control.fishing_control_core

Pure-Python fishing tension controllers ported from the MuJoCo notebooks.

Julie notebook -> AdmittanceController (virtual mass-spring-damper + PD inner loop) Chaoyi notebook -> ForceFeedbackController (asymmetric tension-to-angle mapping)

The notebooks model a single pitch DOF. In ROS2, control_dof=1 maps all q_* setpoints to pitch_joint (Joint_2) while base_joint (Joint_1) is held fixed at joint_1_hold.

Classes

AdmittanceConfig	Julie admittance controller parameters.
AdmittanceControllerCore	Virtual admittance outer loop from mojocowithJulieController.ipynb.
ControllerSnapshot
FishingControllerConfig	Shared configuration for both controller types.
FishingState	Enum where members are also (and must be) ints
ForceFeedbackConfig	Chaoyi proportional force-feedback controller parameters.
ForceFeedbackControllerCore	Asymmetric tension-to-angle controller from mojocowithchaoyi'scontroller.ipynb.

Functions

clip(→ float)
filter_tension(→ float)
get_fishing_state(→ FishingState)
smoothstep(→ float)

Module Contents

class control.fishing_control_core.AdmittanceConfig

Bases: FishingControllerConfig

Julie admittance controller parameters.

b_v: float = 5.5

j_alpha: float = 0.05

k_f: float = 5.0

k_g: float = 9.95

k_v: float = 16.0

kd_track: float = 20.0

ki_track: float = 0.0

kp_track: float = 140.0

m_v: float = 0.6

max_torque: float = 20.0

pos_int_limit: float = 0.15

rod_length: float = 0.185

class control.fishing_control_core.AdmittanceControllerCore(cfg: AdmittanceConfig, dt: float)

Virtual admittance outer loop from mojocowithJulieController.ipynb.

get_jacobian(theta: float, tip_pos: Tuple[float, float, float] | None = None, fish_pos: Tuple[float, float, float] | None = None) → float

Map pitch rate to line-length rate (notebook get_jacobian).

hook_set_target(t: float) → float

reset(q_actual: float) → None

update(t: float, state: FishingState, f_measured: float, theta: float, theta_dot: float, tip_pos: Tuple[float, float, float] | None = None, fish_pos: Tuple[float, float, float] | None = None, control_enabled: bool = True) → Tuple[float, float]

Return (position_cmd, velocity_cmd) for Joint_2.

update_tension(tension_raw: float) → float

cfg

dt

j_filtered = 0.0

pos_int = 0.0

property tension_filtered: float

theta_cmd

theta_dot_cmd = 0.0

class control.fishing_control_core.ControllerSnapshot

q_cmd: float = 0.0

q_dot_cmd: float = 0.0

state: FishingState

tension_filtered: float = 0.0

tension_raw: float = 0.0

class control.fishing_control_core.FishingControllerConfig

Shared configuration for both controller types.

base_joint: str = 'Joint_1'

bite_time: float = 2.4

control_dof: int = 1

control_rate_hz: float = 50.0

fsm_enabled: bool = True

hook_duration: float = 1.2

joint_1_hold: float = 1.57

pitch_joint: str = 'Joint_2'

q_hook: float = 1.4

q_init: float = 1.745

q_max: float = 2.2

q_min: float = 0.1

q_neutral: float = 1.605

safety_tension_limit: float = 20.0

target_tension: float = 3.5

tension_filter_alpha: float = 0.055

class control.fishing_control_core.FishingState

Bases: enum.IntEnum

Enum where members are also (and must be) ints

Initialize self. See help(type(self)) for accurate signature.

HOOK_SET = 1

MONITOR = 0

REGULATE = 2

class control.fishing_control_core.ForceFeedbackConfig

Bases: FishingControllerConfig

Chaoyi proportional force-feedback controller parameters.

lower_gain: float = 0.8

max_qeq_step: float

qeq_alpha: float = 0.055

raise_gain: float = 1.25

tension_to_angle_gain: float

class control.fishing_control_core.ForceFeedbackControllerCore(cfg: ForceFeedbackConfig)

Asymmetric tension-to-angle controller from mojocowithchaoyi’scontroller.ipynb.

reset() → None

update(t: float, state: FishingState, tension_filtered: float, control_enabled: bool = True) → Tuple[float, float]

Return (q_eq, q_target) equilibrium pitch angles.

update_tension(tension_raw: float) → float

cfg

q_eq

property tension_filtered: float

control.fishing_control_core.clip(value: float, lo: float, hi: float) → float

control.fishing_control_core.filter_tension(raw: float, prev_filtered: float, alpha: float) → float

control.fishing_control_core.get_fishing_state(t: float, cfg: FishingControllerConfig) → FishingState

control.fishing_control_core.smoothstep(s: float) → float