NTRT V1.1

We are very pleased to announce our second release after going open source! In the 6 months since we released v1.0, we have made many improvements and added many new features! We probably could have made 5 released for all the features we added .

The most significant new feature is that we have added a new cable class that build upon our force-accurate elastic cable model, but now also adds contact dynamics. As far as we know, this is one of the only open-source examples of quality elastic cables with contact dynamics.

We also developed kinematic motor models for increased actuation realism, new sensors, added PID controllers, new terrains, did further validation against hardware prototypes, and integrated a neural network library.

We improved core infrastructure by improving our build scripts, starting a continuous integration server, added unit tests, integrated JSON for data serialization, and developing a formal scaling framework.

Finally, we have a framework to add tutorials, with the first tutorial on how to add more tutorials in place. Look for further documentation to come!

For details on all the improvements and features, please see the ChangeLog.

Please enjoy and spread the word!

First Beta Release

This is our first "stable" release to the public. We would love your feedback, and any patches or improvements you can suggest. We have made a big push on documentation, but there is clearly a lot more to be done. If you find yourself wishing the documentation was better, please consider patching it once you understand how it works. We are a very small team and will address issues as we can. Enjoy playing with the simulator!