TeleopLoopScenario
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.
One teleoperated correction: display, human, command transport, and mechanical response.
Notes
Equation: Loop delay=display+human+command+mechanical.
Assumptions: Serial additive delays supplied for the same correction path.
Excludes: Overlapped stages and statistical tail composition.
References
Derivation: The correction path is explicitly serial, so its display, human, command, and mechanical intervals add. Dividing one interval by their sum yields its contribution to total delay.
Examples
The named registry scenario supplies the stated inputs; this is a modeled calculation, not a new measurement.
>>> from mlsysim import Scenarios
>>> scenario = Scenarios.TeleopCorrectionLoop
>>> round((scenario.loop).to('ms').magnitude, 6)
340Attributes
| Name | Description |
|---|---|
| command | |
| command_issued | Elapsed time in ms before command transmission: display delay plus human response. |
| display | |
| human | |
| human_share | Fraction of total loop delay attributable to the supplied human-response time. |
| loop | Complete serial correction-loop delay in ms: display, human response, command transport, and mechanical response. |
| mechanical |
display
Type: Quantity.
Declared default: required.
human
Type: Quantity.
Declared default: required.
command
Type: Quantity.
Declared default: required.
mechanical
Type: Quantity.
Declared default: required.
loop
engine.scenario_types.TeleopLoopScenario.loop
Complete serial correction-loop delay in ms: display, human response, command transport, and mechanical response.
Equation: (self.display + self.human + self.command + self.mechanical).to(‘ms’)
command_issued
engine.scenario_types.TeleopLoopScenario.command_issued
Elapsed time in ms before command transmission: display delay plus human response.
Equation: (self.display + self.human).to(‘ms’)