Index

_

__call__() (leggedsnake.fitness.CompositeFitness method) (leggedsnake.fitness.DistanceFitness method) (leggedsnake.fitness.DynamicFitness method) (leggedsnake.fitness.EfficiencyFitness method) (leggedsnake.fitness.GaitFitness method) (leggedsnake.fitness.StabilityFitness method) (leggedsnake.fitness.StrideFitness method) __init__() (leggedsnake.co_design.WalkingDesignResult method) (leggedsnake.co_design.WalkingDesignSpec method) (leggedsnake.dynamic_linkage.DynamicLinkage method) (leggedsnake.dynamic_linkage.NodeProxy method) (leggedsnake.fitness.CompositeFitness method) (leggedsnake.fitness.DistanceFitness method) (leggedsnake.fitness.DynamicFitness method) (leggedsnake.fitness.EfficiencyFitness method) (leggedsnake.fitness.FitnessResult method) (leggedsnake.fitness.GaitFitness method) (leggedsnake.fitness.StabilityFitness method) (leggedsnake.fitness.StrideFitness method) (leggedsnake.gait_analysis.FootEvent method) (leggedsnake.gait_analysis.GaitAnalysisResult method) (leggedsnake.gait_analysis.GaitCycle method) (leggedsnake.gait_optimization.GaitOptimizationConfig method) (leggedsnake.gait_optimization.GaitOptimizationResult method) (leggedsnake.genetic_optimizer.GeneticOptimization method) (leggedsnake.hypergraph_physics.PhysicsMapping method) (leggedsnake.nsga_optimizer.NsgaWalkingConfig method) (leggedsnake.nsga_optimizer.NsgaWalkingResult method) (leggedsnake.nsga_optimizer.WalkingNsgaProblem method) (leggedsnake.physics_engine.TerrainConfig method) (leggedsnake.physics_engine.World method) (leggedsnake.physics_engine.WorldConfig method) (leggedsnake.stability.StabilitySnapshot method) (leggedsnake.stability.StabilityTimeSeries method) (leggedsnake.topology_optimization.TopologyCoOptConfig method) (leggedsnake.topology_optimization.TopologySolutionInfo method) (leggedsnake.topology_optimization.TopologyWalkingResult method) (leggedsnake.urdf_export.URDFConfig method) (leggedsnake.walker.Walker method) (leggedsnake.world_visualizer.VisualWorld method) _apply_ground_filter() (leggedsnake.physics_engine.World method) _apply_input_velocities() (leggedsnake.walker.Walker method) _build_load() (leggedsnake.dynamic_linkage.DynamicLinkage method)

_derivative_pairs() (in module leggedsnake.walker) _dimensions (leggedsnake.dynamic_linkage.DynamicLinkage attribute) _driver_rate() (in module leggedsnake.walker) _flatten_constraints() (in module leggedsnake.utility) _foot_edge_ids (leggedsnake.walker.Walker attribute) _get_constraints() (in module leggedsnake.utility) _hypergraph (leggedsnake.dynamic_linkage.DynamicLinkage attribute) _invalidate_cache() (leggedsnake.walker.Walker method) _mapping (leggedsnake.dynamic_linkage.NodeProxy attribute) _mechanism (leggedsnake.walker.Walker attribute) _node_id (leggedsnake.dynamic_linkage.NodeProxy attribute) _non_foot_filter (leggedsnake.dynamic_linkage.DynamicLinkage attribute) _pick_solution() (in module leggedsnake.walker) _preset_flat() (in module leggedsnake.physics_engine) _preset_hilly() (in module leggedsnake.physics_engine) _preset_mixed() (in module leggedsnake.physics_engine) _preset_rough() (in module leggedsnake.physics_engine) _preset_sinusoidal() (in module leggedsnake.physics_engine) _preset_slope_down() (in module leggedsnake.physics_engine) _preset_slope_up() (in module leggedsnake.physics_engine) _preset_stairs() (in module leggedsnake.physics_engine) _rng (leggedsnake.physics_engine.World attribute) _role (leggedsnake.dynamic_linkage.NodeProxy attribute) _segment_counter (leggedsnake.physics_engine.World attribute) _segment_friction() (leggedsnake.physics_engine.World method) _set_constraints() (in module leggedsnake.utility) _sim_linkage_from_ensemble() (in module leggedsnake.walker) _sim_linkage_from_synthesis() (in module leggedsnake.walker) _slope_constant() (in module leggedsnake.physics_engine) _slope_flat() (in module leggedsnake.physics_engine) _slope_fn (leggedsnake.physics_engine.World attribute) _slope_frequency_sweep() (in module leggedsnake.physics_engine) _slope_random() (in module leggedsnake.physics_engine) _slope_sawtooth() (in module leggedsnake.physics_engine) _slope_sinusoidal() (in module leggedsnake.physics_engine) _slope_valley() (in module leggedsnake.physics_engine) _solve_order (leggedsnake.walker.Walker property) _sync_dimensions_from_mechanism() (leggedsnake.walker.Walker method) _tag_ground_segment() (leggedsnake.physics_engine.World method) _thickness (leggedsnake.dynamic_linkage.DynamicLinkage attribute) _update_edge_distance_for_link() (leggedsnake.walker.Walker method) _walker_from_sim_linkage() (in module leggedsnake.walker) _x (leggedsnake.dynamic_linkage.NodeProxy attribute) _y (leggedsnake.dynamic_linkage.NodeProxy attribute)

A

add_legs() (leggedsnake.walker.Walker method) add_linkage() (leggedsnake.physics_engine.World method) add_opposite_leg() (leggedsnake.walker.Walker method) agents_to_ensemble() (in module leggedsnake.genetic_optimizer) algorithm (leggedsnake.nsga_optimizer.NsgaWalkingConfig attribute) (leggedsnake.topology_optimization.TopologyCoOptConfig attribute)

all_linkages_video() (in module leggedsnake.world_visualizer) allow_passive (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) analyze_gait() (in module leggedsnake.gait_analysis) angular_stability (leggedsnake.stability.StabilityTimeSeries property) approximate_zmp() (in module leggedsnake.stability) as_eval_func() (in module leggedsnake.fitness) as_ga_fitness() (in module leggedsnake.fitness)

B

base_link_name (leggedsnake.urdf_export.URDFConfig attribute) batch (leggedsnake.world_visualizer.VisualWorld attribute) best_compromise() (leggedsnake.nsga_optimizer.NsgaWalkingResult method) (leggedsnake.topology_optimization.TopologyWalkingResult method) best_for_objective() (leggedsnake.nsga_optimizer.NsgaWalkingResult method) (leggedsnake.topology_optimization.TopologyWalkingResult method)

best_offsets (leggedsnake.gait_optimization.GaitOptimizationResult attribute) best_score (leggedsnake.gait_optimization.GaitOptimizationResult attribute) birth() (leggedsnake.genetic_optimizer.GeneticOptimization method) body (leggedsnake.dynamic_linkage.DynamicLinkage attribute) body_angle (leggedsnake.stability.StabilitySnapshot attribute) build_road() (leggedsnake.physics_engine.World method)

C

CameraSettings (class in leggedsnake.world_visualizer) catalog (leggedsnake.co_design.WalkingDesignSpec attribute) chain_walking_optimizers() (in module leggedsnake.fitness) close() (leggedsnake.nsga_optimizer.WalkingNsgaProblem method) co_opt_config (leggedsnake.co_design.WalkingDesignSpec attribute) (leggedsnake.topology_optimization.TopologyWalkingResult attribute) co_opt_result (leggedsnake.co_design.WalkingDesignResult attribute) co_optimize_objective() (in module leggedsnake.fitness) com (leggedsnake.stability.StabilitySnapshot attribute) com_trajectory (leggedsnake.stability.StabilityTimeSeries property) com_velocity (leggedsnake.stability.StabilitySnapshot attribute) CompositeFitness (class in leggedsnake.fitness) compute_com() (in module leggedsnake.stability) compute_com_velocity() (in module leggedsnake.stability) compute_cost_of_transport() (in module leggedsnake.gait_analysis)

compute_foot_trajectory_metrics() (in module leggedsnake.gait_analysis) compute_froude_number() (in module leggedsnake.gait_analysis) compute_phase_offsets() (in module leggedsnake.gait_analysis) compute_stability_snapshot() (in module leggedsnake.stability) compute_tip_over_margin() (in module leggedsnake.stability) config (leggedsnake.nsga_optimizer.NsgaWalkingResult attribute) (leggedsnake.physics_engine.World attribute) (leggedsnake.topology_optimization.TopologyWalkingResult attribute) CONSTANT (leggedsnake.physics_engine.SlopeProfile attribute) constraints (leggedsnake.hypergraph_physics.PhysicsMapping attribute) converged (leggedsnake.gait_optimization.GaitOptimizationResult attribute) convert_to_dynamic_linkage() (in module leggedsnake.dynamic_linkage) coord() (leggedsnake.dynamic_linkage.NodeProxy method) crank_len (leggedsnake.physics_engine.LinkageParams attribute) create_bodies_from_hypergraph() (in module leggedsnake.hypergraph_physics) crossover_prob (leggedsnake.nsga_optimizer.NsgaWalkingConfig attribute)

D

DEFAULT_CONFIG (in module leggedsnake.physics_engine) density (leggedsnake.dynamic_linkage.DynamicLinkage attribute) (leggedsnake.urdf_export.URDFConfig attribute) detect_foot_events() (in module leggedsnake.gait_analysis) dimension_lower (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) dimension_upper (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) dimensions (leggedsnake.walker.Walker attribute) DistanceFitness (class in leggedsnake.fitness) dna (leggedsnake.genetic_optimizer.GeneticOptimization attribute) dof (leggedsnake.walker.Walker property) drag_coefficient (leggedsnake.physics_engine.WorldConfig attribute)

draw_any_func() (in module leggedsnake.show_evolution) draw_best_score() (in module leggedsnake.show_evolution) draw_diversity() (in module leggedsnake.show_evolution) draw_median_score() (in module leggedsnake.show_evolution) draw_population() (in module leggedsnake.show_evolution) draw_standard_deviation() (in module leggedsnake.show_evolution) dt (leggedsnake.gait_analysis.GaitAnalysisResult attribute) duty_factor (leggedsnake.gait_analysis.GaitCycle property) dynamic_camera (leggedsnake.world_visualizer.CameraSettings attribute) DynamicFitness (class in leggedsnake.fitness) DynamicLinkage (class in leggedsnake.dynamic_linkage)

E

edge_to_body (leggedsnake.hypergraph_physics.PhysicsMapping attribute) EfficiencyFitness (class in leggedsnake.fitness) effort_limit (leggedsnake.urdf_export.URDFConfig attribute) energy_efficiency_objective() (in module leggedsnake.walking_objectives) energy_per_cycle() (leggedsnake.gait_analysis.GaitAnalysisResult method)

evaluate_individual() (leggedsnake.genetic_optimizer.GeneticOptimization method) evaluate_population() (leggedsnake.genetic_optimizer.GeneticOptimization method) event_type (leggedsnake.gait_analysis.FootEvent attribute) evolve_motor_rates (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) evolve_offsets (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) extract_gait_cycles() (in module leggedsnake.gait_analysis)

F

filter (leggedsnake.dynamic_linkage.DynamicLinkage attribute) fitness (leggedsnake.gait_optimization.GaitOptimizationConfig attribute) (leggedsnake.genetic_optimizer.GeneticOptimization attribute) fitness_results (leggedsnake.co_design.WalkingDesignResult attribute) FitnessResult (class in leggedsnake.fitness) FLAT (leggedsnake.physics_engine.SlopeProfile attribute) (leggedsnake.physics_engine.TerrainPreset attribute) foot_edge_ids (leggedsnake.walker.Walker property) foot_events (leggedsnake.gait_analysis.GaitAnalysisResult attribute) foot_id (leggedsnake.gait_analysis.FootEvent attribute) (leggedsnake.gait_analysis.GaitCycle attribute) foot_trajectories (leggedsnake.gait_analysis.GaitAnalysisResult attribute) FootEvent (class in leggedsnake.gait_analysis) fps (leggedsnake.world_visualizer.CameraSettings attribute) FREQUENCY_SWEEP (leggedsnake.physics_engine.SlopeProfile attribute)

friction (leggedsnake.physics_engine.GroundParams attribute) (leggedsnake.physics_engine.TerrainConfig attribute) friction_range (leggedsnake.physics_engine.TerrainConfig attribute) from_catalog() (leggedsnake.walker.Walker class method) from_chebyshev() (leggedsnake.walker.Walker class method) from_ghassaei() (leggedsnake.walker.Walker class method) from_hierarchy() (leggedsnake.walker.Walker class method) from_jansen() (leggedsnake.walker.Walker class method) from_klann() (leggedsnake.walker.Walker class method) from_preset() (leggedsnake.physics_engine.TerrainConfig static method) from_stephenson() (leggedsnake.walker.Walker class method) from_strider() (leggedsnake.walker.Walker class method) from_synthesis() (leggedsnake.walker.Walker class method) from_trotbot() (leggedsnake.walker.Walker class method) from_watt() (leggedsnake.walker.Walker class method)

G

gait_analyses (leggedsnake.nsga_optimizer.NsgaWalkingResult attribute) (leggedsnake.topology_optimization.TopologyWalkingResult attribute) gait_asymmetry (leggedsnake.gait_analysis.GaitAnalysisResult property) gait_cycles (leggedsnake.gait_analysis.GaitAnalysisResult attribute) GaitAnalysisResult (class in leggedsnake.gait_analysis) GaitCycle (class in leggedsnake.gait_analysis) GaitFitness (class in leggedsnake.fitness) GaitOptimizationConfig (class in leggedsnake.gait_optimization) GaitOptimizationResult (class in leggedsnake.gait_optimization) gap_freq (leggedsnake.physics_engine.TerrainConfig attribute) gap_width (leggedsnake.physics_engine.TerrainConfig attribute) gear_joints (leggedsnake.hypergraph_physics.PhysicsMapping attribute) genetic_algorithm_optimization() (in module leggedsnake.genetic_optimizer) GeneticOptimization (class in leggedsnake.genetic_optimizer) get_all_positions() (leggedsnake.dynamic_linkage.DynamicLinkage method)

get_constraints() (leggedsnake.walker.Walker method) get_coords() (leggedsnake.walker.Walker method) get_feet() (leggedsnake.walker.Walker method) get_foot_edges() (leggedsnake.walker.Walker method) get_node_world_position() (in module leggedsnake.hypergraph_physics) get_num_constraints() (leggedsnake.walker.Walker method) get_rotation_period() (leggedsnake.walker.Walker method) get_support_polygon() (in module leggedsnake.stability) ggb_extractor() (in module leggedsnake.utility) gravity (leggedsnake.physics_engine.PhysicsParams attribute) (leggedsnake.physics_engine.WorldConfig attribute) ground (leggedsnake.physics_engine.Params attribute) GROUND_FILTER (in module leggedsnake.dynamic_linkage) ground_friction (leggedsnake.physics_engine.WorldConfig attribute) ground_reaction_force (leggedsnake.stability.StabilitySnapshot attribute) GroundParams (class in leggedsnake.physics_engine)

H

height (leggedsnake.dynamic_linkage.DynamicLinkage attribute)

HILLY (leggedsnake.physics_engine.TerrainPreset attribute) history (leggedsnake.gait_optimization.GaitOptimizationResult attribute)

I

im_debug() (in module leggedsnake.world_visualizer) init_visuals() (leggedsnake.world_visualizer.VisualWorld method)

initial_offsets (leggedsnake.gait_optimization.GaitOptimizationConfig attribute) iters (leggedsnake.genetic_optimizer.GeneticOptimization attribute)

J

joints (leggedsnake.dynamic_linkage.DynamicLinkage attribute) (leggedsnake.walker.Walker property)

K

kinematic_prefilter (leggedsnake.co_design.WalkingDesignSpec attribute)

kwargs (leggedsnake.genetic_optimizer.GeneticOptimization attribute) kwargs_switcher() (in module leggedsnake.genetic_optimizer)

L

leg_bounds (leggedsnake.topology_optimization.TopologyCoOptConfig property) leg_gene_active (leggedsnake.topology_optimization.TopologyCoOptConfig property) leggedsnake.co_design module leggedsnake.dynamic_linkage module leggedsnake.fitness module leggedsnake.gait_analysis module leggedsnake.gait_optimization module leggedsnake.genetic_optimizer module leggedsnake.hypergraph_physics module leggedsnake.leg_count module leggedsnake.nsga_optimizer module leggedsnake.physics_engine module leggedsnake.plotting module leggedsnake.serialization module leggedsnake.show_evolution module

leggedsnake.stability module leggedsnake.topology_optimization module leggedsnake.urdf_export module leggedsnake.utility module leggedsnake.walker module leggedsnake.walking_objectives module leggedsnake.world_visualizer module link_radius (leggedsnake.urdf_export.URDFConfig attribute) linkage (leggedsnake.physics_engine.Params attribute) linkage_bb() (in module leggedsnake.physics_engine) LinkageParams (class in leggedsnake.physics_engine) linkages (leggedsnake.physics_engine.World attribute) load (leggedsnake.physics_engine.LinkageParams attribute) load_data() (in module leggedsnake.show_evolution) load_mass (leggedsnake.physics_engine.WorldConfig attribute) load_population() (in module leggedsnake.genetic_optimizer) load_result() (in module leggedsnake.serialization) load_walker() (in module leggedsnake.serialization) loci (leggedsnake.fitness.FitnessResult attribute)

M

make_children() (leggedsnake.genetic_optimizer.GeneticOptimization method) mass (leggedsnake.dynamic_linkage.DynamicLinkage attribute) masses (leggedsnake.physics_engine.LinkageParams attribute) max_force (leggedsnake.physics_engine.PhysicsParams attribute) max_links (leggedsnake.co_design.WalkingDesignSpec attribute) (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) max_pop (leggedsnake.genetic_optimizer.GeneticOptimization attribute) max_step (leggedsnake.physics_engine.GroundParams attribute) (leggedsnake.physics_engine.TerrainConfig attribute) maxiter (leggedsnake.gait_optimization.GaitOptimizationConfig attribute) mean_duty_factor (leggedsnake.gait_analysis.GaitAnalysisResult property) mean_ground_reaction_force (leggedsnake.stability.StabilityTimeSeries property) mean_speed (leggedsnake.stability.StabilityTimeSeries property) mean_stride_frequency (leggedsnake.gait_analysis.GaitAnalysisResult property) mean_stride_length (leggedsnake.gait_analysis.GaitAnalysisResult property) mean_tip_over_margin (leggedsnake.stability.StabilityTimeSeries property) mechanical_energy (leggedsnake.dynamic_linkage.DynamicLinkage attribute) mesh_color (leggedsnake.urdf_export.URDFConfig attribute) message (leggedsnake.gait_optimization.GaitOptimizationResult attribute) metrics (leggedsnake.fitness.FitnessResult attribute) min_tip_over_margin (leggedsnake.stability.StabilityTimeSeries property) mirror_leg() (leggedsnake.walker.Walker method) MIXED (leggedsnake.physics_engine.TerrainPreset attribute) mobility (leggedsnake.walker.Walker property) module leggedsnake.co_design leggedsnake.dynamic_linkage leggedsnake.fitness leggedsnake.gait_analysis leggedsnake.gait_optimization leggedsnake.genetic_optimizer leggedsnake.hypergraph_physics leggedsnake.leg_count leggedsnake.nsga_optimizer leggedsnake.physics_engine leggedsnake.plotting leggedsnake.serialization leggedsnake.show_evolution leggedsnake.stability leggedsnake.topology_optimization leggedsnake.urdf_export leggedsnake.utility leggedsnake.walker leggedsnake.walking_objectives leggedsnake.world_visualizer

motor_node_ids (leggedsnake.hypergraph_physics.PhysicsMapping attribute) motor_pivots (leggedsnake.hypergraph_physics.PhysicsMapping attribute) motor_rate_lower (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) motor_rate_upper (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) motor_rates (leggedsnake.co_design.WalkingDesignSpec attribute) (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) (leggedsnake.topology_optimization.TopologySolutionInfo attribute) (leggedsnake.walker.Walker attribute) motors (leggedsnake.hypergraph_physics.PhysicsMapping attribute) multi_objective_walking_optimization() (in module leggedsnake.walking_objectives) mutation_eta (leggedsnake.nsga_optimizer.NsgaWalkingConfig attribute)

N

n_evaluations (leggedsnake.gait_optimization.GaitOptimizationResult attribute) n_generations (leggedsnake.nsga_optimizer.NsgaWalkingConfig attribute) (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) n_legs (leggedsnake.co_design.WalkingDesignSpec attribute) (leggedsnake.gait_optimization.GaitOptimizationConfig attribute) (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) (leggedsnake.topology_optimization.TopologySolutionInfo attribute) n_legs_max (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) n_legs_min (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) n_offset_genes (leggedsnake.topology_optimization.TopologyCoOptConfig property) n_workers (leggedsnake.nsga_optimizer.NsgaWalkingConfig attribute) (leggedsnake.topology_optimization.TopologyCoOptConfig attribute)

name (leggedsnake.dynamic_linkage.DynamicLinkage attribute) (leggedsnake.dynamic_linkage.NodeProxy attribute) (leggedsnake.walker.Walker attribute) node_to_anchors (leggedsnake.hypergraph_physics.PhysicsMapping attribute) node_to_bodies (leggedsnake.hypergraph_physics.PhysicsMapping attribute) NodeProxy (class in leggedsnake.dynamic_linkage) noise (leggedsnake.physics_engine.GroundParams attribute) (leggedsnake.physics_engine.TerrainConfig attribute) nsga_walking_optimization() (in module leggedsnake.nsga_optimizer) NsgaWalkingConfig (class in leggedsnake.nsga_optimizer) NsgaWalkingResult (class in leggedsnake.nsga_optimizer) num_links (leggedsnake.topology_optimization.TopologySolutionInfo attribute)

O

objective_names (leggedsnake.co_design.WalkingDesignSpec attribute) objectives (leggedsnake.co_design.WalkingDesignSpec attribute) obstacle_freq (leggedsnake.physics_engine.TerrainConfig attribute)

obstacle_height (leggedsnake.physics_engine.TerrainConfig attribute) obstacle_width (leggedsnake.physics_engine.TerrainConfig attribute) optimize_gait() (in module leggedsnake.gait_optimization) optimize_walking_mechanism() (in module leggedsnake.co_design)

P

Params (class in leggedsnake.physics_engine) pareto_front (leggedsnake.nsga_optimizer.NsgaWalkingResult attribute) (leggedsnake.topology_optimization.TopologyWalkingResult attribute) payload_offset (leggedsnake.physics_engine.WorldConfig attribute) peak_contact_force (leggedsnake.stability.StabilitySnapshot attribute) (leggedsnake.stability.StabilityTimeSeries property) peak_ground_reaction_force (leggedsnake.stability.StabilityTimeSeries property) phase_offsets (leggedsnake.gait_analysis.GaitAnalysisResult property) (leggedsnake.topology_optimization.TopologySolutionInfo attribute) physics (leggedsnake.physics_engine.Params attribute) physics_mapping (leggedsnake.dynamic_linkage.DynamicLinkage attribute) physics_period (leggedsnake.physics_engine.SimulParams attribute) (leggedsnake.physics_engine.WorldConfig attribute) PhysicsMapping (class in leggedsnake.hypergraph_physics) PhysicsParams (class in leggedsnake.physics_engine)

plot_com_trajectory() (in module leggedsnake.plotting) plot_foot_trajectories() (in module leggedsnake.plotting) plot_gait_diagram() (in module leggedsnake.plotting) plot_optimization_dashboard() (in module leggedsnake.plotting) plot_pareto_front() (in module leggedsnake.plotting) plot_stability_timeseries() (in module leggedsnake.plotting) plot_walker_plotly() (in module leggedsnake.plotting) pop (leggedsnake.genetic_optimizer.GeneticOptimization attribute) pop_size (leggedsnake.nsga_optimizer.NsgaWalkingConfig attribute) (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) popsize (leggedsnake.gait_optimization.GaitOptimizationConfig attribute) position (leggedsnake.gait_analysis.FootEvent attribute) precision_points (leggedsnake.co_design.WalkingDesignSpec attribute) prob (leggedsnake.genetic_optimizer.GeneticOptimization attribute) problem (leggedsnake.nsga_optimizer.WalkingNsgaProblem property)

R

RANDOM (leggedsnake.physics_engine.SlopeProfile attribute) recalc_linkage() (in module leggedsnake.physics_engine) reduce_population() (leggedsnake.genetic_optimizer.GeneticOptimization method) reload() (leggedsnake.dynamic_linkage.NodeProxy method) reload_visuals() (leggedsnake.world_visualizer.VisualWorld method) result_from_dict() (in module leggedsnake.serialization)

result_to_dict() (in module leggedsnake.serialization) rigidbodies (leggedsnake.dynamic_linkage.DynamicLinkage attribute) road (leggedsnake.physics_engine.World attribute) role (leggedsnake.dynamic_linkage.NodeProxy property) ROUGH (leggedsnake.physics_engine.TerrainPreset attribute) run() (leggedsnake.genetic_optimizer.GeneticOptimization method) (leggedsnake.world_visualizer.VisualWorld method)

S

sample_ground_reaction_force() (in module leggedsnake.stability) save_population() (in module leggedsnake.genetic_optimizer) save_result() (in module leggedsnake.serialization) save_walker() (in module leggedsnake.serialization) save_walker_svg() (in module leggedsnake.plotting) SAWTOOTH (leggedsnake.physics_engine.SlopeProfile attribute) score (leggedsnake.fitness.FitnessResult attribute) section_len (leggedsnake.physics_engine.GroundParams attribute) (leggedsnake.physics_engine.TerrainConfig attribute) seed (leggedsnake.gait_optimization.GaitOptimizationConfig attribute) (leggedsnake.nsga_optimizer.NsgaWalkingConfig attribute) (leggedsnake.physics_engine.TerrainConfig attribute) (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) select_parents() (leggedsnake.genetic_optimizer.GeneticOptimization method) set_constraints() (leggedsnake.walker.Walker method) set_coords() (leggedsnake.walker.Walker method) set_num_constraints() (leggedsnake.walker.Walker method) set_space_constraints() (in module leggedsnake.physics_engine) show_genetic_optimization() (in module leggedsnake.show_evolution) simul (leggedsnake.physics_engine.Params attribute) SimulParams (class in leggedsnake.physics_engine) SINUSOIDAL (leggedsnake.physics_engine.SlopeProfile attribute) (leggedsnake.physics_engine.TerrainPreset attribute) slope (leggedsnake.physics_engine.GroundParams attribute) (leggedsnake.physics_engine.TerrainConfig attribute) SLOPE_DOWN (leggedsnake.physics_engine.TerrainPreset attribute) slope_profile (leggedsnake.physics_engine.TerrainConfig attribute) SLOPE_UP (leggedsnake.physics_engine.TerrainPreset attribute) SlopeGenerator (in module leggedsnake.physics_engine) SlopeProfile (class in leggedsnake.physics_engine) smooth_transition() (in module leggedsnake.world_visualizer) snapshots (leggedsnake.stability.StabilityTimeSeries attribute)

solutions_by_topology() (leggedsnake.topology_optimization.TopologyWalkingResult method) space (leggedsnake.dynamic_linkage.DynamicLinkage attribute) (leggedsnake.physics_engine.World attribute) spec (leggedsnake.co_design.WalkingDesignResult attribute) speed_variance (leggedsnake.stability.StabilityTimeSeries property) stability (leggedsnake.gait_analysis.GaitAnalysisResult attribute) stability_series (leggedsnake.nsga_optimizer.NsgaWalkingResult attribute) (leggedsnake.topology_optimization.TopologyWalkingResult attribute) StabilityFitness (class in leggedsnake.fitness) StabilitySnapshot (class in leggedsnake.stability) StabilityTimeSeries (class in leggedsnake.stability) STAIRS (leggedsnake.physics_engine.TerrainPreset attribute) stance_duration (leggedsnake.gait_analysis.GaitCycle property) stance_end (leggedsnake.gait_analysis.GaitCycle attribute) stance_start (leggedsnake.gait_analysis.GaitCycle attribute) startnstop (leggedsnake.genetic_optimizer.GeneticOptimization attribute) step() (in module leggedsnake.utility) (leggedsnake.walker.Walker method) step_freq (leggedsnake.physics_engine.GroundParams attribute) (leggedsnake.physics_engine.TerrainConfig attribute) step_with_derivatives() (leggedsnake.walker.Walker method) stride() (in module leggedsnake.utility) stride_length_objective() (in module leggedsnake.walking_objectives) stride_period (leggedsnake.gait_analysis.GaitCycle property) StrideFitness (class in leggedsnake.fitness) summary_metrics() (leggedsnake.gait_analysis.GaitAnalysisResult method) (leggedsnake.stability.StabilityTimeSeries method) support_polygon (leggedsnake.stability.StabilitySnapshot attribute) sweep_leg_counts() (in module leggedsnake.leg_count) swing_duration (leggedsnake.gait_analysis.GaitCycle property) swing_end (leggedsnake.gait_analysis.GaitCycle attribute) swing_start (leggedsnake.gait_analysis.GaitCycle attribute)

T

terrain (leggedsnake.co_design.WalkingDesignSpec attribute) (leggedsnake.physics_engine.WorldConfig attribute) TerrainConfig (class in leggedsnake.physics_engine) TerrainPreset (class in leggedsnake.physics_engine) time (leggedsnake.gait_analysis.FootEvent attribute) (leggedsnake.stability.StabilitySnapshot attribute) tip_over_margin (leggedsnake.stability.StabilitySnapshot attribute) to_mechanism() (leggedsnake.walker.Walker method) to_urdf() (in module leggedsnake.urdf_export) to_urdf_file() (in module leggedsnake.urdf_export) tol (leggedsnake.gait_optimization.GaitOptimizationConfig attribute) topology (leggedsnake.walker.Walker attribute) topology_id (leggedsnake.topology_optimization.TopologySolutionInfo attribute)

topology_idx (leggedsnake.topology_optimization.TopologySolutionInfo attribute) topology_info (leggedsnake.topology_optimization.TopologyWalkingResult attribute) topology_mutation_rate (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) topology_name (leggedsnake.topology_optimization.TopologySolutionInfo attribute) topology_walking_optimization() (in module leggedsnake.topology_optimization) TopologyCoOptConfig (class in leggedsnake.topology_optimization) TopologySolutionInfo (class in leggedsnake.topology_optimization) TopologyWalkingResult (class in leggedsnake.topology_optimization) torque (leggedsnake.physics_engine.LinkageParams attribute) (leggedsnake.physics_engine.WorldConfig attribute) total_cycles (leggedsnake.gait_analysis.GaitAnalysisResult property) total_distance_objective() (in module leggedsnake.walking_objectives) tune_solver() (leggedsnake.physics_engine.World method)

U

update() (leggedsnake.physics_engine.World method)

URDFConfig (class in leggedsnake.urdf_export) use_warm_start (leggedsnake.co_design.WalkingDesignSpec attribute)

V

valid (leggedsnake.fitness.FitnessResult attribute) VALLEY (leggedsnake.physics_engine.SlopeProfile attribute) velocity_limit (leggedsnake.urdf_export.URDFConfig attribute) verbose (leggedsnake.nsga_optimizer.NsgaWalkingConfig attribute) (leggedsnake.topology_optimization.TopologyCoOptConfig attribute)

verbosity (leggedsnake.genetic_optimizer.GeneticOptimization attribute) video() (in module leggedsnake.world_visualizer) video_debug() (in module leggedsnake.world_visualizer) visual_update() (leggedsnake.world_visualizer.VisualWorld method) VisualWorld (class in leggedsnake.world_visualizer)

W

Walker (class in leggedsnake.walker) walker_factory (leggedsnake.gait_optimization.GaitOptimizationConfig attribute) walker_from_dict() (in module leggedsnake.serialization) walker_to_dict() (in module leggedsnake.serialization) walkers (leggedsnake.co_design.WalkingDesignResult attribute) WalkingDesignResult (class in leggedsnake.co_design) WalkingDesignSpec (class in leggedsnake.co_design) WalkingNsgaProblem (class in leggedsnake.nsga_optimizer) wave_period (leggedsnake.physics_engine.TerrainConfig attribute)

wave_sweep_rate (leggedsnake.physics_engine.TerrainConfig attribute) wind_force (leggedsnake.physics_engine.WorldConfig attribute) (leggedsnake.topology_optimization.TopologyCoOptConfig attribute) window (leggedsnake.world_visualizer.VisualWorld attribute) workers (leggedsnake.gait_optimization.GaitOptimizationConfig attribute) World (class in leggedsnake.physics_engine) world_config (leggedsnake.co_design.WalkingDesignSpec attribute) (leggedsnake.gait_optimization.GaitOptimizationConfig attribute) WorldConfig (class in leggedsnake.physics_engine)

X

x (leggedsnake.dynamic_linkage.NodeProxy property)

Y

y (leggedsnake.dynamic_linkage.NodeProxy property)

Z

zmp_excursion (leggedsnake.stability.StabilityTimeSeries property)

zmp_x (leggedsnake.stability.StabilitySnapshot attribute)