Index

_

__init__() (in module sensors)

A

AdmittanceConfig (class in control.fishing_control_core) AdmittanceControllerCore (class in control.fishing_control_core) AdmittanceControllerNode (class in control.fishing_controller_node) amplitude (planning.fish_agent.FishAgent attribute) arduino_baud (sensors.load_cell_publisher.LoadCellPublisher attribute)

arduino_port (sensors.load_cell_publisher.LoadCellPublisher attribute) arduino_timeout_s (sensors.load_cell_publisher.LoadCellPublisher attribute) ArduinoLoadCellReader (class in sensors.arduino_load_cell) arm_joints (diagnostics.recorder.Recorder attribute) auto_render (diagnostics.recorder.Recorder attribute)

B

b_v (control.fishing_control_core.AdmittanceConfig attribute) base_joint (control.fishing_control_core.FishingControllerConfig attribute)

baud (sensors.arduino_load_cell.ArduinoLoadCellReader attribute) bite_time (control.fishing_control_core.FishingControllerConfig attribute) buffer (sensors.load_cell_publisher.LoadCellPublisher attribute)

C

calibration_offset (sensors.load_cell_publisher.LoadCellPublisher attribute) calibration_scale (sensors.load_cell_publisher.LoadCellPublisher attribute) cfg (control.fishing_control_core.AdmittanceControllerCore attribute) (control.fishing_control_core.ForceFeedbackControllerCore attribute) clip() (in module control.fishing_control_core) close() (sensors.arduino_load_cell.ArduinoLoadCellReader method) control module control.admittance_controller module control.fishing_control_core module

control.fishing_controller_node module control.fishing_fsm module control.force_feedback_controller module control.position_test_publisher module control_dof (control.fishing_control_core.FishingControllerConfig attribute) control_rate_hz (control.fishing_control_core.FishingControllerConfig attribute) ControllerSnapshot (class in control.fishing_control_core)

D

destroy_node() (sensors.load_cell_publisher.LoadCellPublisher method) diagnostics module diagnostics.hardware_check module

diagnostics.recorder module dt (control.fishing_control_core.AdmittanceControllerCore attribute)

E

eff (diagnostics.recorder.Recorder attribute)

eff_t (diagnostics.recorder.Recorder attribute)

F

filter_tension() (in module control.fishing_control_core) filter_window (sensors.arduino_load_cell.ArduinoLoadCellReader attribute) FishAgent (class in planning.fish_agent) FishingControllerBase (class in control.fishing_controller_node) FishingControllerConfig (class in control.fishing_control_core) FishingState (class in control.fishing_control_core)

ForceFeedbackConfig (class in control.fishing_control_core) ForceFeedbackControllerCore (class in control.fishing_control_core) ForceFeedbackControllerNode (class in control.fishing_controller_node) frame_id (sensors.load_cell_publisher.LoadCellPublisher attribute) frequency (control.position_test_publisher.PositionTestPublisher attribute) (planning.fish_agent.FishAgent attribute) fsm_enabled (control.fishing_control_core.FishingControllerConfig attribute)

G

get_fishing_state() (in module control.fishing_control_core)

get_jacobian() (control.fishing_control_core.AdmittanceControllerCore method)

H

HardwareCheck (class in diagnostics.hardware_check) hook_duration (control.fishing_control_core.FishingControllerConfig attribute)

HOOK_SET (control.fishing_control_core.FishingState attribute) hook_set_target() (control.fishing_control_core.AdmittanceControllerCore method)

I

is_open (sensors.arduino_load_cell.ArduinoLoadCellReader property)

J

j_alpha (control.fishing_control_core.AdmittanceConfig attribute) j_filtered (control.fishing_control_core.AdmittanceControllerCore attribute) joint_1_hold (control.fishing_control_core.FishingControllerConfig attribute)

joint_pos (diagnostics.hardware_check.HardwareCheck attribute) joints (diagnostics.hardware_check.HardwareCheck attribute) js_t (diagnostics.recorder.Recorder attribute)

K

k_f (control.fishing_control_core.AdmittanceConfig attribute) k_g (control.fishing_control_core.AdmittanceConfig attribute) k_v (control.fishing_control_core.AdmittanceConfig attribute)

kd_track (control.fishing_control_core.AdmittanceConfig attribute) ki_track (control.fishing_control_core.AdmittanceConfig attribute) kp_track (control.fishing_control_core.AdmittanceConfig attribute)

L

load_admittance_config() (in module control.fishing_controller_node) load_force_feedback_config() (in module control.fishing_controller_node)

LoadCellPublisher (class in sensors.load_cell_publisher) lower_gain (control.fishing_control_core.ForceFeedbackConfig attribute)

M

m_v (control.fishing_control_core.AdmittanceConfig attribute) main() (in module control.admittance_controller) (in module control.force_feedback_controller) (in module control.position_test_publisher) (in module diagnostics.hardware_check) (in module diagnostics.recorder) (in module planning.fish_agent) (in module sensors.load_cell_publisher) max_amplitude (control.position_test_publisher.PositionTestPublisher attribute) max_qeq_step (control.fishing_control_core.ForceFeedbackConfig attribute) max_torque (control.fishing_control_core.AdmittanceConfig attribute) mean_force (planning.fish_agent.FishAgent attribute) mjcf_path (diagnostics.recorder.Recorder attribute) module control control.admittance_controller control.fishing_control_core control.fishing_controller_node control.fishing_fsm control.force_feedback_controller control.position_test_publisher diagnostics diagnostics.hardware_check diagnostics.recorder planning planning.fish_agent sensors sensors.arduino_load_cell sensors.load_cell_publisher

MONITOR (control.fishing_control_core.FishingState attribute) move_delta (diagnostics.hardware_check.HardwareCheck attribute) move_time (diagnostics.hardware_check.HardwareCheck attribute)

N

noise_floor (sensors.load_cell_publisher.LoadCellPublisher attribute)

O

open() (sensors.arduino_load_cell.ArduinoLoadCellReader method)

output_dir (diagnostics.recorder.Recorder attribute)

P

parse_sensor_line() (in module sensors.arduino_load_cell) pitch_joint (control.fishing_control_core.FishingControllerConfig attribute) planning module planning.fish_agent module port (sensors.arduino_load_cell.ArduinoLoadCellReader attribute) pos_int (control.fishing_control_core.AdmittanceControllerCore attribute)

pos_int_limit (control.fishing_control_core.AdmittanceConfig attribute) position_tolerance (diagnostics.hardware_check.HardwareCheck attribute) PositionTestPublisher (class in control.position_test_publisher) pub (diagnostics.hardware_check.HardwareCheck attribute) (planning.fish_agent.FishAgent attribute) publish_frequency (planning.fish_agent.FishAgent attribute) (sensors.load_cell_publisher.LoadCellPublisher attribute) publisher_ (sensors.load_cell_publisher.LoadCellPublisher attribute)

Q

q_cmd (control.fishing_control_core.ControllerSnapshot attribute) q_dot_cmd (control.fishing_control_core.ControllerSnapshot attribute) q_eq (control.fishing_control_core.ForceFeedbackControllerCore attribute) q_hook (control.fishing_control_core.FishingControllerConfig attribute) q_init (control.fishing_control_core.FishingControllerConfig attribute)

q_max (control.fishing_control_core.FishingControllerConfig attribute) q_min (control.fishing_control_core.FishingControllerConfig attribute) q_neutral (control.fishing_control_core.FishingControllerConfig attribute) qeq_alpha (control.fishing_control_core.ForceFeedbackConfig attribute) qpos_joints (diagnostics.recorder.Recorder attribute) qpos_rows (diagnostics.recorder.Recorder attribute)

R

raise_gain (control.fishing_control_core.ForceFeedbackConfig attribute) read_filtered_raw() (sensors.arduino_load_cell.ArduinoLoadCellReader method) read_hardware_tension_newtons() (sensors.load_cell_publisher.LoadCellPublisher method) read_tension_newtons() (sensors.load_cell_publisher.LoadCellPublisher method) Recorder (class in diagnostics.recorder) REGULATE (control.fishing_control_core.FishingState attribute)

render_script (diagnostics.recorder.Recorder attribute) require_tension_variation (diagnostics.hardware_check.HardwareCheck attribute) reset() (control.fishing_control_core.AdmittanceControllerCore method) (control.fishing_control_core.ForceFeedbackControllerCore method) rod_length (control.fishing_control_core.AdmittanceConfig attribute) run_checks() (diagnostics.hardware_check.HardwareCheck method)

S

safety_tension_limit (control.fishing_control_core.FishingControllerConfig attribute) save_and_render() (diagnostics.recorder.Recorder method) scale (in module sensors) sensor_line_filter_window (sensors.load_cell_publisher.LoadCellPublisher attribute) SENSOR_LINE_PATTERN (in module sensors.arduino_load_cell) sensor_sign (sensors.load_cell_publisher.LoadCellPublisher attribute) sensors module sensors.arduino_load_cell module sensors.load_cell_publisher module

settle_time (diagnostics.hardware_check.HardwareCheck attribute) sim_fish_frame (sensors.load_cell_publisher.LoadCellPublisher attribute) sim_line_damping (sensors.load_cell_publisher.LoadCellPublisher attribute) sim_line_springlength (sensors.load_cell_publisher.LoadCellPublisher attribute) sim_line_stiffness (sensors.load_cell_publisher.LoadCellPublisher attribute) sim_rod_frame (sensors.load_cell_publisher.LoadCellPublisher attribute) smoothstep() (in module control.fishing_control_core) source (sensors.load_cell_publisher.LoadCellPublisher attribute) start_time (control.position_test_publisher.PositionTestPublisher attribute) (planning.fish_agent.FishAgent attribute) startup_timeout (diagnostics.hardware_check.HardwareCheck attribute) state (control.fishing_control_core.ControllerSnapshot attribute)

T

tare() (sensors.arduino_load_cell.ArduinoLoadCellReader method) tare_on_start (sensors.load_cell_publisher.LoadCellPublisher attribute) tare_samples (sensors.arduino_load_cell.ArduinoLoadCellReader attribute) (sensors.load_cell_publisher.LoadCellPublisher attribute) target_tension (control.fishing_control_core.FishingControllerConfig attribute) (sensors.load_cell_publisher.LoadCellPublisher attribute) ten (diagnostics.recorder.Recorder attribute) ten_t (diagnostics.recorder.Recorder attribute) ten_target (diagnostics.recorder.Recorder attribute) tension (diagnostics.hardware_check.HardwareCheck attribute) tension_check_duration (diagnostics.hardware_check.HardwareCheck attribute) tension_filter_alpha (control.fishing_control_core.FishingControllerConfig attribute) tension_filtered (control.fishing_control_core.AdmittanceControllerCore property) (control.fishing_control_core.ControllerSnapshot attribute) (control.fishing_control_core.ForceFeedbackControllerCore property) tension_max (diagnostics.hardware_check.HardwareCheck attribute)

tension_max_threshold (sensors.load_cell_publisher.LoadCellPublisher attribute) tension_min (diagnostics.hardware_check.HardwareCheck attribute) tension_raw (control.fishing_control_core.ControllerSnapshot attribute) tension_to_angle_gain (control.fishing_control_core.ForceFeedbackConfig attribute) theta_cmd (control.fishing_control_core.AdmittanceControllerCore attribute) theta_dot_cmd (control.fishing_control_core.AdmittanceControllerCore attribute) time_counter (sensors.load_cell_publisher.LoadCellPublisher attribute) timeout_s (sensors.arduino_load_cell.ArduinoLoadCellReader attribute) timer (control.position_test_publisher.PositionTestPublisher attribute) (planning.fish_agent.FishAgent attribute) (sensors.load_cell_publisher.LoadCellPublisher attribute) timer_callback() (control.position_test_publisher.PositionTestPublisher method) (sensors.load_cell_publisher.LoadCellPublisher method) timer_cb() (planning.fish_agent.FishAgent method) timer_period (sensors.load_cell_publisher.LoadCellPublisher attribute) traj_topic (diagnostics.hardware_check.HardwareCheck attribute) trajectory_pub (control.position_test_publisher.PositionTestPublisher attribute)

U

update() (control.fishing_control_core.AdmittanceControllerCore method) (control.fishing_control_core.ForceFeedbackControllerCore method)

update_tension() (control.fishing_control_core.AdmittanceControllerCore method) (control.fishing_control_core.ForceFeedbackControllerCore method) use_moving_average (sensors.load_cell_publisher.LoadCellPublisher attribute)

V

venv_python (diagnostics.recorder.Recorder attribute)

video_format (diagnostics.recorder.Recorder attribute) video_fps (diagnostics.recorder.Recorder attribute)

W

window_size (sensors.load_cell_publisher.LoadCellPublisher attribute)

wrench_topic (sensors.load_cell_publisher.LoadCellPublisher attribute)

Z

zero_offset (sensors.arduino_load_cell.ArduinoLoadCellReader attribute)