{"id":"sim-to-real-motors","properties":{"board":{"note":"moteus board model.","type":"text","width":110},"can":{"note":"CAN id on the rack; joins every file here.","type":"number","width":60},"datasheet_peak_torque_nm":{"note":"Peak output torque from the vendor datasheet; the card has it for the GIM4305 only.","type":"number","width":130},"floor":{"note":"The measurement floor the budget compares the twin to: the RMS two identical runs disagree by. Measured for CAN 14 only; the other seven use a sine cycle-to-cycle proxy (drawn stand-in), because those stations have no repeated identical tape.","type":"number","width":110},"floor_kind":{"note":"How `floor` was obtained (repeats or proxy).","type":"text","width":220},"gates_fail":{"note":"Acceptance gates that failed.","type":"number","width":80},"gates_not_run":{"note":"Acceptance gates not run yet (pass + fail + partial + not run = 11).","type":"number","width":80},"gates_partial":{"note":"Acceptance gates passed in part.","type":"number","width":80},"gates_pass":{"note":"Acceptance gates (T1-T11, rack_2026-10-24 acceptance.json) that passed.","type":"number","width":80},"motor":{"type":"text","width":80},"part":{"display":"badge","note":"Motor part from the model card (JMC parts are inferred from Kv/R, CAN 15 is unidentified).","type":"text","width":190},"ratio":{"note":"Gear ratio from the datasheet (1 = direct drive).","type":"number","width":70},"repeat_floor":{"note":"Floor from 5 identical floor-tape repeats on the pick-and-place tape (rack_2026-10-24 floors.json), every motor: a different tape and day than `floor`, so not comparable to `twin`.","type":"number","width":120},"terms_measured":{"note":"Card rows with status measured (the others are board settings, datasheet, refused or pending).","type":"number","width":90},"terms_total":{"note":"Rows in the model card.","type":"number","width":80},"twin":{"note":"Full twin: median over all real runs of the RMS of (real - twin) joint angle, from the 10-23 budget. All the budget's runs are listed as held out. n = runs.","type":"number","width":110},"twin_over_floor":{"note":"twin / floor: 1× would be indistinguishable from the rack repeating itself; see floor_kind for how trustworthy the floor is.","type":"number","width":120}},"rows":[{"board":"moteus-c1","can":1,"datasheet_peak_torque_nm":{"basis":"datasheet","source":"model_cards/can1.json:datasheet.peak_torque_out_nm","unit":"N·m","value":3.82},"floor":{"basis":"stand-in","note":"PROXY: sine cycle-to-cycle repeat (no repeated identical runs on this station)","source":"budget_can1.json:floor_rms_mrad","unit":"mrad","value":0.4471},"floor_kind":"proxy: sine cycle-to-cycle (no repeated tape)","gates_fail":2,"gates_not_run":4,"gates_partial":4,"gates_pass":1,"id":"can1","motor":"CAN 1","part":"steadywin-gim4305-10","ratio":{"basis":"datasheet","source":"model_cards/can1.json:datasheet.ratio","unit":":1","value":10.0},"repeat_floor":{"basis":"measured","n":5,"note":"median pairwise RMS of 5 identical floor-tape repeats (pickplace)","source":"floors.json:1.floor_mrad","unit":"mrad","value":0.8968},"terms_measured":9,"terms_total":25,"twin":{"basis":"measured","n":5,"source":"budget_can1.json:full_rms_mrad","unit":"mrad","value":2.5866},"twin_over_floor":{"basis":"derived","source":"budget_can1.json: full_rms_mrad / floor_rms_mrad","unit":"×","value":5.786}},{"board":"moteus-r4.11","can":4,"datasheet_peak_torque_nm":{"value":null,"why":"the card's datasheet has no peak torque for this part"},"floor":{"basis":"stand-in","note":"PROXY: sine cycle-to-cycle repeat (no repeated identical runs on this station)","source":"budget_can4.json:floor_rms_mrad","unit":"mrad","value":5.2841},"floor_kind":"proxy: sine cycle-to-cycle (no repeated tape)","gates_fail":1,"gates_not_run":5,"gates_partial":2,"gates_pass":3,"id":"can4","motor":"CAN 4","part":"jmc-60asm400","ratio":{"basis":"datasheet","source":"model_cards/can4.json:datasheet.ratio","unit":":1","value":1.0},"repeat_floor":{"basis":"measured","n":5,"note":"median pairwise RMS of 5 identical floor-tape repeats (pickplace)","source":"floors.json:4.floor_mrad","unit":"mrad","value":3.2221},"terms_measured":5,"terms_total":24,"twin":{"basis":"measured","n":10,"source":"budget_can4.json:full_rms_mrad","unit":"mrad","value":24.4206},"twin_over_floor":{"basis":"derived","source":"budget_can4.json: full_rms_mrad / floor_rms_mrad","unit":"×","value":4.622}},{"board":"moteus-r4.11","can":11,"datasheet_peak_torque_nm":{"value":null,"why":"the card's datasheet has no peak torque for this part"},"floor":{"basis":"stand-in","note":"PROXY: sine cycle-to-cycle repeat (no repeated identical runs on this station)","source":"budget_can11.json:floor_rms_mrad","unit":"mrad","value":1.1323},"floor_kind":"proxy: sine cycle-to-cycle (no repeated tape)","gates_fail":3,"gates_not_run":5,"gates_partial":2,"gates_pass":1,"id":"can11","motor":"CAN 11","part":"jmc-60asm200","ratio":{"basis":"datasheet","source":"model_cards/can11.json:datasheet.ratio","unit":":1","value":10.0},"repeat_floor":{"basis":"measured","n":5,"note":"median pairwise RMS of 5 identical floor-tape repeats (pickplace)","source":"floors.json:11.floor_mrad","unit":"mrad","value":2.0328},"terms_measured":3,"terms_total":24,"twin":{"basis":"measured","n":5,"source":"budget_can11.json:full_rms_mrad","unit":"mrad","value":13.2106},"twin_over_floor":{"basis":"derived","source":"budget_can11.json: full_rms_mrad / floor_rms_mrad","unit":"×","value":11.668}},{"board":"moteus-r4.11","can":12,"datasheet_peak_torque_nm":{"value":null,"why":"the card's datasheet has no peak torque for this part"},"floor":{"basis":"stand-in","note":"PROXY: sine cycle-to-cycle repeat (no repeated identical runs on this station)","source":"budget_can12.json:floor_rms_mrad","unit":"mrad","value":0.9414},"floor_kind":"proxy: sine cycle-to-cycle (no repeated tape)","gates_fail":5,"gates_not_run":3,"gates_partial":1,"gates_pass":2,"id":"can12","motor":"CAN 12","part":"jmc-60asm200","ratio":{"basis":"datasheet","source":"model_cards/can12.json:datasheet.ratio","unit":":1","value":10.0},"repeat_floor":{"basis":"measured","n":5,"note":"median pairwise RMS of 5 identical floor-tape repeats (pickplace)","source":"floors.json:12.floor_mrad","unit":"mrad","value":2.9256},"terms_measured":3,"terms_total":24,"twin":{"basis":"measured","n":4,"source":"budget_can12.json:full_rms_mrad","unit":"mrad","value":9.7424},"twin_over_floor":{"basis":"derived","source":"budget_can12.json: full_rms_mrad / floor_rms_mrad","unit":"×","value":10.349}},{"board":"moteus-r4.11","can":13,"datasheet_peak_torque_nm":{"value":null,"why":"the card's datasheet has no peak torque for this part"},"floor":{"basis":"stand-in","note":"PROXY: sine cycle-to-cycle repeat (no repeated identical runs on this station)","source":"budget_can13.json:floor_rms_mrad","unit":"mrad","value":0.9432},"floor_kind":"proxy: sine cycle-to-cycle (no repeated tape)","gates_fail":3,"gates_not_run":4,"gates_partial":2,"gates_pass":2,"id":"can13","motor":"CAN 13","part":"jmc-60asm200","ratio":{"basis":"datasheet","source":"model_cards/can13.json:datasheet.ratio","unit":":1","value":10.0},"repeat_floor":{"basis":"measured","n":5,"note":"median pairwise RMS of 5 identical floor-tape repeats (pickplace)","source":"floors.json:13.floor_mrad","unit":"mrad","value":2.8899},"terms_measured":3,"terms_total":24,"twin":{"basis":"measured","n":5,"source":"budget_can13.json:full_rms_mrad","unit":"mrad","value":7.9327},"twin_over_floor":{"basis":"derived","source":"budget_can13.json: full_rms_mrad / floor_rms_mrad","unit":"×","value":8.41}},{"board":"moteus-c1","can":14,"datasheet_peak_torque_nm":{"basis":"datasheet","source":"model_cards/can14.json:datasheet.peak_torque_out_nm","unit":"N·m","value":3.82},"floor":{"basis":"measured","n":18,"source":"budget_can14.json:floor_rms_mrad","unit":"mrad","value":0.522},"floor_kind":"repeats: identical tape pairs","gates_fail":2,"gates_not_run":2,"gates_partial":4,"gates_pass":3,"id":"can14","motor":"CAN 14","part":"steadywin-gim4305-10","ratio":{"basis":"datasheet","source":"model_cards/can14.json:datasheet.ratio","unit":":1","value":10.0},"repeat_floor":{"basis":"measured","n":5,"note":"median pairwise RMS of 5 identical floor-tape repeats (pickplace)","source":"floors.json:14.floor_mrad","unit":"mrad","value":1.0818},"terms_measured":10,"terms_total":24,"twin":{"basis":"measured","n":19,"source":"budget_can14.json:full_rms_mrad","unit":"mrad","value":1.1169},"twin_over_floor":{"basis":"derived","source":"budget_can14.json: full_rms_mrad / floor_rms_mrad","unit":"×","value":2.14}},{"board":"moteus-c1","can":15,"datasheet_peak_torque_nm":{"value":null,"why":"the card's datasheet has no peak torque for this part"},"floor":{"basis":"stand-in","note":"PROXY: sine cycle-to-cycle repeat (no repeated identical runs on this station)","source":"budget_can15.json:floor_rms_mrad","unit":"mrad","value":0.5438},"floor_kind":"proxy: sine cycle-to-cycle (no repeated tape)","gates_fail":2,"gates_not_run":3,"gates_partial":4,"gates_pass":2,"id":"can15","motor":"CAN 15","part":"unidentified-small-arm","ratio":{"basis":"datasheet","source":"model_cards/can15.json:datasheet.ratio","unit":":1","value":10.0},"repeat_floor":{"basis":"measured","n":5,"note":"median pairwise RMS of 5 identical floor-tape repeats (pickplace)","source":"floors.json:15.floor_mrad","unit":"mrad","value":0.9336},"terms_measured":8,"terms_total":24,"twin":{"basis":"measured","n":14,"source":"budget_can15.json:full_rms_mrad","unit":"mrad","value":1.617},"twin_over_floor":{"basis":"derived","source":"budget_can15.json: full_rms_mrad / floor_rms_mrad","unit":"×","value":2.973}},{"board":"moteus-r4.11","can":21,"datasheet_peak_torque_nm":{"value":null,"why":"the card's datasheet has no peak torque for this part"},"floor":{"basis":"stand-in","note":"PROXY: sine cycle-to-cycle repeat (no repeated identical runs on this station)","source":"budget_can21.json:floor_rms_mrad","unit":"mrad","value":0.3342},"floor_kind":"proxy: sine cycle-to-cycle (no repeated tape)","gates_fail":2,"gates_not_run":5,"gates_partial":2,"gates_pass":2,"id":"can21","motor":"CAN 21","part":"jmc-60asm400","ratio":{"basis":"datasheet","source":"model_cards/can21.json:datasheet.ratio","unit":":1","value":1.0},"repeat_floor":{"basis":"measured","n":5,"note":"median pairwise RMS of 5 identical floor-tape repeats (pickplace)","source":"floors.json:21.floor_mrad","unit":"mrad","value":2.1227},"terms_measured":8,"terms_total":23,"twin":{"basis":"measured","n":5,"source":"budget_can21.json:full_rms_mrad","unit":"mrad","value":3.617},"twin_over_floor":{"basis":"derived","source":"budget_can21.json: full_rms_mrad / floor_rms_mrad","unit":"×","value":10.822}}],"source":"/archive/datasets/bam_rig/rack_2026-10-23/analysis/budget_can*.json + model_cards/can*.json; rack_2026-10-24/analysis/{acceptance,floors,friction_study}.json; rack_2026-10-25/analysis/twin_round*.json (bam_rack_twin 0.1.0, bam_ws sim-to-real-motor-models-f1ee43 @ 00974f82); read_on 2026-10-26. Real hardware recordings of the rack, Oct 23-25 2026.","title":"Rack motor twins vs real hardware (8 motors)","titleProperty":"motor"}