GripperTransferScenario

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

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

A normalized gripper command from a donor gripper replayed on a target with a shorter stroke and a lower continuous force rating, against a part of part_width.

Notes

Equation: Opening=normalized_command*stroke; clearance compares opening with part_width.

Assumptions: A linear command-to-stroke map and fixed donor/target force specifications.

Excludes: Contact-force prediction, compliant deformation, and transfer success beyond geometric clearance.

References

Derivation: The assumed actuator map is linear: normalized opening command times stroke gives jaw opening. Comparing that opening with part width gives geometric clearance; comparing donor force with target rating is a separate specification ratio.

Examples

The named registry scenario supplies the stated inputs; this is a modeled calculation, not a new measurement.

>>> from mlsysim import Scenarios
>>> scenario = Scenarios.GripperStrokeTransfer
>>> scenario.target_clears
False

Attributes

Name	Description
command
donor_clears	Whether donor opening exceeds part width; equality does not count as clearance.
donor_hold_force
donor_opening	Donor opening in mm: normalized command times donor stroke.
donor_stroke
force_ratio	Dimensionless ratio of donor hold force to target rating; this comparison does not predict contact force.
part_width
result	Collect the geometric and force-rating comparisons into GripperTransferResult; opening fields are in mm, the rating ratio is dimensionless, and clearance fields are booleans.
stroke_excess	Donor commanded opening minus the target’s full available stroke, in mm; positive values exceed what the target can reproduce even fully open.
target_clears	Whether target opening exceeds part width under the transferred command.
target_force_rating
target_opening	Target opening in mm under the same normalized command and its different stroke.
target_stroke

command

Type: float.

Declared default: required.

donor_stroke

Type: Quantity.

Declared default: required.

target_stroke

Type: Quantity.

Declared default: required.

part_width

Type: Quantity.

Declared default: required.

donor_hold_force

Type: Quantity.

Declared default: required.

target_force_rating

Type: Quantity.

Declared default: required.

donor_opening

engine.scenario_types.GripperTransferScenario.donor_opening

Donor opening in mm: normalized command times donor stroke.

Equation: (self.command * self.donor_stroke).to(‘mm’)

target_opening

engine.scenario_types.GripperTransferScenario.target_opening

Target opening in mm under the same normalized command and its different stroke.

Equation: (self.command * self.target_stroke).to(‘mm’)

stroke_excess

engine.scenario_types.GripperTransferScenario.stroke_excess

Donor commanded opening minus the target’s full available stroke, in mm; positive values exceed what the target can reproduce even fully open.

Equation: (self.donor_opening - self.target_stroke).to(‘mm’)

force_ratio

engine.scenario_types.GripperTransferScenario.force_ratio

Dimensionless ratio of donor hold force to target rating; this comparison does not predict contact force.

Equation: (self.donor_hold_force / self.target_force_rating).to(’’).magnitude

donor_clears

engine.scenario_types.GripperTransferScenario.donor_clears

Whether donor opening exceeds part width; equality does not count as clearance.

Equation: self.donor_opening > self.part_width

target_clears

engine.scenario_types.GripperTransferScenario.target_clears

Whether target opening exceeds part width under the transferred command.

Equation: self.target_opening > self.part_width

result

engine.scenario_types.GripperTransferScenario.result

Collect the geometric and force-rating comparisons into GripperTransferResult; opening fields are in mm, the rating ratio is dimensionless, and clearance fields are booleans.

Equation: The calculation follows the stated accounting rule; the method body shows each intermediate term.