StaleAnchorScenario

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.

A joint of machine’s arm turning at joint_speed while a replacement takes delay, anchored at the pose sampled at the request; the lever arm is the planar reach.

Notes

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

Assumptions: Inputs are routed to StaleAnchorModel.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 StaleAnchorModel. 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.WarehouseArmStaleAnchor
>>> value = case.result.gap
>>> print(f"{value:.3g~}")
0.04 rad

Attributes

Name	Description
delay
joint_speed
machine
result	Evaluate the stated stale anchor case through StaleAnchorModel.solve; returns its typed result and quantity units.

machine

Type: Any.

Declared default: required.

joint_speed

Type: Quantity.

Declared default: required.

delay

Type: Quantity.

Declared default: required.

result

engine.scenario_types.StaleAnchorScenario.result

Evaluate the stated stale anchor case through StaleAnchorModel.solve; returns its typed result and quantity units.

Calculation: mlsysim.solvers.StaleAnchorModel.solve.