Index

_

__add__() (Vector2 method), [1] __eq__() (UUIDKey method), [1], [2], [3] (Vector2 method), [1] __getstate__() (MultineatGenotypePickleWrapper method) __hash__() (UUIDKey method), [1], [2], [3] __init_subclass__() (Generation class method), [1] (Individual class method), [1] (Population class method), [1]

__lt__() (SupportsLt method) __mul__() (Vector2 method), [1] __ne__() (Vector2 method), [1] __or__() (Vector2 method), [1] __post_init__() (TextureReference method), [1] __setstate__() (MultineatGenotypePickleWrapper method) __sub__() (Vector2 method), [1] __xor__() (Vector2 method), [1]

A

AABB (class in simulation.scene) (class in simulation.scene._aabb) aabb (GeometryBox attribute), [1] AbstractionToMujocoMapping (class in mujoco_simulator._abstraction_to_mujoco_mapping) accelerometer_id (IMUSensorMujoco attribute) active_hinge_sensor_to_joint_hinge (BodyToMultiBodySystemMapping attribute), [1] active_hinge_to_joint_hinge (BodyToMultiBodySystemMapping attribute), [1] active_hinges (MorphologicalMeasures attribute) active_hinges_to_cpg_network_structure_neighbor() (in module modular_robot.brain.cpg) (in module modular_robot.brain.cpg._make_cpg_network_structure_neighbor) ActiveHinge (class in modular_robot.body.base) (class in modular_robot.body.base._active_hinge) ActiveHingeBuilder (class in modular_robot_simulation._build_multi_body_systems._builders) (class in modular_robot_simulation._build_multi_body_systems._builders._active_hinge_builder) ActiveHingeSensor (class in modular_robot.body.sensors) (class in modular_robot.body.sensors._active_hinge_sensor) ActiveHingeSensorBuilder (class in modular_robot_simulation._build_multi_body_systems._builders) (class in modular_robot_simulation._build_multi_body_systems._builders._active_hinge_sensor_builder) ActiveHingeSensorState (class in modular_robot.sensor_state) (class in modular_robot.sensor_state._active_hinge_sensor_state) ActiveHingeSensorStateImpl (class in modular_robot_physical.remote._active_hinge_sensor_state_impl) (class in modular_robot_simulation._sensor_state_impl) (class in modular_robot_simulation._sensor_state_impl._active_hinge_sensor_state_impl) ActiveHingeV1 (class in modular_robot.body.v1) (class in modular_robot.body.v1._active_hinge_v1) ActiveHingeV2 (class in modular_robot.body.v2) (class in modular_robot.body.v2._active_hinge_v2) add_interactive_object() (ModularRobotScene method), [1] add_joint() (MultiBodySystem method), [1]

add_multi_body_system() (Scene method), [1] add_rigid_body() (MultiBodySystem method), [1] add_robot() (ModularRobotScene method), [1] (ModularRobotSimulationHandler method) add_sensor() (Module method), [1] all() (in module ci_group.modular_robots_v1) (in module ci_group.modular_robots_v2) alpha (Color attribute), [1], [2], [3] angular_rate (IMUSensorState property), [1] (IMUSensorStateImpl property), [1], [2] ant_v1() (in module ci_group.modular_robots_v1) ant_v2() (in module ci_group.modular_robots_v2) Args (class in modular_robot_physical._bin.robot_daemon) argsort() (in module experimentation.optimization.ea.selection._argsort) armature (ActiveHinge property), [1] (JointHinge attribute), [1] ATTACHMENT (ActiveHinge attribute), [1] attachment (ActiveHinge property), [1] attachment_faces (CoreV2 property), [1] attachment_points (ActiveHinge attribute), [1] (Core attribute), [1] (Module property), [1] AttachmentFace (class in modular_robot.body.base) (class in modular_robot.body.base._attachment_face) AttachmentFaceBuilder (class in modular_robot_simulation._build_multi_body_systems._builders) (class in modular_robot_simulation._build_multi_body_systems._builders._attachment_face_builder) AttachmentFaceCoreV2 (class in modular_robot.body.v2._attachment_face_core_v2) AttachmentPoint (class in modular_robot.body) (class in modular_robot.body._attachment_point) axis (JointHinge attribute), [1]

B

babya_v1() (in module ci_group.modular_robots_v1) babyb_v1() (in module ci_group.modular_robots_v1) BACK (Core attribute), [1] back (Core property), [1] back_face (CoreV2 property), [1] Ball (class in ci_group.interactive_objects) (class in ci_group.interactive_objects._ball) base_color (Texture attribute), [1] base_thickness (GeometryHeightmap attribute), [1] Batch (class in simulation.simulator) (class in simulation.simulator._batch) BatchParameters (class in simulation.simulator) (class in simulation.simulator._batch_parameters) blokky_v1() (in module ci_group.modular_robots_v1) blue (Color attribute), [1], [2], [3] body (BodyGenotypeOrmV1 attribute), [1] (BodyGenotypeOrmV2 attribute), [1] (BodyGenotypeV1 attribute), [1] (BodyGenotypeV2 attribute), [1] Body (class in modular_robot.body.base) (class in modular_robot.body.base._body) body (ModularRobot attribute), [1] BodyGenotypeOrmV1 (class in ci_group.genotypes.cppnwin.modular_robot.v1) (class in ci_group.genotypes.cppnwin.modular_robot.v1._body_genotype_orm_v1) BodyGenotypeOrmV2 (class in ci_group.genotypes.cppnwin.modular_robot.v2) (class in ci_group.genotypes.cppnwin.modular_robot.v2._body_genotype_orm_v2) BodyGenotypeV1 (class in ci_group.genotypes.cppnwin.modular_robot.v1) (class in ci_group.genotypes.cppnwin.modular_robot.v1._body_genotype_v1) BodyGenotypeV2 (class in ci_group.genotypes.cppnwin.modular_robot.v2) (class in ci_group.genotypes.cppnwin.modular_robot.v2._body_genotype_v2) BodyToMultiBodySystemConverter (class in modular_robot_simulation._build_multi_body_systems) (class in modular_robot_simulation._build_multi_body_systems._body_to_multi_body_system_converter) BodyToMultiBodySystemMapping (class in modular_robot_simulation._build_multi_body_systems) (class in modular_robot_simulation._build_multi_body_systems._body_to_multi_body_system_mapping) BodyV1 (class in modular_robot.body.v1) (class in modular_robot.body.v1._body_v1) BodyV2 (class in modular_robot.body.v2) (class in modular_robot.body.v2._body_v2) bottom (AttachmentFaceCoreV2 property) bottom_left (AttachmentFaceCoreV2 property) bottom_right (AttachmentFaceCoreV2 property) bounding_box (Brick property), [1] (Core property), [1] bounding_box_depth (MorphologicalMeasures property) bounding_box_height (MorphologicalMeasures property) bounding_box_volume (MorphologicalMeasures property) bounding_box_volume_coverage (MorphologicalMeasures property) bounding_box_width (MorphologicalMeasures property)

bowl_heightmap() (in module ci_group.terrains) brain (BrainGenotypeCpg attribute), [1] (BrainGenotypeCpgOrm attribute), [1] Brain (class in modular_robot.brain) (class in modular_robot.brain._brain) brain (ModularRobot attribute), [1] BrainCpgInstance (class in modular_robot.brain.cpg) (class in modular_robot.brain.cpg._brain_cpg_instance) BrainCpgNetworkNeighbor (class in ci_group.genotypes.cppnwin.modular_robot) (class in ci_group.genotypes.cppnwin.modular_robot._brain_cpg_network_neighbor) (class in modular_robot.brain.cpg) (class in modular_robot.brain.cpg._brain_cpg_network_neighbor) BrainCpgNetworkNeighborRandom (class in modular_robot.brain.cpg) (class in modular_robot.brain.cpg._brain_cpg_network_neighbor_random) BrainCpgNetworkStatic (class in modular_robot.brain.cpg) (class in modular_robot.brain.cpg._brain_cpg_network_static) BrainDummy (class in modular_robot.brain.dummy) (class in modular_robot.brain.dummy._brain_dummy) BrainDummyInstance (class in modular_robot.brain.dummy) (class in modular_robot.brain.dummy._brain_dummy_instance) BrainGenotypeCpg (class in ci_group.genotypes.cppnwin.modular_robot) (class in ci_group.genotypes.cppnwin.modular_robot._brain_genotype_cpg) BrainGenotypeCpgOrm (class in ci_group.genotypes.cppnwin.modular_robot) (class in ci_group.genotypes.cppnwin.modular_robot._brain_genotype_cpg_orm) BrainInstance (class in modular_robot.brain) (class in modular_robot.brain._brain_instance) branching (MorphologicalMeasures property) Brick (class in modular_robot.body.base) (class in modular_robot.body.base._brick) BrickBuilder (class in modular_robot_simulation._build_multi_body_systems._builders) (class in modular_robot_simulation._build_multi_body_systems._builders._brick_builder) bricks (MorphologicalMeasures attribute) BrickV1 (class in modular_robot.body.v1) (class in modular_robot.body.v1._brick_v1) BrickV2 (class in modular_robot.body.v2) (class in modular_robot.body.v2._brick_v2) build() (ActiveHingeBuilder method), [1] (ActiveHingeSensorBuilder method), [1] (AttachmentFaceBuilder method), [1] (BrickBuilder method), [1] (Builder method), [1] (CameraSensorBuilder method), [1] (CoreBuilder method), [1] (IMUSensorBuilder method), [1] (in module ci_group.morphological_novelty_metric._build_cmodule) Builder (class in modular_robot_simulation._build_multi_body_systems._builders) (class in modular_robot_simulation._build_multi_body_systems._builders._builder) builtin (TextureReference attribute), [1]

C

calculate_aabb() (MultiBodySystem method), [1] calculate_novelty() (in module ci_group.morphological_novelty_metric.calculate_novelty) calibrate_camera() (in module ci_group.ci_lab_utilities) (in module ci_group.ci_lab_utilities._calibrate_camera) camera_id (CameraSensorMujoco attribute) camera_sensor (AbstractionToMujocoMapping attribute) camera_size (CameraSensor attribute), [1] (CameraSensor property), [1] (CameraSensorMujoco attribute) camera_to_sim_camera (BodyToMultiBodySystemMapping attribute), [1] CameraSensor (class in modular_robot.body.sensors) (class in modular_robot.body.sensors._camera_sensor) (class in simulation.scene.sensors) (class in simulation.scene.sensors._camera_sensor) CameraSensorBuilder (class in modular_robot_simulation._build_multi_body_systems._builders) (class in modular_robot_simulation._build_multi_body_systems._builders._camera_sensor_builder) CameraSensorMujoco (class in mujoco_simulator._abstraction_to_mujoco_mapping) CameraSensorState (class in modular_robot.sensor_state) (class in modular_robot.sensor_state._camera_sensor_state) CameraSensorStateImpl (class in modular_robot_physical.remote._camera_sensor_state_impl) (class in modular_robot_simulation._sensor_state_impl) (class in modular_robot_simulation._sensor_state_impl._camera_sensor_state_impl) can_record (CustomMujocoViewer property), [1] (NativeMujocoViewer property), [1] (Viewer property), [1] can_set_child() (AttachmentFaceCoreV2 method) (Module method), [1] center_of_mass() (RigidBody method), [1] Checker (class in mujoco_simulator.textures) (class in mujoco_simulator.textures._checker) child_object (UnbuiltChild attribute) children (Module property), [1] ci_group module ci_group.ci_lab_utilities module ci_group.ci_lab_utilities._calibrate_camera module ci_group.ci_lab_utilities._ip_camera module ci_group.fitness_functions module ci_group.genotypes module ci_group.genotypes.cppnwin module ci_group.genotypes.cppnwin._multineat_genotype_pickle_wrapper module ci_group.genotypes.cppnwin._multineat_rng_from_random module ci_group.genotypes.cppnwin._random_multineat_genotype module ci_group.genotypes.cppnwin.modular_robot module ci_group.genotypes.cppnwin.modular_robot._brain_cpg_network_neighbor module ci_group.genotypes.cppnwin.modular_robot._brain_genotype_cpg module ci_group.genotypes.cppnwin.modular_robot._brain_genotype_cpg_orm module ci_group.genotypes.cppnwin.modular_robot._multineat_params module ci_group.genotypes.cppnwin.modular_robot.v1 module ci_group.genotypes.cppnwin.modular_robot.v1._body_develop module ci_group.genotypes.cppnwin.modular_robot.v1._body_genotype_orm_v1 module ci_group.genotypes.cppnwin.modular_robot.v1._body_genotype_v1 module ci_group.genotypes.cppnwin.modular_robot.v2 module ci_group.genotypes.cppnwin.modular_robot.v2._body_develop module ci_group.genotypes.cppnwin.modular_robot.v2._body_genotype_orm_v2 module ci_group.genotypes.cppnwin.modular_robot.v2._body_genotype_v2 module ci_group.interactive_objects module ci_group.interactive_objects._ball module ci_group.modular_robots_v1 module ci_group.modular_robots_v2 module ci_group.morphological_measures module ci_group.morphological_novelty_metric module ci_group.morphological_novelty_metric._build_cmodule module

ci_group.morphological_novelty_metric._coordinate_operations module ci_group.morphological_novelty_metric._morphological_novelty_metric module ci_group.morphological_novelty_metric.calculate_novelty module ci_group.planar_robot_representation module ci_group.simulation_parameters module ci_group.terrains module CLASSIC (CustomMujocoViewerMode attribute), [1] cleanup() (RoboServerImpl method) close_viewer() (CustomMujocoViewer method), [1] (NativeMujocoViewer method), [1] (Viewer method), [1] Color (class in modular_robot.body) (class in modular_robot.body._color) (class in simulation.scene) (class in simulation.scene._color) color (Module property), [1] Config (class in modular_robot_physical) (class in modular_robot_physical._config) connections (CpgNetworkStructure attribute), [1] content_type (TextureReference attribute), [1] context (CustomMujocoViewer property), [1] (NativeMujocoViewer property), [1] (Viewer property), [1] control() (BrainCpgInstance method), [1] (BrainDummyInstance method), [1] (BrainInstance method), [1] (RoboServerImpl method) control_frequency (BatchParameters attribute), [1] (Config attribute), [1] controlAndReadSensors() (RoboServerImpl method) ControlAndReadSensorsArgs (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) ControlAndReadSensorsArgsBuilder (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) ControlAndReadSensorsArgsReader (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) ControlArgs (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) ControlArgsBuilder (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) ControlArgsReader (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) ControlInterface (class in simulation.scene) (class in simulation.scene._control_interface) ControlInterfaceImpl (class in mujoco_simulator._control_interface_impl) convert_color() (in module modular_robot_simulation._build_multi_body_systems._convert_color) convert_robot_body() (BodyToMultiBodySystemConverter method), [1] convert_terrain() (in module modular_robot_simulation._convert_terrain) coords_from_bodies() (in module ci_group.morphological_novelty_metric._coordinate_operations) core (Body property), [1] Core (class in modular_robot.body.base) (class in modular_robot.body.base._core) core (MorphologicalMeasures attribute) core_grid_position (MorphologicalMeasures attribute) core_is_filled (MorphologicalMeasures attribute) core_v1 (BodyV1 property), [1] core_v2 (BodyV2 property), [1] CoreBuilder (class in modular_robot_simulation._build_multi_body_systems._builders) (class in modular_robot_simulation._build_multi_body_systems._builders._core_builder) CoreV1 (class in modular_robot.body.v1) (class in modular_robot.body.v1._core_v1) CoreV2 (class in modular_robot.body.v2) (class in modular_robot.body.v2._core_v2) coverage (MorphologicalMeasures property) Cpg (class in modular_robot.brain.cpg._cpg_network_structure) cpg_index_highest (CpgPair attribute) cpg_index_lowest (CpgPair attribute) CpgNetworkStructure (class in modular_robot.brain.cpg) (class in modular_robot.brain.cpg._cpg_network_structure) CpgPair (class in modular_robot.brain.cpg._cpg_network_structure) cpgs (CpgNetworkStructure attribute), [1] crater() (in module ci_group.terrains) create() (in module simulation.scene.vector2.vector2aux) create_from_matrix33_translation() (in module simulation.scene.vector2.vector2aux) create_unit_length_x() (in module simulation.scene.vector2.vector2aux) create_unit_length_y() (in module simulation.scene.vector2.vector2aux) crossover_body() (BodyGenotypeOrmV1 class method), [1] (BodyGenotypeOrmV2 class method), [1] (BodyGenotypeV1 class method), [1] (BodyGenotypeV2 class method), [1] crossover_brain() (BrainGenotypeCpg class method), [1] (BrainGenotypeCpgOrm class method), [1] ctrl_index_position (JointHingeMujoco attribute) ctrl_index_velocity (JointHingeMujoco attribute) CUBE (MapType attribute), [1] current_viewport_size() (CustomMujocoViewer method), [1] (NativeMujocoViewer method), [1] (Viewer method), [1] CUSTOM (ViewerType attribute), [1] CustomMujocoViewer (class in mujoco_simulator.viewers) (class in mujoco_simulator.viewers._custom_mujoco_viewer) CustomMujocoViewerMode (class in mujoco_simulator.viewers) (class in mujoco_simulator.viewers._custom_mujoco_viewer)

D

debug (Args attribute) DEG_0 (RightAngles attribute), [1] DEG_180 (RightAngles attribute), [1] DEG_270 (RightAngles attribute), [1] DEG_90 (RightAngles attribute), [1] develop() (in module ci_group.genotypes.cppnwin.modular_robot.v1._body_develop) (in module ci_group.genotypes.cppnwin.modular_robot.v2._body_develop) develop_body() (BodyGenotypeOrmV1 method), [1] (BodyGenotypeOrmV2 method), [1] (BodyGenotypeV1 method), [1] (BodyGenotypeV2 method), [1] develop_brain() (BrainGenotypeCpg method), [1] (BrainGenotypeCpgOrm method), [1]

disable() (PhysicalInterface method), [1] (V1PhysicalInterface method), [1] (V2PhysicalInterface method), [1] double_neighbour_active_hinges (MorphologicalMeasures attribute) double_neighbour_brick_and_active_hinge_proportion (MorphologicalMeasures property) double_neighbour_bricks (MorphologicalMeasures attribute) draw_robot() (in module ci_group.planar_robot_representation) draw_robots() (in module ci_group.planar_robot_representation) dry (Args attribute) dynamic_friction (ActiveHinge property), [1] (RigidBody attribute), [1]

E

effort (ActiveHinge property), [1] (JointHinge attribute), [1] EGL (RenderBackend attribute) emission (Texture attribute), [1] enable() (PhysicalInterface method), [1] (V1PhysicalInterface method), [1] (V2PhysicalInterface method), [1] evaluate() (Evaluator method), [1] Evaluator (class in experimentation.evolution.abstract_elements) (class in experimentation.evolution.abstract_elements._evaluator) Evolution (class in experimentation.evolution.abstract_elements) (class in experimentation.evolution.abstract_elements._evolution) experimentation module experimentation._util module experimentation._util.init_subclass_get_generic_args module experimentation.database module experimentation.database._has_id module experimentation.database._open_method module experimentation.database._sqlite module experimentation.evolution module experimentation.evolution._modular_robot_evolution module experimentation.evolution.abstract_elements module experimentation.evolution.abstract_elements._evaluator module experimentation.evolution.abstract_elements._evolution module experimentation.evolution.abstract_elements._learner module experimentation.evolution.abstract_elements._reproducer module

experimentation.evolution.abstract_elements._selector module experimentation.logging module experimentation.optimization module experimentation.optimization.ea module experimentation.optimization.ea._generation module experimentation.optimization.ea._individual module experimentation.optimization.ea._parameters module experimentation.optimization.ea._population module experimentation.optimization.ea.population_management module experimentation.optimization.ea.population_management._generational module experimentation.optimization.ea.population_management._steady_state module experimentation.optimization.ea.selection module experimentation.optimization.ea.selection._argsort module experimentation.optimization.ea.selection._multiple_unique module experimentation.optimization.ea.selection._pareto_frontier module experimentation.optimization.ea.selection._supports_lt module experimentation.optimization.ea.selection._topn module experimentation.optimization.ea.selection._tournament module experimentation.rng module

F

file (TextureReference attribute), [1] filled_active_hinges (MorphologicalMeasures attribute) filled_bricks (MorphologicalMeasures attribute) filled_core_and_bricks_proportion (MorphologicalMeasures property) find_modules_of_type() (Body method), [1] Fitness (in module experimentation.optimization.ea.population_management._generational) (in module experimentation.optimization.ea.population_management._steady_state) (in module experimentation.optimization.ea.selection._topn) (in module experimentation.optimization.ea.selection._tournament) Flat (class in mujoco_simulator.textures) (class in mujoco_simulator.textures._flat)

flat() (in module ci_group.terrains) fps (RecordSettings attribute), [1] frame_bounding_box (ActiveHinge property), [1] frame_mass (ActiveHinge property), [1] frame_offset (ActiveHinge property), [1] from_string() (ViewerType static method), [1] FRONT (Brick attribute), [1] front (Brick property), [1] FRONT (Core attribute), [1] front (Core property), [1] front_face (CoreV2 property), [1]

G

garrix_v1() (in module ci_group.modular_robots_v1) gecko_v1() (in module ci_group.modular_robots_v1) gecko_v2() (in module ci_group.modular_robots_v2) Generation (class in experimentation.optimization.ea) (class in experimentation.optimization.ea._generation) generational() (in module experimentation.optimization.ea.population_management) (in module experimentation.optimization.ea.population_management._generational) Genotype (in module experimentation.optimization.ea.population_management._generational) (in module experimentation.optimization.ea.population_management._steady_state) (in module experimentation.optimization.ea.selection._topn) genotype (MultineatGenotypePickleWrapper attribute) geometries (RigidBody attribute), [1] Geometry (class in simulation.scene.geometry) (class in simulation.scene.geometry._geometry) GeometryBox (class in simulation.scene.geometry) (class in simulation.scene.geometry._geometry_box) GeometryHeightmap (class in simulation.scene.geometry) (class in simulation.scene.geometry._geometry_heightmap) GeometryPlane (class in simulation.scene.geometry) (class in simulation.scene.geometry._geometry_plane) GeometrySphere (class in simulation.scene.geometry) (class in simulation.scene.geometry._geometry_sphere) get() (in module ci_group.modular_robots_v1) (in module ci_group.modular_robots_v2) get_active_hinge_sensor_state() (ModularRobotSensorState method), [1] (ModularRobotSensorStateImpl method), [1] (ModularRobotSensorStateImplV1 method) (ModularRobotSensorStateImplV2 method) get_battery_level() (PhysicalInterface method), [1] (V1PhysicalInterface method), [1] (V2PhysicalInterface method), [1] get_builder() (in module modular_robot_simulation._build_multi_body_systems._get_builder) get_camera_sensor_state() (ModularRobotSensorState method), [1] (ModularRobotSensorStateImpl method), [1] (ModularRobotSensorStateImplV1 method) (ModularRobotSensorStateImplV2 method) get_camera_view() (PhysicalInterface method), [1] (SimulationState method), [1] (SimulationStateImpl method) (V1PhysicalInterface method), [1] (V2PhysicalInterface method), [1] get_context() (OpenGLVision static method) get_hinge_joint_position() (SimulationState method), [1] (SimulationStateImpl method)

get_imu_angular_rate() (PhysicalInterface method), [1] (SimulationState method), [1] (SimulationStateImpl method) (V1PhysicalInterface method), [1] (V2PhysicalInterface method), [1] get_imu_orientation() (PhysicalInterface method), [1] (V1PhysicalInterface method), [1] (V2PhysicalInterface method), [1] get_imu_sensor_state() (ModularRobotSensorState method), [1] (ModularRobotSensorStateImpl method), [1] (ModularRobotSensorStateImplV1 method) (ModularRobotSensorStateImplV2 method) get_imu_specific_force() (PhysicalInterface method), [1] (SimulationState method), [1] (SimulationStateImpl method) (V1PhysicalInterface method), [1] (V2PhysicalInterface method), [1] get_interface() (in module modular_robot_physical.physical_interfaces) (in module modular_robot_physical.physical_interfaces._get_interface) get_joints_for_rigid_body() (MultiBodySystem method), [1] get_modular_robot_simulation_state() (SceneSimulationState method), [1] get_module_absolute_pose() (ModularRobotSimulationState method), [1] get_module_relative_pose() (ModularRobotSimulationState method), [1] get_multi_body_system_pose() (SimulationState method), [1] (SimulationStateImpl method) get_multineat_params() (in module ci_group.genotypes.cppnwin.modular_robot._multineat_params) get_multiple_servo_positions() (PhysicalInterface method), [1] (V1PhysicalInterface method), [1] (V2PhysicalInterface method), [1] get_novelty_from_population() (in module ci_group.morphological_novelty_metric) (in module ci_group.morphological_novelty_metric._morphological_novelty_metric) get_pose() (ModularRobotSimulationState method), [1] get_rigid_body_absolute_pose() (SimulationState method), [1] (SimulationStateImpl method) get_rigid_body_relative_pose() (SimulationState method), [1] (SimulationStateImpl method) GLFW (RenderBackend attribute) Gradient (class in mujoco_simulator.textures) (class in mujoco_simulator.textures._gradient) green (Color attribute), [1], [2], [3] grid (MorphologicalMeasures attribute) grid_position() (Body class method), [1] gridlayout (TextureReference attribute), [1] gyro_id (IMUSensorMujoco attribute)

H

handle() (ModularRobotSimulationHandler method) (SimulationHandler method), [1] handler (Scene attribute), [1] hardware (Args attribute) HardwareType (class in modular_robot_physical) (class in modular_robot_physical._hardware_type) has_root() (MultiBodySystem method), [1] HasId (class in experimentation.database) (class in experimentation.database._has_id)

HasUUID (class in modular_robot_physical._uuid_key) (class in simulation.scene._uuid_key) height (RecordSettings attribute), [1] heights (GeometryHeightmap attribute), [1] here (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) hinge_joint (AbstractionToMujocoMapping attribute) hinge_mapping (Config attribute), [1] horizontal_offset (CoreV2 property), [1]

I

id (HasId attribute), [1] (JointHingeMujoco attribute) (MultiBodySystemMujoco attribute) image (CameraSensorState property), [1] (CameraSensorStateImpl property), [1], [2] Image (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) ImageBuilder (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) ImageReader (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) imu_sensor (AbstractionToMujocoMapping attribute) imu_to_sim_imu (BodyToMultiBodySystemMapping attribute), [1] IMUSensor (class in modular_robot.body.sensors) (class in modular_robot.body.sensors._imu_sensor) (class in simulation.scene.sensors) (class in simulation.scene.sensors._imu_sensor) IMUSensorBuilder (class in modular_robot_simulation._build_multi_body_systems._builders) (class in modular_robot_simulation._build_multi_body_systems._builders._imu_sensor_builder) IMUSensorMujoco (class in mujoco_simulator._abstraction_to_mujoco_mapping) IMUSensorState (class in modular_robot.sensor_state) (class in modular_robot.sensor_state._imu_sensor_state)

IMUSensorStateImpl (class in modular_robot_physical.remote._imu_sensor_state_impl) (class in modular_robot_simulation._sensor_state_impl) (class in modular_robot_simulation._sensor_state_impl._imu_sensor_state_impl) index (class in simulation.scene.vector2.vector2aux) (Cpg attribute) Individual (class in experimentation.optimization.ea) (class in experimentation.optimization.ea._individual) inertia_tensor() (RigidBody method), [1] init_subclass_get_generic_args() (in module experimentation._util.init_subclass_get_generic_args) initial_hinge_positions (Config attribute), [1] initial_pose (RigidBody attribute), [1] insect_v1() (in module ci_group.modular_robots_v1) inverse (Vector2 property), [1] inverse_servos (Config attribute), [1] IPCamera (class in ci_group.ci_lab_utilities) (class in ci_group.ci_lab_utilities._ip_camera) is_2d (MorphologicalMeasures attribute) is_static (MultiBodySystem attribute), [1] Item (in module experimentation.optimization.ea.selection._argsort)

J

Joint (class in simulation.scene) (class in simulation.scene._joint) joint_offset (ActiveHinge property), [1] JointFixed (class in simulation.scene) (class in simulation.scene._joint_fixed)

JointHinge (class in simulation.scene) (class in simulation.scene._joint_hinge) JointHingeMujoco (class in mujoco_simulator._abstraction_to_mujoco_mapping)

K

KWArgs (in module experimentation.evolution.abstract_elements._selector)

L

learn() (Learner method), [1] Learner (class in experimentation.evolution.abstract_elements) (class in experimentation.evolution.abstract_elements._learner) LEFT (Brick attribute), [1] left (Brick property), [1] LEFT (Core attribute), [1] left (Core property), [1]

left_face (CoreV2 property), [1] length_of_limbs (MorphologicalMeasures property) limbs (MorphologicalMeasures property) linkin_v1() (in module ci_group.modular_robots_v1) LocalSimulator (class in mujoco_simulator) (class in mujoco_simulator._local_simulator) longleg_v1() (in module ci_group.modular_robots_v1)

M

Magnitudes (in module ci_group.morphological_novelty_metric._morphological_novelty_metric) main() (in module modular_robot_physical._bin.robot_daemon) main_with_args() (in module modular_robot_physical._bin.robot_daemon) make_connection_weights_matrix() (CpgNetworkStructure method), [1] make_connection_weights_matrix_from_params() (CpgNetworkStructure method), [1] make_cpgs() (CpgNetworkStructure static method), [1] make_instance() (Brain method), [1] (BrainCpgNetworkNeighbor method), [1] (BrainCpgNetworkStatic method), [1] (BrainDummy method), [1] make_pose() (UnbuiltChild method) make_rng() (in module experimentation.rng) make_rng_time_seed() (in module experimentation.rng) make_standard_batch_parameters() (in module ci_group.simulation_parameters) make_uniform_state() (CpgNetworkStructure method), [1] MANUAL (CustomMujocoViewerMode attribute), [1] MAP2D (MapType attribute), [1] map_type (Texture attribute), [1] MapType (class in simulation.scene.geometry.textures) (class in simulation.scene.geometry.textures._map_type) mass (Brick property), [1] (Core property), [1] (CoreV2 attribute), [1] (Geometry attribute), [1] mass() (RigidBody method), [1] max_potential_single_neighbour_modules (MorphologicalMeasures property) max_potentionally_filled_core_and_bricks (MorphologicalMeasures property) middle (AttachmentFaceCoreV2 property) middle_left (AttachmentFaceCoreV2 property) middle_right (AttachmentFaceCoreV2 property) modular_robot module modular_robot (Config attribute), [1] modular_robot._modular_robot module modular_robot._modular_robot_control_interface module modular_robot.body module modular_robot.body._attachment_point module modular_robot.body._color module modular_robot.body._module module modular_robot.body._right_angles module modular_robot.body.base module modular_robot.body.base._active_hinge module modular_robot.body.base._attachment_face module modular_robot.body.base._body module modular_robot.body.base._brick module modular_robot.body.base._core module modular_robot.body.sensors module modular_robot.body.sensors._active_hinge_sensor module modular_robot.body.sensors._camera_sensor module modular_robot.body.sensors._imu_sensor module modular_robot.body.sensors._sensor module modular_robot.body.v1 module modular_robot.body.v1._active_hinge_v1 module modular_robot.body.v1._body_v1 module modular_robot.body.v1._brick_v1 module modular_robot.body.v1._core_v1 module modular_robot.body.v2 module modular_robot.body.v2._active_hinge_v2 module modular_robot.body.v2._attachment_face_core_v2 module modular_robot.body.v2._body_v2 module modular_robot.body.v2._brick_v2 module modular_robot.body.v2._core_v2 module modular_robot.brain module modular_robot.brain._brain module modular_robot.brain._brain_instance module modular_robot.brain.cpg module modular_robot.brain.cpg._brain_cpg_instance module modular_robot.brain.cpg._brain_cpg_network_neighbor module modular_robot.brain.cpg._brain_cpg_network_neighbor_random module modular_robot.brain.cpg._brain_cpg_network_static module modular_robot.brain.cpg._cpg_network_structure module modular_robot.brain.cpg._make_cpg_network_structure_neighbor module modular_robot.brain.dummy module modular_robot.brain.dummy._brain_dummy module modular_robot.brain.dummy._brain_dummy_instance module modular_robot.sensor_state module modular_robot.sensor_state._active_hinge_sensor_state module modular_robot.sensor_state._camera_sensor_state module modular_robot.sensor_state._imu_sensor_state module modular_robot.sensor_state._modular_robot_sensor_state module modular_robot_physical module modular_robot_physical._bin module modular_robot_physical._bin.robot_daemon module modular_robot_physical._config module modular_robot_physical._hardware_type module modular_robot_physical._protocol_version module modular_robot_physical._standard_port module modular_robot_physical._uuid_key module modular_robot_physical.physical_interfaces module modular_robot_physical.physical_interfaces._get_interface module modular_robot_physical.physical_interfaces._physical_interface module modular_robot_physical.physical_interfaces.v1 module modular_robot_physical.physical_interfaces.v1._v1_physical_interface module modular_robot_physical.physical_interfaces.v2 module modular_robot_physical.physical_interfaces.v2._v2_physical_interface module modular_robot_physical.remote module modular_robot_physical.remote._active_hinge_sensor_state_impl module modular_robot_physical.remote._camera_sensor_state_impl module modular_robot_physical.remote._imu_sensor_state_impl module modular_robot_physical.remote._modular_robot_control_interface_impl module modular_robot_physical.remote._modular_robot_sensor_state_impl_v1 module modular_robot_physical.remote._modular_robot_sensor_state_impl_v2 module modular_robot_physical.remote._remote module modular_robot_physical.remote._test_physical_robot module modular_robot_physical.robot_daemon module modular_robot_physical.robot_daemon._robo_server_impl module modular_robot_physical.robot_daemon._robot_daemon module modular_robot_physical.robot_daemon_api module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp module modular_robot_simulation module modular_robot_simulation._build_multi_body_systems module modular_robot_simulation._build_multi_body_systems._body_to_multi_body_system_converter module modular_robot_simulation._build_multi_body_systems._body_to_multi_body_system_mapping module modular_robot_simulation._build_multi_body_systems._builders module modular_robot_simulation._build_multi_body_systems._builders._active_hinge_builder module modular_robot_simulation._build_multi_body_systems._builders._active_hinge_sensor_builder module modular_robot_simulation._build_multi_body_systems._builders._attachment_face_builder module modular_robot_simulation._build_multi_body_systems._builders._brick_builder module modular_robot_simulation._build_multi_body_systems._builders._builder module modular_robot_simulation._build_multi_body_systems._builders._camera_sensor_builder module modular_robot_simulation._build_multi_body_systems._builders._core_builder module modular_robot_simulation._build_multi_body_systems._builders._imu_sensor_builder module modular_robot_simulation._build_multi_body_systems._convert_color module modular_robot_simulation._build_multi_body_systems._get_builder module modular_robot_simulation._build_multi_body_systems._unbuilt_child module modular_robot_simulation._convert_terrain module modular_robot_simulation._modular_robot_control_interface_impl module modular_robot_simulation._modular_robot_scene module modular_robot_simulation._modular_robot_simulation_handler module modular_robot_simulation._modular_robot_simulation_state module modular_robot_simulation._scene_simulation_state module modular_robot_simulation._sensor_state_impl module modular_robot_simulation._sensor_state_impl._active_hinge_sensor_state_impl module modular_robot_simulation._sensor_state_impl._camera_sensor_state_impl module modular_robot_simulation._sensor_state_impl._imu_sensor_state_impl module modular_robot_simulation._sensor_state_impl._modular_robot_sensor_state_impl module modular_robot_simulation._simulate_scenes module modular_robot_simulation._terrain module modular_robot_simulation._test_robot module modular_robot_simulation._to_batch module ModularRobot (class in modular_robot) (class in modular_robot._modular_robot) ModularRobotControlInterface (class in modular_robot) (class in modular_robot._modular_robot_control_interface) ModularRobotControlInterfaceImpl (class in modular_robot_physical.remote._modular_robot_control_interface_impl) (class in modular_robot_simulation._modular_robot_control_interface_impl) ModularRobotEvolution (class in experimentation.evolution) (class in experimentation.evolution._modular_robot_evolution) ModularRobotScene (class in modular_robot_simulation) (class in modular_robot_simulation._modular_robot_scene) ModularRobotSensorState (class in modular_robot.sensor_state) (class in modular_robot.sensor_state._modular_robot_sensor_state) ModularRobotSensorStateImpl (class in modular_robot_simulation._sensor_state_impl) (class in modular_robot_simulation._sensor_state_impl._modular_robot_sensor_state_impl) ModularRobotSensorStateImplV1 (class in modular_robot_physical.remote._modular_robot_sensor_state_impl_v1) ModularRobotSensorStateImplV2 (class in modular_robot_physical.remote._modular_robot_sensor_state_impl_v2) ModularRobotSimulationHandler (class in modular_robot_simulation._modular_robot_simulation_handler) ModularRobotSimulationState (class in modular_robot_simulation) (class in modular_robot_simulation._modular_robot_simulation_state) module ci_group ci_group.ci_lab_utilities ci_group.ci_lab_utilities._calibrate_camera ci_group.ci_lab_utilities._ip_camera ci_group.fitness_functions ci_group.genotypes ci_group.genotypes.cppnwin ci_group.genotypes.cppnwin._multineat_genotype_pickle_wrapper ci_group.genotypes.cppnwin._multineat_rng_from_random ci_group.genotypes.cppnwin._random_multineat_genotype ci_group.genotypes.cppnwin.modular_robot ci_group.genotypes.cppnwin.modular_robot._brain_cpg_network_neighbor ci_group.genotypes.cppnwin.modular_robot._brain_genotype_cpg ci_group.genotypes.cppnwin.modular_robot._brain_genotype_cpg_orm ci_group.genotypes.cppnwin.modular_robot._multineat_params ci_group.genotypes.cppnwin.modular_robot.v1 ci_group.genotypes.cppnwin.modular_robot.v1._body_develop ci_group.genotypes.cppnwin.modular_robot.v1._body_genotype_orm_v1 ci_group.genotypes.cppnwin.modular_robot.v1._body_genotype_v1 ci_group.genotypes.cppnwin.modular_robot.v2 ci_group.genotypes.cppnwin.modular_robot.v2._body_develop ci_group.genotypes.cppnwin.modular_robot.v2._body_genotype_orm_v2 ci_group.genotypes.cppnwin.modular_robot.v2._body_genotype_v2 ci_group.interactive_objects ci_group.interactive_objects._ball ci_group.modular_robots_v1 ci_group.modular_robots_v2 ci_group.morphological_measures ci_group.morphological_novelty_metric ci_group.morphological_novelty_metric._build_cmodule ci_group.morphological_novelty_metric._coordinate_operations ci_group.morphological_novelty_metric._morphological_novelty_metric ci_group.morphological_novelty_metric.calculate_novelty ci_group.planar_robot_representation ci_group.simulation_parameters ci_group.terrains experimentation experimentation._util experimentation._util.init_subclass_get_generic_args experimentation.database experimentation.database._has_id experimentation.database._open_method experimentation.database._sqlite experimentation.evolution experimentation.evolution._modular_robot_evolution experimentation.evolution.abstract_elements experimentation.evolution.abstract_elements._evaluator experimentation.evolution.abstract_elements._evolution experimentation.evolution.abstract_elements._learner experimentation.evolution.abstract_elements._reproducer experimentation.evolution.abstract_elements._selector experimentation.logging experimentation.optimization experimentation.optimization.ea experimentation.optimization.ea._generation experimentation.optimization.ea._individual experimentation.optimization.ea._parameters experimentation.optimization.ea._population experimentation.optimization.ea.population_management experimentation.optimization.ea.population_management._generational experimentation.optimization.ea.population_management._steady_state experimentation.optimization.ea.selection experimentation.optimization.ea.selection._argsort experimentation.optimization.ea.selection._multiple_unique experimentation.optimization.ea.selection._pareto_frontier experimentation.optimization.ea.selection._supports_lt experimentation.optimization.ea.selection._topn experimentation.optimization.ea.selection._tournament experimentation.rng modular_robot modular_robot._modular_robot modular_robot._modular_robot_control_interface modular_robot.body modular_robot.body._attachment_point modular_robot.body._color modular_robot.body._module modular_robot.body._right_angles modular_robot.body.base modular_robot.body.base._active_hinge modular_robot.body.base._attachment_face modular_robot.body.base._body modular_robot.body.base._brick modular_robot.body.base._core modular_robot.body.sensors modular_robot.body.sensors._active_hinge_sensor modular_robot.body.sensors._camera_sensor modular_robot.body.sensors._imu_sensor modular_robot.body.sensors._sensor modular_robot.body.v1 modular_robot.body.v1._active_hinge_v1 modular_robot.body.v1._body_v1 modular_robot.body.v1._brick_v1 modular_robot.body.v1._core_v1 modular_robot.body.v2 modular_robot.body.v2._active_hinge_v2 modular_robot.body.v2._attachment_face_core_v2 modular_robot.body.v2._body_v2 modular_robot.body.v2._brick_v2 modular_robot.body.v2._core_v2 modular_robot.brain modular_robot.brain._brain modular_robot.brain._brain_instance modular_robot.brain.cpg modular_robot.brain.cpg._brain_cpg_instance modular_robot.brain.cpg._brain_cpg_network_neighbor modular_robot.brain.cpg._brain_cpg_network_neighbor_random modular_robot.brain.cpg._brain_cpg_network_static modular_robot.brain.cpg._cpg_network_structure modular_robot.brain.cpg._make_cpg_network_structure_neighbor modular_robot.brain.dummy modular_robot.brain.dummy._brain_dummy modular_robot.brain.dummy._brain_dummy_instance modular_robot.sensor_state modular_robot.sensor_state._active_hinge_sensor_state modular_robot.sensor_state._camera_sensor_state modular_robot.sensor_state._imu_sensor_state modular_robot.sensor_state._modular_robot_sensor_state modular_robot_physical modular_robot_physical._bin modular_robot_physical._bin.robot_daemon modular_robot_physical._config modular_robot_physical._hardware_type modular_robot_physical._protocol_version modular_robot_physical._standard_port modular_robot_physical._uuid_key modular_robot_physical.physical_interfaces modular_robot_physical.physical_interfaces._get_interface modular_robot_physical.physical_interfaces._physical_interface modular_robot_physical.physical_interfaces.v1 modular_robot_physical.physical_interfaces.v1._v1_physical_interface modular_robot_physical.physical_interfaces.v2 modular_robot_physical.physical_interfaces.v2._v2_physical_interface modular_robot_physical.remote modular_robot_physical.remote._active_hinge_sensor_state_impl modular_robot_physical.remote._camera_sensor_state_impl modular_robot_physical.remote._imu_sensor_state_impl modular_robot_physical.remote._modular_robot_control_interface_impl modular_robot_physical.remote._modular_robot_sensor_state_impl_v1 modular_robot_physical.remote._modular_robot_sensor_state_impl_v2 modular_robot_physical.remote._remote modular_robot_physical.remote._test_physical_robot modular_robot_physical.robot_daemon modular_robot_physical.robot_daemon._robo_server_impl modular_robot_physical.robot_daemon._robot_daemon modular_robot_physical.robot_daemon_api modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp modular_robot_simulation modular_robot_simulation._build_multi_body_systems modular_robot_simulation._build_multi_body_systems._body_to_multi_body_system_converter modular_robot_simulation._build_multi_body_systems._body_to_multi_body_system_mapping modular_robot_simulation._build_multi_body_systems._builders modular_robot_simulation._build_multi_body_systems._builders._active_hinge_builder modular_robot_simulation._build_multi_body_systems._builders._active_hinge_sensor_builder modular_robot_simulation._build_multi_body_systems._builders._attachment_face_builder modular_robot_simulation._build_multi_body_systems._builders._brick_builder modular_robot_simulation._build_multi_body_systems._builders._builder modular_robot_simulation._build_multi_body_systems._builders._camera_sensor_builder modular_robot_simulation._build_multi_body_systems._builders._core_builder modular_robot_simulation._build_multi_body_systems._builders._imu_sensor_builder modular_robot_simulation._build_multi_body_systems._convert_color modular_robot_simulation._build_multi_body_systems._get_builder modular_robot_simulation._build_multi_body_systems._unbuilt_child modular_robot_simulation._convert_terrain modular_robot_simulation._modular_robot_control_interface_impl modular_robot_simulation._modular_robot_scene modular_robot_simulation._modular_robot_simulation_handler modular_robot_simulation._modular_robot_simulation_state modular_robot_simulation._scene_simulation_state modular_robot_simulation._sensor_state_impl modular_robot_simulation._sensor_state_impl._active_hinge_sensor_state_impl modular_robot_simulation._sensor_state_impl._camera_sensor_state_impl modular_robot_simulation._sensor_state_impl._imu_sensor_state_impl modular_robot_simulation._sensor_state_impl._modular_robot_sensor_state_impl modular_robot_simulation._simulate_scenes modular_robot_simulation._terrain modular_robot_simulation._test_robot modular_robot_simulation._to_batch mujoco_simulator mujoco_simulator._abstraction_to_mujoco_mapping mujoco_simulator._control_interface_impl mujoco_simulator._local_simulator mujoco_simulator._open_gl_vision mujoco_simulator._render_backend mujoco_simulator._scene_to_model mujoco_simulator._simulate_manual_scene mujoco_simulator._simulate_scene mujoco_simulator._simulation_state_impl mujoco_simulator.textures mujoco_simulator.textures._checker mujoco_simulator.textures._flat mujoco_simulator.textures._gradient mujoco_simulator.viewers mujoco_simulator.viewers._custom_mujoco_viewer mujoco_simulator.viewers._native_mujoco_viewer mujoco_simulator.viewers._viewer_type simulation simulation.scene simulation.scene._aabb simulation.scene._color simulation.scene._control_interface simulation.scene._joint simulation.scene._joint_fixed simulation.scene._joint_hinge simulation.scene._multi_body_system simulation.scene._pose simulation.scene._rigid_body simulation.scene._scene simulation.scene._simulation_handler simulation.scene._simulation_state simulation.scene._uuid_key simulation.scene.conversion simulation.scene.conversion._multi_body_system_to_urdf simulation.scene.geometry simulation.scene.geometry._geometry simulation.scene.geometry._geometry_box simulation.scene.geometry._geometry_heightmap simulation.scene.geometry._geometry_plane simulation.scene.geometry._geometry_sphere simulation.scene.geometry.textures simulation.scene.geometry.textures._map_type simulation.scene.geometry.textures._texture simulation.scene.geometry.textures._texture_reference simulation.scene.sensors simulation.scene.sensors._camera_sensor simulation.scene.sensors._imu_sensor simulation.scene.sensors._sensor simulation.scene.vector2 simulation.scene.vector2.vector2 simulation.scene.vector2.vector2aux simulation.simulator simulation.simulator._batch simulation.simulator._batch_parameters simulation.simulator._record_settings simulation.simulator._simulator simulation.simulator._viewer

Module (class in modular_robot.body) (class in modular_robot.body._module) module_file (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) modules (MorphologicalMeasures attribute) MorphologicalMeasures (class in ci_group.morphological_measures) mujoco_simulator module mujoco_simulator._abstraction_to_mujoco_mapping module mujoco_simulator._control_interface_impl module mujoco_simulator._local_simulator module mujoco_simulator._open_gl_vision module mujoco_simulator._render_backend module mujoco_simulator._scene_to_model module mujoco_simulator._simulate_manual_scene module mujoco_simulator._simulate_scene module mujoco_simulator._simulation_state_impl module mujoco_simulator.textures module mujoco_simulator.textures._checker module mujoco_simulator.textures._flat module mujoco_simulator.textures._gradient module mujoco_simulator.viewers module mujoco_simulator.viewers._custom_mujoco_viewer module mujoco_simulator.viewers._native_mujoco_viewer module mujoco_simulator.viewers._viewer_type module multi_body_system (AbstractionToMujocoMapping attribute) (BodyToMultiBodySystemMapping attribute), [1] multi_body_system_to_urdf() (in module simulation.scene.conversion) (in module simulation.scene.conversion._multi_body_system_to_urdf) multi_body_systems (Scene property), [1] MultiBodySystem (class in simulation.scene) (class in simulation.scene._multi_body_system) MultiBodySystemMujoco (class in mujoco_simulator._abstraction_to_mujoco_mapping) multineat_rng_from_random() (in module ci_group.genotypes.cppnwin._multineat_rng_from_random) MultineatGenotypePickleWrapper (class in ci_group.genotypes.cppnwin._multineat_genotype_pickle_wrapper) multiple_unique() (in module experimentation.optimization.ea.selection) (in module experimentation.optimization.ea.selection._multiple_unique) mutate_body() (BodyGenotypeOrmV1 method), [1] (BodyGenotypeOrmV2 method), [1] (BodyGenotypeV1 method), [1] (BodyGenotypeV2 method), [1] mutate_brain() (BrainGenotypeCpg method), [1] (BrainGenotypeCpgOrm method), [1]

N

NATIVE (ViewerType attribute), [1] NativeMujocoViewer (class in mujoco_simulator.viewers) (class in mujoco_simulator.viewers._native_mujoco_viewer) neighbours() (Module method), [1] NOT_EXISTS_AND_CREATE (OpenMethod attribute), [1] num_active_hinges (MorphologicalMeasures property) num_bricks (MorphologicalMeasures property) num_connections (CpgNetworkStructure property), [1]

num_cpgs (CpgNetworkStructure property), [1] num_double_neighbour_active_hinges (MorphologicalMeasures property) num_double_neighbour_bricks (MorphologicalMeasures property) num_filled_active_hinges (MorphologicalMeasures property) num_filled_bricks (MorphologicalMeasures property) num_filled_modules (MorphologicalMeasures property) num_modules (MorphologicalMeasures property) num_single_neighbour_modules (MorphologicalMeasures property) num_states (CpgNetworkStructure property), [1]

O

offset (AttachmentPoint attribute), [1] old_len (in module mujoco_simulator._scene_to_model) open_async_database_sqlite() (in module experimentation.database) (in module experimentation.database._sqlite) open_database_sqlite() (in module experimentation.database) (in module experimentation.database._sqlite) OPEN_IF_EXISTS (OpenMethod attribute), [1] OPEN_OR_CREATE (OpenMethod attribute), [1] OpenGLVision (class in mujoco_simulator._open_gl_vision) OpenMethod (class in experimentation.database) (class in experimentation.database._open_method)

orientation (AttachmentPoint attribute), [1] (IMUSensorState property), [1] (IMUSensorStateImpl property), [1], [2] (Module property), [1] (Pose attribute), [1] (Sensor property), [1] Orientations (in module ci_group.morphological_novelty_metric._morphological_novelty_metric) OSMESA (RenderBackend attribute) output_indices (CpgNetworkStructure property), [1] OVERWITE_IF_EXISTS (OpenMethod attribute), [1] overwrite (RecordSettings attribute), [1]

P

parameters (Batch attribute), [1] Parameters (class in experimentation.optimization.ea) (class in experimentation.optimization.ea._parameters) parameters (Parameters attribute), [1] parent (Module property), [1] parent_child_index (Module property), [1] pareto_frontier() (in module experimentation.optimization.ea.selection) (in module experimentation.optimization.ea.selection._pareto_frontier) park_v1() (in module ci_group.modular_robots_v1) penguin_v1() (in module ci_group.modular_robots_v1) pentapod_v1() (in module ci_group.modular_robots_v1) PhysicalInterface (class in modular_robot_physical.physical_interfaces) (class in modular_robot_physical.physical_interfaces._physical_interface) pid_gain_d (ActiveHinge property), [1] (JointHinge attribute), [1] pid_gain_p (ActiveHinge property), [1] (JointHinge attribute), [1] Pin (in module modular_robot_physical.robot_daemon._robo_server_impl) PinControl (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) PinControlBuilder (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) PinControlReader (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) Population (class in experimentation.optimization.ea) (class in experimentation.optimization.ea._population)

pose (CameraSensor attribute), [1] Pose (class in simulation.scene) (class in simulation.scene._pose) pose (Geometry attribute), [1] (IMUSensor attribute), [1] (Joint attribute), [1] (MultiBodySystem attribute), [1] (UnbuiltChild attribute) position (ActiveHingeSensorState property), [1] (ActiveHingeSensorStateImpl property), [1], [2] (Pose attribute), [1] (Sensor property), [1] potential_double_neighbour_bricks_and_active_hinges (MorphologicalMeasures property) primary_color (Checker attribute), [1] (Flat attribute), [1] (Gradient attribute), [1] (Texture attribute), [1] process() (OpenGLVision method) proportion_2d (MorphologicalMeasures property) PROTOCOL_VERSION (in module modular_robot_physical) (in module modular_robot_physical._protocol_version)

Q

queen_v1() (in module ci_group.modular_robots_v1)

R

RAD_0 (RightAngles attribute), [1] RAD_HALFPI (RightAngles attribute), [1] RAD_ONEANDAHALFPI (RightAngles attribute), [1] RAD_PI (RightAngles attribute), [1] radius (GeometrySphere attribute), [1] random_body() (BodyGenotypeOrmV1 class method), [1] (BodyGenotypeOrmV2 class method), [1] (BodyGenotypeV1 class method), [1] (BodyGenotypeV2 class method), [1] random_brain() (BrainGenotypeCpg class method), [1] (BrainGenotypeCpgOrm class method), [1] random_multineat_genotype() (in module ci_group.genotypes.cppnwin._random_multineat_genotype) range (ActiveHinge property), [1] (JointHinge attribute), [1] readSensors() (RoboServerImpl method) ReadSensorsArgs (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) ReadSensorsArgsBuilder (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) ReadSensorsArgsReader (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) record_settings (Batch attribute), [1] RecordSettings (class in simulation.simulator) (class in simulation.simulator._record_settings) red (Color attribute), [1], [2], [3] reference (Checker attribute), [1] (Flat attribute), [1] (Gradient attribute), [1] (Texture attribute), [1] reflectance (Texture attribute), [1] render() (CustomMujocoViewer method), [1] (NativeMujocoViewer method), [1] (Viewer method), [1]

RenderBackend (class in mujoco_simulator._render_backend) repeat (Checker attribute), [1] (Texture attribute), [1] reproduce() (Reproducer method), [1] Reproducer (class in experimentation.evolution.abstract_elements) (class in experimentation.evolution.abstract_elements._reproducer) RIGHT (Brick attribute), [1] right (Brick property), [1] RIGHT (Core attribute), [1] right (Core property), [1] right_face (CoreV2 property), [1] RightAngles (class in modular_robot.body) (class in modular_robot.body._right_angles) rigid_body (UnbuiltChild attribute) rigid_body1 (Joint attribute), [1] rigid_body2 (Joint attribute), [1] RigidBody (class in simulation.scene) (class in simulation.scene._rigid_body) RoboServer (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) RoboServerImpl (class in modular_robot_physical.robot_daemon._robo_server_impl) root (MultiBodySystem property), [1] rugged_heightmap() (in module ci_group.terrains) run_duration (Config attribute), [1] run_remote() (in module modular_robot_physical.remote) (in module modular_robot_physical.remote._remote) run_robot_daemon() (in module modular_robot_physical.robot_daemon) (in module modular_robot_physical.robot_daemon._robot_daemon)

S

salamander_v1() (in module ci_group.modular_robots_v1) sampling_frequency (BatchParameters attribute), [1] Scene (class in simulation.scene) (class in simulation.scene._scene) scene_to_model() (in module mujoco_simulator._scene_to_model) scenes (Batch attribute), [1] SceneSimulationState (class in modular_robot_simulation) (class in modular_robot_simulation._scene_simulation_state) secondary_color (Checker attribute), [1] (Gradient attribute), [1] (Texture attribute), [1] seed_from_string() (in module experimentation.rng) seed_from_time() (in module experimentation.rng) select() (Selector method), [1] Selector (class in experimentation.evolution.abstract_elements) (class in experimentation.evolution.abstract_elements._selector) Sensor (class in modular_robot.body.sensors) (class in modular_robot.body.sensors._sensor) (class in simulation.scene.sensors) (class in simulation.scene.sensors._sensor) SensorReadings (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) SensorReadingsBuilder (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) SensorReadingsReader (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) sensors (Module property), [1] (RigidBody attribute), [1] servo1_bounding_box (ActiveHinge property), [1] servo1_mass (ActiveHinge property), [1] servo2_bounding_box (ActiveHinge property), [1] servo2_mass (ActiveHinge property), [1] servo_offset (ActiveHinge property), [1] set_active_hinge_target() (ModularRobotControlInterface method), [1] (ModularRobotControlInterfaceImpl method), [1] set_child() (AttachmentFaceCoreV2 method) (Module method), [1] set_joint_hinge_position_target() (ControlInterface method), [1] (ControlInterfaceImpl method) set_servo_targets() (PhysicalInterface method), [1] (V1PhysicalInterface method), [1] (V2PhysicalInterface method), [1] setup() (RoboServerImpl method) setup_logging() (in module experimentation.logging) SetupArgs (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) SetupArgsBuilder (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) SetupArgsReader (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) SetupResponse (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) SetupResponseBuilder (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) SetupResponseReader (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) shininess (Texture attribute), [1] simulate_batch() (LocalSimulator method), [1] (Simulator method), [1] simulate_manual_scene() (in module mujoco_simulator._simulate_manual_scene) simulate_scene() (in module mujoco_simulator._simulate_scene) simulate_scenes() (in module modular_robot_simulation) (in module modular_robot_simulation._simulate_scenes) simulation module simulation.scene module simulation.scene._aabb module simulation.scene._color module simulation.scene._control_interface module simulation.scene._joint module simulation.scene._joint_fixed module simulation.scene._joint_hinge module simulation.scene._multi_body_system module simulation.scene._pose module simulation.scene._rigid_body module simulation.scene._scene module simulation.scene._simulation_handler module simulation.scene._simulation_state module simulation.scene._uuid_key module simulation.scene.conversion module simulation.scene.conversion._multi_body_system_to_urdf module

simulation.scene.geometry module simulation.scene.geometry._geometry module simulation.scene.geometry._geometry_box module simulation.scene.geometry._geometry_heightmap module simulation.scene.geometry._geometry_plane module simulation.scene.geometry._geometry_sphere module simulation.scene.geometry.textures module simulation.scene.geometry.textures._map_type module simulation.scene.geometry.textures._texture module simulation.scene.geometry.textures._texture_reference module simulation.scene.sensors module simulation.scene.sensors._camera_sensor module simulation.scene.sensors._imu_sensor module simulation.scene.sensors._sensor module simulation.scene.vector2 module simulation.scene.vector2.vector2 module simulation.scene.vector2.vector2aux module simulation.simulator module simulation.simulator._batch module simulation.simulator._batch_parameters module simulation.simulator._record_settings module simulation.simulator._simulator module simulation.simulator._viewer module simulation_time (BatchParameters attribute), [1] simulation_timestep (BatchParameters attribute), [1] SimulationHandler (class in simulation.scene) (class in simulation.scene._simulation_handler) SimulationState (class in simulation.scene) (class in simulation.scene._simulation_state) SimulationStateImpl (class in mujoco_simulator._simulation_state_impl) Simulator (class in simulation.simulator) (class in simulation.simulator._simulator) single_neighbour_bricks (MorphologicalMeasures attribute) single_neighbour_modules (MorphologicalMeasures attribute) size (AABB attribute), [1] (GeometryHeightmap attribute), [1] (GeometryPlane attribute), [1] (Texture attribute), [1] SKYBOX (MapType attribute), [1] snake_v1() (in module ci_group.modular_robots_v1) snake_v2() (in module ci_group.modular_robots_v2) specific_force (IMUSensorState property), [1] (IMUSensorStateImpl property), [1], [2] specular (Texture attribute), [1] spider_v1() (in module ci_group.modular_robots_v1) spider_v2() (in module ci_group.modular_robots_v2) squarish_v1() (in module ci_group.modular_robots_v1) STANDARD_CONTROL_FREQUENCY (in module ci_group.simulation_parameters) STANDARD_PORT (in module modular_robot_physical) (in module modular_robot_physical._standard_port) STANDARD_SAMPLING_FREQUENCY (in module ci_group.simulation_parameters) STANDARD_SIMULATION_TIME (in module ci_group.simulation_parameters) STANDARD_SIMULATION_TIMESTEP (in module ci_group.simulation_parameters) start() (IPCamera method), [1] static_friction (ActiveHinge property), [1] (RigidBody attribute), [1] static_geometry (Terrain attribute), [1] steady_state() (in module experimentation.optimization.ea.population_management) (in module experimentation.optimization.ea.population_management._steady_state) step() (Evolution method), [1] (ModularRobotEvolution method), [1] stingray_v1() (in module ci_group.modular_robots_v1) SupportsLt (class in experimentation.optimization.ea.selection._supports_lt) symmetry (MorphologicalMeasures property) symmetry_grid (MorphologicalMeasures attribute)

T

TChild (in module experimentation._util.init_subclass_get_generic_args) Terrain (class in modular_robot_simulation) (class in modular_robot_simulation._terrain) terrain (ModularRobotScene attribute), [1] test_physical_robot() (in module modular_robot_physical.remote) (in module modular_robot_physical.remote._test_physical_robot) test_robot() (in module modular_robot_simulation) (in module modular_robot_simulation._test_robot) Texture (class in simulation.scene.geometry.textures) (class in simulation.scene.geometry.textures._texture) texture (Geometry attribute), [1] (GeometryHeightmap attribute), [1] (GeometryPlane attribute), [1] TextureReference (class in simulation.scene.geometry.textures) (class in simulation.scene.geometry.textures._texture_reference) TFitness (in module experimentation.optimization.ea.selection._multiple_unique) TGenotype (in module experimentation.optimization.ea._individual) TIndividual (in module experimentation.optimization.ea._population) (in module experimentation.optimization.ea.selection._multiple_unique) tinlicker_v1() (in module ci_group.modular_robots_v1) TModule (in module ci_group.morphological_measures) (in module modular_robot.body.base._body) TModuleNP (in module modular_robot.body.base._body) to_batch() (in module modular_robot_simulation._to_batch)

to_grid() (Body method), [1] to_normalized_rgb_list() (Color method), [1] to_normalized_rgba_list() (Color method), [1], [2], [3] to_simulation_scene() (ModularRobotScene method), [1] top (AttachmentFaceCoreV2 property) top_left (AttachmentFaceCoreV2 property) top_right (AttachmentFaceCoreV2 property) topn() (in module experimentation.optimization.ea.selection) (in module experimentation.optimization.ea.selection._topn) TOther (in module experimentation.optimization.ea.selection._pareto_frontier) tournament() (in module experimentation.optimization.ea.selection) (in module experimentation.optimization.ea.selection._tournament) TParent (in module experimentation._util.init_subclass_get_generic_args) TPopulation (in module experimentation.evolution._modular_robot_evolution) (in module experimentation.evolution.abstract_elements._evaluator) (in module experimentation.evolution.abstract_elements._evolution) (in module experimentation.evolution.abstract_elements._learner) (in module experimentation.evolution.abstract_elements._reproducer) (in module experimentation.evolution.abstract_elements._selector) (in module experimentation.optimization.ea._generation) TSupportsLt (in module experimentation.optimization.ea.selection._supports_lt) turtle_v1() (in module ci_group.modular_robots_v1) TValues (in module experimentation.optimization.ea.selection._pareto_frontier) type (CameraSensor attribute), [1] (IMUSensor attribute), [1]

U

UnbuiltChild (class in modular_robot_simulation._build_multi_body_systems._unbuilt_child) uniform_from_params() (BrainCpgNetworkStatic class method), [1] unit (class in simulation.scene.vector2) (class in simulation.scene.vector2.vector2aux) uuid (HasUUID property), [1] (Joint property), [1] (ModularRobot property), [1] (Module property), [1] (MultiBodySystem property), [1] (RigidBody property), [1] (Sensor property), [1], [2], [3]

UUIDKey (class in modular_robot_physical) (class in modular_robot_physical._uuid_key) (class in simulation.scene) (class in simulation.scene._uuid_key)

V

v1 (HardwareType attribute), [1] V1PhysicalInterface (class in modular_robot_physical.physical_interfaces.v1) (class in modular_robot_physical.physical_interfaces.v1._v1_physical_interface) v2 (HardwareType attribute), [1] V2PhysicalInterface (class in modular_robot_physical.physical_interfaces.v2) (class in modular_robot_physical.physical_interfaces.v2._v2_physical_interface) value (UUIDKey property), [1], [2], [3] Vector2 (class in simulation.scene.vector2) (class in simulation.scene.vector2.vector2) Vector3 (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) Vector3Builder (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp)

Vector3Reader (in module modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp) velocity (ActiveHinge property), [1] (JointHinge attribute), [1] vertical_offset (CoreV2 property), [1] video_directory (RecordSettings attribute), [1] view_port (CustomMujocoViewer property), [1] (NativeMujocoViewer property), [1] (Viewer property), [1] Viewer (class in simulation.simulator) (class in simulation.simulator._viewer) ViewerType (class in mujoco_simulator.viewers) (class in mujoco_simulator.viewers._viewer_type)

W

width (RecordSettings attribute), [1]

ww_v1() (in module ci_group.modular_robots_v1)

X

x (index attribute) (unit attribute), [1] (Vector2 attribute), [1]

xy (Vector2 attribute), [1] xy_displacement() (in module ci_group.fitness_functions) xy_symmetry (MorphologicalMeasures attribute) xz_symmetry (MorphologicalMeasures attribute)

Y

y (index attribute) (unit attribute), [1] (Vector2 attribute), [1]

yz_symmetry (MorphologicalMeasures attribute)

Z

zappa_v1() (in module ci_group.modular_robots_v1)