at each contact point (pitch, roll and load transfer emerge)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2, ch.3"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/mod.rs tests/analytic_vehicle_dynamics.rs::braking_load_transfer_to_front_axle tests/analytic_vehicle_dynamics.rs::braking_pitches_nose_down_through_contact_points src/vehicle_dynamics/mod.rs::contact_force_gives_arm_torque"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-017"
axis = "suspension"
item = "anti-roll bar"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.7, ch.8"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/mod.rs::update src/vehicle_dynamics/mod.rs::anti_roll_loads_the_compressed_side tests/analytic_vehicle_wiring.rs::anti_roll_bar_acts_on_the_compression_difference"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-018"
axis = "suspension"
item = "suspension kinematics (camber / toe change with travel; double wishbone, MacPherson, multilink linkages)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.7; Chrono::Vehicle suspension templates; CarSim kinematics tables"
status = "missing"
evidence = "ばねは up 方向の 1 軸の力で、リンク機構と姿勢変化は無い 分割: 子の行 COV-MBD-140〜142 この行の status は子のうち最も実装の少ないもの (missing) に合わせて手で保つ (検査器は親子を見ない)"
oracle_candidate = "double wishbone の camber gain の閉形式"
limitation = ""

[[item]]
id = "COV-MBD-019"
axis = "suspension"
item = "roll centre, anti-dive and anti-squat geometry"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.7"
status = "missing"
evidence = "サスペンションのリンク幾何が無い"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-020"
axis = "suspension"
item = "suspension as joints of the multibody model (wheel carrier as a body)"
source = "Shabana, Dynamics of Multibody Systems ch.3; Chrono::Vehicle"
status = "missing"
evidence = "車輪は spin の状態だけで剛体として world に入らない (ray probe + 力の法則)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-021"
axis = "suspension"
item = "unsprung mass dynamics (wheel hop, two-mass quarter car)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.5"
status = "missing"
evidence = "車輪の状態は spin と接地情報だけで、上下方向の質量と自由度が無い (src/vehicle_dynamics/mod.rs::WheelDynamicsState)"
oracle_candidate = "quarter car の 2 つの固有振動数"
limitation = ""

[[item]]
id = "COV-MBD-022"
axis = "steering"
item = "Ackermann steering geometry (inner / outer wheel angles)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.6"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/mod.rs::steer_angles src/vehicle_dynamics/mod.rs::ackermann_matches_closed_form tests/analytic_vehicle_dynamics.rs::low_speed_turning_radius_matches_wheelbase_over_tan_delta tests/analytic_vehicle_dynamics.rs::low_speed_turning_radius_with_ackermann_beats_parallel_steering"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-023"
axis = "steering"
item = "steering system dynamics (rack ratio, column compliance, steering torque from the aligning moment)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.8; CarSim steering system"
status = "missing"
evidence = "操舵入力は車輪角に直接写像する (操舵系の慣性・剛性・反力は無い)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-024"
axis = "steering"
item = "rear-wheel and counter-phase four-wheel steering"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.6"
status = "missing"
evidence = "Ackermann は前輪だけに掛かり、後輪を操舵可能にすると前輪と同じ角で同相に切れる (src/vehicle_dynamics/mod.rs::steer_angles) (推測)"
oracle_candidate = "低速の逆相 4WS で旋回半径が縮む閉形式"
limitation = ""

[[item]]
id = "COV-MBD-025"
axis = "powertrain"
item = "engine full-throttle torque curve with rev limiter"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2; CarSim powertrain"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/powertrain.rs::TorqueCurve src/vehicle_dynamics/powertrain.rs::torque_curve_linear_between_points src/vehicle_dynamics/powertrain.rs::rev_limiter_caps_speed_per_gear tests/analytic_vehicle_dynamics.rs::gear_top_speed_converges_to_rev_limit"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-026"
axis = "powertrain"
item = "gearbox ratios, final drive and manual shifting"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/powertrain.rs::Powertrain src/vehicle_dynamics/powertrain.rs::total_ratio_is_gear_times_final_drive src/vehicle_dynamics/powertrain.rs::shift_clamps_at_both_ends"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-027"
axis = "powertrain"
item = "engine braking with the throttle closed"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/powertrain.rs::axle_torque src/vehicle_dynamics/powertrain.rs::engine_brake_opposes_spin_and_scales_with_rpm src/vehicle_dynamics/powertrain.rs::partial_throttle_blends_drive_and_brake"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-028"
axis = "powertrain"
item = "engine rotational inertia and clutch / torque converter (engine speed as a state)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2; Chrono::Vehicle powertrain"
status = "missing"
evidence = "engine rpm は駆動輪の spin からの運動学的な換算で、状態を持たない (src/vehicle_dynamics/powertrain.rs::engine_rpm)"
oracle_candidate = "発進時のクラッチ滑りのエネルギー収支"
limitation = ""

[[item]]
id = "COV-MBD-029"
axis = "powertrain"
item = "automatic gear shifting (shift schedule)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2; CarSim powertrain"
status = "missing"
evidence = "変速は shift_up / shift_down の手動のみ (src/vehicle_dynamics/powertrain.rs::shift_up)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-030"
axis = "powertrain"
item = "open differential"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/powertrain.rs::Differential src/vehicle_dynamics/mod.rs::open_differential_splits_torque tests/analytic_vehicle_dynamics.rs::launch_within_grip_follows_drive_torque"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-031"
axis = "powertrain"
item = "locked differential (shared spin)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/powertrain.rs::Differential src/vehicle_dynamics/mod.rs::locked_differential_shares_spin"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-032"
axis = "powertrain"
item = "limited-slip differential (clutch, viscous, Torsen)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2; Chrono::Vehicle driveline"
status = "missing"
evidence = "Differential は Open と Locked の 2 種のみ (src/vehicle_dynamics/powertrain.rs::Differential) 分割: 子の行 COV-MBD-150〜152 この行の status は子のうち最も実装の少ないもの (missing) に合わせて手で保つ (検査器は親子を見ない)"
oracle_candidate = "片輪低 μ の発進で LSD のトルク比 (bias ratio)"
limitation = ""

[[item]]
id = "COV-MBD-033"
axis = "powertrain"
item = "all-wheel drive centre differential, front / rear torque split and torque vectoring"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2"
status = "missing"
evidence = "駆動トルクは 1 本の axle_torque を駆動輪に分けるだけで、前後配分の機構は無い 分割: 子の行 COV-MBD-153〜154 この行の status は子のうち最も実装の少ないもの (missing) に合わせて手で保つ (検査器は親子を見ない)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-034"
axis = "powertrain"
item = "electric traction motor (torque-speed envelope, regenerative braking)"
source = "Chrono::Vehicle electric powertrain; CarSim EV powertrain"
status = "missing"
evidence = "動力源は内燃機関のトルク曲線のみ"
oracle_candidate = "定トルク域・定出力域の境の速度"
limitation = ""

[[item]]
id = "COV-MBD-035"
axis = "powertrain"
item = "wheel spin dynamics I w' = T_drive - T_brake - F_x r with an implicit tyre slope"
source = "Pacejka, Tire and Vehicle Dynamics ch.1; Gillespie, Fundamentals of Vehicle Dynamics ch.2"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/mod.rs::update src/vehicle_dynamics/mod.rs::longitudinal_friction_does_not_overshoot_the_wheel_speed tests/analytic_vehicle_dynamics.rs::launch_beyond_grip_is_limited_by_rear_axle_load tests/vehicle_dynamics_degenerate.rs::airborne_driven_wheels_spin_up_freely"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-036"
axis = "powertrain"
item = "driveline torsional compliance (half-shaft wind-up, shuffle)"
source = "Chrono::Vehicle driveline; CarSim driveline"
status = "missing"
evidence = "駆動系は剛 (ねじり剛性の状態が無い)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-037"
axis = "brakes"
item = "brake torque per axle, Coulomb brake, wheel lock"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.3"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/mod.rs::BrakeSystem tests/analytic_vehicle_dynamics.rs::stopping_distance_dry_locked_wheels src/vehicle_dynamics/mod.rs::large_brake_locks_in_one_frame_and_holds src/vehicle_dynamics/mod.rs::brake_reduces_spin_without_reversal"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-038"
axis = "brakes"
item = "handbrake on the rear wheels"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.3"
status = "implemented-no-oracle"
evidence = "src/vehicle_dynamics/mod.rs::BrakeSystem test は入力の clamp だけ (tests/vehicle_dynamics_degenerate.rs::out_of_range_inputs_clamp_to_the_boundary)"
oracle_candidate = "旋回中に後輪だけ lock した時の yaw"
limitation = ""

[[item]]
id = "COV-MBD-039"
axis = "brakes"
item = "anti-lock braking (slip-target modulation)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.3; Bosch Automotive Handbook (ABS)"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/mod.rs::AbsConfig tests/analytic_vehicle_dynamics.rs::abs_keeps_wheels_rolling_and_respects_peak_grip_bound src/vehicle_dynamics/mod.rs::abs_holds_target_slip tests/analytic_vehicle_dynamics.rs::braking_with_steering_yaws_only_with_abs"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-040"
axis = "brakes"
item = "load-dependent brake force distribution (proportioning valve, electronic brake-force distribution)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.3"
status = "missing"
evidence = "前後の最大ブレーキトルクは固定値 (src/vehicle_dynamics/mod.rs::BrakeSystem)"
oracle_candidate = "理想制動力配分曲線との比較"
limitation = ""

[[item]]
id = "COV-MBD-041"
axis = "brakes"
item = "traction control (drive-torque reduction on wheel spin)"
source = "Bosch Automotive Handbook (TCS)"
status = "missing"
evidence = "駆動側の slip 制御は無い (ABS は制動側のみ)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-042"
axis = "brakes"
item = "electronic stability control (yaw moment from individual wheel brakes)"
source = "Bosch Automotive Handbook (ESC)"
status = "missing"
evidence = "個別輪の制動による yaw 制御は無い"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-043"
axis = "brakes"
item = "brake thermal fade and hydraulic dynamics"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.3"
status = "missing"
evidence = "ブレーキトルクはペダル入力に比例する静的な値"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-044"
axis = "aero-road"
item = "aerodynamic drag and lift with wind (relative air velocity)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.4; Hucho, Aerodynamics of Road Vehicles"
status = "partial"
evidence = "src/vehicle_dynamics/mod.rs::update tests/analytic_vehicle_dynamics.rs::cross_wind_force_follows_relative_velocity_squared tests/analytic_vehicle_dynamics.rs::cross_wind_on_the_road_is_carried_by_lateral_tyre_force src/vehicle_dynamics/mod.rs::wind_sets_relative_air_speed"
oracle_candidate = "前後の downforce 配分と pitching moment を入れた時の前後輪荷重"
limitation = "src/vehicle_dynamics/mod.rs::update '**Aerodynamics** at the centre of mass'"

[[item]]
id = "COV-MBD-045"
axis = "aero-road"
item = "road surface geometry (plane, slope, height field, triangle mesh, SDF)"
source = "Chrono::Vehicle terrain; CarSim road"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/surface.rs::RoadSurface src/vehicle_dynamics/surface.rs::heightfield_linear_oblique_matches_closed_form src/vehicle_dynamics/surface.rs::trimesh_quad_matches_closed_form src/vehicle_dynamics/surface.rs::sdf_sphere_matches_closed_form src/vehicle_dynamics/surface.rs::incline_vertical_probe_matches_closed_form"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-046"
axis = "aero-road"
item = "weather-dependent grip (dry, wet, snow, ice)"
source = "Wong, Theory of Ground Vehicles (4th ed.) Table 1.3"
status = "partial"
evidence = "src/vehicle_dynamics/surface.rs::weather_factor tests/analytic_vehicle_dynamics.rs::stopping_distance_wet_and_ratio_to_dry tests/analytic_vehicle_dynamics.rs::stopping_distance_ice_and_ratio_to_dry src/vehicle_dynamics/surface.rs::weather_table_ratios_are_exact"
oracle_candidate = "路面ごとに静止 / 動摩擦の比を分けた時の制動距離"
limitation = "src/vehicle_dynamics/surface.rs::weather_factor 'One factor scales static and kinetic coefficients alike'"

[[item]]
id = "COV-MBD-047"
axis = "aero-road"
item = "hydroplaning (Horne onset speed and grip loss)"
source = "Horne-Joyner, NASA TN D-2056; SAE 650145"
status = "partial"
evidence = "src/vehicle_dynamics/surface.rs::hydroplaning_onset_speed src/vehicle_dynamics/surface.rs::horne_onset_speed_matches_f64 tests/analytic_vehicle_dynamics.rs::hydroplaning_reduces_deceleration_only_above_onset_speed"
oracle_candidate = ""
limitation = "src/vehicle_dynamics/surface.rs::grip 'Hydroplaning loss (a model, not a measured law)'"

[[item]]
id = "COV-MBD-048"
axis = "aero-road"
item = "parked car holds on a slope below the static limit and slides above it"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.3"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/mod.rs::update tests/analytic_vehicle_dynamics.rs::slope_below_static_friction_holds_the_car tests/analytic_vehicle_dynamics.rs::slope_above_static_friction_slides_with_kinetic_deceleration src/vehicle_dynamics/mod.rs::braked_car_holds_on_slope"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-049"
axis = "aero-road"
item = "deformable terrain and off-road traction (Bekker-Wong soil, sinkage)"
source = "Wong, Theory of Ground Vehicles ch.2; Chrono::Vehicle SCM terrain"
status = "missing"
evidence = "路面は剛体の幾何のみ"
oracle_candidate = "Bekker の圧力-沈下式の閉形式"
limitation = ""

[[item]]
id = "COV-MBD-050"
axis = "aero-road"
item = "road roughness input (ISO 8608 road profile PSD)"
source = "ISO 8608; Gillespie ch.5"
status = "missing"
evidence = "路面の不整を生成する機能は無い (height field は任意の形を受けるだけ)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-051"
axis = "vehicle"
item = "simple ray-cast vehicle (forces summed at the centre of mass)"
source = "Bullet raycast vehicle; PhysX vehicle (simple)"
status = "partial"
evidence = "src/vehicle.rs::WheelConfig tests/analytic_vehicle_wiring.rs::spring_force_is_stiffness_times_compression tests/analytic_vehicle_wiring.rs::drive_force_is_torque_over_radius_split_across_driven_grounded_wheels"
oracle_candidate = ""
limitation = "src/vehicle.rs 'forces are summed and applied at the centre of mass as one impulse, so the wheels do not produce yaw or load transfer by themselves.'"

[[item]]
id = "COV-MBD-052"
axis = "vehicle"
item = "per-axle or per-wheel tyre parameters"
source = "Chrono::Vehicle tyre per wheel; CarSim tyre per axle"
status = "missing"
evidence = "タイヤのモデルは全輪共通 (src/vehicle_dynamics/mod.rs::DynamicVehicleConfig)"
oracle_candidate = "前後で C_α を変えた時のアンダーステア勾配"
limitation = ""

[[item]]
id = "COV-MBD-053"
axis = "vehicle"
item = "trailers and articulated vehicles (tow hitch)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.6; CarSim / TruckSim"
status = "missing"
evidence = "連結車の機能は無い (trailer / hitch の語は 0 件)"
oracle_candidate = "牽引車 + 1 軸 trailer の低速 off-tracking の閉形式"
limitation = ""

[[item]]
id = "COV-MBD-054"
axis = "vehicle"
item = "two-wheelers (bicycle, motorcycle)"
source = "Meijaard et al. 2007, Proc. R. Soc. A (Whipple benchmark); Cossalter, Motorcycle Dynamics"
status = "missing"
evidence = "二輪車のモデルは無い"
oracle_candidate = "Whipple 自転車の固有値 vs 速度 (参照値要確認)"
limitation = ""

[[item]]
id = "COV-MBD-055"
axis = "vehicle"
item = "tracked vehicles"
source = "Wong, Theory of Ground Vehicles ch.4; Chrono::Vehicle tracked"
status = "missing"
evidence = "装軌車のモデルは無い"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-056"
axis = "vehicle"
item = "multi-vehicle scenario runner with deterministic recording and replay"
source = "CarSim / IPG CarMaker scenario runner"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/scenario.rs::Scenario tests/analytic_vehicle_scenario.rs::replay_round_trip_is_bit_exact tests/analytic_vehicle_scenario.rs::separated_cars_together_equal_each_alone_bitwise tests/analytic_vehicle_scenario.rs::replay_detects_one_bit_input_change_and_missing_restore"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-057"
axis = "vehicle"
item = "longitudinal gap metrics (time to collision, time headway, stopping-distance meter)"
source = "ISO 15622 (time gap definition); Gillespie ch.3"
status = "implemented+oracle"
evidence = "src/vehicle_dynamics/scenario.rs::time_to_collision tests/analytic_vehicle_scenario.rs::ttc_and_headway_closed_form_on_values tests/analytic_vehicle_scenario.rs::ttc_on_the_runner_matches_closed_form tests/analytic_vehicle_scenario.rs::stopping_distance_meter_matches_locked_closed_form"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-058"
axis = "vehicle"
item = "driver model (path and speed following with preview)"
source = "CarSim driver model; MacAdam 1981 preview driver"
status = "missing"
evidence = "入力は open-loop の DriverInput 列か呼び手の closure だけで、経路追従の模型は無い"
oracle_candidate = "定常円で横偏差が 0 に収束"
limitation = ""

[[item]]
id = "COV-MBD-059"
axis = "formulation"
item = "Lagrange-multiplier DAE formulation for closed loops (index-3 / index-1)"
source = "Shabana, Dynamics of Multibody Systems ch.3, ch.5; Haug, Computer-Aided Kinematics and Dynamics of Mechanical Systems"
status = "missing"
evidence = "閉ループは位置の射影 (src/kinematic_loop.rs の Baumgarte 風の位置補正) と距離拘束で扱い、乗数を持つ DAE は無い (位置の閉ループ自体は COV-RIGID-034)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-060"
axis = "formulation"
item = "constraint drift control for multibody DAEs (Baumgarte on the index-1 form, coordinate projection, GGL)"
source = "Shabana, Dynamics of Multibody Systems ch.5; Bauchau, Flexible Multibody Dynamics ch.12"
status = "missing"
evidence = "DAE の形が無いので対応する安定化も無い (最大座標の solver の位置補正は COV-RIGID-043)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-061"
axis = "formulation"
item = "coordinate partitioning and null-space (minimal-coordinate) projection for loops"
source = "Shabana, Dynamics of Multibody Systems ch.5; Wehage-Haug 1982"
status = "missing"
evidence = "無い"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-062"
axis = "formulation"
item = "implicit integrators for stiff multibody systems (HHT-a, generalized-a, BDF)"
source = "Arnold-Bruls 2007 (generalized-a for MBS); MuJoCo / Drake integrators"
status = "missing"
evidence = "MBS 用の陰的積分器は無い (ABA の積分は semi-implicit Euler、src/articulation.rs::solve) 分割: 子の行 COV-MBD-155〜156 この行の status は子のうち最も実装の少ないもの (missing) に合わせて手で保つ (検査器は親子を見ない)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-063"
axis = "formulation"
item = "flexible multibody bodies (floating frame of reference, ANCF)"
source = "Shabana, Dynamics of Multibody Systems ch.5-7; Bauchau"
status = "missing"
evidence = "柔軟体を多体系の 1 要素として扱う定式化は無い"
oracle_candidate = "片持ち回転梁 (spin-up beam) の参照解 (参照値要確認)"
limitation = ""

[[item]]
id = "COV-MBD-064"
axis = "formulation"
item = "kinematic analysis of mechanisms (position / velocity / acceleration from the constraint Jacobian)"
source = "Haug ch.3; Norton, Design of Machinery ch.4-7"
status = "missing"
evidence = "拘束 Jacobian を組んで解く運動学解析は無い (four-bar の組立は円の交点の閉形式のみ)"
oracle_candidate = "four-bar の出力角速度の閉形式"
limitation = ""

[[item]]
id = "COV-MBD-065"
axis = "formulation"
item = "loop closure with orientation (spatial mechanisms, gear meshing)"
source = "Haug ch.4; IFToMM MBD benchmarks"
status = "missing"
evidence = "閉ループは位置のみで、姿勢は揃えない (src/kinematic_loop.rs)"
oracle_candidate = "Bricard 機構"
limitation = ""

[[item]]
id = "COV-MBD-066"
axis = "mechanism"
item = "planar four-bar assembly (circle intersection, open / crossed branch, rejects lengths that cannot close)"
source = "Norton, Design of Machinery ch.4"
status = "implemented+oracle"
evidence = "src/kinematic_loop.rs::try_four_bar_linkage tests/analytic_kinematic_loop_wiring.rs::try_four_bar_linkage_crank_rocker_matches_circle_intersection_closed_form tests/analytic_kinematic_loop_wiring.rs::try_four_bar_linkage_dir_negative_branch_matches_closed_form tests/analytic_kinematic_loop_wiring.rs::try_four_bar_linkage_d_less_than_diff_is_rejected"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-067"
axis = "mechanism"
item = "four-bar driven through a crank revolution (rocker angle follows the Freudenstein relation)"
source = "Norton ch.4; Freudenstein 1955"
status = "implemented+oracle"
evidence = "src/kinematic_loop.rs::four_bar_linkage / tests/analytic_four_bar_freudenstein.rs::rocker_angle_matches_freudenstein_relation_across_a_crank_revolution (crank を24分割で駆動し、各角度の rocker 角を円-円交点の閉形式 [Freudenstein の式と同値] に突合、Grashof 境界の長さ組は change-point 特異点を踏むため避けている)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-068"
axis = "mechanism"
item = "slider-crank mechanism (piston position vs crank angle)"
source = "Norton ch.4"
status = "missing"
evidence = "builder は無い (src/kinematic_loop.rs の doc が例に挙げるだけ)、距離拘束と slider joint で組めるかは未確認 (推測)"
oracle_candidate = "x(θ) = r cosθ + sqrt(l² - r² sin²θ)"
limitation = ""

[[item]]
id = "COV-MBD-069"
axis = "mechanism"
item = "cam-follower contact"
source = "Norton ch.8"
status = "missing"
evidence = "cam の語は 0 件"
oracle_candidate = "円板 cam の揚程曲線"
limitation = ""

[[item]]
id = "COV-MBD-070"
axis = "mechanism"
item = "gear trains and planetary gear sets (sun-ring-carrier)"
source = "Norton ch.9-10"
status = "missing"
evidence = "2 体の歯車拘束 (COV-RIGID-026) はあるが、多段・遊星の構成は無い"
oracle_candidate = "Willis の式 (遊星の速度比)"
limitation = ""

[[item]]
id = "COV-MBD-071"
axis = "mechanism"
item = "belt and chain drives"
source = "Norton ch.9"
status = "missing"
evidence = "無い (pulley joint COV-RIGID-028 は 2 体のロープ長拘束)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-072"
axis = "robot-kinematics"
item = "forward kinematics from joint coordinates (q to link poses)"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.2; Featherstone, Rigid Body Dynamics Algorithms ch.4"
status = "missing"
evidence = "src/articulation.rs::forward_kinematics は現在の body の回転から子の位置を伝えるだけで、関節角を読まない"
oracle_candidate = "2 リンク平面アームの手先位置の閉形式"
limitation = ""

[[item]]
id = "COV-MBD-073"
axis = "robot-kinematics"
item = "robot description (Denavit-Hartenberg parameters, URDF / MJCF import)"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.2; ROS URDF; MuJoCo MJCF"
status = "missing"
evidence = "DH / URDF / MJCF の語は 0 件 分割: 子の行 COV-MBD-157〜159 この行の status は子のうち最も実装の少ないもの (missing) に合わせて手で保つ (検査器は親子を見ない)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-074"
axis = "robot-kinematics"
item = "geometric Jacobian and velocity kinematics"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.3"
status = "missing"
evidence = "manipulator の Jacobian は無い (src/ で Jacobian を持つのは FEM と線形ソルバのみ)"
oracle_candidate = "2 リンクの J の閉形式"
limitation = ""

[[item]]
id = "COV-MBD-075"
axis = "robot-kinematics"
item = "analytic inverse kinematics (two-bone limb, wrist-partitioned 6-DOF arm)"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.2.12"
status = "missing"
evidence = "IK 解法は crate 内に無い (src/ik_physics_bridge.rs は外部の solver を前提とする)"
oracle_candidate = "two-bone の余弦定理"
limitation = ""

[[item]]
id = "COV-MBD-076"
axis = "robot-kinematics"
item = "numerical inverse kinematics (Jacobian pseudo-inverse, damped least squares)"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.3.7; Buss 2004"
status = "missing"
evidence = "無い"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-077"
axis = "robot-kinematics"
item = "heuristic inverse kinematics (FABRIK, cyclic coordinate descent)"
source = "Aristidou-Lasenby 2011 (FABRIK)"
status = "missing"
evidence = "無い (src/ik_physics_bridge.rs は外部 crate の FABRIK を例示)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-078"
axis = "robot-kinematics"
item = "redundancy resolution and joint limits in IK (null-space projection)"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.3.5"
status = "missing"
evidence = "無い"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-079"
axis = "robot-kinematics"
item = "manipulability and singularity analysis"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.3.3; Yoshikawa 1985"
status = "missing"
evidence = "無い"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-080"
axis = "robot-dynamics"
item = "forward dynamics driven by joint torques (actuated manipulator)"
source = "Featherstone, Rigid Body Dynamics Algorithms ch.7; Siciliano et al., Robotics: Modelling, Planning and Control ch.7"
status = "missing"
evidence = "ABA (COV-RIGID-039) は関節トルクを入力に取らない (src/articulation.rs::solve)、motor は速度を直接書く"
oracle_candidate = "1 リンクに一定トルクで θ'' = τ / I"
limitation = ""

[[item]]
id = "COV-MBD-081"
axis = "robot-dynamics"
item = "gravity compensation torque g(q)"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.7, ch.8"
status = "missing"
evidence = "逆動力学 (COV-RIGID-042) が無いので g(q) も無い"
oracle_candidate = "2 リンクの静的保持トルクの閉形式"
limitation = ""

[[item]]
id = "COV-MBD-082"
axis = "robot-dynamics"
item = "end-effector external wrench mapped to joint torques (J^T F)"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.3.8"
status = "missing"
evidence = "Jacobian が無いので無い"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-083"
axis = "robot-dynamics"
item = "floating-base articulated robot in ground contact (legged / humanoid)"
source = "Featherstone, Rigid Body Dynamics Algorithms ch.9; MuJoCo; Drake"
status = "missing"
evidence = "ABA の solve は接触を含まない (src/articulation.rs で contact の語は doc の 3 件のみ) (推測)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-084"
axis = "robot-control"
item = "joint-space PD control on every joint of a chain"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.8.3"
status = "partial"
evidence = "src/articulation.rs::apply_motors tests/audit_articulation.rs::hinge_motor_drives_the_hinge_angle tests/analytic_articulation_wiring.rs::apply_motors_drives_a_linked_body_toward_its_target 単一軸の PD 則は COV-RIGID-030"
oracle_candidate = "ball joint の chain で各関節角が目標へ収束"
limitation = "src/articulation.rs::apply_motors 'Every other joint type keeps the centre-to-centre distance as its generalised coordinate'"

[[item]]
id = "COV-MBD-085"
axis = "robot-control"
item = "computed-torque control (feedback linearisation)"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.8.5"
status = "missing"
evidence = "逆動力学が無いので無い"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-086"
axis = "robot-control"
item = "operational-space and impedance control"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.8.6, ch.9; Khatib 1987"
status = "missing"
evidence = "無い (目標点へ引く mouse joint は COV-RIGID-029)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-087"
axis = "robot-control"
item = "PID with integral action and anti-windup"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.8.3"
status = "missing"
evidence = "src/motor.rs::PdController は P と D のみ"
oracle_candidate = "定常外乱下で積分が偏差を 0 にする"
limitation = ""

[[item]]
id = "COV-MBD-088"
axis = "robot-control"
item = "trajectory generation (trapezoidal velocity, quintic polynomial, minimum jerk)"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.4"
status = "missing"
evidence = "無い"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-089"
axis = "actuator"
item = "DC motor electromechanical model (torque constant, back-EMF, winding resistance, current limit)"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.5.3"
status = "missing"
evidence = "back-EMF / torque constant の語は 0 件、関節の motor は PD 則の力だけ"
oracle_candidate = "定電圧での無負荷速度と拘束トルクの閉形式"
limitation = ""

[[item]]
id = "COV-MBD-090"
axis = "actuator"
item = "gearbox reduction with reflected inertia and efficiency"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.5.3; Featherstone, Rigid Body Dynamics Algorithms ch.9"
status = "missing"
evidence = "無い"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-091"
axis = "actuator"
item = "backlash and joint friction (Coulomb + viscous) at actuated joints"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.8; Armstrong-Helouvry 1994"
status = "missing"
evidence = "関節の摩擦・ガタは無い (joint の damping は spring joint のみ)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-092"
axis = "actuator"
item = "series elastic actuator"
source = "Pratt-Williamson 1995"
status = "missing"
evidence = "無い"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-093"
axis = "ragdoll"
item = "humanoid ragdoll preset with anthropometric segment masses"
source = "Winter, Biomechanics and Motor Control of Human Movement ch.4; Dempster 1955"
status = "implemented+oracle"
evidence = "src/ragdoll.rs::RagdollBuilder tests/analytic_ragdoll_wiring.rs::body_masses_add_up_to_mass_kg tests/analytic_ragdoll_wiring.rs::presets_have_the_documented_height_mass_and_shared_fractions"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-094"
axis = "ragdoll"
item = "ragdoll joints keep the bones attached (anchors at the joint positions)"
source = "PhysX / Bullet ragdoll setup"
status = "implemented+oracle"
evidence = "src/ragdoll.rs::build tests/analytic_ragdoll_wiring.rs::joint_anchors_coincide_at_the_joint_position tests/analytic_ragdoll_wiring.rs::bones_keep_their_spacing_without_gravity"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-095"
axis = "ragdoll"
item = "anatomical joint limits (swing cones, twist ranges, knee / elbow hinge ranges)"
source = "Winter ch.4; PhysX articulation joint limits"
status = "missing"
evidence = "RagdollBuilder は Ball と Hinge を limit なしで張る (src/ragdoll.rs::build)、module doc (src/ragdoll.rs) が挙げる cone-twist は使われていない"
oracle_candidate = "膝が逆に曲がらないこと"
limitation = ""

[[item]]
id = "COV-MBD-096"
axis = "ragdoll"
item = "segment inertia tensors from anthropometric radii of gyration"
source = "Winter ch.4; Dempster 1955"
status = "missing"
evidence = "各 bone は RigidBody::new (src/ragdoll.rs::build) の既定の球の慣性"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-097"
axis = "ragdoll"
item = "articulated-tree ragdoll for the reduced-coordinate solver"
source = "Featherstone, Rigid Body Dynamics Algorithms ch.7"
status = "implemented+oracle"
evidence = "src/articulation.rs::build_ragdoll tests/audit_articulation.rs::ragdoll_joint_anchors_coincide_at_build_time tests/analytic_articulation_wiring.rs::build_ragdoll_matches_its_documented_hierarchy"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-098"
axis = "ragdoll"
item = "animation and ragdoll pose blending (lerp + slerp, timed transitions)"
source = "Unity / Unreal ragdoll blending; Shoemake 1985 (slerp)"
status = "implemented+oracle"
evidence = "src/animation_blend.rs::AnimationBlender tests/audit_animation_blend.rs::pose_lerp_rotation_has_constant_angular_velocity tests/audit_animation_blend.rs::transition_moves_at_speed_times_dt_and_clamps tests/audit_animation_blend.rs::a_zero_dt_update_does_not_cancel_a_started_transition (known defect)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-099"
axis = "ragdoll"
item = "keyframe animation clip sampling (slerp, hold / clamp / wrap)"
source = "Shoemake 1985"
status = "implemented+oracle"
evidence = "src/animation_blend.rs::AnimationClip tests/audit_animation_blend.rs::clip_sample_rotation_follows_the_slerp_arc tests/audit_animation_blend.rs::clip_sample_time_handling_hold_clamp_and_wrap"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-100"
axis = "ragdoll"
item = "active (powered) ragdoll: joint motors track an animation pose"
source = "Geijtenbeek et al. 2013; PhysX articulation drives"
status = "missing"
evidence = "Powered mode は目標姿勢を返すだけで、physics に力を掛ける経路が無い (src/animation_blend.rs::AnimationBlender を読む code は 0 件)"
oracle_candidate = "1 関節の目標角追従"
limitation = ""

[[item]]
id = "COV-MBD-101"
axis = "ragdoll"
item = "steering ragdoll bones toward IK targets in the world"
source = "Unity / Unreal physical animation"
status = "partial"
evidence = "src/ik_physics_bridge.rs::apply tests/analytic_ik_physics_bridge_wiring.rs::a_ragdoll_hand_is_steered_to_its_target tests/analytic_ik_physics_bridge_wiring.rs::repeated_passes_converge_geometrically"
oracle_candidate = "力ベースの追従で質量比を変えても目標に届くこと"
limitation = "src/ik_physics_bridge.rs 'The MVP is purely kinematic: the correction is Baumgarte-style position stabilisation, not force-based tracking.'"

[[item]]
id = "COV-MBD-102"
axis = "ragdoll"
item = "balance and get-up controllers (ZMP, SIMBICON)"
source = "Yin et al. 2007 (SIMBICON); Vukobratovic (ZMP)"
status = "missing"
evidence = "無い (学習済み制御則の推論は別の表の担当) 分割: 子の行 COV-MBD-160〜161 この行の status は子のうち最も実装の少ないもの (missing) に合わせて手で保つ (検査器は親子を見ない)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-103"
axis = "character"
item = "capsule collide-and-slide character controller"
source = "Fauerby 2003 (improved collision detection and response); PhysX character controller"
status = "implemented+oracle"
evidence = "src/character.rs::move_and_slide tests/audit_character.rs::slide_along_an_oblique_contact_matches_the_collide_and_slide_closed_form tests/audit_character.rs::free_move_translates_exactly_by_the_displacement tests/audit_character.rs::displacement_shorter_than_skin_width_is_not_discarded (known defect)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-104"
axis = "character"
item = "character collision against rigid-body shapes"
source = "PhysX character controller (capsule vs shapes)"
status = "implemented+oracle"
evidence = "src/world_character.rs::move_character_with_filter (capsule を cast_capsule で掃引、body の形状・複合形状の子・静的コライダー・SDF) tests/analytic_world_character.rs::a_box_body_wall_is_its_box_not_a_sphere tests/analytic_world_character.rs::a_box_corner_stops_the_capsule_where_the_old_sphere_approximation_passes_through tests/analytic_world_character.rs::walking_on_a_triangle_mesh_floor_keeps_the_standing_height tests/analytic_world_character.rs::a_capsule_embedded_in_a_box_wall_from_the_side_ends_radius_plus_skin_from_the_face; 旧 API src/character.rs::move_and_slide は static body を character の半径の球として扱い静的コライダーを見ない (src/character.rs::sweep_against_bodies、挙動は変更なし) tests/audit_character.rs::head_on_static_body_stops_one_skin_before_the_inflated_sphere tests/audit_character.rs::capsule_bottom_does_not_sink_into_a_static_body_it_lands_on (known defect) tests/analytic_world_character.rs::characterisation_old_move_and_slide_falls_through_a_plane_floor"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-105"
axis = "character"
item = "character blocked by dynamic bodies"
source = "PhysX character controller"
status = "missing"
evidence = "sweep は動的 body を飛ばす (src/character.rs::sweep_against_bodies)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-106"
axis = "character"
item = "character pushes dynamic bodies"
source = "PhysX character controller (onShapeHit)"
status = "implemented+oracle"
evidence = "src/character.rs::compute_push_impulses tests/analytic_character_wiring.rs::compute_push_impulses_momentum_conserving_single_overlap tests/analytic_character_wiring.rs::compute_push_impulses_ignores_static_bodies"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-107"
axis = "character"
item = "stair stepping"
source = "PhysX character controller (step offset)"
status = "implemented+oracle"
evidence = "src/character.rs::CharacterConfig tests/audit_character.rs::stair_step_lifts_by_step_height_and_advances_the_full_displacement_when_clear tests/audit_character.rs::stair_snap_down_settles_the_character_on_the_ledge tests/audit_character.rs::step_height_limit_blocks_obstacles_taller_than_step_height (known defect)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-108"
axis = "character"
item = "walkable slope limit"
source = "PhysX character controller (slope limit)"
status = "implemented+oracle"
evidence = "src/character.rs::CharacterConfig tests/audit_character.rs::slope_limit_decides_grounded_on_a_tilted_sdf_plane tests/audit_character.rs::max_slope_angle_is_compared_through_its_cosine"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-109"
axis = "character"
item = "sliding down slopes steeper than the limit (motion, not only the state)"
source = "PhysX character controller (non-walkable mode)"
status = "missing"
evidence = "Sliding は状態の名前だけ (src/character_state.rs::CharacterState)、controller 側で斜面に沿って滑らせる code は無い (推測)"
oracle_candidate = "摩擦なし斜面で g sinθ"
limitation = ""

[[item]]
id = "COV-MBD-110"
axis = "character"
item = "moving platforms (character inherits the platform velocity)"
source = "PhysX character controller"
status = "implemented+oracle"
evidence = "src/character.rs::get_platform_velocity tests/audit_character.rs::platform_velocity_is_added_to_the_next_displacement tests/analytic_character_wiring.rs::get_platform_velocity_reports_ground_body_velocity_then_clears"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-111"
axis = "character"
item = "locomotion state machine (grounded, airborne, crouched, swimming, sliding)"
source = "Unity / Unreal character movement"
status = "implemented+oracle"
evidence = "src/character_state.rs::transition tests/analytic_character_state_wiring.rs::transition_table_rows_are_independent_of_current_state tests/analytic_character_state_wiring.rs::slope_threshold_is_strict"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-112"
axis = "character"
item = "jump with a prescribed apex height (launch velocity sqrt(2 g h))"
source = "Unity / Unreal character movement"
status = "missing"
evidence = "jump は状態遷移の入力だけで、跳躍の速度を与える API は無い (推測)"
oracle_candidate = "頂点高さの閉形式"
limitation = ""

[[item]]
id = "COV-MBD-113"
axis = "character"
item = "SDF-field character controller (push-out along the field normal)"
source = "Quilez SDF techniques; ALICE-SDF field queries"
status = "partial"
evidence = "src/sdf_character.rs::move_and_slide tests/analytic_sdf_character_up_axis.rs::a_clamped_push_lands_in_the_analytic_free_band tests/analytic_sdf_character_up_axis.rs::landing_removes_the_velocity_into_the_surface_and_keeps_the_tangent tests/analytic_sdf_character_up_axis.rs::one_unclamped_push_overshoots_the_free_pocket_into_the_next_sheet"
oracle_candidate = ""
limitation = "src/sdf_character.rs 'Step 3 treats the sample as a true distance.'"

[[item]]
id = "COV-MBD-114"
axis = "character"
item = "arbitrary up axis and spherical-world gravity for characters"
source = "spherical world (planet) character movement"
status = "implemented+oracle"
evidence = "src/sdf_character.rs::step_on_sphere tests/analytic_sdf_character_up_axis.rs::every_direction_on_the_sphere_is_grounded_with_a_radial_up_axis tests/analytic_sdf_character_up_axis.rs::step_on_a_sphere_world_rests_at_the_surface_with_zero_radial_velocity"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-115"
axis = "rotor"
item = "rotor thrust and shaft torque from C_T and C_Q"
source = "Leishman, Principles of Helicopter Aerodynamics ch.2; McCormick, Aerodynamics of V/STOL Flight"
status = "partial"
evidence = "src/rotor.rs::Rotor tests/analytic_rotor.rs::thrust_and_torque_follow_the_coefficient_laws tests/analytic_rotor.rs::speed_for_thrust_inverts_the_thrust_law"
oracle_candidate = ""
limitation = "src/rotor.rs 'The coefficients are constants: this is a **static thrust model**.'"

[[item]]
id = "COV-MBD-116"
axis = "rotor"
item = "thrust and torque variation with advance ratio and forward flight (inflow)"
source = "Leishman ch.2-3; propeller C_T(J) charts"
status = "missing"
evidence = "src/rotor.rs 軸流入・前進飛行による推力の変化は扱わない"
oracle_candidate = "C_T(J) の直線近似と静推力の比"
limitation = ""

[[item]]
id = "COV-MBD-117"
axis = "rotor"
item = "momentum theory in hover (induced velocity, ideal power)"
source = "Leishman ch.2"
status = "implemented+oracle"
evidence = "src/rotor.rs::hover_induced_velocity_m_s tests/analytic_rotor.rs::disk_area_induced_velocity_and_ideal_power"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-118"
axis = "rotor"
item = "rotor reaction torque and the moment of an off-centre thrust on the airframe"
source = "Leishman ch.2; Mahony et al. 2012 (multirotor modelling)"
status = "implemented+oracle"
evidence = "src/rotor.rs::load tests/analytic_rotor.rs::load_directions_and_reaction_torque_sign tests/analytic_rotor.rs::world_reaction_torque_spins_the_body_backwards"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-119"
axis = "rotor"
item = "blade element momentum theory"
source = "Leishman ch.3"
status = "missing"
evidence = "翼素の語は 0 件"
oracle_candidate = "一様流入の BEMT と運動量理論の一致"
limitation = ""

[[item]]
id = "COV-MBD-120"
axis = "rotor"
item = "rotor speed dynamics (motor and rotor inertia, speed-controller lag)"
source = "Mahony et al. 2012"
status = "missing"
evidence = "回転数は入力で、状態を持たない"
oracle_candidate = "1 次遅れの時定数"
limitation = ""

[[item]]
id = "COV-MBD-121"
axis = "rotor"
item = "multirotor control allocation (mixer from collective thrust and body torques to rotor speeds)"
source = "Mahony et al. 2012; PX4 mixer"
status = "missing"
evidence = "rotor 1 本ごとに推力から回転数を逆算する関数だけ (src/rotor.rs::speed_for_thrust)"
oracle_candidate = "4 rotor の allocation 行列の逆"
limitation = ""

[[item]]
id = "COV-MBD-122"
axis = "rotor"
item = "ground effect and vortex ring state"
source = "Leishman ch.5; Cheeseman-Bennett 1955"
status = "missing"
evidence = "無い"
oracle_candidate = "Cheeseman-Bennett の地面効果比"
limitation = ""

[[item]]
id = "COV-MBD-123"
axis = "rotor"
item = "rotor gyroscopic moments, blade flapping and rotor drag (H-force)"
source = "Leishman ch.4; Mahony et al. 2012"
status = "missing"
evidence = "無い (rotor の角運動量を機体に持たせない)"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-124"
axis = "benchmark"
item = "linear bicycle model steady-state yaw rate with the understeer gradient"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.6"
status = "implemented+oracle"
evidence = "tests/analytic_vehicle_dynamics.rs::linear_bicycle_model_steady_yaw_rate"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-125"
axis = "benchmark"
item = "steady-state circular test through the non-linear range (steer angle vs lateral acceleration)"
source = "ISO 4138; Gillespie ch.6"
status = "missing"
evidence = "test は無い (一定舵角で速度を上げる方式なら既存の DriverInput 列で組める)"
oracle_candidate = "線形域の勾配が上の行の K と一致し、限界で飽和すること"
limitation = ""

[[item]]
id = "COV-MBD-126"
axis = "benchmark"
item = "double lane change"
source = "ISO 3888-1 / -2"
status = "missing"
evidence = "経路追従の driver model が無いので組めない"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-127"
axis = "benchmark"
item = "step-steer transient response (yaw-rate rise time, overshoot)"
source = "ISO 7401"
status = "missing"
evidence = "test は無い (open-loop 入力で組める)"
oracle_candidate = "線形 2 自由度モデルの yaw rate 応答の閉形式"
limitation = ""

[[item]]
id = "COV-MBD-128"
axis = "benchmark"
item = "straight-line braking distance from the friction coefficient"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.3"
status = "implemented+oracle"
evidence = "tests/analytic_vehicle_dynamics.rs::stopping_distance_dry_locked_wheels tests/analytic_vehicle_scenario.rs::stopping_distance_meter_matches_locked_closed_form"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-129"
axis = "benchmark"
item = "traction-limited launch acceleration"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2"
status = "implemented+oracle"
evidence = "tests/analytic_vehicle_dynamics.rs::launch_beyond_grip_is_limited_by_rear_axle_load"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-130"
axis = "benchmark"
item = "static rollover threshold t / 2h and wheel lift-off in steady cornering"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.9"
status = "missing"
evidence = "test は無い"
oracle_candidate = "a_y / g = t / 2h で内輪の荷重が 0"
limitation = ""

[[item]]
id = "COV-MBD-131"
axis = "benchmark"
item = "lateral load transfer in steady cornering (roll-stiffness distribution)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.7"
status = "missing"
evidence = "test は無い (anti-roll と接点の力は上の行で個別に検証)"
oracle_candidate = "ΔF_z = m a_y h / t の前後配分"
limitation = ""

[[item]]
id = "COV-MBD-132"
axis = "benchmark"
item = "hover: thrust equal to weight holds the altitude in the world"
source = "Leishman ch.2 (hover trim)"
status = "partial"
evidence = "tests/analytic_rotor.rs::world_hover_characterization_of_the_current_discretization tests/analytic_rotor.rs::world_rotor_below_hover_speed_sinks_at_the_net_acceleration 物理的な期待値の test は src gap の ignore (analytic_rotor.rs の world_hover_holds_altitude)、frame 頭の外力と substep 重力の分割は COV-RIGID-004 と同根"
oracle_candidate = ""
limitation = "src/rotor.rs 'exactly `T = m g` rises by `g dt² (s − 1) / (2 s)` per frame'"

[[item]]
id = "COV-MBD-133"
axis = "benchmark"
item = "quadrotor attitude and position response (hover trim, step response)"
source = "Mahony et al. 2012"
status = "missing"
evidence = "allocation と rotor の動特性が無いので組めない"
oracle_candidate = ""
limitation = ""

[[item]]
id = "COV-MBD-134"
axis = "benchmark"
item = "PUMA 560 inverse dynamics"
source = "Armstrong-Khatib-Burdick 1986; Corke 1996 (parameter set)"
status = "missing"
evidence = "逆動力学 (COV-RIGID-042) が無い"
oracle_candidate = "原典の関節トルク (参照値要確認)"
limitation = ""

[[item]]
id = "COV-MBD-135"
axis = "benchmark"
item = "two-link planar arm (closed-form inverse dynamics and computed-torque tracking)"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.7.3"
status = "missing"
evidence = "関節トルク入力の順動力学も逆動力学も無い"
oracle_candidate = "2 リンクの M(q), C(q, q'), g(q) の閉形式"
limitation = ""

[[item]]
id = "COV-MBD-136"
axis = "benchmark"
item = "Andrews' squeezing mechanism"
source = "Schiehlen, Multibody Systems Handbook (1990); Hairer-Wanner test set"
status = "missing"
evidence = "DAE の定式化が無い"
oracle_candidate = "原典の関節角の時刻歴 (参照値要確認)"
limitation = ""

[[item]]
id = "COV-MBD-137"
axis = "benchmark"
item = "IFToMM multibody benchmarks (double four-bar with redundant constraints, Bricard mechanism)"
source = "IFToMM Technical Committee for Multibody Dynamics, library of benchmark problems"
status = "missing"
evidence = "冗長拘束と空間閉ループの扱いが無い"
oracle_candidate = "原典のエネルギー保存の許容 (参照値要確認)"
limitation = ""

[[item]]
id = "COV-MBD-138"
axis = "aero-road"
item = "road-surface state over time: water film depth from rainfall intensity, drainage length, slope and texture, drying, and snow / ice cover, feeding the weather-dependent grip"
source = "Gallaway et al. 1979 (FHWA-RD-79-31, water film depth); PIARC road surface characteristics"
status = "missing"
evidence = "路面の水膜厚は呼び手が与える固定値 (src/vehicle_dynamics/surface.rs::Weather の Wet の water_depth_mm) で、雨量・排水・乾燥から求める口が無い 水膜厚から grip への段は COV-MBD-046 / 047 降水の場は COV-ENV-063〜070"
oracle_candidate = "Gallaway 式の水膜厚 (参照値要確認)"
limitation = ""

[[item]]
id = "COV-MBD-139"
axis = "robot-dynamics"
item = "grasping: multi-finger contact grasp of an object (force closure, grasp stability, lifting and carrying without slip)"
source = "Murray-Li-Sastry, A Mathematical Introduction to Robotic Manipulation ch.5; Prattichizzo-Trinkle (Springer Handbook of Robotics ch.38); MuJoCo grasping"
status = "missing"
evidence = "把持の型・判定は無い (推測: grasp で src 0 件) 部品として摩擦 (COV-RIGID-078 / 079) と接触力の出力 (COV-RIGID-091) はあるが、指の側はロボットの行が missing (COV-MBD-080)"
oracle_candidate = "2 指で挟んだ箱が μ N ≥ m g / 2 の時に滑らず、下回ると滑る"
limitation = ""

[[item]]
id = "COV-MBD-140"
axis = "suspension"
item = "double-wishbone suspension kinematics (camber and toe change with wheel travel)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.7; Chrono::Vehicle suspension templates; CarSim kinematics tables"
status = "missing"
evidence = "COV-MBD-018 の子 ばねは up 方向の 1 軸の力でリンク機構は無い"
oracle_candidate = "double wishbone の camber gain の閉形式"
limitation = ""

[[item]]
id = "COV-MBD-141"
axis = "suspension"
item = "MacPherson strut suspension kinematics (camber and toe change with wheel travel)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.7; Chrono::Vehicle suspension templates; CarSim kinematics tables"
status = "missing"
evidence = "COV-MBD-018 の子 同上"
oracle_candidate = "strut の幾何から camber 変化の閉形式"
limitation = ""

[[item]]
id = "COV-MBD-142"
axis = "suspension"
item = "multilink suspension kinematics (five-link, solved as a closed-loop linkage)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.7; Chrono::Vehicle suspension templates; CarSim kinematics tables"
status = "missing"
evidence = "COV-MBD-018 の子 同上"
oracle_candidate = "5 本のリンク長を保ったまま travel に沿う位置拘束の残差が 0"
limitation = ""

[[item]]
id = "COV-MBD-143"
axis = "tyre"
item = "Magic Formula with load-dependent coefficients and horizontal / vertical shifts (MF 5.2 / 6.1)"
source = "Pacejka, Tire and Vehicle Dynamics ch.4.3 (MF 5.2 / 6.1); Chrono::Vehicle TMeasy / Pacejka"
status = "missing"
evidence = "COV-MBD-004 の子 src/vehicle_dynamics/tire.rs::MagicFormulaTire は B, C, E の係数と D = mu F_z だけで shift と荷重依存は無い"
oracle_candidate = "原典の係数表で F_y(alpha, F_z) の曲線族を突合 (参照値要確認)"
limitation = ""

[[item]]
id = "COV-MBD-144"
axis = "tyre"
item = "reading tyre parameter files (.tir)"
source = "Pacejka, Tire and Vehicle Dynamics ch.4.3 (MF 5.2 / 6.1); Chrono::Vehicle TMeasy / Pacejka"
status = "missing"
evidence = "COV-MBD-004 の子 tir の読み込みは無い (推測)"
oracle_candidate = "sample の .tir を読んで係数が一致"
limitation = ""

[[item]]
id = "COV-MBD-145"
axis = "tyre"
item = "rigid-ring tyre model (SWIFT) for short-wavelength road inputs"
source = "Pacejka, Tire and Vehicle Dynamics ch.9"
status = "missing"
evidence = "COV-MBD-011 の子 タイヤは接点 1 点の力の法則のみ"
oracle_candidate = "段差を越える時の縦力の応答 (参照値要確認)"
limitation = ""

[[item]]
id = "COV-MBD-146"
axis = "tyre"
item = "flexible-belt tyre model (FTire-like) with a deformable belt"
source = "Pacejka, Tire and Vehicle Dynamics ch.10; FTire"
status = "missing"
evidence = "COV-MBD-011 の子 同上"
oracle_candidate = "静的荷重の接地長 (参照値要確認)"
limitation = ""

[[item]]
id = "COV-MBD-147"
axis = "tyre"
item = "tyre thermal state acting on grip"
source = "Pacejka, Tire and Vehicle Dynamics ch.1; FTire"
status = "missing"
evidence = "COV-MBD-013 の子 タイヤの温度は無い"
oracle_candidate = "温度の窓の外で mu が下がる単調な写像"
limitation = ""

[[item]]
id = "COV-MBD-148"
axis = "tyre"
item = "tyre wear acting on grip and radius"
source = "Pacejka, Tire and Vehicle Dynamics ch.1; FTire"
status = "missing"
evidence = "COV-MBD-013 の子 摩耗は無い"
oracle_candidate = "滑り仕事に比例した摩耗量"
limitation = ""

[[item]]
id = "COV-MBD-149"
axis = "tyre"
item = "inflation pressure acting on stiffness and contact patch"
source = "Pacejka, Tire and Vehicle Dynamics ch.1; FTire"
status = "missing"
evidence = "COV-MBD-013 の子 空気圧は hydroplaning の判定にだけ使う (src/vehicle_dynamics/mod.rs::DynamicVehicleConfig)"
oracle_candidate = "空気圧と縦ばね定数の関係 (参照値要確認)"
limitation = ""

[[item]]
id = "COV-MBD-150"
axis = "powertrain"
item = "clutch-pack limited-slip differential (preload and ramp)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2; Chrono::Vehicle driveline"
status = "missing"
evidence = "COV-MBD-032 の子 src/vehicle_dynamics/powertrain.rs::Differential は Open と Locked の 2 種のみ"
oracle_candidate = "片輪低 mu の発進で preload 分のトルク差"
limitation = ""

[[item]]
id = "COV-MBD-151"
axis = "powertrain"
item = "viscous limited-slip differential (torque from speed difference)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2; Chrono::Vehicle driveline"
status = "missing"
evidence = "COV-MBD-032 の子 同上"
oracle_candidate = "差回転に比例したトルク"
limitation = ""

[[item]]
id = "COV-MBD-152"
axis = "powertrain"
item = "Torsen (torque-sensing) differential (bias ratio)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2; Chrono::Vehicle driveline"
status = "missing"
evidence = "COV-MBD-032 の子 同上"
oracle_candidate = "片輪低 mu の発進で bias ratio のトルク比"
limitation = ""

[[item]]
id = "COV-MBD-153"
axis = "powertrain"
item = "all-wheel drive centre differential and front / rear torque split"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2"
status = "missing"
evidence = "COV-MBD-033 の子 駆動トルクは 1 本の axle_torque を駆動輪に分けるだけで前後配分の機構は無い"
oracle_candidate = "直進加速で前後の駆動力が配分比どおり"
limitation = ""

[[item]]
id = "COV-MBD-154"
axis = "powertrain"
item = "torque vectoring between the left and right wheels (yaw moment control)"
source = "Gillespie, Fundamentals of Vehicle Dynamics ch.2"
status = "missing"
evidence = "COV-MBD-033 の子 同上"
oracle_candidate = "左右のトルク差が作る yaw モーメント = Delta T * track / (2 r)"
limitation = ""

[[item]]
id = "COV-MBD-155"
axis = "formulation"
item = "one-step alpha-family implicit integrators for multibody systems (HHT-alpha, generalized-alpha)"
source = "Arnold-Bruls 2007; Hilber-Hughes-Taylor 1977"
status = "missing"
evidence = "COV-MBD-062 の子 MBS 用の陰的積分器は無い (src/articulation.rs::solve は semi-implicit Euler)"
oracle_candidate = "線形振動子で数値減衰比が rho_inf から決まる閉形式"
limitation = ""

[[item]]
id = "COV-MBD-156"
axis = "formulation"
item = "multistep implicit integrators for stiff multibody systems (BDF)"
source = "MuJoCo / Drake integrators; Hairer-Wanner"
status = "missing"
evidence = "COV-MBD-062 の子 同上"
oracle_candidate = "硬い線形系で BDF2 の 2 次収束"
limitation = ""

[[item]]
id = "COV-MBD-157"
axis = "robot-kinematics"
item = "Denavit-Hartenberg parameters to link frames"
source = "Siciliano et al., Robotics: Modelling, Planning and Control ch.2"
status = "missing"
evidence = "COV-MBD-073 の子 DH の語は 0 件"
oracle_candidate = "DH 表から作った 2 リンクの先端位置が閉形式"
limitation = ""

[[item]]
id = "COV-MBD-158"
axis = "robot-kinematics"
item = "URDF import (links, joints, inertias, limits)"
source = "ROS URDF"
status = "missing"
evidence = "COV-MBD-073 の子 URDF の語は 0 件 scene 形式の入出力は COV-ENGINE-020"
oracle_candidate = "sample の URDF を読んだ質量・関節軸が一致"
limitation = ""

[[item]]
id = "COV-MBD-159"
axis = "robot-kinematics"
item = "MJCF import (bodies, joints, actuators)"
source = "MuJoCo MJCF"
status = "missing"
evidence = "COV-MBD-073 の子 MJCF の語は 0 件"
oracle_candidate = "sample の MJCF を読んだ質量・関節軸が一致"
limitation = ""

[[item]]
id = "COV-MBD-160"
axis = "ragdoll"
item = "ZMP-based balance controller"
source = "Vukobratovic (ZMP)"
status = "missing"
evidence = "COV-MBD-102 の子 無い (学習済み制御則の推論は別の表の担当)"
oracle_candidate = "静止立位で ZMP が支持多角形の中に留まる"
limitation = ""

[[item]]
id = "COV-MBD-161"
axis = "ragdoll"
item = "SIMBICON-style gait and get-up controller"
source = "Yin et al. 2007 (SIMBICON)"
status = "missing"
evidence = "COV-MBD-102 の子 同上"
oracle_candidate = "平地で一定の歩幅の周期歩行が n 周期続く"
limitation = ""