v0.3.3-beta1

• Added simple temporary API to add terrains to Isaac Gym runner in a way that is non-portable to other runners.
• Added flat, wave, pyramid, rugged terrains for Isaac Gym runner.

v0.3.2-beta1

• Rework process_id into DbId, making it an explicit class and string in the database.
• Morphological measures based on Miras, K., Haasdijk, E., Glette, K., Eiben, A.E. (2018). Search Space Analysis of Evolvable Robot Morphologies. In: Sim, K., Kaufmann, P. (eds) Applications of Evolutionary Computation. EvoApplications 2018. Lecture Notes in Computer Science(), vol 10784. Springer, Cham. https://doi.org/10.1007/978-3-319-77538-8_47

v0.3.1-beta1

• Fix bug where cpg network structure did not use the correct weights for external connections.

v0.3.0-beta1

First beta release. API should remain fairly stable until the second beta or rc1, whichever comes first.

Changes since last alpha:

• Cleaned up, updated, and improved documentation.
• Added parameter to Isaac Gym runner to set max_gpu_contact_pairs, which controls memory allocated for storing contacts during simulation. Users need to tune the value of this parameter to their specific use case.
• Fixed names and implementations of EA population and selection functions.

v0.2.6-alpha3

• Added Mujoco physics runner.
• Slightly changed Isaac Gym physics runner PD controller parameters to be more in line with Mujoco.
• Set environment size to 0 in Isaac Gym runner to fix reproducability bug. As a side effect different environments now appear on top of each other.
• Renamed 'params' to 'connection_weights' in CpgNetworkStructure.
• Added rpi controller hardware support for pca9685 pwm chip.
• Added slow startup to rpi controller servos, reducing the chance the servos reboot the rpi on startup.
• Add standard_resources library, starting with a standard set of robot bodies.
• Now using the standard gecko robot for the OpenAI ES example.
• Code tool improvements, including new tools sort-all, pydocstyle, pyflakes, darglint
• Put robots on the ground in the simulation examples similarly to how this is done in the other examples.
• Literally added doc strings to every function, class, and module.

v0.2.5-alpha3

• Fixed bug in CPPNWIN where network weights were evaluated in a random order leading to non-reproducability, breaking recovery.
• Fixed bug with multineat where CPPN network activation did not fully propagate through the complete network.
• Fixed bug with multineat where CPPN network could become cyclic.
• CPPNWIN now uses CPPN BLENDED option instead of COMPLEXIFYING, allowing for connections to be removed during mutation.
• Improved runner run_batch return value. This will break existing code but is more intuitive and future-proof.
• Fixed bug in rigid body inertia calculation
• Fixed Isaac Gym messing up terminal colors. Slightly improved displaying of isaac gym output to be easier to visually seperate from revolve2 output.
• Added option to isaac runner to run in real time. Enabled this option for the rerunner.

v0.2.4-alpha3

• Set correct angle for real robot PWM
• Fix inverted motors on real robots
• Fix bug in array serializer where object was not properly loaded
• Added CpgNetworkStructure, an way to specify the structure of a CPG network without specifying the weights and state. Can be used for things such as learning CPG network parameters.
• Refactored CPG network
• Fixed incorrect calculation of inertia tensor. This should improve stability and realism.
• Implemented rotation of individual rigid body collisions for inertia tensor calculation. Before this silently did not work and might have caused bugs.
• Set angular damping to 0 in isaac runner. Should not make a difference for most applications.
• Isaac runner now passes correct control period to control function.
• Fix bug were modular brick had 4 children instead of 3

v0.2.3-alpha3

• Allow setting of initial dof state in isaac runner
• Improve parameters of isaac gym PD controller. Robots should now be able to lift themselves.
• Slightly simplify runner interface
• Set GPU as default for isaac runner
• Small documentation fix

v0.2.2-alpha3

• Add missing pandas dependency
• Add check to isaac gym runner that dof targets are within servo range
• Clip CPG controller outputs to be within servo range
• Disable self collision in isaac gym runner to improve stability. Will be stabally reintroduced in a later version. This should prevent flying actors and NaN values in returned states.
• Refactored modular robots
• Minor code cleanup and refactor

v0.2.1-alpha3

• rpi controller: stop pwm after exit, added q input to stop instead of run, handle ctrl-c 'cleanly'
• Added missing aiosqlite dependency
• Improve clarity that a display is required for the simulate isaac tutorial.
• Fix regression bug in float serializer where float array was not loaded in the correct order