<commit_before>{
	"Name":     "HMMWV 17 bodies",
	"Type":     "Vehicle",
	"Template": "Vehicle",

	"Chassis":
	{
		"mass": 3521.4,
		"inertia": [125.8, 497.4, 531.4]
	},

	"Suspension":
	[
		"suspension/HMMWV_DoubleWishboneFront.json",
		"suspension/HMMWV_DoubleWishboneRear.json"
	],

	"Driveline": "driveline/HMMWV_Driveline2WD.json",

	"Visualization":
	{
		"Mesh File": "hmmwv/humvee4_scaled_rotated_decimated_centered.obj",
		"Mesh Name": "hmmwv_chassis"
	}
}
<commit_msg>JSON specification of the full HMMWV model.<commit_after>{
  "Name":     "HMMWV 17 bodies",
  "Type":     "Vehicle",
  "Template": "Vehicle",

  "Chassis":
  {
    "Mass":     3521.4,
    "COM":      [-0.4775, -0.0149, 0.8466],
    "Inertia":  [125.8, 497.4, 531.4]
  },

  "Axles":
  [
    {
      "Suspension Input File":   "hmmwv/suspension/HMMWV_DoubleWishboneFront.json",
      "Suspension Location":     [1.6914, 0, 0.0264],
      "Left Wheel Input File":   "hmmwv/wheel/HMMWV_Wheel_FrontLeft.json",
      "Right Wheel Input File":  "hmmwv/wheel/HMMWV_Wheel_FrontRight.json",
      "Left Brake Input File":   "hmmwv/brake/HMMWV_BrakeSimple_Front.json",
      "Right Brake Input File":  "hmmwv/brake/HMMWV_BrakeSimple_Front.json"
    },

    {
      "Suspension Input File":   "hmmwv/suspension/HMMWV_DoubleWishboneRear.json",
      "Suspension Location":     [-1.6866, 0, 0.0264],
      "Left Wheel Input File":   "hmmwv/wheel/HMMWV_Wheel_RearLeft.json",
      "Right Wheel Input File":  "hmmwv/wheel/HMMWV_Wheel_RearRight.json",
      "Left Brake Input File":   "hmmwv/brake/HMMWV_BrakeSimple_Rear.json",
      "Right Brake Input File":  "hmmwv/brake/HMMWV_BrakeSimple_Rear.json"
    }
  ],

  "Steering":
  {
    "Input File":           "hmmwv/steering/HMMWV_PitmanArm.json",
    "Location":             [1.24498, 0, 0.109322],
    "Orientation":          [0.98699637, 0, 0.16074256, 0],
    "Suspension Index":     0
  },

  "Driveline":
  {
    "Input File":           "hmmwv/driveline/HMMWV_Driveline2WD.json",
    "Suspension Indexes":   [1]
  },

  "Driver Position":
  {
    "Location":     [0, 0.5, 1.2],
    "Orientation":  [1, 0, 0, 0]
  },

  "Visualization":
  {
    "Mesh Filename":  "hmmwv/hmmwv_chassis.obj",
    "Mesh Name":      "hmmwv_chassis"
  }
}

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