Changelog
HoloOcean 2.0.0
5/10/2025
New Features
Improved rendering with Unreal Engine 5.3
Advanced vehicle dynamics using models from Fossen
ROS2 Bridge for communication with external systems
New vehicles: BlueROV Heavy, CougUV
Changes
Huge update to documentation to improve overall readability and clarity
Updated numpy to v2.0.0 to work with UE 5.3
Added extra test cases to several sensors to improve coverage
Bug Fixes
Temporarily disabled materials in worlds to prevent sonar issue in Linux
Fixed bugs in some world files that caused incorrect sonar data
Removed Git LFS from repository to prevent bandwidth limitation that prevented committing
Overhauled implementation of thruster/fin control to fix issues with vehicle dynamics (TorpedoAUV now turns properly, no issues with uncontrollable spinning)
Fixed memory allocation bug that sometimes prevented world from loading properly
Added post-process materials to prevent error message when launching Unreal
HoloOcean 2.0.0 PreRelease
11/8/2024
Updating from Unreal Engine 4.27 to 5.3
HoloOcean 1.0.0
4/29/2024
Migrating to GitHub, and updating license phrasing.
HoloOcean 0.5.8
4/3/2024
New Features
Added custom dynamics for vehicles
Added magnetometer
Added dynamics sensor
Simple PD controller for HoveringAUV
Added SurfaceVessel agent
Changes
Updated installation instructions to comply with Unreal Engine EULA
misc bug fixes and documentation improvements
(Note that the version numbers 0.5.1-0.5.7 are absent because of some difficulties with updating the PyPI package. 0.5.8 is the first release after 0.5.0.)
HoloOcean 0.5.0
3/22/2022
Large sonar upgrade!
Highlights
3 new sonar sensors
Upgraded noise modeling in Imaging and Profiling Sonar
Lots of misc bug fixes!
Upgrade to Unreal Engine 4.27
New Features
Added many new sonar sensors, including
ImagingSonar now has significantly improved noise modeling
Can now specify a lifetime parameter to draw functions
Now based on Unreal Engine 4.27
Changes
SonarSensor is now ImagingSonar
Rotations are now a correct [roll, pitch, yaw].
step function no longer returns terminal, reward and info. Only state.
Environments no longer publish over lcm in pre-start ticks.
Bug Fixes
Timeouts are turned off for sonars to prevent premature termination of the simulation.
Specifying a number of ticks to execute at once now ticks for all of them.
HoloOcean 0.4.1
9/21/2021
Bug Fixes
Required pywin32 <= 228 for easier Windows install.
HoloOcean 0.4.0
9/17/2021
First official release!
Highlights
New Ocean environment package.
2 new agents and 7 new sensors, along with updating of all previous sensors.
Complete rebranding to HoloOcean.
New Features
Added agents
HoveringAUVandTorpedoAUVAdded a plethora of new sensors, all with optional noise configurations
New Ocean package.
Added frame rate capping option.
Added ticks_per_sec and frames_per_sec to scenario config, see Frame Rates.
Changes
Everything is now rebranded from Holodeck -> HoloOcean.
Bug Fixes
Sensors now return values from their location, not the agent location.
IMU now returns angular velocity instead of linear velocity.
Various integer -> float changes in scenario loading.