diff --git a/CHANGELOG.md b/CHANGELOG.md
new file mode 100644
index 0000000..8e86ba5
--- /dev/null
+++ b/CHANGELOG.md
@@ -0,0 +1,69 @@
+# Changelog
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [Unreleased]
+
+## [0.1.0-alpha] - 2021-06-23
+### 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``
+ - Versionning tests not executing (GitHub action)
+
+## [0.0.2-alpha] - 2021-06-22
+### Added
+- ``requirement.txt`` was absent due to ``.gitignore`` missconfiguration.
+
+### Changed
+ - ``.gitignore`` ignore txt file only in leggedsnake folder
+ - ``environment.yml`` more flexible (versions can be superior to the selected). Added pymunk>5.0.0, pylinkage
+ - ``leggedsnake/utility.py`` not having zipfile or xml module error encapsulation
+
+### Fixed
+ - ``setup.cfg`` was not PyPi compatibl.
+     Removed mail (use GitHub!), 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 evalution 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
+
+
diff --git a/leggedsnake/dynamiclinkage.py b/leggedsnake/dynamiclinkage.py
index 41d019d..75dc322 100644
--- a/leggedsnake/dynamiclinkage.py
+++ b/leggedsnake/dynamiclinkage.py
@@ -17,9 +17,6 @@
 class DynamicJoint(abc.ABC):
     """Dynamic, pymunk compatible equivalent of kinematic Joint."""
 
-    #__slots__ = ['_a', '_anchor_a']
-
-    @abc.abstractmethod
     def __init__(self, body0=None, body1=None, space=None, radius=.3,
                  density=1, shape_filter=None):
         if isinstance(body0, pm.Body):
diff --git a/setup.cfg b/setup.cfg
index e1094ab..b5cd536 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -1,6 +1,6 @@
 [metadata]
 name = leggedsnake
-version = 0.0.3
+version = 0.1.0
 author = Hugo Farajallah
 description = Simulate and ptimize planar leg mechanisms using PSO and GA
 license = MIT License