Differences
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changes [2021/06/28 11:04] – created thomas | changes [2023/12/14 15:42] (current) – external edit 127.0.0.1 | ||
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====== SCONE Version History ====== | ====== SCONE Version History ====== | ||
+ | |||
+ | ==== SCONE 2.3.0 ==== | ||
+ | //Released December 14, 2023// | ||
+ | |||
+ | === New Features === | ||
+ | * Full integration and support for Reinforcement Learning research via the SconePy Python API, see https:// | ||
+ | * New Model Analysis window, for plotting muscles properties against model coordinates | ||
+ | * New Examples and Tutorials based on improved models, including 3D examples | ||
+ | |||
+ | === SCONE Studio Updates === | ||
+ | * 3D viewer updates | ||
+ | * Ground tiles now remain visible when the model moves beyond the ground plane size | ||
+ | * Viewer now has a separate default color for object geometry | ||
+ | * Improved shadow rendering when mulitple objects are in the scene | ||
+ | * Improved shadow rendering for scenes with static geometry | ||
+ | * Added option to disable shadow casting for force arrows and static geometry | ||
+ | * Contact geometry can now be hidden without hiding static geometry | ||
+ | * Default contact geometry color is now the same as bone color | ||
+ | * Contact force arrows can now be semi-transparent | ||
+ | * Added option to automatic orbit the camera during playback | ||
+ | * Playback speed can now be changed while making a video | ||
+ | * You can now click on the Analysis graph legend to move it out of the way | ||
+ | * Fixed dark mode support for macOS | ||
+ | |||
+ | === SCONE Updates === | ||
+ | * Models now support min/ | ||
+ | * Hyfydy models now support ligaments (preview) | ||
+ | * NoiseController now supports deterministic randomized random seeds when random_seed = 0 | ||
+ | * GaitMeasure option continue_after_fall [s] | ||
+ | * Removed warning " | ||
+ | * Muscles in Model Info now contain muscle path | ||
+ | * LuaModel find_body_index | ||
+ | |||
+ | === Fixes === | ||
+ | * 3D viewer camera now keeps focus point when setting the camera position (using r, x, y or z) | ||
+ | * Muscle excitation values in OpenSim models are now correctly clamped when queried; this slightly increases the overall metabolic energy consumption measures for OpenSim models (fixes #7) | ||
+ | * Removed defunct sconepy.Muscle.set_excitation(), | ||
+ | * Automatic reload now also works after Save As | ||
+ | * Active scenario now favors current tab | ||
+ | * Missing Gait Analysis plot data is now a warning instead of an error | ||
+ | * SCONE Studio now opens .scone files when clicked | ||
+ | * The ' | ||
+ | |||
+ | ==== SCONE 2.2.1 ==== | ||
+ | //Released June 7, 2023// | ||
+ | |||
+ | === New Features === | ||
+ | * SCONE Studio now automatically reloads open files that were modified in another editor | ||
+ | * ScriptController can now have child Controllers, | ||
+ | * Hyfydy now supports sphere-capsule and capsule-capsule collisions | ||
+ | * Hyfydy has a major increase in collision performance when there are many collision geometries | ||
+ | |||
+ | === Updates === | ||
+ | * Reflex min/ | ||
+ | * Added SconePy.Model.get_tendon_length() | ||
+ | * Simulation statistics now includes simulation_step_size and simulation_step_count | ||
+ | * EffortMeasure now stores individual muscle efforts for Wang2012 and Uchida2016 | ||
+ | * Default contact geometry transparency is now 0.5 | ||
+ | * Progress bar during evaluation is now more responsive | ||
+ | * Model asymmetry check now shows specific asymmetries | ||
+ | |||
+ | === Fixes === | ||
+ | * DofMeasure units are now in meters for translational Dofs, added " | ||
+ | * SequentialController now only writes data for the active controller, preventing controller data from being overwritten by inactive controllers | ||
+ | |||
+ | ==== SCONE 2.2.0 ==== | ||
+ | //Released April 9, 2023// | ||
+ | |||
+ | === New Features === | ||
+ | * gui_profiler | ||
+ | * Messages log level can now be set in Preferences -> Scone Studio -> User Interface Settings | ||
+ | |||
+ | === Updates === | ||
+ | * Updated progress graph refresh rate and message | ||
+ | * 3D Viewer can now visualize contact forces using a single arrow per body (Preferences -> User Interface -> Combine body contact forces) | ||
+ | * Objectives can now be evaluated even if they contain no free parameters | ||
+ | * Analysis view now has maximum zoom level and better edge handling | ||
+ | * Data analysis and playback now remains available after simulation errors | ||
+ | * Models can now be evaluated without ModelObjective; | ||
+ | |||
+ | ==== SCONE 2.2.0 ==== | ||
+ | //Released April 3, 2023// | ||
+ | |||
+ | === New Features === | ||
+ | * SCONE is now officially supported on macOS | ||
+ | * SconePy now supports using SCONE Measures to be used for Reinforcement Learning via '' | ||
+ | * Hyfydy models now use a new integrator by default, increasing both performance and accuracy | ||
+ | |||
+ | === Updates === | ||
+ | * Hyfydy Tutorials and Examples no longer include HfdConfig | ||
+ | * Optimization / Evaluation | ||
+ | * Optimizers now have use_best_as_mean setting | ||
+ | * Objectives can now be evaluated even if they contain no free parameters | ||
+ | * Models can now be evaluated without ModelObjective; | ||
+ | * Controllers and Measures can now be defined inside Models without type property | ||
+ | * SconePy | ||
+ | * sconepy.quaternion.get_rotation_vector() | ||
+ | * sconepy.Body.com_acc(), | ||
+ | * sconepy.model.log_measure_report() | ||
+ | * sconepy.model.set_simulation_end_time(), | ||
+ | * sconepy.current_measure(), | ||
+ | * Progress graph | ||
+ | * Progress graph refresh rate can now be configured | ||
+ | * Progress window now shows optimization time | ||
+ | * Analysis view | ||
+ | * Analysis view now has maximum zoom level and better edge handling | ||
+ | * Data analysis and playback now remains available after simulation errors | ||
+ | * 3D Viewer can now visualize contact forces using a single arrow per body (Preferences -> User Interface -> Combine body contact forces) | ||
+ | * Messages log level can now be set in Preferences -> Scone Studio -> User Interface Settings | ||
+ | * Asymmetric model components are now shown in the Model Info window | ||
+ | * GaitStateController now has use_model_com_reference_pos for state transitions based on sagittal_pos | ||
+ | |||
+ | === Fixes === | ||
+ | * OpenSim models now correctly load init_state when initial_load = 0 | ||
+ | * ModelConverter now mirrors joint limits correctly | ||
+ | * '' | ||
+ | * scone_version is now added in LoadScenario() if a .par file is loaded | ||
+ | * Model components are now properly cleared, fixes User Input / Blueprint crash | ||
+ | * CmaPoolOptimizer now has better documentation | ||
+ | |||
+ | ==== SCONE 2.1.0 ==== | ||
+ | //Released January 9, 2023// | ||
+ | |||
+ | === New Features === | ||
+ | * SCONE now includes a **Python API**, designed and streamlined for **machine learning** applications. Click [[https:// | ||
+ | * SCONE now fully supports Linux (Ubuntu 20.04 or higher). It can be [[https:// | ||
+ | * Added support for converting OpenSim4 models and scenarios to Hyfydy, via '' | ||
+ | |||
+ | === Updates === | ||
+ | * Measures: | ||
+ | * MuscleMeasure now supports '' | ||
+ | * EffortMeasure now supports measure type '' | ||
+ | * DofMeasure now supports '' | ||
+ | * DofMeasure ' | ||
+ | * Optimization: | ||
+ | * Improved '' | ||
+ | * Optimizers now have the option to specify multiple init files, each with its own settings, using the '' | ||
+ | * CmaOptimizer now has '' | ||
+ | * Added Optimizer setting '' | ||
+ | * 3D visualizer: | ||
+ | * The 3D visualizer can now follow specific bodies via the setting view.camera_follow_body. | ||
+ | * Perturbation forces are now visualized with longer and thinner arrows. | ||
+ | * Gait Analysis: | ||
+ | * Gait Analysis plots now automatically extend the Y-axis range to fit the data. | ||
+ | * Added option to set font sizes for gait analysis plots (Tools -> Preferences -> User Interface -> Gait Analysis). | ||
+ | * ScriptController / ScriptMeasure: | ||
+ | * Lua scripts can now convert quaternions to euler angles, via SconePy.Quat.to_euler() | ||
+ | * LuaJoint.reaction_force(), | ||
+ | * Added muscle_tendon_length() and muscle_tendon_velocity(), | ||
+ | * The current timestamp can now be accessed in Lua script update() functions, via update( model, timestamp ). This allows ScriptController scripts to easily access the time since a controller is activated. | ||
+ | * .sto files can now be played back without Optimizer. | ||
+ | * Extracted data channels now includes time column. | ||
+ | * Model now supports '' | ||
+ | * OpenSim 4 simulations now only log errors. | ||
+ | * Added option to enter a Hyfydy License Key via the SCONE command line interface (sconecmd). | ||
+ | * Updated Help -> About license information. | ||
+ | |||
+ | === Fixes === | ||
+ | * Fixed issue where 3D Viewer window would stop working after a simulation error. | ||
+ | * Improved finding the SCONE install folder and related error handling. | ||
+ | * Fixed issue where SCONE Studio would not work properly if the system locale has comma as decimal separator (Linux). | ||
+ | * Folders are no longer stored in settings if they are the default. | ||
+ | * '' | ||
+ | * Default ModelOpenSim3:: | ||
+ | * Fixed signs for contralateral '' | ||
+ | * Reflex parameters with source from opposite side now have _o postfix. | ||
+ | * Move text editor cursor to line start after '' | ||
+ | * Improved error handling when updating tutorials and examples. | ||
+ | * Updated error message when ffmpeg is missing. | ||
+ | * Removed warning for when muscle tendon length is smaller than zero. | ||
+ | |||
+ | ==== SCONE 2.0.6 ==== | ||
+ | //Released July 26, 2022// | ||
+ | |||
+ | === New Features === | ||
+ | * Optimizers now have the option to specify multiple init files, each with its own settings, using the '' | ||
+ | |||
+ | === Updates === | ||
+ | * Lua Scripts now support the following functions: | ||
+ | * '' | ||
+ | * '' | ||
+ | * '' | ||
+ | * '' | ||
+ | * '' | ||
+ | * '' | ||
+ | * '' | ||
+ | * '' | ||
+ | * renamed '' | ||
+ | * Lua scripts can now convert quaternions to euler angles, using '' | ||
+ | * ReflexController '' | ||
+ | * MuscleMeasure now supports " | ||
+ | * '' | ||
+ | * Perturbation forces are now visualized with longer and thinner arrows, to improve visibility. | ||
+ | * Added option to set font sizes for gait analysis plots (Tools -> Preferences -> User Interface -> Gait Analysis). | ||
+ | * Removed scone_settings_schema.zml external file dependency. | ||
+ | |||
+ | === Fixes === | ||
+ | * Fixed signs for contralateral BodyEulerOriSensor and BodyAngularVelocitySensor. | ||
+ | * Reflex parameters with source from opposite side now have _o postfix. | ||
+ | |||
+ | ==== SCONE 2.0.5 ==== | ||
+ | //Released May 27, 2022// | ||
+ | |||
+ | === Updates === | ||
+ | * New Lua Script functions for muscles: tendon_length(), | ||
+ | * Gait Analysis plots now have ' | ||
+ | * Reflexes now have ' | ||
+ | * Model conversion tool now remembers previous input name | ||
+ | |||
+ | === Fixes === | ||
+ | * Measure " | ||
+ | |||
+ | ==== SCONE 2.0.4 ==== | ||
+ | //Released May 13, 2022// | ||
+ | |||
+ | === New Features === | ||
+ | * Writing evaluation data to .sto files is now optional (via Preferences -> User Interface -> File settings), data can now be written manually to .sto files via File -> Save Evaluation Data (Ctrl+Shift+E). | ||
+ | * config.scone can now be opened directly from the Optimization Results browser. | ||
+ | * GaitStateController, | ||
+ | * New BodyEulerOriSensor to replace broken BodyOrientationSensor, | ||
+ | * DofReflex and BodyOrientationReflex now have '' | ||
+ | |||
+ | === Updates === | ||
+ | * Evaluation results are now written to file in the background to decrease waiting time. | ||
+ | * Greatly improved MimicMeasure performance through data caching. | ||
+ | |||
+ | === Fixes === | ||
+ | * Fixed issue when pressing enter on a directory to evaluate the latest .par would fail after the file had been deleted. | ||
+ | * BodyOrientationReflex opposite bodies now work correctly, using bodyname_o. | ||
+ | * Performance evaluation (Ctrl+P) with ReplicationObjective now works properly. | ||
+ | |||
+ | ==== SCONE 2.0.3 ==== | ||
+ | //Released April 19, 2022// | ||
+ | |||
+ | === Updates === | ||
+ | * Updated Model Conversion user interface | ||
+ | |||
+ | === Fixes === | ||
+ | * Fixed issue causing the Model Conversion Tool to remove bodies attached by WeldJoints | ||
+ | * Fixed automatic indentation with ' | ||
+ | |||
+ | ==== SCONE 2.0.2 ==== | ||
+ | //Released April 6, 2022// | ||
+ | |||
+ | === Updates === | ||
+ | * Added option to export muscle activations from Coordinates | ||
+ | * Actuator Input data now includes muscle excitation | ||
+ | * Added support for activations in state_init_file, | ||
+ | * Optimization Results and Analysis can now be activated through shortcut shown in Windows menu | ||
+ | |||
+ | === Fixes === | ||
+ | * Fixed joint_motor_force max_torque application | ||
+ | * Fixed rounding error of sliders in CoordinateEditor | ||
+ | * Fixed video generation during playback (closes #4) | ||
+ | |||
+ | ==== SCONE 2.0.1 ==== | ||
+ | //Released March 17, 2022// | ||
+ | |||
+ | === Updates === | ||
+ | * MimicMeasure can now read both .sto and .txt | ||
+ | * MimicMeasure now has activation_error_weight | ||
+ | * ReflexController now has new BodyOrientationReflex (experimental) | ||
+ | |||
+ | === Fixes === | ||
+ | * Fixed rounding error of sliders in CoordinateEditor | ||
+ | * Fixed visualization of .obj files with extra orientation in transform | ||
+ | |||
+ | ==== SCONE 2.0.0 ==== | ||
+ | //Released February 18, 2022// | ||
+ | |||
+ | SCONE 2.0 is a **major new release** with following new features: | ||
+ | * Support for //new simulation engines// OpenSim 4.3 and Hyfydy, allowing for the latest features and drastically improved optimization speeds (using Hyfydy). | ||
+ | * //Select muscles and bodies// directly in the 3D viewer. | ||
+ | * New //Model Information// | ||
+ | * New // | ||
+ | * Updated //Tutorials and Examples//. | ||
+ | * Several improvements to the //Editor//, // | ||
+ | |||
+ | === New Simulation Engines === | ||
+ | SCONE includes support for the following simulation engines: | ||
+ | * [[https:// | ||
+ | * [[https:// | ||
+ | * [[https:// | ||
+ | |||
+ | All Controllers and Measures can be used interchangeably with each of these simulation engines. All engines are included in the Windows 64 bit installer for SCONE. | ||
+ | |||
+ | **Hyfydy** is state-of-the-art musculoskeletal simulation software that provides a 50-100x speedup over OpenSim. See https:// | ||
+ | |||
+ | === Tutorials and Examples === | ||
+ | * All Tutorials have been updated and fine-tuned and are now available for both OpenSim and Hyfydy. | ||
+ | * Additional Examples are now included for OpenSim3, OpenSim4 and Hyfydy. | ||
+ | |||
+ | === New Components === | ||
+ | * New //Model Info// window that shows all model properties. It can be activated by clicking on muscles or bodies in the 3D viewer. | ||
+ | * New // | ||
+ | * New // | ||
+ | |||
+ | === 3D Visualizer Improvements === | ||
+ | * Hover over any muscle or body in the 3D viewer to see its name; click to see its properties. | ||
+ | * Muscle color can now represent activation, force or fiber length. | ||
+ | * Model geometry is now cached and loads much faster when a scenario is reloaded. | ||
+ | * Added visualization of model center-of-mass, | ||
+ | * Viewer now supports static camera (enable via '' | ||
+ | * Added configuration options for tile size, tile count and contact geometry transparency. | ||
+ | * Fixed shading of scaled geometry files. | ||
+ | * Fixed scaling of .obj geometry. | ||
+ | * Many other visualization improvements and fixes. | ||
+ | |||
+ | === Editor Improvements === | ||
+ | * Added support for drag-and-drop from the Windows File Explorer to open files. | ||
+ | * Toggle comments via '' | ||
+ | * Duplicate selected text or the current line via '' | ||
+ | * Reload the current document via '' | ||
+ | * Scenario files now support inline macro expansion, e.g. ''" | ||
+ | * Many more minor improvements and fixes. | ||
+ | |||
+ | === Analysis Improvements === | ||
+ | * Added support for outputting muscle moments, moment arms, coordinate moments and powers. | ||
+ | * Added option to keep all data frames for analysis, but not for file storage. | ||
+ | * The Analysis graph now automatically scales the Y-axis to fit the data shown. | ||
+ | * Analysis view filter now supports wildcards (* and ?); activate filter with '' | ||
+ | * Several Gait Analysis improvements and fixes. | ||
+ | |||
+ | === Optimization Improvements === | ||
+ | * Current SCONE version is now stored in results to improve backwards compatibility in the future. | ||
+ | * Improved error handling and reporting in optimizations. | ||
+ | * New settings '' | ||
+ | * The Optimization Results file browser now allows users to move multiple files or folders to the recycle bin at once. | ||
+ | * Pressing the return key on a folder in Optimization Results automatically evaluates the most recent .par file in that folder. | ||
+ | * Many more fixes and improvements. | ||
+ | |||
+ | === Other Improvements === | ||
+ | * Optimization Results can now be benchmarked with Ctrl+P and Ctrl+Shift+P. | ||
+ | |||
+ | * When editing preferences, | ||
+ | |||
+ | === Other Fixes === | ||
+ | * Camera and view settings are now applied correctly on scenario load. | ||
+ | * Added extra checks to prevent crash in case of missing filenames. | ||
+ | * fixed issue where camera control would stop working after saving image. | ||
+ | * Analysis cursor position is now more accurate with irregular time intervals. | ||
+ | * Muscles that connect to both sides of the root segment are now handled correctly | ||
+ | * Analysis windows are now updated correctly after loading a .sto from the optimization results (#247). | ||
+ | * Updated warning message when gait analysis channels are missing, removed message: " | ||
+ | * sconecmd now supports -r in combination with -o (#230). | ||
+ | * GaitStateController transition parameters are now optimized individually when symmetric = 0 (#214). | ||
+ | * GaitStateController shows an error message (instead of crashing) when an uneven number of legs has been detected. | ||
+ | * MimicMeasure:: | ||
+ | * SequentialController now correctly stores Analysis data of child controllers. | ||
+ | * Fixed issue where evaluation would start automatically when loading while playback is active. | ||
+ | * Line widths in Analysis view and progress windows now default to 1. It turns out other values lead to poor performance. | ||
+ | * Fixed checking if document is modified, increasing editing performance. | ||
+ | * Editor now gets focus after opening file. | ||
+ | * MimicMeasure error limits are now disabled (0) by default, peak_error_limit is set to 2 * average_error_limit by default. | ||
+ | * Updated documentation for GaitStateController and GaitMeasure (#69). | ||
+ | * EffortMeasure computation is now correct again when use_cost_of_transport = 0. | ||
+ | * CmaPoolOptimizer now works again. | ||
+ | * Fixed inaccurate warning of unused parameters in CmaPoolOptimizer. | ||
+ | * Fixed progress graph zooming with pooled CmaPoolOptimizer. | ||
+ | * pooled_evaluator is now properly initialized so it doesn' | ||
+ | * EffortMeasure now shows name in Analysis Window and .sto output. | ||
+ | * Fixed incorrect optimization timing when optimizations took longer than 922 seconds. | ||
==== SCONE 1.5.0 ==== | ==== SCONE 1.5.0 ==== | ||
Line 186: | Line 548: | ||
* Improved support for defining symmetric / asymmetric controllsers. The ' | * Improved support for defining symmetric / asymmetric controllsers. The ' | ||
* Scripting (ScriptMeasure and ScriptController): | * Scripting (ScriptMeasure and ScriptController): | ||
- | * Added support store_data() for writing data to .sto and SCONE analysis window | + | |
- | * Improved error handling and reporting for scripts | + | * Improved error handling and reporting for scripts |
- | * added body: | + | * added body: |
- | * added functionality to LuaVec3 and LuaQuat (see reference manual) | + | * added functionality to LuaVec3 and LuaQuat (see reference manual) |
* Added warning in folder preferences dialog to avoid network drives (issue #53) | * Added warning in folder preferences dialog to avoid network drives (issue #53) | ||
* Pressing F5 will now evaluate the currently active scenario (if any) | * Pressing F5 will now evaluate the currently active scenario (if any) | ||
Line 231: | Line 593: | ||
* The SCONE Studio editor now supports Find (Ctrl+F) and Find Next / Previous (F3 / Shift+F3) | * The SCONE Studio editor now supports Find (Ctrl+F) and Find Next / Previous (F3 / Shift+F3) | ||
* The .SCONE file format is now more strict: | * The .SCONE file format is now more strict: | ||
- | * Comments using '';' | + | * Comments using ''; |
* Only single line comments '#' | * Only single line comments '#' | ||
* Improved unit testing | * Improved unit testing | ||
Line 348: | Line 710: | ||
=== New Features and Updates === | === New Features and Updates === | ||
* MuscleReflex can now act with activation as source (using KA, A0 and allow_neg_A) | * MuscleReflex can now act with activation as source (using KA, A0 and allow_neg_A) | ||
- | * Reflexes can now use contralateral sources, using `_o` postfix. | + | * Reflexes can now use contralateral sources, using '' |
* Added initial_load and initial_load_dof to allow control over the initial position of the model | * Added initial_load and initial_load_dof to allow control over the initial position of the model | ||
| |