Release Notes¶
0.6.0¶
Dropped support for Python 2.7 and 3.6. [PR #459]_
Moved chaos pendulum example to Sphinx docs.
Added Astrobee example [PR #453]
Added the ability to pass optional arguments to the ODE solver in System. [PR #447]
Cylinders, Spheres, and Circles loaded via PyThreeJS will appear more round. [PR #440]
Added a Carvallo-Whipple bicycle example to the documentation [PR #442]
Oldest supported dependencies for Python 3 are aligned with Ubuntu 20.04 LTS. For Python 2, the oldest necessary dependencies are used if the ones for Ubuntu 20.04 LTS are too new. [PR #432]
Dropped support for Python 3.5 [PR #429]
Improved the README and documentation integration. [PR #424]
jupyter-sphinx enabled for examples in the documentation [PR #419]
Added an example with no constraints that uses
display_jupyter()
for animation. [PR #418]Added an example that has both configuration and motion constraints. [PR #417]
display_jupyter()
method added toScene
that utilizes pythreejs for animating a system. [PR #416]Remove support for required dependencies prior to those in Ubuntu 18.04 LTS. [PR #415]
Recommend installing from Conda Forge [PR #411]
0.5.0 (January 9, 2019)¶
SymPy introduced a backward incompatibility to differentiation Matrices in SymPy 1.2, which remained in SymPy 1.3, see: https://github.com/sympy/sympy/issues/14958. This breaks PyDy’s System class, see: https://github.com/pydy/pydy/issues/395. A fix is introduced to handle all support versions of SymPy. [PR #408]
Added a new example for anthropomorphic arm. [PR #406]
Fixed errors in the differential drive example. [PR #405]
Added a new example for a scara arm. [PR #402]
Fixed errors due to backwards incompatible changes with various dependencies. [PR #397]
ODEFunctionGenerator now works with no constants symbols. [PR #391]
0.4.0 (May 30, 2017)¶
Bumped minimum Jupyter notebook to 4.0 and restricted to < 5.0. [PR #381]
Removed several deprecated functions. [PR #375]
Bumped minimum required hard dependencies to Ubuntu 16.04 LTS package versions. [PR #372]
Implemented ThreeJS Tube Geometry. [PR #368]
Improved circle rendering. [PR #357]
kwargs can be passed from System.generate_ode_function to the matrix generator. [PR #356]
Lagrangian simple pendulum example added. [PR #351]
Derivatives can now be used as specifies in System. [PR #340]
The initial conditions can now be adjusted in the notebook GUI. [PR #333]
The width of the viz canvas is now properly bounded in the notebook. [PR #332]
Planes now render both sides in the visualization GUI. [PR #330]
Adds in more type checks for System.times. [PR #322]
Added an OctaveMatrixGenerator for basic Octave/Matlab printing. [PR #323]
Simplified the right hand side evaluation code in the ODEFunctionGenerator. Note that this change comes with some performance hits. [PR #301]
0.3.1 (January 6, 2016)¶
Removed the general deprecation warning from System. [PR #262]
Don’t assume user enters input in server shutdown. [PR #264]
Use vectorized operations to compute transformations. [PR #266]
Speedup theano generators. [PR #267]
Correct time is displayed on the animation slider. [PR #272]
Test optional dependencies only if installed. [PR #276]
Require benchmark to run in Travis. [PR #277]
Fix dependency minimum versions in setup.py [PR #279]
Make CSE optional in CMatrixGenerator. [PR #284]
Fix codegen line break. [PR #292]
Don’t assume Scene always has a System. [PR #295]
Python 3.5 support and testing against Python 3.5 on Travis. [PR #305]
Set minimum dependency versions to match Ubuntu Trusty 14.04 LTS. [PR #306]
Replace sympy.phyics.mechanics deprecated methods. [PR #309]
Updated installation details to work with IPython/Jupyter 4.0. [PR #311]
Avoid the IPython widget deprecation warning if possible. [PR #311]
Updated the mass-spring-damper example to IPy4 and added version_information. [PR #312]
The Cython backend now compiles on Windows. [PR #313]
CI testing is now run on appveyor with Windows VMs. [PR #315]
Added a verbose option to the Cython compilation. [PR #315]
Fixed the RHS autogeneration. [PR #318]
Improved the camera code through inheritance [PR #319]
0.3.0 (January 19, 2015)¶
User Facing¶
Introduced conda builds and binstar support. [PR #219]
Dropped support for IPython < 3.0. [PR #237]
Added support Python 3.3 and 3.4. [PR #229]
Bumped up the minimum dependencies for NumPy, SciPy, and Cython [PR #233].
Removed the partial implementation of the Mesh shape. [PR #172]
Overhauled the code generation package to make the generators more easily extensible and to improve simulation speed. [PR #113]
The visualizer has been overhauled as part of Tarun Gaba’s 2014 GSoC internship [PR #82]. Here are some of the changes:
The JavaScript is now handled by AJAX and requires a simple server.
The JavaScript has been overhauled and now uses prototype.js for object oriented design.
The visualizer can now be loaded in an IPython notebook via IPython’s widgets using
Scene.display_ipython()
.A slider was added to manually control the frame playback.
The visualization shapes’ attributes can be manipulated via the GUI.
The scene json file can be edited and downloaded from the GUI.
pydy.viz generates two JSONs now (instead of one in earlier versions). The JSON generated from earlier versions will not work in the new version.
Shapes can now have a material attribute.
Model constants can be modified and the simulations can be rerun all via the GUI.
Switched from socket based server to python’s core SimpleHTTPServer.
The server has a proper shutdown response [PR #241]
Added a new experimental System class and module to more seamlessly manage integrating the equations of motion. [PR #81]
Development¶
Switched to a conda based Travis testing setup. [PR #231]
When using older SymPy development versions with non-PEP440 compliant version identifiers, setuptools < 8 is required. [PR #166]
Development version numbers are now PEP 440 compliant. [PR #141]
Introduced pull request checklists and CONTRIBUTING file. [PR #146]
Introduced light code linting into Travis. [PR #148]
0.2.1 (June 19, 2014)¶
Unbundled unnecessary files from tar ball.
0.2.0 (June 19, 2014)¶
Merged pydy_viz, pydy_code_gen, and pydy_examples into the source tree.
Added a method to output “static” visualizations from a Scene object.
Dropped the matplotlib dependency and now only three.js colors are valid.
Added joint torques to the n_pendulum model.
Added basic examples for codegen and viz.
Graceful fail if theano or cython are not present.
Shapes can now use sympy symbols for geometric dimensions.