ShoulderSwingScenario

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

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

machine’s shoulder holding its rated payload at full planar reach, with joint’s reflected rotor inertia, swinging swing rest to rest inside its datasheet limits.

Notes

Equation: Composition of mlsysim.solvers.ShoulderSwingModel.solve.

Assumptions: Inputs are routed to ShoulderSwingModel.solve; their documented regimes and units apply to this configuration.

Excludes: Additional mechanisms beyond the linked solver contracts; the scenario does not collect measurements.

References

Derivation: This scenario binds named inputs to ShoulderSwingModel. The linked solver contracts own equations, sources, and result-unit definitions.

Examples

Evaluate the named configuration and display a modeled result.

>>> from mlsysim import Scenarios
>>> case = Scenarios.WarehouseArmShoulderSwing
>>> value = case.result.jerk_limited_time
>>> print(f"{value:.3g~}")
529 ms

Attributes

Name	Description
joint
machine
reach	Full planar arm reach in m, adding upper-arm and forearm lengths.
result	Evaluate the stated shoulder swing case through ShoulderSwingModel.solve; returns its typed result and quantity units.
swing

machine

Type: Any.

Declared default: required.

joint

Type: Any.

Declared default: required.

swing

Type: Quantity.

Declared default: required.

reach

engine.scenario_types.ShoulderSwingScenario.reach

Full planar arm reach in m, adding upper-arm and forearm lengths.

Equation: (arm.upper_arm_length + arm.forearm_length).to('m').

result

engine.scenario_types.ShoulderSwingScenario.result

Evaluate the stated shoulder swing case through ShoulderSwingModel.solve; returns its typed result and quantity units.

Calculation: mlsysim.solvers.ShoulderSwingModel.solve.