GoalSetMembershipScenario
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.
Terminal TCP offsets along one axis tested against a goal set whose semi-axes all equal site’s grasp tolerance: the normalized ellipsoidal distance, inside when at most one.
Notes
Equation: norms is the worked quantity; each property below states its equation and units.
Assumptions: Offsets are nonnegative distances along one axis and tolerance is positive.
Excludes: Multiaxis ellipsoid membership; negative signed offsets are not absolutized by this implementation.
References
Derivation: The equations below follow the stated counts, geometric relations, or accounting definitions; scenario inputs are supplied assumptions or observations, not fitted predictions.
Examples
Execute the registered worked inputs; this is a modeled calculation.
>>> from mlsysim import Scenarios
>>> case = Scenarios.ConveyorMugGoalSetOffsets
>>> value = case.norms
>>> [round(item, 3) for item in value]
[0.667, 1.333]Attributes
| Name | Description |
|---|---|
| inside | Membership flags from ratios at most one; negative offsets are not absolutized. |
| norms | Signed axial offsets divided by grasp tolerance, as dimensionless ratios. |
| offsets | |
| site |
site
Type: Any.
Declared default: required.
offsets
Type: List[Quantity].
Declared default: required.
norms
engine.scenario_types.GoalSetMembershipScenario.norms
Signed axial offsets divided by grasp tolerance, as dimensionless ratios.
Equation: return [(d / self.site.grasp_tolerance).to(’’).magnitude for d in self.offsets]
inside
engine.scenario_types.GoalSetMembershipScenario.inside
Membership flags from ratios at most one; negative offsets are not absolutized.
Equation: return [n <= 1.0 for n in self.norms]