Release Name: OpenSim 2.0
New Functionality 1. Contact functionality has been integrated using two different contact models. 2. Ability to use more than 2 external forces in various tools (used to be up to 2). 3. Switch to an error-controlled and more robust RungeKutta-Merson- Integrator from SimTK. 4. The API to allow creating new Model Components particularly Actuators, Analyses and Controllers. 5. The ability to use the full OpenSim functionality outside the GUI, including embedding the OpenSim libraries in other C++ frameworks or interfacing to other frameworks. Documentation: 1. Full Doxygen documentation of the API classes included with the distribution 2. Release of the OpenSim Developers' Guide 3. Examples using the API to create models, run Optimization Studies, define Controllers and create new Muscle Models. Bug Fixes: 1. Model Gait2354 in the examples directory now has more realistic optimal fiber-length (.05). Known Limitations: 1. The Perturb application has some limitations: gravity perturbation is always off and the muscle perturbations are not being reset. Notes: 1. Platform dependent libraries are included, depending on user's development environment, the corresponding binary distribution is required.