1What's new in MORSE 0.4.x?
2==========================
3
4The MORSE 0.4.x series has been code-named the ``multi-node release``.
5
6General changes
7---------------
8- Full support for Blender 2.59 and Python 3.2. See the :doc:`updated installation instructions <../user/installation>`.
9- A new, reorganized, documentation. You are currently browsing it :-)
10
11Architectural changes
12---------------------
13- Added infrastructure for :doc:`multi-node <../multinode>` functionality
14- New :doc:`Builder API <../user/builder>` to create scene from Python description.
15  This allows powerful programmable scene creation, much lighter scenario files, and
16  easier to track changes (since its a text format, instead of binary Blender files).
17- Changed directory structure and file names for ease of use of the Builder API.
18- Pervasive use the Python logging interface
19
20Middlewares
21-----------
22- Added support for multiple middleware bindings per component
23- Added support for services through Pocolibs middleware
24- ROS support for the robot's cameras
25- Added support for :doc:`HLA <../user/installation/mw/hla>` middleware
26- Added support for :doc:`MOOS <../user/installation/mw/moos>` middleware
27
28New components
29--------------
30- Added a Hummer robot that implements the Blender Vehicle Wrapper
31- Added a ``steer_force`` actuator to control the Hummer robot
32- Added an ``armature_actuator`` to control the bone structure in the LWR and PR2 robot arms
33
34User interface
35--------------
36- Add a help display with the keyboard shortcuts available during simulation. Activated by pressing the ``H`` key
37