Environment: g=-9.81, F_drag=0.0
Ground: mu_s=0.7, mu_k=0.6
TireSphere: d = 1.0, e = 0.6, theta_start = 0°, v_0 = 14.0
Track_0: R = 2.5, e = 0.3, theta_min = 0°, theta_max = 360°, mu_s = 0.0, mu_k = 0.0