DynamicReachScenario

Robotics scenarios · Implementation: mlsysim/engine/scenario_definitions/robotics/grounding.py.

Construct this scenario with keyword inputs. The fields below show the types and defaults declared by this class.

A target target_distance from the gripper at cadence.machine’s TCP speed ceiling, against the cadence scenario’s evidence windows.

Notes

Equation: result evaluates the configured solver; its contract owns the governing equations.

Assumptions: Tool travel is compared at its speed ceiling against the cadence scenario’s evidence horizons.

Excludes: Acceleration ramps, path obstacles, and reachability certification.

References

Derivation: The scenario binds declared inputs to DynamicReachModel. Those implementations document their derivations and sources.

Examples

Execute the registered worked inputs; this is a modeled calculation.

>>> from mlsysim import Scenarios
>>> case = Scenarios.ConveyorMugDynamicReach
>>> value = case.result
>>> print(f"{value.transit_floor:.3f~P}")
300.000 ms

Attributes

Name	Description
cadence
result	Evaluate the configured inputs with mlsysim.solvers.DynamicReachModel.solve.
speed_ceiling	Configured tool-center-point speed ceiling in length/time.
target_distance

cadence

Type: IntentCadenceScenario.

Declared default: required.

target_distance

Type: Quantity.

Declared default: required.

speed_ceiling

engine.scenario_types.DynamicReachScenario.speed_ceiling

Configured tool-center-point speed ceiling in length/time.

Equation: return self.cadence.machine.tcp_speed_limit

result

engine.scenario_types.DynamicReachScenario.result

Evaluate the configured inputs with mlsysim.solvers.DynamicReachModel.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 = DynamicReachModel().solve(...) using the fields shown below.