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 +~~NOCACHE~~
 +====== SCONE Version History ======
  
 +==== SCONE 1.5.0 ====
 +//Released June 19, 2020//
 +
 +=== New Features ===
 +  * New ''​Parameter View''​ window that shows all optimization parameters in the current scenario.
 +  * New ''​Evaluation Report''​ window that shows the measure results from the most recent evaluation.
 +  * Context-sensitive help: pressing F1 in the scenario shows on-line help for the keyword under the cursor.
 +  * New ''​StepMeasure''​ for penalizing stride length and/or step duration, thanks to **Dimitar Stanev**.
 +  * ''​GaitStateController''​ can now have single-sided controllers,​ using the ''​legs''​ parameter.
 +  * Help menu now has links for ''​About...''​ and ''​User Forum''​
 +  * New (very useful!) text editor option: Press ''​Ctrl + /''​ to toggle comments for the current selection.
 +  * ''​.scone''​ files now support ''​%%//​%%''​ and ''/​*''​ ''​*/''​ style comments.
 +  * New menu option ''​Window -> Reset Window Layout''​ to restore the original window layout.
 +  * ''​EffortMeasure''​ now supports ''​SquaredMuscleActivation''​.
 +  * ''​SequentialController''​ now outputs which controller is active in the AnalysisWindow,​ as '​active_index'​. Closes #200.
 +  * ''​FeedForwardController''​ now has ''​include''​ and ''​exclude''​ settings for targeting specific actuators.
 +  * Measures now have a ''​threshold_transition setting''​ for gradually decreasing the measure if they approach the threshold (if any). 
 +  * ''​BodyMeasure''​ now uses ''​direction''​ and has option for magnitude.
 +  * ''​GaitMeasure''​ ''​base_bodies''​ now use model foot bodies by default, instead of toes_l / toes_r. This will result in a slightly different outcome for existing scenarios that have no ''​base_bodies''​ specified.
 +  * New command line option -b for benchmarking a scenario
 +  * ''​MimicMeasure''​ now has ''​average_error_limit''​ and ''​peak_error_limit''​ options for early termination
 +  * Option to store linear and angular momentum.
 +
 +=== Updates and Fixes ===
 +  * ''​Edit -> Find''​ and ''​Find Next''​ now also work with .lua files.
 +  * Find Text now starts at the next occurrence. Added a hint for using F3 / Shift + F3. Closes #188.
 +  * ''​RangePenalty''​ documentation now shows min and max parameters instead of '​range'​.
 +  * The ''​RangePenalty''​ default of (-inf, inf) now works correctly with angle types, such as in ''​DofMeasure''​ postion / velocity.
 +  * When creating a video while ffmpeg is not found, an error message is shown instead of a silent exit.
 +  * Fixed issue where loading an invalid OpenSim model could crash SCONE.
 +  * Fixed tab order in AnalysisView tab order between filter and select checkbox.
 +  * Error for unnamed child controllers is now warning again.
 +  * Fixed rare invalid cycle detection in Gait Analysis.
 +  * Fixed Lua automatic indentation when using '​for'​ or '​while'​.
 +  * Simulation no longer crashes when no controller is defined.
 +  * Models are now called ModelOpenSim3 / ModelOpenSim4 to be consistent with the online help. Tutorials have been updated.
 +  * Current optimization progress is now shown in optimization window tooltip.
 +  * SCONE now always logs to the terminal under Linux.
 +  * Message "​Invalid scenario settings"​ now shows invalid setting(s) in message window.
 +  * Gait Analysis now provides more useful error messages when loading a template.
 +  * No longer is a restart required after selecting a different gait analysis template.
 +
 +==== SCONE 1.4.0 ====
 +//Released March 3, 2020//
 +
 +=== New Features and Updates ===
 +  * Gait Analysis support, allowing users to extract gait cycles from simulation results, and compare gait parameters to norm data
 +  * Scripting improvements and updates:
 +    * Greatly improved error handling in Lua scripts, closes #184, closes #80, closes #81
 +    * ScriptMeasure and ScriptController now support '​external_files',​ which can be used to add files included by a '​require'​ keyword. closes ​
 +    * Support for automatic indentation when editing Lua files
 +    * Renamed LuaMuscle::​fiber_force() to LuaMuscle:​force()
 +  * Video output and visualization:​
 +    * Add option to automatically set resolution of a video by resizing the viewer window (floating windows only)
 +    * Video output now supports mp4 (default), avi and mov container formats
 +    * Added optional visualization of Body Center of Mass (COM)
 +  * Data analysis:
 +    * Added option to permanently '​Keep'​ specific graphs in the Analysis window (''​Ctrl+Shift+k''​),​ allowing easy comparison between different results
 +    * Added option to extract specific channels to separate tab-separated file, via ''​Tools -> Preferences -> Advanced''​
 +    * Added option to output relation between dof and muscle length to file, via ''​Tools -> Muscle Analysis''​
 +    * Added option to show model information to the messages window, via ''​Tools -> &Model Analysis''​
 +  * FeedForwardController now supports ''​SineWave'',​ with parameterizable ''​amplitude'',​ ''​frequency'',​ ''​phase'',​ and ''​offset''​
 +  * Added ''​initial_equilibration_activation''​ parameter for to Model
 +  * Pressing ''​F2''​ in Optimization Results now allows renaming files and folders
 +
 +=== Fixes ===
 +  * Fix several crashes related to scenario or script errors
 +  * Progress window now report error message in case of flat fitness on first generation
 +  * Fixed message "Could not find Optimizer":​ SCONE no longer tries to evaluate a .scone file that doesn'​t have the word "​Optimizer"​ in it
 +  * Pressing "​Cancel"​ when asked to "Save Changes"​ now works correctly
 +  * Fixed default file type when using "File -> Save As...",​ closes #186
 +  * Fixed crash when trying that write to an .sto that is open in anther program, closes #185
 +  * Fixed GaitMeasure step length and step duration reporting
 +  * EffortMeasure Wang2012 is now guaranteed to be non-negative
 +  * Fixed potential crashes in SconeStorageDataModel::​timeValue(),​ SconeStorageDataModel::​label() and SconeStorageDataModel::​getSeries()
 +  * Many documentation fixes and updates
 +  * Viewer no longer gets keyboard focus after evaluating a .par file
 +  * Double-clicking a folder in "​Optimization Results"​ now opens the folder instead of showing an error
 +
 +==== SCONE 1.3.3 ====
 +//Released January 7, 2020//
 +
 +=== New Features and Updates ===
 +
 +  * Updates to ScriptController and ScriptMeasure:​
 +    * LuaBody now has support for mass(), inertia_diagonal(),​ closes #176
 +    * LuaDofs can now be used as actuators, through is_actuated(),​ add_input(),​ input(), min_input(),​ max_input(),​ min_torque(),​ max_torque(). See online documentation for details. closes #177
 +    * Added Lua string library to ScriptController and ScriptMeasure,​ closes #95
 +    * ScriptController init function now has '​side'​ parameter, which denotes if the controller is for a specific side (-1 = left, 0 = any, 1 = right). closes #96 
 +    * Documentation updates
 +  * Added support for concurrent_optimizations in CmaPoolOptimizer
 +  * New output channels for muscles: mtu_length, mtu_velocity
 +  * Improved performance of writing .sto output
 +  * Added simulation statistics in output
 +
 +=== Fixes ===
 +  * StudioModel no longer crashes when objective is no ModelObjective
 +  * Fixed crash when trying to save as an unknown file format
 +  * Improved error message when an invalid state is entered in GaitStateController. closes #179
 +
 +==== 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 ===
 +  * Documentation updates
 +  * Updates to unit testing
 +  * SCONE now uses OpenSceneGraph 3.4.1 (see https://​openscenegraph.org)
 +
 +=== 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//