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  • We added support in Moco for IMUTracking and EMGTracking.
  • We also added the ability to optimize scale factors, including the component MocoScaleFactor. There is also a new interface for MocoGoals to add these scale factors to a MocoProblem. This functionality allows users to, for example, (ADD EXAMPLE)to scale the tracking reference data associated with a control in the tracking cost when tracking EMG data using MocoControlTrackingGoal.


New Features and Examples for Matlab Users:

  • New examples show how to track IMU and EMG signals with Moco in both Matlab and Python. Find these examples (ADD LOCATION)examples under the ResourcesDir/Code/Matlab/Moco & 
  • ResourcesDir/Code/Python/Moco.


Improvements and Additions to the API for Matlab, Python, and C++ Users:

  • We added a "createSyntheticIMUAccelerationSignals" method to create Synthetic IMU data in SimulationUtilities. (What is the method called?)
  • Scripting users can now access the API documentation (Doxygen) through scripting in Matlab and Python. (How to accessThe documentation is available in Java files, but not clear how to show in Matlab, the Python side only work partially because of SWIG bugs that are still in progress, my remove this line item since not robust?)


Bug Fixes and Performance Enhancements:

  • We fixed a bug with Actuation analysis that would lead to extra columns in the output when an actuator is disabled (Issue #2977)
  • We fixed an issue where incorrect header information was produced in BodyKinematics file output
  • We fixed a bug applying non-uniform scaling to inertia matrix of a Body due to using local variable of type SysMat33 which resulted in non-uniform scaling of Body not being applied to inertia (Issue #2871) (What exactly was happening previously? Effect to users is not completely clear) 


Upgrade Notes:

  • The default installation of OpenSim comes with bindings built against Python 3.8 and Numpy 1.20. Note that the installation process on windows has changed to follow the python 3.8 changes to how libraries are located as described here Scripting in Python. (What exactly changed in the install? Does this just affect Python users? Yes, only users of python on windows need to run a script before install as described on the linked page. Too many details/conditions to describe here, that's why it's linked rather than repeated.)


Full list of changes and updates:

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