ClearanceQueryScenario
Robotics scenarios · Implementation: mlsysim/engine/scenario_definitions/robotics/estimation.py.
Construct this scenario with keyword inputs. The fields below show the types and defaults declared by this class.
Sphere-hull clearance queries on site.machine’s permission controller, and a snapshot of the stopping corridor.
Notes
Equation: result evaluates the configured solver; its contract owns the governing equations.
Assumptions: The corridor is a rectangular slab and declared hull/grid parameters define the query workload.
Excludes: Measured cache locality, worst-case bus arbitration, and safety certification.
References
Derivation: The scenario binds declared inputs to ClearanceQueryModel. Those implementations document their derivations and sources.
Examples
Execute the registered worked inputs; this is a modeled calculation.
>>> from mlsysim import Scenarios
>>> case = Scenarios.WarehousePermissionClearanceQuery
>>> value = case.result
>>> print(f"{value.query_time.m_as('microsecond'):.3f} microsecond")
2.000 microsecondAttributes
| Name | Description |
|---|---|
| collision_allocation | |
| esdf_cell_bytes | |
| fewest_hulls | |
| hull_radius | |
| hulls | |
| map_edge | |
| occupancy_cell_bytes | |
| pitches | |
| result | Evaluate the configured inputs with mlsysim.solvers.ClearanceQueryModel.solve. |
| site | |
| slab_height | |
| slab_volume | Rectangular stopping-corridor volume in cubic meters. |
| trilinear_reads |
site
Type: Any.
Declared default: required.
collision_allocation
Type: Quantity.
Declared default: required.
hulls
Type: int.
Declared default: required.
fewest_hulls
Type: int.
Declared default: required.
hull_radius
Type: Quantity.
Declared default: required.
esdf_cell_bytes
Type: Quantity.
Declared default: required.
occupancy_cell_bytes
Type: Quantity.
Declared default: required.
map_edge
Type: Quantity.
Declared default: required.
slab_height
Type: Quantity.
Declared default: required.
pitches
Type: List[Quantity].
Declared default: required.
trilinear_reads
Type: int.
Declared default: required.
slab_volume
engine.scenario_types.ClearanceQueryScenario.slab_volume
Rectangular stopping-corridor volume in cubic meters.
Equation: return (self.site.aisle_width * self.site.d_clear * self.slab_height).to(‘m**3’)
result
engine.scenario_types.ClearanceQueryScenario.result
Evaluate the configured inputs with mlsysim.solvers.ClearanceQueryModel.solve.
The returned typed result retains the solver’s documented units, assumptions, and feasibility semantics; this property adds no measurement or safety claim. Equation: result = ClearanceQueryModel().solve(...) using the fields shown below.