BrakingBlendScenario
Robotics scenarios · Implementation: mlsysim/engine/scenario_definitions/robotics/supervision.py.
Construct this scenario with keyword inputs. The fields below show the types and defaults declared by this class.
A bumpless transfer into braking on a site’s base at speed, and an arm joint’s blend.
The site supplies the braking deceleration, the resident stop’s jerk bound, and the permission tick; the arm blend takes a torque change under a torque-rate ceiling.
Notes
Equation: Composition of mlsysim.solvers.BrakingBlendModel.solve.
Assumptions: Inputs are routed to BrakingBlendModel.solve; their documented regimes and units apply to this configuration.
Excludes: Additional mechanisms beyond the linked solver contracts; the scenario does not collect measurements.
References
Derivation: This scenario binds named inputs to BrakingBlendModel. The linked solver contracts own equations, sources, and result-unit definitions.
Examples
Evaluate the named configuration and display a modeled result.
>>> from mlsysim import Scenarios
>>> case = Scenarios.WarehouseTakeoverBrakingBlend
>>> value = case.result.blended_stop
>>> print(f"{value:.3g~}")
0.328 mAttributes
| Name | Description |
|---|---|
| result | Evaluate the stated braking blend case through BrakingBlendModel.solve; returns its typed result and quantity units. |
| site | |
| speed | |
| torque_change | |
| torque_rate_limit |
site
Type: Any.
Declared default: required.
speed
Type: Quantity.
Declared default: required.
torque_change
Type: Optional[Quantity].
Declared default: None.
torque_rate_limit
Type: Optional[Quantity].
Declared default: None.
result
engine.scenario_types.BrakingBlendScenario.result
Evaluate the stated braking blend case through BrakingBlendModel.solve; returns its typed result and quantity units.
Calculation: mlsysim.solvers.BrakingBlendModel.solve.