Changelog

All notable changes to the LeggedSnake will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[Unreleased]

[0.3.0-beta] - 2021-07-21

Added

  • Multiprocessing is here! The genetic optimization can now be run in parallel! Performances got improved by 65 % using 4 processes only.

Changed

  • We now save data using JSON! Slow computer users, you can relax and stop computing when you want.

  • The sidebar in the documentation a bit more useful.

  • Not having tqdm will cause an exception.

Fixed

  • Corrected the example, the genetic optimization is now properly fixed but slower.

Removed

  • native support for PyGAD is no longer present.

  • evolutionnary_optimization (replaced by evolutionary_optimization).

  • Data saved in the old txt format are no longer readable (were they?)

[0.2.0-alpha] - 2021-07-14

Added

  • Dependency to tqdm and matplotlib.

  • The evolutionary_optimization replaces evolutionnary_optimization.

    • The ite parameter renamed iters for consistency with pylinkage.

    • The new parameter verbose let you display a nice progress bar, more information on optimization state, or nothing.

  • The best solution can be displayed with PyGAD as well.

Changed

  • Typos and cleans-up in docs/examples/strider.py.

  • evolutionnary_optimization_legacy renamed to evolutionary_optimization_builtin.

Deprecated

  • evolutionnary_optimization is now deprecated. Please use evolutionary_optimization.

Removed

  • Explicit dependency to PyGAD. There is no longer an annoying message when PyGAD is not installed.

[0.1.4-alpha] - 2021-07-12

Added

  • It is now possible and advised to import class and functions using quick paths, for instance from leggedsnake import Walker instead of from leggedsnake.walker import Walker.

  • You do no longer have to manually import pylinkage, we silently import the useful stuff for you.

  • We now use bump2version for version maintenance.

  • This is fixed by the road_y parameter in World let you define a custom height for the base ground.

Changed

  • docs/examples/strider.py has been updated to the latest version of leggedsnake 0.1.4.

Fixed

  • The full swarm representation in polar graph has been repaired in docs/examples/strider.py.

  • During a dynamic simulation, linkages with long legs could appear through the road.

  • The documentation was not properly rendered because Napoleon (NumPy coding style) was not integrated.

[0.1.3-alpha] - 2021-07-10

This package was lacking real documentation, it is fixed in this version.

Added

Changed

  • Tests moved from leggedsnake/tests to tests/.

  • Examples moved from leggedsnake/examples/ to docs/examples/.

  • I was testing my code on leggedsnake/examples/strider.py (old path) and that’s why it was a big mess. I cleaned up that all. Sorry for the inconvenience!

Fixed

  • A lot of outdated code in the leggedsnake/examples/strider.py

  • Changelog URL was broken in setup.cfg.

[0.1.2-alpha] - 2021-07-07

Changed

  • The step function execution speed has been increased by 25% when return_res is True! Small performance improvement when return_res is False.

  • The size argument of step function is now known as witdh.

  • We now require pylinkage>=0.4.0.

Fixed

  • Files in leggedsnake/examples/ were not included in the PyPi package.

  • The example was incompatible with pylinkage 0.4.0.

  • Test suite was unusable by tox.

  • Tests fixed.

  • Incompatible argument between PyGAD init_pop and built-in GA.

Security

  • Tests with tox.ini now include Python 3.9 and Flake 8.

[0.1.1-alpha] - 2021-06-26

Added

  • The example file examples/strider.py is now shipped with the Python package.

  • leggedsnake/geneticoptimizer.py can now automatically switch to the built-in GA algorithm if PyGAD is not installed.

Changed

  • setup.cfg metadata

[0.1.0-alpha] - 2021-06-25

Added

  • Code vulnerabilities automatic checks

  • Example videos in examples/images/

Changed

  • Manny reforms in code style, to make the dynamic part naming conventions consistent with Pymunk.

  • Images in the README.md!

Fixed

  • You can now define linkages with an enormous number of legs. Systems with many should no longer break physics but your CPU instead :)

[0.0.3-alpha] - 2021-06-23

Added

  • Started walktrough demo in README.md

  • Automatic release to PyPi

Fixed

  • Pymunk version should be at least 6.0.0 in requirement files.

  • Some URLs typos in README.md

  • Versioning tests not executing (GitHub action)

[0.0.2-alpha] - 2021-06-22

Added

  • requirement.txt was absent due to .gitignore misconfiguration.

Changed

  • .gitignore now ignores .txt files only in the leggedsnake folder.

  • environment.yml more flexible (versions can be superior to the selected). pymunk>5.0.0 and pylinkage added.

  • leggedsnake/utility.py not having zipfile or xml modules error encapsulation.

Fixed

  • setup.cfg was not PyPi compatible. Removed mail (use GitHub!), we now explicitly say that README.md is markdown (PyPi is conservative)

[0.0.1-alpha] - 2021-06-22

Basic version, supporting Genetic Algorithm optimization, but with various problems.

Added

  • CODE_OF_CONDUCT.md to help community.

  • LICENSE MIT License.

  • MANIFEST.in to include more files.

  • README.md as a very minimal version.

  • environment.yml with matplotlib, numpy, and pygad requirement.

  • examples/strider.py a complete demo with Strider linkage.

  • leggedsnake/__init__.py.

  • leggedsnake/dynamiclinkage.py.

  • leggedsnake/geneticoptimizer.py.

  • leggedsnake/physicsengine.py.

  • leggedsnake/show_evolution.py just a legacy package, no utility.

  • leggedsnake/tests/test_utility.py untested test case

  • leggedsnake/utility.py contain some useful evaluation function (step and stride) and a broken GeoGebra interface.

  • walker.py defines the Walker object.

  • pyproject.toml.

  • setup.cfg.

  • setup.py empty, for compatibility purposes only.

  • tox.ini tox with Python 3.7 and 3.8