    def get_steer_feedforward_function(self):
      return self.get_steer_feedforward_default
  
    @staticmethod
    def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation):
      # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
      friction_interp = interp(
        apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
        [-FRICTION_THRESHOLD, FRICTION_THRESHOLD],
        [-torque_params.friction, torque_params.friction]
 
</s> remove       ret.centerToFront = ret.wheelbase * 0.4
 </s> add       ret.steerActuatorDelay = 0.12 </s> remove                                                      lateral_accel_deadzone, friction_compensation=False)
 </s> add                                                      lateral_accel_deadzone, CS.vEgo, friction_compensation=False) </s> remove TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float]
 </s> add TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, float, bool], float] </s> remove from selfdrive.car.interfaces import CarInterfaceBase
 </s> add from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
from selfdrive.controls.lib.drive_helpers import apply_center_deadzone
  def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, vego, friction_compensation):
    def get_steer_feedforward_function(self):
      return self.get_steer_feedforward_default
  
    @staticmethod
  def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, vego, friction_compensation):
      # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
      friction_interp = interp(
        apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
        [-FRICTION_THRESHOLD, FRICTION_THRESHOLD],
        [-torque_params.friction, torque_params.friction]
keep keep keep keep replace keep keep keep keep keep
 Chevrolet Bolt: Non-linear torque tune (#27344)

* add non linear tune

* update refs

* rerun tests 
selfdrive/car/interfaces.py