{
 "id": "model-lineage",
 "title": "GIM4305-10 actuator model ladder",
 "titleProperty": "variant",
 "source": "models-benches/models.json (robotparts lane/datasheet @ ec9a13c); parents from robotparts lane/datasheet docs/proposals/models-2026-10-25.md",
 "properties": {
  "variant": {
   "type": "text",
   "width": 240
  },
  "rung": {
   "type": "number",
   "width": 60,
   "note": "how much physics the model captures (M0-M5)"
  },
  "rung_name": {
   "type": "text",
   "width": 60
  },
  "family": {
   "type": "text",
   "width": 230
  },
  "backend": {
   "type": "text",
   "width": 250
  },
  "about": {
   "type": "text",
   "width": 260
  },
  "runs": {
   "type": "number",
   "width": 60
  },
  "q_rms_median": {
   "type": "number",
   "unitText": "mrad",
   "decimals": 2,
   "width": 110,
   "better": "lower"
  },
  "status": {
   "type": "text",
   "width": 90,
   "display": "badge",
   "colors": {
    "measured": 1,
    "no runs": 0
   }
  },
  "parents": {
   "type": "list",
   "width": 200,
   "relation": true,
   "note": "the model this one adds physics to; two = a splice"
  },
  "parents_why": {
   "type": "text",
   "width": 320,
   "note": "the sentence in robotparts lane/datasheet docs/proposals/models-2026-10-25.md that names the parent"
  }
 },
 "rows": [
  {
   "id": "m0-ideal",
   "variant": "M0.ideal",
   "rung": 0,
   "rung_name": "M0",
   "family": "M0 · ideal",
   "backend": "MuJoCo native",
   "about": "no friction, datasheet inertia",
   "runs": 0,
   "q_rms_median": {
    "value": null,
    "why": "no run on the bench yet"
   },
   "status": "no runs",
   "parents": [],
   "parents_why": "heads every ladder as the ablation baseline"
  },
  {
   "id": "m1-datasheet",
   "variant": "M1.datasheet",
   "rung": 1,
   "rung_name": "M1",
   "family": "M1 · datasheet",
   "backend": "MuJoCo native",
   "about": "the stated values",
   "runs": 0,
   "q_rms_median": {
    "value": null,
    "why": "no run on the bench yet"
   },
   "status": "no runs",
   "parents": [
    "m0-ideal"
   ],
   "parents_why": "M1 adds the stated values (Kt, any stated friction and backlash) to M0's gear ratio and inertia"
  },
  {
   "id": "m2-coulomb-viscous",
   "variant": "M2.coulomb_viscous",
   "rung": 2,
   "rung_name": "M2",
   "family": "M2 · fitted constant friction",
   "backend": "MuJoCo native, soft friction",
   "about": "Coulomb + viscous",
   "runs": 19,
   "q_rms_median": 2.102,
   "status": "measured",
   "parents": [
    "m1-datasheet"
   ],
   "parents_why": "M2 adds fitted constant friction: Coulomb, viscous"
  },
  {
   "id": "m3-stribeck",
   "variant": "M3.stribeck",
   "rung": 3,
   "rung_name": "M3",
   "family": "M3 · static friction family",
   "backend": "MuJoCo + plugin",
   "about": "Coulomb + viscous + Stribeck",
   "runs": 0,
   "q_rms_median": {
    "value": null,
    "why": "no run on the bench yet"
   },
   "status": "no runs",
   "parents": [
    "m2-coulomb-viscous"
   ],
   "parents_why": "stribeck: + breakaway, Stribeck speed (on M2's Coulomb + viscous)"
  },
  {
   "id": "m3-load",
   "variant": "M3.load",
   "rung": 3,
   "rung_name": "M3",
   "family": "M3 · static friction family",
   "backend": "MuJoCo + plugin",
   "about": "Coulomb + viscous + load",
   "runs": 0,
   "q_rms_median": {
    "value": null,
    "why": "no run on the bench yet"
   },
   "status": "no runs",
   "parents": [
    "m2-coulomb-viscous"
   ],
   "parents_why": "load: + load coefficient (Coulomb + viscous + load)"
  },
  {
   "id": "m3-capture",
   "variant": "M3.capture",
   "rung": 3,
   "rung_name": "M3",
   "family": "M3 · static friction family",
   "backend": "MuJoCo + plugin",
   "about": "Coulomb + viscous + capture",
   "runs": 0,
   "q_rms_median": {
    "value": null,
    "why": "no run on the bench yet"
   },
   "status": "no runs",
   "parents": [
    "m2-coulomb-viscous"
   ],
   "parents_why": "capture: + capture level, speed, dwell (Coulomb + viscous + capture)"
  },
  {
   "id": "m3-lugre",
   "variant": "M3.lugre",
   "rung": 3,
   "rung_name": "M3",
   "family": "M3 · dynamic friction family",
   "backend": "MuJoCo native (dcmotor)",
   "about": "LuGre: a bristle state",
   "runs": 0,
   "q_rms_median": {
    "value": null,
    "why": "no run on the bench yet"
   },
   "status": "no runs",
   "parents": [
    "m2-coulomb-viscous"
   ],
   "parents_why": "lugre: + bristle state σ0, σ1, σ2"
  },
  {
   "id": "m4-ripple",
   "variant": "M4.ripple (ideal driver)",
   "rung": 4,
   "rung_name": "M4",
   "family": "M4 · grey-box drivetrain family",
   "backend": "MuJoCo + plugin, ideal driver",
   "about": "Coulomb + weakening + cogging map + backlash",
   "runs": 19,
   "q_rms_median": 1.101,
   "status": "measured",
   "parents": [
    "m3-stribeck"
   ],
   "parents_why": "line 274: M4.ripple = Coulomb + Stribeck-like weakening + cogging map + backlash"
  },
  {
   "id": "m4-ripple-c1",
   "variant": "M4.ripple (moteus-c1 driver twin)",
   "rung": 4,
   "rung_name": "M4",
   "family": "M4 · grey-box drivetrain family",
   "backend": "MuJoCo + plugin + moteus-c1 driver twin",
   "about": "the same, with the driver's current loop as run",
   "runs": 36,
   "q_rms_median": 1.829,
   "status": "measured",
   "parents": [
    "m4-ripple"
   ],
   "parents_why": "the same model, with the moteus-c1 driver's current loop as run"
  },
  {
   "id": "m4-ripple-c1-soft",
   "variant": "M4.ripple (c1, soft friction)",
   "rung": 4,
   "rung_name": "M4",
   "family": "M4 · grey-box drivetrain family",
   "backend": "MuJoCo + plugin + c1, soft friction",
   "about": "the same on MuJoCo's default soft friction",
   "runs": 19,
   "q_rms_median": 2.183,
   "status": "measured",
   "parents": [
    "m4-ripple-c1",
    "m2-coulomb-viscous"
   ],
   "parents_why": "the c1 twin, on MuJoCo's default soft friction (M2's backend): a splice"
  },
  {
   "id": "m5-dcmotor",
   "variant": "M5.dcmotor",
   "rung": 5,
   "rung_name": "M5",
   "family": "M5 · the motor's R, L and heat",
   "backend": "MuJoCo native (dcmotor)",
   "about": "R, L, motor constant, winding heat",
   "runs": 0,
   "q_rms_median": {
    "value": null,
    "why": "no run on the bench yet"
   },
   "status": "no runs",
   "parents": [],
   "parents_why": "M5 adds the motor's R, L and heat; the proposal names no base model, so none is drawn"
  }
 ]
}