diff --git a/.gitignore b/.gitignore
index ce5f0d0..6e87a67 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,3 +7,4 @@ __pycache__
 docs/_build
 build/
 dist/
+venv/
diff --git a/CHANGELOG b/CHANGELOG.md
similarity index 73%
rename from CHANGELOG
rename to CHANGELOG.md
index bcbdfa2..cb09d2a 100644
--- a/CHANGELOG
+++ b/CHANGELOG.md
@@ -9,6 +9,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 
 ## [Unreleased]
+
+## [2.0.0] - 2024-07-30
 ### Added
 - Add py.typed marker for mypy
 - screenshot_mode.py to run simulation without visualisations (for nicer screenshots).
@@ -29,13 +31,13 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
   installation types (colcon and pure Python).
 
 
-## 1.4.1 - 2022-06-24
+## [1.4.1] - 2022-06-24
 
 - Switch from setup.py to setup.cfg
 - Set dtypes of gym spaces to np.float64
 
 
-## 1.4.0 - 2022-06-23
+## [1.4.0] - 2022-06-23
 
 - Nicer rendering of the boundary (#68)
 - Change initial pose of camera in PyBullet GUI (#68)
@@ -46,6 +48,14 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Optionally compute tip velocities in forward kinematics (#85)
 - Cleanup the code and add more unit tests
 
-## 1.3.0 - 2021-08-04
+## [1.3.0] - 2021-08-04
 
 There is no changelog for this or earlier versions.
+
+---
+
+[Unreleased]: https://github.com/open-dynamic-robot-initiative/trifinger_simluation/compare/v2.0.0...HEAD
+[2.0.0]: https://github.com/open-dynamic-robot-initiative/trifinger_simluation/compare/v1.4.1...v2.0.0
+[1.4.1]: https://github.com/open-dynamic-robot-initiative/trifinger_simluation/compare/v1.4.0...v1.4.1
+[1.4.0]: https://github.com/open-dynamic-robot-initiative/trifinger_simluation/compare/v1.3.0...v1.4.0
+[1.3.0]: https://github.com/open-dynamic-robot-initiative/trifinger_simluation/releases/tag/v1.3.0
diff --git a/docs/conf.py b/docs/conf.py
index 380bd9b..d4f4e54 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -64,9 +64,9 @@
 # built documents.
 #
 # The short X.Y version.
-version = "1.4.1"
+version = "2.0"
 # The full version, including alpha/beta/rc tags.
-release = "1.4.1"
+release = "2.0.0"
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
diff --git a/package.xml b/package.xml
index ec16778..61a490b 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>trifinger_simulation</name>
-  <version>1.4.1</version>
+  <version>2.0.0</version>
   <description>
       TriFinger Robot Simulation
   </description>
diff --git a/trifinger_simulation/__init__.py b/trifinger_simulation/__init__.py
index 7bd2919..00e10d6 100644
--- a/trifinger_simulation/__init__.py
+++ b/trifinger_simulation/__init__.py
@@ -1,4 +1,4 @@
-__version__ = "1.4.1"
+__version__ = "2.0.0"
 
 import pathlib