{"id":"models-benches","title":"Models × benches (CAN 14)","titleProperty":"variant","source":"lane/datasheet @ ec9a13c: docs/proposals/build_models_report_r2.py (CAN 14, suite bam-rack/1); floor 1.0818 mrad (5 repeats of one tape), twin-grade = 1.5 x floor = 1.62 mrad","properties":{"variant":{"type":"text","width":230},"model":{"type":"text","width":160},"backend":{"type":"text","width":250},"family":{"type":"text","width":230},"rung":{"type":"text","width":60},"about":{"type":"text","width":240},"suite":{"type":"text","width":170},"test":{"type":"text","width":110},"run":{"type":"text","width":300},"q_rms_mrad":{"type":"number","unitText":"mrad","decimals":2,"width":110,"better":"lower"},"x_floor":{"type":"number","unitText":"× floor","decimals":2,"width":100,"derived":"q RMS / the 1.082 mrad floor"},"bench_steps":{"type":"list","width":280},"bench_min":{"type":"number","unitText":"min","width":90},"sensors_missing":{"type":"list","width":220},"model_order":{"type":"number","hidden":true}},"records":{"columns":[{"id":"suite","label":"Suite"},{"id":"test","label":"Test"},{"id":"run","label":"Run"},{"id":"q_rms_mrad","label":"q RMS (mrad)"},{"id":"x_floor","label":"× floor"}]},"rows":[{"id":"r000","variant":"M0.ideal","model":"M0.ideal","backend":"MuJoCo native","family":"M0 · ideal","rung":"M0","about":"no friction, datasheet inertia","suite":null,"test":null,"run":null,"q_rms_mrad":null,"x_floor":null,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":0},{"id":"r001","variant":"M1.datasheet","model":"M1.datasheet","backend":"MuJoCo native","family":"M1 · datasheet","rung":"M1","about":"the stated values","suite":null,"test":null,"run":null,"q_rms_mrad":null,"x_floor":null,"bench_steps":["read the datasheet"],"bench_min":0,"sensors_missing":[],"model_order":1},{"id":"r002","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"staircase","run":"session_01a/runs/s01_can14_staircase","q_rms_mrad":2.9049,"x_floor":2.685,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r003","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"staircase","run":"session_01a/runs/s03_can14_staircase","q_rms_mrad":2.5175,"x_floor":2.327,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r004","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"sine","run":"session_01c/runs/s03_can14_sine","q_rms_mrad":1.3567,"x_floor":1.254,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r005","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_01c/runs/s05_can14_tape_fast","q_rms_mrad":3.4235,"x_floor":3.165,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r006","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_01c/runs/s05_can14_tape_medium","q_rms_mrad":3.0805,"x_floor":2.848,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r007","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_01c/runs/s05_can14_tape_slow","q_rms_mrad":2.681,"x_floor":2.478,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r008","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"staircase","run":"session_02/runs/s01_can14_staircase","q_rms_mrad":3.1429,"x_floor":2.905,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r009","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_03/runs/s01_can14_tape_fast","q_rms_mrad":1.7704,"x_floor":1.637,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r010","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_03/runs/s01_can14_tape_medium","q_rms_mrad":2.0066,"x_floor":1.855,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r011","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_03/runs/s01_can14_tape_slow","q_rms_mrad":2.1483,"x_floor":1.986,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r012","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_03/runs/s05_can14_tape_fast","q_rms_mrad":1.6293,"x_floor":1.506,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r013","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_03/runs/s05_can14_tape_medium","q_rms_mrad":1.9766,"x_floor":1.827,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r014","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_03/runs/s05_can14_tape_slow","q_rms_mrad":2.1382,"x_floor":1.976,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r015","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_04/runs/s03_can14_tape_fast","q_rms_mrad":1.8173,"x_floor":1.68,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r016","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_04/runs/s03_can14_tape_medium","q_rms_mrad":1.9808,"x_floor":1.831,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r017","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_04/runs/s03_can14_tape_slow","q_rms_mrad":2.1641,"x_floor":2.0,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r018","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_04/runs/s07_can14_tape_fast","q_rms_mrad":1.5935,"x_floor":1.473,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r019","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_04/runs/s07_can14_tape_medium","q_rms_mrad":1.8739,"x_floor":1.732,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r020","variant":"M2.coulomb_viscous","model":"M2.coulomb_viscous","backend":"MuJoCo native, soft friction","family":"M2 · fitted constant friction","rung":"M2","about":"Coulomb + viscous","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_04/runs/s07_can14_tape_slow","q_rms_mrad":2.1017,"x_floor":1.943,"bench_steps":["velocity plateaus + chirps"],"bench_min":6,"sensors_missing":[],"model_order":2},{"id":"r021","variant":"M3.stribeck","model":"M3.stribeck","backend":"MuJoCo + plugin","family":"M3 · static friction family","rung":"M3","about":"Coulomb + viscous + Stribeck","suite":null,"test":null,"run":null,"q_rms_mrad":null,"x_floor":null,"bench_steps":["velocity plateaus + chirps","slow plateaus"],"bench_min":9,"sensors_missing":[],"model_order":3},{"id":"r022","variant":"M3.load","model":"M3.load","backend":"MuJoCo + plugin","family":"M3 · static friction family","rung":"M3","about":"Coulomb + viscous + load","suite":null,"test":null,"run":null,"q_rms_mrad":null,"x_floor":null,"bench_steps":["velocity plateaus + chirps","pendulum sweeps, 2–3 masses"],"bench_min":16,"sensors_missing":["known masses on the arm"],"model_order":4},{"id":"r023","variant":"M3.capture","model":"M3.capture","backend":"MuJoCo + plugin","family":"M3 · static friction family","rung":"M3","about":"Coulomb + viscous + capture","suite":null,"test":null,"run":null,"q_rms_mrad":null,"x_floor":null,"bench_steps":["velocity plateaus + chirps","stop-and-hold tapes"],"bench_min":11,"sensors_missing":[],"model_order":5},{"id":"r024","variant":"M3.lugre","model":"M3.lugre","backend":"MuJoCo native (dcmotor)","family":"M3 · dynamic friction family","rung":"M3","about":"LuGre: a bristle state","suite":null,"test":null,"run":null,"q_rms_mrad":null,"x_floor":null,"bench_steps":["slow plateaus","small fast reversals"],"bench_min":6,"sensors_missing":["≥ 1 kHz logging"],"model_order":6},{"id":"r025","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"staircase","run":"session_01a/runs/s01_can14_staircase","q_rms_mrad":1.2829,"x_floor":1.186,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r026","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"staircase","run":"session_01a/runs/s03_can14_staircase","q_rms_mrad":1.2846,"x_floor":1.187,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r027","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"sine","run":"session_01c/runs/s03_can14_sine","q_rms_mrad":1.8091,"x_floor":1.672,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r028","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_01c/runs/s05_can14_tape_fast","q_rms_mrad":1.1156,"x_floor":1.031,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r029","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_01c/runs/s05_can14_tape_medium","q_rms_mrad":1.0216,"x_floor":0.944,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r030","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_01c/runs/s05_can14_tape_slow","q_rms_mrad":1.1823,"x_floor":1.093,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r031","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"staircase","run":"session_02/runs/s01_can14_staircase","q_rms_mrad":1.6209,"x_floor":1.498,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r032","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_03/runs/s01_can14_tape_fast","q_rms_mrad":1.039,"x_floor":0.96,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r033","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_03/runs/s01_can14_tape_medium","q_rms_mrad":1.0652,"x_floor":0.985,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r034","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_03/runs/s01_can14_tape_slow","q_rms_mrad":1.1296,"x_floor":1.044,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r035","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_03/runs/s05_can14_tape_fast","q_rms_mrad":1.0022,"x_floor":0.926,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r036","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_03/runs/s05_can14_tape_medium","q_rms_mrad":1.0416,"x_floor":0.963,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r037","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_03/runs/s05_can14_tape_slow","q_rms_mrad":1.1371,"x_floor":1.051,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r038","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_04/runs/s03_can14_tape_fast","q_rms_mrad":1.0667,"x_floor":0.986,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r039","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_04/runs/s03_can14_tape_medium","q_rms_mrad":0.9709,"x_floor":0.897,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r040","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_04/runs/s03_can14_tape_slow","q_rms_mrad":1.1012,"x_floor":1.018,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r041","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_04/runs/s07_can14_tape_fast","q_rms_mrad":0.9573,"x_floor":0.885,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r042","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_04/runs/s07_can14_tape_medium","q_rms_mrad":1.0216,"x_floor":0.944,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r043","variant":"M4.ripple (ideal driver)","model":"M4.ripple","backend":"MuJoCo + plugin, ideal driver","family":"M4 · grey-box drivetrain family","rung":"M4","about":"Coulomb + weakening + cogging map + backlash","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_04/runs/s07_can14_tape_slow","q_rms_mrad":1.1134,"x_floor":1.029,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":7},{"id":"r044","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"staircase","run":"session_01a/runs/s01_can14_staircase","q_rms_mrad":1.2682,"x_floor":1.172,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r045","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"staircase","run":"session_01a/runs/s03_can14_staircase","q_rms_mrad":1.269,"x_floor":1.173,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r046","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"sine","run":"session_01c/runs/s03_can14_sine","q_rms_mrad":2.0445,"x_floor":1.89,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r047","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_01c/runs/s05_can14_tape_fast","q_rms_mrad":1.24,"x_floor":1.146,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r048","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_01c/runs/s05_can14_tape_medium","q_rms_mrad":1.0648,"x_floor":0.984,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r049","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_01c/runs/s05_can14_tape_slow","q_rms_mrad":1.1784,"x_floor":1.089,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r050","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"staircase","run":"session_02/runs/s01_can14_staircase","q_rms_mrad":1.6125,"x_floor":1.491,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r051","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_03/runs/s01_can14_tape_fast","q_rms_mrad":1.1308,"x_floor":1.045,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r052","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_03/runs/s01_can14_tape_medium","q_rms_mrad":1.1031,"x_floor":1.02,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r053","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_03/runs/s01_can14_tape_slow","q_rms_mrad":1.1169,"x_floor":1.032,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r054","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_03/runs/s05_can14_tape_fast","q_rms_mrad":1.097,"x_floor":1.014,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r055","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_03/runs/s05_can14_tape_medium","q_rms_mrad":1.0832,"x_floor":1.001,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r056","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_03/runs/s05_can14_tape_slow","q_rms_mrad":1.1253,"x_floor":1.04,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r057","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_04/runs/s03_can14_tape_fast","q_rms_mrad":1.1764,"x_floor":1.087,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r058","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_04/runs/s03_can14_tape_medium","q_rms_mrad":0.9998,"x_floor":0.924,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r059","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_04/runs/s03_can14_tape_slow","q_rms_mrad":1.0913,"x_floor":1.009,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r060","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_04/runs/s07_can14_tape_fast","q_rms_mrad":1.0615,"x_floor":0.981,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r061","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_04/runs/s07_can14_tape_medium","q_rms_mrad":1.0516,"x_floor":0.972,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r062","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_04/runs/s07_can14_tape_slow","q_rms_mrad":1.107,"x_floor":1.023,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r063","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Dataset, Oct 24","test":"pickplace","run":"dataset/can14/runs/s01_can14_waypoints","q_rms_mrad":3.9604,"x_floor":3.661,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r064","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Dataset, Oct 24","test":"cycle","run":"dataset/can14/runs/s03_can14_waypoints","q_rms_mrad":9.0903,"x_floor":8.403,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r065","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Dataset, Oct 24","test":"jog","run":"dataset/can14/runs/s05_can14_waypoints","q_rms_mrad":3.6913,"x_floor":3.412,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r066","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Dataset, Oct 24","test":"sweep","run":"dataset/can14/runs/s07_can14_sine","q_rms_mrad":5.5111,"x_floor":5.094,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r067","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Dataset, Oct 24","test":"pickplace","run":"dataset/can14/runs/s09_can14_waypoints","q_rms_mrad":4.0858,"x_floor":3.777,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r068","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Dataset, Oct 24","test":"cycle","run":"dataset/can14/runs/s11_can14_waypoints","q_rms_mrad":8.9134,"x_floor":8.239,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r069","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Dataset, Oct 24","test":"jog","run":"dataset/can14/runs/s13_can14_waypoints","q_rms_mrad":4.0404,"x_floor":3.735,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r070","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Dataset, Oct 24","test":"sweep","run":"dataset/can14/runs/s15_can14_sine","q_rms_mrad":3.7857,"x_floor":3.499,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r071","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Dataset, Oct 24","test":"pickplace","run":"dataset/can14/runs/s17_can14_waypoints","q_rms_mrad":4.7395,"x_floor":4.381,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r072","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Dataset, Oct 24","test":"cycle","run":"dataset/can14/runs/s19_can14_waypoints","q_rms_mrad":8.5179,"x_floor":7.874,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r073","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Dataset, Oct 24","test":"jog","run":"dataset/can14/runs/s21_can14_waypoints","q_rms_mrad":4.4321,"x_floor":4.097,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r074","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Dataset, Oct 24","test":"sweep","run":"dataset/can14/runs/s23_can14_sine","q_rms_mrad":5.4106,"x_floor":5.001,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r075","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Floor repeats","test":"floor tape","run":"floor repeat 1","q_rms_mrad":3.8372,"x_floor":3.547,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r076","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Floor repeats","test":"floor tape","run":"floor repeat 2","q_rms_mrad":3.8972,"x_floor":3.602,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r077","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Floor repeats","test":"floor tape","run":"floor repeat 3","q_rms_mrad":3.8129,"x_floor":3.525,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r078","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Floor repeats","test":"floor tape","run":"floor repeat 4","q_rms_mrad":4.033,"x_floor":3.728,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r079","variant":"M4.ripple (moteus-c1 driver twin)","model":"M4.ripple","backend":"MuJoCo + plugin + moteus-c1 driver twin","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same, with the driver's current loop as run","suite":"Floor repeats","test":"floor tape","run":"floor repeat 5","q_rms_mrad":4.1133,"x_floor":3.802,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":8},{"id":"r080","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"staircase","run":"session_01a/runs/s01_can14_staircase","q_rms_mrad":2.9536,"x_floor":2.73,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r081","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"staircase","run":"session_01a/runs/s03_can14_staircase","q_rms_mrad":2.6214,"x_floor":2.423,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r082","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"sine","run":"session_01c/runs/s03_can14_sine","q_rms_mrad":1.5588,"x_floor":1.441,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r083","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_01c/runs/s05_can14_tape_fast","q_rms_mrad":2.8023,"x_floor":2.59,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r084","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_01c/runs/s05_can14_tape_medium","q_rms_mrad":2.4643,"x_floor":2.278,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r085","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_01c/runs/s05_can14_tape_slow","q_rms_mrad":2.7188,"x_floor":2.513,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r086","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"staircase","run":"session_02/runs/s01_can14_staircase","q_rms_mrad":2.8722,"x_floor":2.655,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r087","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_03/runs/s01_can14_tape_fast","q_rms_mrad":1.3896,"x_floor":1.285,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r088","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_03/runs/s01_can14_tape_medium","q_rms_mrad":1.6744,"x_floor":1.548,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r089","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_03/runs/s01_can14_tape_slow","q_rms_mrad":2.1833,"x_floor":2.018,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r090","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_03/runs/s05_can14_tape_fast","q_rms_mrad":1.3233,"x_floor":1.223,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r091","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_03/runs/s05_can14_tape_medium","q_rms_mrad":1.6468,"x_floor":1.522,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r092","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_03/runs/s05_can14_tape_slow","q_rms_mrad":2.2383,"x_floor":2.069,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r093","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_04/runs/s03_can14_tape_fast","q_rms_mrad":1.409,"x_floor":1.302,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r094","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_04/runs/s03_can14_tape_medium","q_rms_mrad":1.5975,"x_floor":1.477,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r095","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_04/runs/s03_can14_tape_slow","q_rms_mrad":2.2105,"x_floor":2.043,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r096","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"tape fast","run":"session_04/runs/s07_can14_tape_fast","q_rms_mrad":1.3522,"x_floor":1.25,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r097","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"tape medium","run":"session_04/runs/s07_can14_tape_medium","q_rms_mrad":1.6591,"x_floor":1.534,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r098","variant":"M4.ripple (c1, soft friction)","model":"M4.ripple","backend":"MuJoCo + plugin + c1, soft friction","family":"M4 · grey-box drivetrain family","rung":"M4","about":"the same on MuJoCo's default soft friction","suite":"Budget tapes, Oct 23","test":"tape slow","run":"session_04/runs/s07_can14_tape_slow","q_rms_mrad":2.2557,"x_floor":2.085,"bench_steps":["velocity plateaus + chirps","rotor-angle sweep","ratio turn + staircase holds"],"bench_min":14,"sensors_missing":[],"model_order":9},{"id":"r099","variant":"M5.dcmotor","model":"M5.dcmotor","backend":"MuJoCo native (dcmotor)","family":"M5 · the motor's R, L and heat","rung":"M5","about":"R, L, motor constant, winding heat","suite":null,"test":null,"run":null,"q_rms_mrad":null,"x_floor":null,"bench_steps":["board calibration + envelope","heating run"],"bench_min":47,"sensors_missing":["thermocouple"],"model_order":10}]}