Index

A

add_criterion() (rostok.criterion.criterion_calculation.SimulationReward method) add_node() (rostok.graph_grammar.node_vocabulary.NodeVocabulary method)

add_object() (rostok.simulation_chrono.simulation.EnvCreator method) add_rule() (rostok.utils.states.RobotState method)

B

BasePrepareOptiVar (class in rostok.trajectory_optimizer.control_optimizer) BlockCreatorInterface (class in rostok.block_builder_api.block_blueprints) BodyBlueprintType (class in rostok.block_builder_api.block_blueprints) bound_parameters() (rostok.trajectory_optimizer.control_optimizer.BasePrepareOptiVar method) (rostok.trajectory_optimizer.control_optimizer.ConstTorqueOptiVar method) (rostok.trajectory_optimizer.control_optimizer.TendonForceOptiVar method)

Box (class in rostok.block_builder_api.easy_body_shapes) BruteForceOptimisation1D (class in rostok.trajectory_optimizer.control_optimizer) build_data_storage() (rostok.simulation_chrono.simulation.EnvCreator method) build_starting_positions() (rostok.trajectory_optimizer.control_optimizer.BasePrepareOptiVar method) (rostok.trajectory_optimizer.control_optimizer.ConstTorqueOptiVar method) (rostok.trajectory_optimizer.control_optimizer.TendonForceOptiVar method) build_unique_blueprint_array() (rostok.graph_grammar.node.GraphGrammar method)

C

calculate_reward() (rostok.criterion.criterion_calculation.Criterion method) (rostok.criterion.criterion_calculation.FinalPositionCriterion method) (rostok.criterion.criterion_calculation.ForceCriterion method) (rostok.criterion.criterion_calculation.GraspTimeCriterion method) (rostok.criterion.criterion_calculation.InstantContactingLinkCriterion method) (rostok.criterion.criterion_calculation.InstantForceCriterion method) (rostok.criterion.criterion_calculation.InstantObjectCOGCriterion method) (rostok.criterion.criterion_calculation.SimulationReward method) (rostok.criterion.criterion_calculation.TimeCriterion method) (rostok.trajectory_optimizer.control_optimizer.BruteForceOptimisation1D method) (rostok.trajectory_optimizer.control_optimizer.FromGraphOptimizer method) (rostok.trajectory_optimizer.control_optimizer.GlobalOptimisationEachSim method) (rostok.trajectory_optimizer.control_optimizer.GraphRewardCalculator method) check_node() (rostok.graph_grammar.node_vocabulary.NodeVocabulary method) check_rules() (rostok.graph_grammar.rule_vocabulary.RuleVocabulary method) closest_node_to_root() (rostok.graph_grammar.node.GraphGrammar method)

color (rostok.block_builder_api.block_blueprints.EnvironmentBodyBlueprint attribute) (rostok.block_builder_api.block_blueprints.PrimitiveBodyBlueprint attribute) ConstTorqueOptiVar (class in rostok.trajectory_optimizer.control_optimizer) ContactReporter (class in rostok.virtual_experiment.sensors) ConvexHull (class in rostok.block_builder_api.easy_body_shapes) create_and_add() (rostok.utils.states.RobotState method) create_environment_body() (rostok.block_builder_api.block_blueprints.BlockCreatorInterface class method) create_graph_from_seq() (in module rostok.graph_grammar.graphgrammar_explorer) create_node() (rostok.graph_grammar.node_vocabulary.NodeVocabulary method) create_primitive_body() (rostok.block_builder_api.block_blueprints.BlockCreatorInterface class method) create_revolve_joint() (rostok.block_builder_api.block_blueprints.BlockCreatorInterface class method) create_rule() (rostok.graph_grammar.rule_vocabulary.RuleVocabulary method) create_transform() (rostok.block_builder_api.block_blueprints.BlockCreatorInterface class method) create_vector_from_graph() (rostok.trajectory_optimizer.control_optimizer.FromGraphOptimizer method) Criterion (class in rostok.criterion.criterion_calculation) Cylinder (class in rostok.block_builder_api.easy_body_shapes)

D

damping (rostok.block_builder_api.block_blueprints.RevolveJointBlueprint attribute) data2state() (rostok.graph_generators.environments.design_environment.DesignEnvironment method) (rostok.graph_generators.environments.design_environment.EnvironmentTerminalReward method) (rostok.graph_generators.environments.design_environment.StringDesignEnvironment method) (rostok.graph_generators.environments.design_environment.SubStringDesignEnvironment method)

DataStorage (class in rostok.virtual_experiment.sensors) default_policy() (rostok.graph_generators.search_algorithms.mcts.MCTS method) density (rostok.block_builder_api.block_blueprints.EnvironmentBodyBlueprint attribute) (rostok.block_builder_api.block_blueprints.PrimitiveBodyBlueprint attribute) (rostok.block_builder_api.block_blueprints.RevolveJointBlueprint attribute) DesignEnvironment (class in rostok.graph_generators.environments.design_environment)

E

Ellipsoid (class in rostok.block_builder_api.easy_body_shapes) EnvCreator (class in rostok.simulation_chrono.simulation) EnvironmentBodyBlueprint (class in rostok.block_builder_api.block_blueprints) EnvironmentTerminalReward (class in rostok.graph_generators.environments.design_environment) equilibrium_position (rostok.block_builder_api.block_blueprints.RevolveJointBlueprint attribute) event_check() (rostok.criterion.simulation_flags.EventContact method) (rostok.criterion.simulation_flags.EventContactTimeOut method) (rostok.criterion.simulation_flags.EventFlyingApart method) (rostok.criterion.simulation_flags.EventGrasp method) (rostok.criterion.simulation_flags.EventSlipOut method) (rostok.criterion.simulation_flags.EventStopExternalForce method) (rostok.criterion.simulation_flags.SimulationSingleEvent method)

EventCommands (class in rostok.criterion.simulation_flags) EventContact (class in rostok.criterion.simulation_flags) EventContactTimeOut (class in rostok.criterion.simulation_flags) EventFlyingApart (class in rostok.criterion.simulation_flags) EventGrasp (class in rostok.criterion.simulation_flags) EventSlipOut (class in rostok.criterion.simulation_flags) EventStopExternalForce (class in rostok.criterion.simulation_flags)

F

FinalPositionCriterion (class in rostok.criterion.criterion_calculation) find_nodes() (rostok.graph_grammar.node.GraphGrammar method) ForceCriterion (class in rostok.criterion.criterion_calculation)

FrameTransform (class in rostok.block_builder_api.block_parameters) FromGraphOptimizer (class in rostok.trajectory_optimizer.control_optimizer) FromMesh (class in rostok.block_builder_api.easy_body_shapes)

G

generate_all_combine() (rostok.trajectory_optimizer.control_optimizer.BruteForceOptimisation1D method) get_available_actions() (rostok.graph_generators.environments.design_environment.DesignEnvironment method) (rostok.graph_generators.environments.design_environment.EnvironmentTerminalReward method) (rostok.graph_generators.environments.design_environment.SubDesignEnvironment method) get_best_states() (rostok.graph_generators.environments.design_environment.EnvironmentTerminalReward method) get_data_state() (rostok.graph_generators.search_algorithms.mcts.MCTS method) get_ids_in_dfs_order() (rostok.graph_grammar.node.GraphGrammar method) get_info_state() (rostok.graph_generators.environments.design_environment.DesignEnvironment method) (rostok.graph_generators.environments.design_environment.EnvironmentTerminalReward method) (rostok.graph_generators.environments.design_environment.SubDesignEnvironment method) get_list_of_applicable_nonterminal_rules() (rostok.graph_grammar.rule_vocabulary.RuleVocabulary method) get_list_of_applicable_rules() (rostok.graph_grammar.rule_vocabulary.RuleVocabulary method) get_list_of_applicable_terminal_rules() (rostok.graph_grammar.rule_vocabulary.RuleVocabulary method) get_list_of_nodes() (rostok.graph_grammar.node_vocabulary.NodeVocabulary method) get_node() (rostok.graph_grammar.node_vocabulary.NodeVocabulary method)

get_nonterminal_actions() (rostok.graph_generators.environments.design_environment.DesignEnvironment method) get_policy_by_N() (rostok.graph_generators.search_algorithms.mcts.MCTS method) get_policy_by_Q() (rostok.graph_generators.search_algorithms.mcts.MCTS method) get_reward() (rostok.graph_generators.environments.design_environment.EnvironmentTerminalReward method) get_root_based_paths() (rostok.graph_grammar.node.GraphGrammar method) get_root_id() (rostok.graph_grammar.node.GraphGrammar method) get_rule() (rostok.graph_grammar.rule_vocabulary.RuleVocabulary method) get_sorted_root_based_paths() (rostok.graph_grammar.node.GraphGrammar method) get_terminal_actions() (rostok.graph_generators.environments.design_environment.DesignEnvironment method) get_uniq_representation() (rostok.graph_grammar.node.GraphGrammar method) GlobalOptimisationEachSim (class in rostok.trajectory_optimizer.control_optimizer) graph_partition_dfs() (rostok.graph_grammar.node.GraphGrammar method) GraphGrammar (class in rostok.graph_grammar.node) GraphRewardCalculator (class in rostok.trajectory_optimizer.control_optimizer) GraspTimeCriterion (class in rostok.criterion.criterion_calculation)

H

height_y (rostok.block_builder_api.easy_body_shapes.Cylinder attribute)

height_z (rostok.block_builder_api.easy_body_shapes.Box attribute)

I

info() (rostok.graph_generators.environments.design_environment.DesignEnvironment method) (rostok.graph_generators.environments.design_environment.EnvironmentTerminalReward method) (rostok.graph_generators.environments.design_environment.SubDesignEnvironment method) init_block_from_blueprint() (rostok.block_builder_api.block_blueprints.BlockCreatorInterface method) InstantContactingLinkCriterion (class in rostok.criterion.criterion_calculation) InstantForceCriterion (class in rostok.criterion.criterion_calculation)

InstantObjectCOGCriterion (class in rostok.criterion.criterion_calculation) is_collide (rostok.block_builder_api.block_blueprints.EnvironmentBodyBlueprint attribute) (rostok.block_builder_api.block_blueprints.PrimitiveBodyBlueprint attribute) is_terminal_state() (rostok.graph_generators.environments.design_environment.EnvironmentTerminalReward method) is_transform_input (rostok.block_builder_api.block_blueprints.TransformBlueprint attribute) is_vis_decision() (rostok.trajectory_optimizer.control_optimizer.BasePrepareOptiVar method)

J

JointBlueprintType (class in rostok.block_builder_api.block_blueprints)

JointInputType (class in rostok.block_builder_api.block_parameters)

L

length (rostok.block_builder_api.block_blueprints.RevolveJointBlueprint attribute) length_y (rostok.block_builder_api.easy_body_shapes.Box attribute) load() (rostok.graph_generators.search_algorithms.mcts.MCTS method)

load_environment() (rostok.graph_generators.environments.design_environment.DesignEnvironment method) (rostok.graph_generators.environments.design_environment.SubDesignEnvironment method) load_last_state() (in module rostok.graph_generators.mcts_manager) load_saveable() (in module rostok.utils.pickle_save)

M

make_graph() (rostok.utils.states.RobotState method) make_graph_terminal() (rostok.graph_grammar.rule_vocabulary.RuleVocabulary method) make_random_graph() (in module rostok.graph_grammar.make_random_graph) make_time_dependent_path() (rostok.utils.pickle_save.Saveable method) material (rostok.block_builder_api.block_blueprints.EnvironmentBodyBlueprint attribute) (rostok.block_builder_api.block_blueprints.PrimitiveBodyBlueprint attribute) (rostok.block_builder_api.block_blueprints.RevolveJointBlueprint attribute) MCTS (class in rostok.graph_generators.search_algorithms.mcts) MCTSManager (class in rostok.graph_generators.mcts_manager) MCTSOptimizedState (class in rostok.utils.states) module rostok rostok.block_builder_api rostok.block_builder_api.block_blueprints, [1] rostok.block_builder_api.block_parameters, [1] rostok.block_builder_api.easy_body_shapes, [1] rostok.block_builder_chrono rostok.block_builder_chrono.adapt_block_blueprint rostok.block_builder_chrono.block_builder_chrono_api rostok.block_builder_chrono.block_classes rostok.block_builder_chrono.block_comprehension rostok.block_builder_chrono.block_connect rostok.block_builder_chrono.block_types rostok.block_builder_chrono.blocks_utils rostok.block_builder_chrono.mesh rostok.control_chrono rostok.control_chrono.control_utils rostok.control_chrono.controller rostok.control_chrono.external_force rostok.control_chrono.tendon_controller rostok.criterion rostok.criterion.criterion_calculation, [1] rostok.criterion.simulation_flags, [1] rostok.graph_generators rostok.graph_generators.environments.design_environment rostok.graph_generators.graph_environment rostok.graph_generators.graph_reward rostok.graph_generators.mcts_helper rostok.graph_generators.mcts_manager, [1] rostok.graph_generators.search_algorithms.mcts rostok.graph_grammar rostok.graph_grammar.crossovers rostok.graph_grammar.graph_comprehension rostok.graph_grammar.graph_utils rostok.graph_grammar.graphgrammar_explorer, [1] rostok.graph_grammar.make_random_graph, [1] rostok.graph_grammar.mutation rostok.graph_grammar.node, [1] rostok.graph_grammar.node_block_typing rostok.graph_grammar.node_vocabulary, [1] rostok.graph_grammar.rule_vocabulary, [1] rostok.library rostok.library.obj_grasp rostok.library.obj_grasp.objects rostok.library.rule_sets rostok.library.rule_sets.example_vocabulary rostok.library.rule_sets.rule_extention rostok.library.rule_sets.rule_extention_golem_edition rostok.library.rule_sets.rule_extention_graph rostok.library.rule_sets.rule_extention_merge rostok.library.rule_sets.rulset_simple_fingers rostok.library.rule_sets.simple_designs rostok.simulation_chrono rostok.simulation_chrono.simulation, [1] rostok.simulation_chrono.simulation_scenario, [1] rostok.simulation_chrono.simulation_utils, [1] rostok.trajectory_optimizer rostok.trajectory_optimizer.control_optimizer, [1] rostok.trajectory_optimizer.trajectory_generator rostok.utils rostok.utils.json_encoder rostok.utils.numeric_utils rostok.utils.pickle_save, [1] rostok.utils.states, [1] rostok.virtual_experiment rostok.virtual_experiment.built_graph_chrono rostok.virtual_experiment.robot_new, [1] rostok.virtual_experiment.sensors, [1]

N

next_state() (rostok.graph_generators.environments.design_environment.DesignEnvironment method) (rostok.graph_generators.environments.design_environment.EnvironmentTerminalReward method) Node (class in rostok.graph_grammar.node)

node_levels_bfs() (rostok.graph_grammar.node.GraphGrammar method) NodeVocabulary (class in rostok.graph_grammar.node_vocabulary) NotImplementedErrorCreatorInterface number_of_non_terminal_rules() (in module rostok.graph_grammar.graphgrammar_explorer)

O

offset (rostok.block_builder_api.block_blueprints.RevolveJointBlueprint attribute) OnReportContact() (rostok.virtual_experiment.sensors.ContactReporter method)

OptimizedGraph (class in rostok.utils.states) OptimizedState (class in rostok.utils.states)

P

path (rostok.block_builder_api.easy_body_shapes.FromMesh attribute) plot_test_mcts() (rostok.graph_generators.mcts_manager.MCTSManager method) plot_v_trajectory() (rostok.graph_generators.mcts_manager.MCTSManager method) points (rostok.block_builder_api.easy_body_shapes.ConvexHull attribute) pos (rostok.block_builder_api.block_blueprints.EnvironmentBodyBlueprint attribute) position (rostok.block_builder_api.block_parameters.FrameTransform attribute)

POSITION (rostok.block_builder_api.block_parameters.JointInputType attribute) possible_next_state() (rostok.graph_generators.environments.design_environment.DesignEnvironment method) prepare_state_for_optimal_simulation() (in module rostok.graph_generators.environments.design_environment) prepare_weight_dict() (rostok.trajectory_optimizer.control_optimizer.BruteForceOptimisation1D method) PrimitiveBodyBlueprint (class in rostok.block_builder_api.block_blueprints) print_log() (rostok.trajectory_optimizer.control_optimizer.GraphRewardCalculator method)

R

radius (rostok.block_builder_api.block_blueprints.RevolveJointBlueprint attribute) (rostok.block_builder_api.easy_body_shapes.Cylinder attribute) (rostok.block_builder_api.easy_body_shapes.Sphere attribute) radius_x (rostok.block_builder_api.easy_body_shapes.Ellipsoid attribute) radius_y (rostok.block_builder_api.easy_body_shapes.Ellipsoid attribute) radius_z (rostok.block_builder_api.easy_body_shapes.Ellipsoid attribute) random_search_mechs_n_branch() (in module rostok.graph_grammar.graphgrammar_explorer) reset() (rostok.criterion.simulation_flags.EventGrasp method) (rostok.criterion.simulation_flags.EventSlipOut method) (rostok.criterion.simulation_flags.SimulationSingleEvent method) RevolveJointBlueprint (class in rostok.block_builder_api.block_blueprints) reward_one_sim_scenario() (rostok.trajectory_optimizer.control_optimizer.BasePrepareOptiVar method) RobotChrono (class in rostok.virtual_experiment.robot_new) RobotState (class in rostok.utils.states) rostok module rostok.block_builder_api module rostok.block_builder_api.block_blueprints module, [1] rostok.block_builder_api.block_parameters module, [1] rostok.block_builder_api.easy_body_shapes module, [1] rostok.block_builder_chrono module rostok.block_builder_chrono.adapt_block_blueprint module rostok.block_builder_chrono.block_builder_chrono_api module rostok.block_builder_chrono.block_classes module rostok.block_builder_chrono.block_comprehension module rostok.block_builder_chrono.block_connect module rostok.block_builder_chrono.block_types module rostok.block_builder_chrono.blocks_utils module rostok.block_builder_chrono.mesh module rostok.control_chrono module rostok.control_chrono.control_utils module rostok.control_chrono.controller module rostok.control_chrono.external_force module rostok.control_chrono.tendon_controller module rostok.criterion module rostok.criterion.criterion_calculation module, [1] rostok.criterion.simulation_flags module, [1] rostok.graph_generators module rostok.graph_generators.environments.design_environment module rostok.graph_generators.graph_environment module rostok.graph_generators.graph_reward module rostok.graph_generators.mcts_helper module rostok.graph_generators.mcts_manager module, [1] rostok.graph_generators.search_algorithms.mcts module rostok.graph_grammar module rostok.graph_grammar.crossovers module rostok.graph_grammar.graph_comprehension module

rostok.graph_grammar.graph_utils module rostok.graph_grammar.graphgrammar_explorer module, [1] rostok.graph_grammar.make_random_graph module, [1] rostok.graph_grammar.mutation module rostok.graph_grammar.node module, [1] rostok.graph_grammar.node_block_typing module rostok.graph_grammar.node_vocabulary module, [1] rostok.graph_grammar.rule_vocabulary module, [1] rostok.library module rostok.library.obj_grasp module rostok.library.obj_grasp.objects module rostok.library.rule_sets module rostok.library.rule_sets.example_vocabulary module rostok.library.rule_sets.rule_extention module rostok.library.rule_sets.rule_extention_golem_edition module rostok.library.rule_sets.rule_extention_graph module rostok.library.rule_sets.rule_extention_merge module rostok.library.rule_sets.rulset_simple_fingers module rostok.library.rule_sets.simple_designs module rostok.simulation_chrono module rostok.simulation_chrono.simulation module, [1] rostok.simulation_chrono.simulation_scenario module, [1] rostok.simulation_chrono.simulation_utils module, [1] rostok.trajectory_optimizer module rostok.trajectory_optimizer.control_optimizer module, [1] rostok.trajectory_optimizer.trajectory_generator module rostok.utils module rostok.utils.json_encoder module rostok.utils.numeric_utils module rostok.utils.pickle_save module, [1] rostok.utils.states module, [1] rostok.virtual_experiment module rostok.virtual_experiment.built_graph_chrono module rostok.virtual_experiment.robot_new module, [1] rostok.virtual_experiment.sensors module, [1] rotation (rostok.block_builder_api.block_parameters.FrameTransform attribute) Rule (class in rostok.graph_grammar.node) rule_vis() (rostok.graph_grammar.rule_vocabulary.RuleVocabulary method) ruleset_explorer() (in module rostok.graph_grammar.graphgrammar_explorer) RuleVocabulary (class in rostok.graph_grammar.rule_vocabulary) run_search() (rostok.graph_generators.mcts_manager.MCTSManager method)

S

save() (rostok.graph_generators.search_algorithms.mcts.MCTS method) (rostok.utils.pickle_save.Saveable method) save_checkpoint() (rostok.graph_generators.mcts_manager.MCTSManager method) save_environment() (rostok.graph_generators.environments.design_environment.DesignEnvironment method) (rostok.graph_generators.environments.design_environment.SubDesignEnvironment method) save_information_about_search() (rostok.graph_generators.mcts_manager.MCTSManager method) save_results() (rostok.graph_generators.mcts_manager.MCTSManager method) Saveable (class in rostok.utils.pickle_save) search() (rostok.graph_generators.search_algorithms.mcts.MCTS method) Sensor (class in rostok.virtual_experiment.sensors) SensorCalls (class in rostok.virtual_experiment.sensors) SensorObjectClassification (class in rostok.virtual_experiment.sensors)

set_path() (rostok.utils.pickle_save.Saveable method) set_reward_fun() (rostok.trajectory_optimizer.control_optimizer.BasePrepareOptiVar method) shape (rostok.block_builder_api.block_blueprints.EnvironmentBodyBlueprint attribute) (rostok.block_builder_api.block_blueprints.PrimitiveBodyBlueprint attribute) SimulationResult (class in rostok.simulation_chrono.simulation_utils) SimulationReward (class in rostok.criterion.criterion_calculation) SimulationSingleEvent (class in rostok.criterion.simulation_flags) Sphere (class in rostok.block_builder_api.easy_body_shapes) starting_angle (rostok.block_builder_api.block_blueprints.RevolveJointBlueprint attribute) stiffness (rostok.block_builder_api.block_blueprints.RevolveJointBlueprint attribute) StringDesignEnvironment (class in rostok.graph_generators.environments.design_environment) SubDesignEnvironment (class in rostok.graph_generators.environments.design_environment) SubStringDesignEnvironment (class in rostok.graph_generators.environments.design_environment)

T

TendonForceOptiVar (class in rostok.trajectory_optimizer.control_optimizer) terminal_rules_for_node() (rostok.graph_grammar.rule_vocabulary.RuleVocabulary method) test_mcts() (rostok.graph_generators.mcts_manager.MCTSManager method) TimeCriterion (class in rostok.criterion.criterion_calculation) TORQUE (rostok.block_builder_api.block_parameters.JointInputType attribute)

transform (rostok.block_builder_api.block_blueprints.TransformBlueprint attribute) TransformBlueprint (class in rostok.block_builder_api.block_blueprints) TransformBlueprintType (class in rostok.block_builder_api.block_blueprints) tree_policy() (rostok.graph_generators.search_algorithms.mcts.MCTS method) type_of_input (rostok.block_builder_api.block_blueprints.RevolveJointBlueprint attribute)

U

uct_score() (rostok.graph_generators.search_algorithms.mcts.MCTS method) UNCONTROL (rostok.block_builder_api.block_parameters.JointInputType attribute) UniqueBlueprint (class in rostok.graph_grammar.node)

update_environment() (rostok.graph_generators.environments.design_environment.DesignEnvironment method) (rostok.graph_generators.environments.design_environment.SubDesignEnvironment method) update_Q_function() (rostok.graph_generators.search_algorithms.mcts.MCTS method)

V

VELOCITY (rostok.block_builder_api.block_parameters.JointInputType attribute)

W

width_x (rostok.block_builder_api.easy_body_shapes.Box attribute)

with_collision (rostok.block_builder_api.block_blueprints.RevolveJointBlueprint attribute)

X

x_to_control_params() (rostok.trajectory_optimizer.control_optimizer.BasePrepareOptiVar method) (rostok.trajectory_optimizer.control_optimizer.ConstTorqueOptiVar method) (rostok.trajectory_optimizer.control_optimizer.TendonForceOptiVar method)