GearRatioCostScenario
Robotics scenarios · Implementation: mlsysim/engine/scenario_definitions/robotics/plant.py.
Construct this scenario with keyword inputs. The fields below show the types and defaults declared by this class.
motor in joint holding output_torque through each of ratios.
Notes
Equation: Compose mlsysim.solvers.GearRatioCostModel.
Assumptions: The stated fields are inputs to mlsysim.solvers.GearRatioCostModel; its documented validity regime, units, and modeling choices apply unchanged.
Excludes: This scenario adds no measurement, empirical calibration, or mechanisms beyond mlsysim.solvers.GearRatioCostModel.
References
Derivation: this scenario binds its input fields to the referenced implementation contracts: mlsysim.solvers.GearRatioCostModel. The methods below identify any additional arithmetic.
Examples
>>> from mlsysim import Scenarios
>>> case = Scenarios.PandaClassJointGearRatios
>>> type(case.result).__name__
'GearRatioCostResult'Attributes
| Name | Description |
|---|---|
| gear_efficiency | |
| joint | |
| motor | |
| output_torque | |
| ratios | |
| result | Evaluate this scenario through mlsysim.solvers.GearRatioCostModel.solve. Equation: |
joint
Type: Any.
Declared default: required.
motor
Type: Any.
Declared default: required.
output_torque
Type: Quantity.
Declared default: required.
gear_efficiency
Type: float.
Declared default: required.
ratios
Type: List[int].
Declared default: required.
result
engine.scenario_types.GearRatioCostScenario.result
Evaluate this scenario through mlsysim.solvers.GearRatioCostModel.solve. Equation: pass the stated fields to that implementation; its contract defines the calculation and feasibility tests. Units: each returned field follows the referenced result schema; no independent equation is evaluated by this wrapper.