StiffContactScenario
Robotics scenarios · Implementation: mlsysim/engine/scenario_definitions/robotics/contact.py.
Construct this scenario with keyword inputs. The fields below show the types and defaults declared by this class.
A stiff contact of stiffness (a linear spring, F = k x): the force a residual penetration commands, and the penetrations at site’s latch tripwire and limit.
Notes
Equation: Hooke’s law gives force=k*penetration and its inverse gives penetration at a force limit.
Assumptions: A linear spring of positive stiffness with the supplied penetration.
Excludes: Impact dynamics, damping, controller saturation, and nonlinear compliance.
References
Derivation: Hooke’s law gives force=k*penetration and its inverse gives penetration at a force limit. Individual property contracts identify the exact accounting expression or reusable calculation. Registry entries supply the scenario inputs; this class does not turn them into measured outcomes.
Examples
Evaluate a named scenario using its declared inputs.
>>> from mlsysim import Scenarios
>>> scenario = Scenarios.StiffSurfaceResidual
>>> round(float(scenario.residual_force.magnitude), 4)
1000.0Attributes
| Name | Description |
|---|---|
| limit_penetration | Millimeters at which the spring force reaches the site’s latch-force limit. |
| residual | |
| residual_force | Newtons commanded by the residual penetration under the linear spring law F=k*x. |
| site | |
| stiffness | |
| tripwire_penetration | Millimeters at which the spring force reaches the site’s latch tripwire. |
Methods
| Name | Description |
|---|---|
| penetration_at | Millimeters of linear-spring penetration corresponding to supplied force force. |
penetration_at
engine.scenario_types.StiffContactScenario.penetration_at(force)Millimeters of linear-spring penetration corresponding to supplied force force.
Equation: (force / stiffness).to('mm').
site
Type: Any.
Declared default: required.
stiffness
Type: Quantity.
Declared default: required.
residual
Type: Quantity.
Declared default: required.
residual_force
engine.scenario_types.StiffContactScenario.residual_force
Newtons commanded by the residual penetration under the linear spring law F=k*x.
Equation: (stiffness * residual).to('N').
tripwire_penetration
engine.scenario_types.StiffContactScenario.tripwire_penetration
Millimeters at which the spring force reaches the site’s latch tripwire.
Equation: penetration_at(site.f_latch_tripwire).
limit_penetration
engine.scenario_types.StiffContactScenario.limit_penetration
Millimeters at which the spring force reaches the site’s latch-force limit.
Equation: penetration_at(site.f_latch_limit).