v0.4.2-beta2

• Added DOI badge to README.md

v0.4.1-beta2

• Student guide on how to get started. (Oliver Weissl)
• Color support for rigid bodies. (Aart Stuurman)
• Modular robot modules have default colors. (Aart Stuurman)
• Install script for students. (Oliver Weissl)

v0.4.0-beta2

• Now licensed under LGPL 3.
• Minimum Python version is now 3.10.
• Rearranged package structure to make future development plans easier. You must uninstall your old revolve installation before installing this new version. See uninstall_revolvestar.sh.
• Dropped support for Isaac Gym. Might come back in the future once NVidia updates their Python version.
• Greatly simplified all examples.
• Database is now optional in tutorials and database support is updated to be easier to use, enabled by the SQLAlchemy 2 release.
• Created helper tools for simulation, logging, random number generation, and more.
• Refactored setup.py into pyproject.toml.
• Rework optimization interface to be less convoluted and more in control of the user.
• Updated mypy version and fixed small revealed issues.
• Converted all TODO comments to issues or fixed them directly if that was trivial.
• Now depends on MultiNEAT from PyPi instead of building from source. Wheels are built and uploaded to PyPi by us through our fork's CI.
• Simplified many type annotations, enabled by then newer Python version.

v0.3.10-beta1

• For runners, exposed timestep parameter that controls the delta time of the simulations. Lower number generally means higher accuracy. Implemented for Mujoco only; Isaac Gym ignores this setting for now. Changed default from previously hard-coded value to a setting more reasonable for CI-Group's general use-case.
• Added armature to active hinge(hard-coded, just like other joint parameters currently). Set to a reasonable value to CI-Group's general use-case. This should significantly improve realism for not-smooth controllers.
• Added a mapping function from actor state(result from simulation) to modular robot body state. Currently only implemented for the core. Previously the examples directly used the first rigid body of the actor state. This indeed equated to the core, but this new function abstracts away the need to interact with the actor state directly and makes everything more future proof. E.g. if we want to use the state of other modules or if we want to lazy load simulation results.
• Fixed a bug in Mujoco runner where initial robot orientation was incorrect.
• Fixed some unimportant warnings in CI.

v0.3.9-beta1

• Improved installation package version requirements and fixed the chardet2 bug.
• Resolved the codecov error in the core installation by removing the rootpath dependency.

v0.3.8-beta1

• Add static geometry to physics environment and interface for creating terrains.
• Added crater terrain.
• Speed up Mujoco simulation by increasing timestep.
• Update mypy and fix emerged issues.
• Run CI not only on push but also when a PR is created.

v0.3.7-beta1

• Fixed a bug in Mujoco runner where tempfile.NamedTemporaryFile fails on Windows.

v0.3.6-beta1

• Fixed critical bug in Mujoco runner where running sometimes would not start, introduced in v0.3.4-beta1. As a side-effect physics control has been reworked to have a separate control function for each environment, making it more future proof for parallel execution across multiple machines.
• Added option to check if database exists instead of always creating it.
• dev_requirements.sh can now be called from anywhere.

v0.3.5-beta1

• Rearrange SimParams in Isaac Gym runner so the default interface is the same as Mujoco's.
• Now requires Isaac Gym rc4.
• Rerrunners can run multiple robots at once.
• Mujoco runner starts in real-time when not running headless. (instead of per-frame)
• Add simulation time parameter to rerunners.
• Use bounding box to position robots in the rerunners.
• Added option to Mujoco runner to start paused when not in headless mode. Added the same option to Mujoco's rerunner.
• Reliably delete temporary files created by Isaac and Mujoco runners. Mujoco's files were not deleted before.
• Add video recording to runner interface and implemented this for mujoco. Courtesy of Daniel Engbert

v0.3.4-beta1

• Parallel running for Mujoco. Naive implementation that spreads environments over multiple processes running separate simulators.