SCONE Version History

SCONE 1.3.2

Released December 10, 2019

New Features and Updates

  • Added support for displaying .obj and .stl files
  • Display geometries that exist in the model folder are now automatically copied to the output folder during optimization. To prevent excessive copies, please copy the display geometries to the shared 'geometries' folder.
  • Optimizer report now includes time, number_of_evals, evals_per_sec

Fixes

  • Fixed issue causing the initial parameter file (init_file) of an optimization not to be copied to the output folder, making it impossible to playback optimization results that use init_file
  • GaitStateController now displays a proper warning message when no legs are defined in the model
  • Increased maximum data output frequency to 1e6

SCONE 1.3.1

Released November 27, 2019

New Features and Updates

  • Support for building SCONE on Linux, many thanks to Dimitar Stanev
  • Support for Travis-CI build integration, many thanks to Dimitar Stanev and Chris Dembia
  • Added support for optimizing OpenSim models with ContactMesh contact geometry
  • 3D Viewer settings are now remembered when restarting SCONE
  • Added joint force visualization option to 3D viewer
  • Improved support for the concept of legs, which is used by GaitController and ground reaction force reporting. Model-specific leg elements can now be specified through leg_upper_body and leg_contact_force parameters in OpenSim3Model. Previously, these values were hard-coded to their default values femur and foot.

Fixes

  • Fixed issue where duplicate external resources would cause an error during optimization
  • GaitMeasure documentation of upper_body and base_bodies
  • Fixed infinite loop when no suitable initial state could be found in models that define contact geometry but no contact force
  • Resolved issue where SCONE could crash if a ContactGeometry for a foot body segment did not exist

SCONE 1.3.0

Released November 12, 2019

New Features and Updates

  • SCONE scenarios are now loaded an visualized immediately after a file is opened or saved
  • Improved support for editing and optimizing more model properties (using Properties { … }) directly in the SCONE scenario. These include ContactGeometry (position, radius, etc.), Joint, and Coordinate properties. Closes #78
  • Major performance improvement of the SCONE User Interface when the 3D visualizer is not actively used
  • 3D viewer now supports keyboard shortcuts for orbit (Left, Right, PgUp, PgDn), pan (Shift + Arrow keys) and zoom (Up and Down)
  • Ctrl + Space now toggles playback
  • Ctrl + E now evaluates the currently selected scenario
  • Visualizer no longer uses emissive component, added ambient_intensity parameter
  • SCONE Unit tests are now performed in parallel for improved performance

Fixes

  • When optimizing a scenario, the copied versions of models and scripts are now used, so you can freely edit the originals during an active optimization
  • Fixed incorrect “Please select a .scone file” error while optimizing or evaluating a scenario
  • PieceWiseLinear and PieceWiseConstant functions now check if dt > 0
  • ImitationObjective was broken, now it works again

SCONE 1.2.3

Released September 13, 2019

Fixes

  • ScriptMeasure / ScriptController: Fixed issue causing contact_force(), contact_moment() and contact_point() to return zero
  • ScriptMeasureJump.lua (from Tutorial 6a) now demonstrates use of body:contact_force()

SCONE 1.2.2

Released September 9, 2019

Fixes

  • ScriptMeasure / ScriptController: Contact forces are now accessed correctly using contact_force(), contact_moment() and contact_point()
  • File Save (Ctrl + s) now works with .lua files (closes #77)
  • Open File (Ctrl + o) now shows all supported file formats by default
  • Jumping tutorials now explicitly maximize results
  • Documentation fixes
  • Minor performance enhancements

SCONE 1.2.1

Released July 25, 2019

Fixes

  • ScriptController and ScriptMeasure: Lua scripts now support 'require' for including other scripts located in the same folder
  • FeedForwardController now supports CoordinateActuators
  • FeedForwardController no longer crashes when no actuators could be found

SCONE 1.2.0

Released June 25, 2019

New Features and Updates

  • Contacts forces are now correctly reported and displayed in the SCONE 3D visualizer.
  • Ground plane visualization now supports tilt and offsets.
  • GaitMeasure takes into account ground plane slopes when detecting falling.
  • Improved support for defining symmetric / asymmetric controllsers. The 'symmetric' property now works as expected in all controllers and is inherited from parent controllers if not specified (root controller defaults to true).
  • Scripting (ScriptMeasure and ScriptController): * Added support store_data() for writing data to .sto and SCONE analysis window * Improved error handling and reporting for scripts * added body:point_pos and body:point_vel * added functionality to LuaVec3 and LuaQuat (see reference manual)
  • Added warning in folder preferences dialog to avoid network drives (issue #53)
  • Pressing F5 will now evaluate the currently active scenario (if any)
  • When pressing Ctrl + T or Ctrl + F5 while a .lua file is active, scone tries to open a .scone instead.
  • Updated tutorials and documentation

Fixes

  • All open files are now checked for modification when running a scenario
  • Close current tab (Ctrl+W) now works correctly
  • Jump tutorials now use correct init_file
  • JumpMeasure now supports both 'body' and 'target_body', matching documentation and maintaining backwards compatibility
  • Text modification detection now works properly with undo
  • Text documents are now automatically focused when opened

SCONE 1.1.1

Released May 29, 2019

New Features and Updates

  • Added new MuscleMeasure for penalizing muscle activation, length and contraction velocity (issue #36).
  • RangePenalty now supports 'mode' setting, allowing the final penalty to be the 'average' (default), 'lowest', or 'highest' of all recorded
  • New measure_type in EfforMeasure: SquaredMuscleStress. This minimizes the sum of (F/PCSA)^2 for all muscles.
  • Controllers now have 'name' member that is used as a prefix for all parameter names. This should prevent undesired parameter name clashes when combining controllers. CompositeController displays warning when child controllers have identical names.
  • Added warning in folder preferences dialog to avoid network drives (issue #53)
  • Documentation updates
  • Tutorial updates

Fixes

  • SequentialController now works correctly
  • NoiseController more accurately handles cases where the noise STD is zero
  • tutorial 6b, renamed 'gyro' to 'external balance device'

SCONE 1.1.0

Released May 20, 2019

New Features and Updates

  • SCONE now has a powerful new scripting interface for custom controllers and measures
    • Using the lua scripting language (http://lua.org)
    • Create custom controllers using ScriptController
    • Create custom measures using ScriptMeasures
    • Support for writing custom data to .sto and SCONE Analysis window
  • The SCONE Studio editor now supports Find (Ctrl+F) and Find Next / Previous (F3 / Shift+F3)
  • The .SCONE file format is now more strict:
    • Comments using ;' // /* and */'' are no longer supported
    • Only single line comments '#' and multi-line comments '###' are supported
  • Improved unit testing
  • Many documentation updates and fixes

Fixes

  • Jump tutorials now use correct init_file
  • Editor now handles undo/redo of document formatting as single step
  • JumpMeasure now supports both 'body' and 'target_body', matching documentation and keeping backwards compatibility

SCONE 1.0.0

Released April 18, 2019

Updates

  • Documentation updates
  • Depricated StateController, TimeStateController and SensorStateController

SCONE 0.22.1 BETA

Released April 16, 2019

Updates

Fixes

  • SCONE now ignores the initial_load setting when a model does not have contact geometry, preventing the software from hanging.

SCONE 0.22.0 BETA

Released April 4, 2019

Updates

  • SCONE now displays a warning dialog when a scenario contains invalid setting
  • New and updated tutorials
  • Added keyboard shurtcuts in SCONE viewer:
    • 'r' reset viewer camera
    • 'x' view model along x direction
    • 'y' view model along y direction
    • 'z' view model along z direction
  • Improved reading and error reporting of SCONE scenarios

Fixes

  • Fixed visualization of scaled OpenSim models (OpenSim3)
  • Restored DATE_TIME_EXACT tag in signatures

SCONE 0.21.0 ALPHA

Released February 13, 2019

Updates

  • New tutorials
  • Improved scone scenario notation, 'type' parameter can now be omitted
  • Model properties can now be set via ModelProperties
  • External files can now be included using « FILENAME »
  • Improved appearance
  • Added unit tests
  • DATE_TIME year now uses 2 digits

Fixes

  • NoiseController now works when noise sigma is zero
  • Better handling of upper / lower parameter bounds during optimizaiton

SCONE 0.20.1 ALPHA

Released January 8, 2019

Fixes

  • Issue where negative tendon lengths would cause a crash in the visualization
  • Issue where simulations with a duration with a decimal point would not terminate correctly

SCONE 0.20.0 ALPHA

Released December 14, 2018

Updates

  • Ground reaction force is now output both as normalized [gBW] as unnormalized [N] data.
  • New data output: Center of Pressure (CoP) and Ground Reaction Moment [Nm]

SCONE 0.19.4 ALPHA

Released December 6, 2018

Fixes

  • Fixed regression reading vector data

SCONE 0.19.3 ALPHA

Released December 6, 2018

Fixes

  • When evaluating a scenario from sconecmd.exe, the average parameters are now used instead of the best, in order to be consistent with scenario test (Ctrl + T) from SCONE studio.

SCONE 0.19.2 ALPHA

Released December 5, 2018

Fixes

  • Fixed issue reading state_init_optimization.exclude from legacy scripts
  • Fixed issue where data output settings were not read when running from command-line

SCONE 0.19.1 ALPHA

Released November 19, 2018

Updates

  • Ground plane can now be hidden

Fixes

  • Fixed auto-formatting issues in scone editor
  • Correctly handle transform and scale of display geometry

SCONE 0.19.0 ALPHA

Released November 14, 2018

New Features and Updates

  • Improved support for batch processing through the command line interface
  • Added setting for output video quality and video frame rate
  • Example updates

SCONE 0.18.0 ALPHA

Released October 17, 2018

New Features and Updates

  • MuscleReflex can now act with activation as source (using KA, A0 and allow_neg_A)
  • Reflexes can now use contralateral sources, using `_o` postfix.
  • Added initial_load and initial_load_dof to allow control over the initial position of the model

Fixes

  • Sided reflex data in analysis output is now displayed correctly
  • Invalid initial_load settings now produce a warning instead of an error
  • Documentation fixes

SCONE 0.17.1 ALPHA

Released October 12, 2018

Fixes

  • Fixed issue where settings could not be loaded the first time
  • Fixed error in the Gait GH2010 example

SCONE 0.17.0 ALPHA

Released October 11, 2018

New Features and Updates

  • Many visualization improvements
  • New, more robust system for storing settings
  • Example gait model updates (fixed gastroc length issue)
  • Documentation updates

Fixes

  • Several minor stability improvements

SCONE 0.16.0 ALPHA

Released October 5, 2018

New Features and Updates

  • NoiseController for simulating Motor Noise
  • BodyMeasure for measuring position, speed and velocity of a point on a body
  • JumpMeasure now has offset on body for measuring height
  • Controllers can now be defined outside Model
  • Updated Examples

Fixes

  • Simulation errors are now properly reported
  • .par filenames are now written correctly with extremely high / low fitness

SCONE 0.15.0 and earlier

Changes to SCONE are officially published since version 0.16.0

  • (external edit)