Index _ | A | B | C | D | E | F | G | H | I | J | K | L | M | N | O | P | Q | R | S | T | U | V | W | X | Y | Z _ __call__() (EAStep method) __init_subclass__() (Module class method) __post_init__() (AmphitheatreTerrainWorld method) (CraterTerrainWorld method) (PerlinNoise method) (RuggedTerrainWorld method) (RuggedTiltedWorld method) (SimpleFlatWorld method) (SimpleTiltedWorld method) A a (BetaParams attribute) AbstractEA (class in ariel.ec.a003) (class in ariel.ec.a004) activate() (Genome method) activation (Node attribute) ACTIVATION_FUNCTIONS (in module ariel.body_phenotypes.robogen_lite.cppn_neat.activations) ActivationFunction (in module ariel.body_phenotypes.robogen_lite.cppn_neat.node) ACTUATOR (ArielModulesConfig attribute) add_connection() (Genome method) add_node() (Genome method) adjacency_dict (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) (SimpleCPG attribute) alive (Individual attribute) ALLOWED_FACES (in module ariel.body_phenotypes.robogen_lite.config) ALLOWED_ROTATIONS (in module ariel.body_phenotypes.robogen_lite.config) alpha (Controller attribute) (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) amphitheater_heightmap() (in module ariel.simulation.environments.heightmap_functions) AmphitheatreTerrainWorld (class in ariel.simulation.environments) amplitude_params (NaCPGBeta attribute) amplitudes (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) (SimpleCPG attribute) angle_history (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) (SimpleCPG attribute) angle_limits (NaCPGBeta attribute) angle_tracking (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) (SimpleCPG attribute) angles (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) apply_connection_constraints() (HighProbabilityDecoder method) arena (in module ariel.simulation.environments.olympic_arena) arena_width (OlympicArena attribute), [1] ariel module ariel.body_phenotypes module ariel.body_phenotypes.robogen_lite module ariel.body_phenotypes.robogen_lite.config module ariel.body_phenotypes.robogen_lite.constructor module ariel.body_phenotypes.robogen_lite.cppn_neat module ariel.body_phenotypes.robogen_lite.cppn_neat.activations module ariel.body_phenotypes.robogen_lite.cppn_neat.connection module ariel.body_phenotypes.robogen_lite.cppn_neat.genome module ariel.body_phenotypes.robogen_lite.cppn_neat.id_manager module ariel.body_phenotypes.robogen_lite.cppn_neat.node module ariel.body_phenotypes.robogen_lite.cppn_neat.tests module ariel.body_phenotypes.robogen_lite.decoders module ariel.body_phenotypes.robogen_lite.decoders.cppn_best_first module ariel.body_phenotypes.robogen_lite.decoders.hi_prob_decoding module ariel.body_phenotypes.robogen_lite.modules module ariel.body_phenotypes.robogen_lite.modules.brick module ariel.body_phenotypes.robogen_lite.modules.core module ariel.body_phenotypes.robogen_lite.modules.hinge module ariel.body_phenotypes.robogen_lite.modules.module module ariel.body_phenotypes.robogen_lite.prebuilt_robots module ariel.body_phenotypes.robogen_lite.prebuilt_robots.gecko module ariel.body_phenotypes.robogen_lite.prebuilt_robots.spider module ariel.body_phenotypes.robogen_lite.prebuilt_robots.spider_with_blocks module ariel.ec module ariel.ec.a000 module ariel.ec.a001 module ariel.ec.a002 module ariel.ec.a003 module ariel.ec.a004 module ariel.ec.a005 module ariel.ec.genotypes module ariel.ec.genotypes.cppn module ariel.ec.genotypes.cppn.cppn_decoding module ariel.ec.genotypes.nde module ariel.ec.genotypes.nde.nde module ariel.parameters module ariel.parameters.ariel_modules module ariel.parameters.ariel_types module ariel.parameters.mujoco_params module ariel.simulation module ariel.simulation.controllers module ariel.simulation.controllers.controller module ariel.simulation.controllers.na_cpg module ariel.simulation.controllers.na_cpg_beta module ariel.simulation.controllers.na_cpg_norm module ariel.simulation.controllers.simple_cpg module ariel.simulation.environments module ariel.simulation.environments.compile_terrains module ariel.simulation.environments.heightmap_functions module ariel.simulation.environments.olympic_arena module ariel.simulation.tasks module ariel.simulation.tasks.gait_learning module ariel.simulation.tasks.targeted_locomotion module ariel.simulation.tasks.turning_in_place module ariel.utils module ariel.utils.file_ops module ariel.utils.mujoco_ops module ariel.utils.noise_gen module ariel.utils.optimizers module ariel.utils.optimizers.revde module ariel.utils.renderers module ariel.utils.runners module ariel.utils.tracker module ariel.utils.video_recorder module ariel.visualisation module ariel.visualisation.analysis module ariel_modules_config (in module ariel.body_phenotypes.robogen_lite.modules.brick) ArielConfig (class in ariel.parameters) ArielModulesConfig (class in ariel.parameters.ariel_modules) ArrayGenotype (in module ariel.utils.optimizers.revde) as_grid() (PerlinNoise method) attach() (in module ariel.body_phenotypes.robogen_lite.prebuilt_robots.spider_with_blocks) autolimits (MujocoConfig attribute) B b (BetaParams attribute) (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) (SimpleCPG attribute) b_params (NaCPGBeta attribute) BACK (ModuleFaces attribute) balanceinertia (MujocoConfig attribute) BaseWorld (class in ariel.simulation.environments) BasicEA (class in ariel.ec.a003) BetaParams (class in ariel.simulation.controllers.na_cpg_beta) bias (Node attribute) body (BrickModule attribute) (HingeModule attribute) body_spider() (in module ariel.body_phenotypes.robogen_lite.prebuilt_robots.spider_with_blocks) body_spider45() (in module ariel.body_phenotypes.robogen_lite.prebuilt_robots.spider_with_blocks) BOTTOM (ModuleFaces attribute) BRICK (ModuleType attribute) BRICK_DIMENSIONS (ArielModulesConfig attribute) BRICK_MASS (ArielModulesConfig attribute) BrickModule (class in ariel.body_phenotypes.robogen_lite.modules.brick) C c (BetaParams attribute) checker_floor (AmphitheatreTerrainWorld attribute) (CompoundWorld attribute) (CraterTerrainWorld attribute) (RuggedTerrainWorld attribute) (RuggedTiltedWorld attribute) (SimpleFlatWorld attribute) (SimpleTiltedWorld attribute) choice() (IntegersGenerator static method) choice_replace (IntegersGeneratorSettings attribute) choice_shuffle (IntegersGeneratorSettings attribute) clamping_error (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) (SimpleCPG attribute) clipping (NaCPGBeta attribute) coefficients (NaCPGBeta attribute) commit_population() (BasicEA method) (EA method) (in module ariel.ec.a002) compile_all_world() (in module ariel.simulation.environments.compile_terrains) CompoundWorld (class in ariel.simulation.environments) config (in module ariel.ec.a000) (in module ariel.ec.a003) (in module ariel.ec.a004) conn_p_out (NeuralDevelopmentalEncoding attribute), [1] conn_p_shape (NeuralDevelopmentalEncoding attribute), [1] Connection (class in ariel.body_phenotypes.robogen_lite.cppn_neat.connection) connections (Genome attribute) console (BasicEA attribute) (EA attribute) (in module ariel) (in module ariel.body_phenotypes.robogen_lite.decoders.cppn_best_first) (in module ariel.ec.a000) (in module ariel.ec.a001) (in module ariel.ec.a002) (in module ariel.ec.a003) (in module ariel.ec.a004) (in module ariel.ec.a005) (in module ariel.ec.genotypes.cppn.cppn_decoding) (in module ariel.ec.genotypes.nde.nde) (in module ariel.simulation.controllers.na_cpg) (in module ariel.simulation.controllers.na_cpg_beta) (in module ariel.simulation.controllers.na_cpg_norm) (in module ariel.simulation.controllers.simple_cpg) (in module ariel.utils.optimizers.revde) constraint_function() (NaCPGBeta method) construct_mjspec_from_graph() (in module ariel.body_phenotypes.robogen_lite.constructor) Controller (class in ariel.simulation.controllers.controller) controller_callback_function (Controller attribute) copy() (Connection method) (Genome method) (Node method) CORE (ModuleType attribute) CORE_DIMENSIONS (in module ariel.body_phenotypes.robogen_lite.modules.core) CORE_MASS (in module ariel.body_phenotypes.robogen_lite.modules.core) CoreModule (class in ariel.body_phenotypes.robogen_lite.modules.core) cppn_genome (MorphologyDecoderBestFirst attribute) crater_depth (CraterTerrainWorld attribute) crater_heightmap() (in module ariel.simulation.environments.heightmap_functions) crater_radius (CraterTerrainWorld attribute) CraterTerrainWorld (class in ariel.simulation.environments) create_fully_connected_adjacency() (in module ariel.simulation.controllers.na_cpg) (in module ariel.simulation.controllers.na_cpg_beta) (in module ariel.simulation.controllers.na_cpg_norm) (in module ariel.simulation.controllers.simple_cpg) create_individual() (in module ariel.ec.a002) (in module ariel.ec.a003) (in module ariel.ec.a004) Crossover (class in ariel.ec.a005) crossover() (Genome method) (in module ariel.ec.a004) current_generation (BasicEA attribute) (EA attribute) current_module (in module ariel.body_phenotypes.robogen_lite.prebuilt_robots.spider_with_blocks) current_step (NaCPG_Norm attribute) CWD (in module ariel) (in module ariel.ec.a000) (in module ariel.ec.a001) (in module ariel.ec.a002) (in module ariel.ec.a005) (in module ariel.ec.genotypes.cppn.cppn_decoding) (in module ariel.ec.genotypes.nde.nde) (in module ariel.parameters.ariel_modules) (in module ariel.parameters.mujoco_params) (in module ariel.simulation.controllers.na_cpg) (in module ariel.simulation.controllers.na_cpg_beta) (in module ariel.simulation.controllers.na_cpg_norm) (in module ariel.simulation.controllers.simple_cpg) (in module ariel.utils.optimizers.revde) D d (BetaParams attribute) DATA (in module ariel) (in module ariel.ec.a000) (in module ariel.ec.a001) (in module ariel.ec.a002) (in module ariel.ec.a005) (in module ariel.ec.genotypes.cppn.cppn_decoding) (in module ariel.ec.genotypes.nde.nde) (in module ariel.parameters.ariel_modules) (in module ariel.parameters.mujoco_params) (in module ariel.simulation.controllers.na_cpg) (in module ariel.simulation.controllers.na_cpg_beta) (in module ariel.simulation.controllers.na_cpg_norm) (in module ariel.simulation.controllers.simple_cpg) (in module ariel.utils.optimizers.revde) db_file_name (EASettings attribute), [1] db_file_path (EASettings attribute), [1] db_handling (EASettings attribute), [1] DB_HANDLING_MODES (in module ariel.ec.a003) (in module ariel.ec.a004) DB_NAME (in module ariel.ec.a000) (in module ariel.ec.a001) (in module ariel.ec.a002) (in module ariel.ec.a005) DB_PATH (in module ariel.ec.a000) (in module ariel.ec.a001) (in module ariel.ec.a002) (in module ariel.ec.a005) decode() (MorphologyDecoderBestFirst method) decode_probability_to_graph() (HighProbabilityDecoder method) DECODER_TYPE (in module ariel.ec.genotypes.cppn.cppn_decoding) DEFAULT_ACTIVATION (in module ariel.body_phenotypes.robogen_lite.cppn_neat.activations) default_spawn_position (BaseWorld attribute) default_spawn_rotation (BaseWorld attribute) DEG_0 (ModuleRotationsIdx attribute) (ModuleRotationsTheta attribute) DEG_135 (ModuleRotationsIdx attribute) (ModuleRotationsTheta attribute) DEG_180 (ModuleRotationsIdx attribute) (ModuleRotationsTheta attribute) DEG_225 (ModuleRotationsIdx attribute) (ModuleRotationsTheta attribute) DEG_270 (ModuleRotationsIdx attribute) (ModuleRotationsTheta attribute) DEG_315 (ModuleRotationsIdx attribute) (ModuleRotationsTheta attribute) DEG_45 (ModuleRotationsIdx attribute) (ModuleRotationsTheta attribute) DEG_90 (ModuleRotationsIdx attribute) (ModuleRotationsTheta attribute) degree (MujocoConfig attribute) Dimension (in module ariel.parameters.ariel_types) DIMENSIONS (SER0019 attribute) DimensionType (in module ariel.body_phenotypes.robogen_lite.modules.core) (in module ariel.body_phenotypes.robogen_lite.modules.hinge) (in module ariel.parameters.ariel_modules) (in module ariel.parameters.mujoco_params) dims (AmphitheatreTerrainWorld attribute) (CompoundWorld attribute) (CraterTerrainWorld attribute) (RuggedTerrainWorld attribute) (RuggedTiltedWorld attribute) display_genome() (in module ariel.body_phenotypes.robogen_lite.cppn_neat.tests) distance_to_target() (in module ariel.simulation.tasks) (in module ariel.simulation.tasks.targeted_locomotion) DPI (in module ariel.body_phenotypes.robogen_lite.decoders.hi_prob_decoding) draw_graph() (in module ariel.body_phenotypes.robogen_lite.decoders.hi_prob_decoding) dt (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) (SimpleCPG attribute) duration (NaCPG_Norm attribute) E E (in module ariel.simulation.controllers.na_cpg) (in module ariel.simulation.controllers.na_cpg_beta) (in module ariel.simulation.controllers.na_cpg_norm) (in module ariel.simulation.controllers.simple_cpg) EA (class in ariel.ec.a004) EASettings (class in ariel.ec.a003) (class in ariel.ec.a004) EAStep (class in ariel.ec.a004) enabled (Connection attribute) euler_to_quat_conversion() (in module ariel.utils.mujoco_ops) evaluate() (BasicEA method) (in module ariel.ec.a002) (in module ariel.ec.a004) evaluate_func() (in module ariel.ec.a003) evaluation_func (BasicEA attribute) F face_deltas (MorphologyDecoderBestFirst attribute) faces (in module ariel.body_phenotypes.robogen_lite.prebuilt_robots.spider_with_blocks) fc1 (NeuralDevelopmentalEncoding attribute), [1] fc2 (NeuralDevelopmentalEncoding attribute), [1] fc3 (NeuralDevelopmentalEncoding attribute), [1] fc4 (NeuralDevelopmentalEncoding attribute), [1] fetch_population() (BasicEA method) (EA method) (in module ariel.ec.a002) first_generation_id (EASettings attribute), [1] fitness (Genome attribute) (Individual property) fitness_ (Individual attribute) flat_heightmap() (in module ariel.simulation.environments.heightmap_functions) flat_thickness (OlympicArena attribute), [1] FloatArray (in module ariel.parameters.ariel_types) Floats (in module ariel.ec.a000) floor_heightmap (CompoundWorld attribute) floor_name (MujocoConfig attribute) floor_rot_sequence (AmphitheatreTerrainWorld attribute) (CompoundWorld attribute) (CraterTerrainWorld attribute) (RuggedTiltedWorld attribute) (SimpleTiltedWorld attribute) floor_size (AmphitheatreTerrainWorld attribute) (CompoundWorld attribute) (CraterTerrainWorld attribute) (RuggedTerrainWorld attribute) (RuggedTiltedWorld attribute) (SimpleFlatWorld attribute) (SimpleTiltedWorld attribute) floor_tilt (AmphitheatreTerrainWorld attribute) (CompoundWorld attribute) (CraterTerrainWorld attribute) (RuggedTiltedWorld attribute) (SimpleTiltedWorld attribute) FORMAT (in module ariel) forward() (NaCPG method), [1] (NaCPG_Norm method) (NaCPGBeta method) (NeuralDevelopmentalEncoding method), [1] (SimpleCPG method) fps (VideoRecorder attribute) frame_count (VideoRecorder attribute) from_dict() (Genome class method) FRONT (ModuleFaces attribute) G gaussian() (in module ariel.body_phenotypes.robogen_lite.cppn_neat.activations) gecko() (in module ariel.body_phenotypes.robogen_lite.prebuilt_robots.gecko) generate_networkx_graph() (HighProbabilityDecoder method) generate_save_path() (in module ariel.utils.file_ops) Genome (class in ariel.body_phenotypes.robogen_lite.cppn_neat.genome) genotype (Individual property) genotype_ (Individual attribute) get_flat_params() (NaCPG method), [1] (NaCPG_Norm method) (NaCPGBeta method) (SimpleCPG method) get_next_innov_id() (IdManager method) get_next_node_id() (IdManager method) get_node_ordering() (Genome method) get_solution() (BasicEA method) (EA method) graph (HighProbabilityDecoder attribute) H ha (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) (SimpleCPG attribute) ha_params (NaCPGBeta attribute) hard_bounds (NaCPG attribute), [1] (NaCPG_Norm attribute) (SimpleCPG attribute) height (VideoRecorder attribute) height_of_noise (AmphitheatreTerrainWorld attribute) (CraterTerrainWorld attribute) heightmap (OlympicArena attribute), [1] HighProbabilityDecoder (class in ariel.body_phenotypes.robogen_lite.decoders.hi_prob_decoding) HINGE (ModuleType attribute) HingeModule (class in ariel.body_phenotypes.robogen_lite.modules.hinge) histories (in module ariel.simulation.controllers.na_cpg_norm) history (Tracker attribute) I id (Individual attribute) IdManager (class in ariel.body_phenotypes.robogen_lite.cppn_neat.id_manager) IDX_OF_CORE (in module ariel.body_phenotypes.robogen_lite.config) in_id (Connection attribute) incline_axis (OlympicArena attribute), [1] incline_degrees (OlympicArena attribute), [1] incline_thickness (OlympicArena attribute), [1] index (BrickModule attribute) (CoreModule attribute) (HingeModule attribute) Individual (class in ariel.ec.a001) init_angle_history() (NaCPG_Norm method) init_database() (AbstractEA method), [1] (in module ariel.ec.a001) init_state() (NaCPGBeta method) initial_state (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) (SimpleCPG attribute) innov_id (Connection attribute) IntArray (in module ariel.parameters.ariel_types) integer_creep() (IntegerMutator static method) IntegerMutator (class in ariel.ec.a000) Integers (in module ariel.ec.a000) integers() (IntegersGenerator static method) integers_endpoint (IntegersGeneratorSettings attribute) IntegersGenerator (class in ariel.ec.a000) IntegersGeneratorSettings (class in ariel.ec.a000) integrator (MujocoConfig attribute) is_maximisation (BasicEA attribute) (EA attribute) (EASettings attribute), [1] is_normalized (NaCPG_Norm attribute) is_precompiled (BaseWorld attribute) J JSONIterable (in module ariel.ec.a001) JSONPrimitive (in module ariel.ec.a001) JSONType (in module ariel.ec.a001) K kill_members() (in module ariel.ec.a002) L LEFT (ModuleFaces attribute) links (ModuleInstance attribute) load() (IdManager method) (NaCPG method), [1] (NaCPG_Norm method) (NaCPGBeta method) (SimpleCPG method) load_from_xml() (BaseWorld method) load_graph_from_json() (in module ariel.body_phenotypes.robogen_lite.decoders.hi_prob_decoding) load_precompiled (AmphitheatreTerrainWorld attribute) (CraterTerrainWorld attribute) (RuggedTerrainWorld attribute) (RuggedTiltedWorld attribute) (SimpleFlatWorld attribute) (SimpleTiltedWorld attribute) log (in module ariel) logging_level (in module ariel) M main() (in module ariel.ec.a000) (in module ariel.ec.a001) (in module ariel.ec.a002) (in module ariel.ec.a003) (in module ariel.ec.a004) (in module ariel.ec.a005) (in module ariel.simulation.controllers.na_cpg) (in module ariel.simulation.controllers.na_cpg_beta) (in module ariel.simulation.controllers.na_cpg_norm) (in module ariel.simulation.controllers.simple_cpg) (in module ariel.utils.optimizers.revde) make_core() (in module ariel.body_phenotypes.robogen_lite.prebuilt_robots.spider_with_blocks) MAX_ANGLE (SER0019 attribute) MAX_FREQUENCY (SER0019 attribute) max_modules (MorphologyDecoderBestFirst attribute) MAX_SPEED (SER0019 attribute) MAX_TORQUE_POWER (SER0019 attribute) MIN_ANGLE (SER0019 attribute) MIN_FREQUENCY (SER0019 attribute) mjspec_deep_copy() (in module ariel.utils.mujoco_ops) module ariel ariel.body_phenotypes ariel.body_phenotypes.robogen_lite ariel.body_phenotypes.robogen_lite.config ariel.body_phenotypes.robogen_lite.constructor ariel.body_phenotypes.robogen_lite.cppn_neat ariel.body_phenotypes.robogen_lite.cppn_neat.activations ariel.body_phenotypes.robogen_lite.cppn_neat.connection ariel.body_phenotypes.robogen_lite.cppn_neat.genome ariel.body_phenotypes.robogen_lite.cppn_neat.id_manager ariel.body_phenotypes.robogen_lite.cppn_neat.node ariel.body_phenotypes.robogen_lite.cppn_neat.tests ariel.body_phenotypes.robogen_lite.decoders ariel.body_phenotypes.robogen_lite.decoders.cppn_best_first ariel.body_phenotypes.robogen_lite.decoders.hi_prob_decoding ariel.body_phenotypes.robogen_lite.modules ariel.body_phenotypes.robogen_lite.modules.brick ariel.body_phenotypes.robogen_lite.modules.core ariel.body_phenotypes.robogen_lite.modules.hinge ariel.body_phenotypes.robogen_lite.modules.module ariel.body_phenotypes.robogen_lite.prebuilt_robots ariel.body_phenotypes.robogen_lite.prebuilt_robots.gecko ariel.body_phenotypes.robogen_lite.prebuilt_robots.spider ariel.body_phenotypes.robogen_lite.prebuilt_robots.spider_with_blocks ariel.ec ariel.ec.a000 ariel.ec.a001 ariel.ec.a002 ariel.ec.a003 ariel.ec.a004 ariel.ec.a005 ariel.ec.genotypes ariel.ec.genotypes.cppn ariel.ec.genotypes.cppn.cppn_decoding ariel.ec.genotypes.nde ariel.ec.genotypes.nde.nde ariel.parameters ariel.parameters.ariel_modules ariel.parameters.ariel_types ariel.parameters.mujoco_params ariel.simulation ariel.simulation.controllers ariel.simulation.controllers.controller ariel.simulation.controllers.na_cpg ariel.simulation.controllers.na_cpg_beta ariel.simulation.controllers.na_cpg_norm ariel.simulation.controllers.simple_cpg ariel.simulation.environments ariel.simulation.environments.compile_terrains ariel.simulation.environments.heightmap_functions ariel.simulation.environments.olympic_arena ariel.simulation.tasks ariel.simulation.tasks.gait_learning ariel.simulation.tasks.targeted_locomotion ariel.simulation.tasks.turning_in_place ariel.utils ariel.utils.file_ops ariel.utils.mujoco_ops ariel.utils.noise_gen ariel.utils.optimizers ariel.utils.optimizers.revde ariel.utils.renderers ariel.utils.runners ariel.utils.tracker ariel.utils.video_recorder ariel.visualisation ariel.visualisation.analysis Module (class in ariel.body_phenotypes.robogen_lite.modules.module) module_type (BrickModule attribute) (CoreModule attribute) (HingeModule attribute) ModuleFaces (class in ariel.body_phenotypes.robogen_lite.config) ModuleInstance (class in ariel.body_phenotypes.robogen_lite.config) ModuleRotationsIdx (class in ariel.body_phenotypes.robogen_lite.config) ModuleRotationsTheta (class in ariel.body_phenotypes.robogen_lite.config) MODULES (in module ariel.body_phenotypes.robogen_lite.prebuilt_robots.spider_with_blocks) ModuleType (class in ariel.body_phenotypes.robogen_lite.config) MorphologyDecoderBestFirst (class in ariel.body_phenotypes.robogen_lite.decoders.cppn_best_first) mu (SimpleCPG attribute) mujoco_obj_to_find (Tracker attribute) MujocoConfig (class in ariel.parameters.mujoco_params) mutate() (Genome method) (RevDE method) mutation() (in module ariel.ec.a004) N n (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) (SimpleCPG attribute) NaCPG (class in ariel.simulation.controllers) (class in ariel.simulation.controllers.na_cpg) NaCPG_Norm (class in ariel.simulation.controllers.na_cpg_norm) NaCPGBeta (class in ariel.simulation.controllers.na_cpg_beta) name (AmphitheatreTerrainWorld attribute) (BaseWorld attribute) (CompoundWorld attribute) (CraterTerrainWorld attribute) (EAStep attribute) (OlympicArena attribute), [1] (RuggedTerrainWorld attribute) (RuggedTiltedWorld attribute) (SimpleFlatWorld attribute) (SimpleTiltedWorld attribute) name_to_bind (Tracker attribute) ND_FLOAT_PRECISION (in module ariel.parameters.ariel_types) ND_INT_PRECISION (in module ariel.parameters.ariel_types) nde (in module ariel.ec.genotypes.nde.nde) NeuralDevelopmentalEncoding (class in ariel.ec.genotypes.nde) (class in ariel.ec.genotypes.nde.nde) new_generation_are_survivors (BasicEA attribute) Node (class in ariel.body_phenotypes.robogen_lite.cppn_neat.node) nodes (Genome attribute) NONE (ModuleType attribute) norm_methods (PerlinNoise attribute) normalize (AmphitheatreTerrainWorld attribute) (CraterTerrainWorld attribute) (NaCPG_Norm attribute) (RuggedTerrainWorld attribute) (RuggedTiltedWorld attribute) NormMethod (in module ariel.utils.noise_gen) num_modules (HighProbabilityDecoder attribute) NUM_OF_FACES (in module ariel.body_phenotypes.robogen_lite.config) num_of_generations (BasicEA attribute) (EA attribute) (EASettings attribute), [1] num_of_parameter_groups (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) (SimpleCPG attribute) num_of_parameters (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) (SimpleCPG attribute) NUM_OF_ROTATIONS (in module ariel.body_phenotypes.robogen_lite.config) NUM_OF_TYPES_OF_MODULES (in module ariel.body_phenotypes.robogen_lite.config) O observable_attributes (Tracker attribute) offheight (MujocoConfig attribute) offwidth (MujocoConfig attribute) OlympicArena (class in ariel.simulation.environments) (class in ariel.simulation.environments.olympic_arena) one_point() (Crossover static method) operation (EAStep attribute) operations (EA attribute) out_id (Connection attribute) output_folder (EASettings attribute), [1] output_layers (NeuralDevelopmentalEncoding attribute), [1] output_shapes (NeuralDevelopmentalEncoding attribute), [1] P param_type_converter() (NaCPG method), [1] (NaCPG_Norm method) (NaCPGBeta method) (SimpleCPG method) parameter_groups (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) (SimpleCPG attribute) parent_selection() (in module ariel.ec.a004) PerlinNoise (class in ariel.utils.noise_gen) phase (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) (SimpleCPG attribute) phase_params (NaCPGBeta attribute) plot_all_runs() (in module ariel.simulation.controllers.na_cpg_norm) population (BasicEA attribute) (EA attribute) Population (in module ariel.ec.a002) (in module ariel.ec.a003) (in module ariel.ec.a004) population_size (BasicEA property) (EA property) PopulationFunc (in module ariel.ec.a003) (in module ariel.ec.a004) Position (in module ariel.parameters.ariel_types) prnt (in module ariel.ec.a001) probability_matrices_to_graph() (HighProbabilityDecoder method) Q quaternion_from_axis_angle() (in module ariel.simulation.environments.olympic_arena) quiet (EA attribute) (EASettings attribute), [1] R r_matrix (RevDE attribute) random() (Genome class method) random_swap() (IntegerMutator static method) release() (VideoRecorder method) relu (NeuralDevelopmentalEncoding attribute), [1] relu() (in module ariel.body_phenotypes.robogen_lite.cppn_neat.activations) required_attributes (Module attribute) requires_eval (Individual attribute) requires_init (Individual attribute) reset() (NaCPG method), [1] (NaCPG_Norm method) (SimpleCPG method) (Tracker method) reset_state() (NaCPGBeta method) RevDE (class in ariel.utils.optimizers.revde) RIGHT (ModuleFaces attribute) ring_inner_radius (AmphitheatreTerrainWorld attribute) ring_outer_radius (AmphitheatreTerrainWorld attribute) rlg (in module ariel.ec.a001) RNG (in module ariel) (in module ariel.body_phenotypes.robogen_lite.decoders.hi_prob_decoding) (in module ariel.ec.a000) (in module ariel.ec.a001) (in module ariel.ec.a002) (in module ariel.ec.a003) (in module ariel.ec.a004) (in module ariel.ec.a005) (in module ariel.ec.genotypes.cppn.cppn_decoding) (in module ariel.ec.genotypes.nde.nde) (in module ariel.parameters.ariel_modules) (in module ariel.parameters.mujoco_params) (in module ariel.simulation.controllers.na_cpg_beta) (in module ariel.utils.optimizers.revde) (in module ariel.utils.runners) rot_p_out (NeuralDevelopmentalEncoding attribute), [1] rot_p_shape (NeuralDevelopmentalEncoding attribute), [1] rotate() (BrickModule method) (CoreModule method) (HingeModule method) (Module method) Rotation (in module ariel.parameters.ariel_types) rotation (ModuleInstance attribute) ROTOR_DIMENSIONS (in module ariel.body_phenotypes.robogen_lite.modules.hinge) ROTOR_MASS (in module ariel.body_phenotypes.robogen_lite.modules.hinge) rugged_height (OlympicArena attribute), [1] rugged_heightmap() (in module ariel.simulation.environments.heightmap_functions) rugged_hillyness (OlympicArena attribute), [1] rugged_resolution (OlympicArena attribute), [1] rugged_scale (OlympicArena attribute), [1] RuggedTerrainWorld (class in ariel.simulation.environments) RuggedTiltedWorld (class in ariel.simulation.environments) run() (EA method) (in module ariel.ec.genotypes.cppn.cppn_decoding) run_for() (NaCPGBeta method) S save() (IdManager method) (NaCPG method), [1] (NaCPG_Norm method) (NaCPGBeta method) (SimpleCPG method) save_graph_as_json() (in module ariel.body_phenotypes.robogen_lite.decoders.hi_prob_decoding) save_path (IdManager attribute) scale_of_noise (AmphitheatreTerrainWorld attribute) (CraterTerrainWorld attribute) (RuggedTerrainWorld attribute) (RuggedTiltedWorld attribute) scaled_beta() (NaCPGBeta method) SCRIPT_NAME (in module ariel.ec.a000) (in module ariel.ec.a001) (in module ariel.ec.a002) (in module ariel.ec.a005) (in module ariel.ec.genotypes.cppn.cppn_decoding) (in module ariel.ec.genotypes.nde.nde) (in module ariel.parameters.ariel_modules) (in module ariel.parameters.mujoco_params) (in module ariel.simulation.controllers.na_cpg) (in module ariel.simulation.controllers.na_cpg_beta) (in module ariel.simulation.controllers.na_cpg_norm) (in module ariel.simulation.controllers.simple_cpg) (in module ariel.utils.optimizers.revde) section_length (OlympicArena attribute), [1] SEED (in module ariel) (in module ariel.body_phenotypes.robogen_lite.decoders.hi_prob_decoding) (in module ariel.ec.a000) (in module ariel.ec.a001) (in module ariel.ec.a002) (in module ariel.ec.a003) (in module ariel.ec.a004) (in module ariel.ec.a005) (in module ariel.ec.genotypes.cppn.cppn_decoding) (in module ariel.ec.genotypes.nde.nde) (in module ariel.parameters.ariel_modules) (in module ariel.parameters.mujoco_params) (in module ariel.simulation.controllers.na_cpg_beta) (in module ariel.utils.optimizers.revde) (in module ariel.utils.runners) seed (PerlinNoise attribute) selection_func() (in module ariel.ec.a003) SER0019 (class in ariel.parameters.ariel_modules) serialized (Genome attribute) set_control() (Controller method) set_flat_params() (NaCPG method), [1] (NaCPG_Norm method) (NaCPGBeta method) (SimpleCPG method) set_initial_ids() (IdManager method) set_module_types_and_rotations() (HighProbabilityDecoder method) set_param_with_dict() (NaCPG method), [1] (NaCPG_Norm method) (NaCPGBeta method) (SimpleCPG method) set_params_by_group() (NaCPG method), [1] (NaCPG_Norm method) (NaCPGBeta method) (SimpleCPG method) set_state() (NaCPGBeta method) setup() (Tracker method) SHRINK (in module ariel.body_phenotypes.robogen_lite.modules.hinge) sigmoid (NeuralDevelopmentalEncoding attribute), [1] sigmoid() (in module ariel.body_phenotypes.robogen_lite.cppn_neat.activations) simple_runner() (in module ariel.utils.runners) SimpleCPG (class in ariel.simulation.controllers.simple_cpg) SimpleFlatWorld (class in ariel.simulation.environments) SimpleTiltedWorld (class in ariel.simulation.environments) sin_act() (in module ariel.body_phenotypes.robogen_lite.cppn_neat.activations) single_frame_renderer() (in module ariel.utils.renderers) sites (BrickModule attribute) (CoreModule attribute) (HingeModule attribute) smooth_edges_heightmap() (in module ariel.simulation.environments.heightmap_functions) softmax() (in module ariel.body_phenotypes.robogen_lite.decoders.cppn_best_first) spawn() (BaseWorld method) spawn_prefix (BaseWorld attribute) spawns (BaseWorld attribute) spec (BaseWorld attribute) (BrickModule attribute) (CoreModule attribute) (HingeModule attribute) spider() (in module ariel.body_phenotypes.robogen_lite.prebuilt_robots.spider) STALL_TORQUE (SER0019 attribute) STATOR_DIMENSIONS (in module ariel.body_phenotypes.robogen_lite.modules.hinge) STATOR_MASS (in module ariel.body_phenotypes.robogen_lite.modules.hinge) step() (EA method) (NaCPG_Norm method) store_to_xml() (BaseWorld method) SUBMODULES (in module ariel.body_phenotypes.robogen_lite.prebuilt_robots.spider_with_blocks) survivor_func (BasicEA attribute) survivor_selection() (BasicEA method) (in module ariel.ec.a004) survivors_are_new_generation (EASettings attribute) T tags (Individual property) tags_ (Individual attribute) tanh (NeuralDevelopmentalEncoding attribute), [1] tanh() (in module ariel.body_phenotypes.robogen_lite.cppn_neat.activations) target_population_size (EA attribute) (EASettings attribute) tasks (in module ariel.simulation.tasks) term_a() (NaCPG static method), [1] (NaCPG_Norm static method) (NaCPGBeta static method) term_b() (NaCPG static method), [1] (NaCPG_Norm static method) (NaCPGBeta static method) TERRAIN_COLOR (in module ariel.simulation.environments.olympic_arena) test_crossover() (in module ariel.body_phenotypes.robogen_lite.cppn_neat.tests) test_evaluate_mechanics() (in module ariel.ec.a002) test_fetch_logic() (in module ariel.ec.a002) test_kill_mechanics() (in module ariel.ec.a002) test_mutation() (in module ariel.body_phenotypes.robogen_lite.cppn_neat.tests) time_of_birth (Individual attribute) time_of_death (Individual attribute) time_steps_per_ctrl_step (Controller attribute) time_steps_per_save (Controller attribute) timestep (MujocoConfig attribute) to_dict() (Genome method) TOP (ModuleFaces attribute) Tracker (class in ariel.utils.tracker) tracker (Controller attribute) tracking_video_renderer() (in module ariel.utils.renderers) turning_in_place() (in module ariel.simulation.tasks) (in module ariel.simulation.tasks.turning_in_place) typ (Node attribute) type (ModuleInstance attribute) type_p_out (NeuralDevelopmentalEncoding attribute), [1] type_p_shape (NeuralDevelopmentalEncoding attribute), [1] U update() (Tracker method) USE_DEGREES (in module ariel.simulation.environments.olympic_arena) V verbose (ArielConfig attribute) video_renderer() (in module ariel.utils.renderers) video_writer (VideoRecorder attribute) VideoRecorder (class in ariel.utils.video_recorder) W w (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) (SimpleCPG attribute) w_params (NaCPGBeta attribute) weight (Connection attribute) WeightType (in module ariel.body_phenotypes.robogen_lite.modules.core) (in module ariel.body_phenotypes.robogen_lite.modules.hinge) (in module ariel.parameters.ariel_modules) (in module ariel.parameters.mujoco_params) width (VideoRecorder attribute) write() (VideoRecorder method) X x_speed() (in module ariel.simulation.tasks) (in module ariel.simulation.tasks.gait_learning) xy (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) xy_displacement() (in module ariel.simulation.tasks) (in module ariel.simulation.tasks.gait_learning) xy_dot_old (NaCPG attribute), [1] (NaCPG_Norm attribute) (NaCPGBeta attribute) xy_dot_old_init_value (NaCPGBeta attribute) xy_init_value (NaCPGBeta attribute) Y y_speed() (in module ariel.simulation.tasks) (in module ariel.simulation.tasks.gait_learning) Z zeta() (NaCPG static method), [1] (NaCPG_Norm static method) (NaCPGBeta static method)