Models × benches

# Models × benches: the CAN 14 twin-error comparison (suite bam-rack/1), one row per model and run. The pivot is the
# table lane's preset; the charts put every run per model against the twin-grade line (1.5 × the 1.08 mrad floor).
# Check it: node bin/data-ui.mjs check <this file>
data: models.json
facets:
  - family
  - suite
  - test
  - { property: q_rms_mrad, as: range }
properties:
  variant: { displayName: Model }
  model: { displayName: Model id }
  backend: { displayName: Backend }
  family: { displayName: Family }
  rung: { displayName: Rung }
  about: { displayName: What it models }
  suite: { displayName: Suite }
  test: { displayName: Test }
  run: { displayName: Run }
  q_rms_mrad: { displayName: q RMS }
  x_floor: { displayName: × floor }
  bench_steps: { displayName: Bench steps }
  bench_min: { displayName: Bench time }
  sensors_missing: { displayName: Sensors the rack lacks }
views:
  - type: pivot
    name: Benchmarks
    order: [variant]
    groupBy: { property: family }
    splitBy: [suite, test]
    value: { property: q_rms_mrad, summary: Median, display: dist }
  - type: chart
    name: Every run per model
    chart:
      mark: { type: tick, thickness: 2, size: 26 }
      encoding:
        x: { field: q_rms_mrad, scale: { type: log } }
        y: { field: variant }
        color: { field: suite }
    guides:
      - { rule: { x: 1.0818 }, label: "floor 1.08" }
      - { rule: { x: 1.6227 }, label: "twin-grade ≤ 1.62" }
      - { rule: { x: 2.1636 }, label: "every class ≤ 2.16" }
    hover: { title: variant, fields: [q_rms_mrad, x_floor, suite, test, run] }
  - type: chart
    name: Median per model
    chart:
      mark: bar
      encoding:
        x: { field: q_rms_mrad, aggregate: median }
        y: { field: variant, sort: x }
        color: { field: family }
    guides:
      - { rule: { x: 1.6227 }, label: "twin-grade ≤ 1.62 mrad" }
  - type: table
    name: All runs
    order: [variant, suite, test, run, q_rms_mrad, x_floor]
    groupBy: { property: variant }
    sort:
      - { property: q_rms_mrad, direction: DESC }
    display: { q_rms_mrad: bar }
    fold: closed

// models.json: 100 rows, 48 KB; the first 3
{
 "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
  }
 ]
}