SmoothSphereHalfSpaceForce, which has now been removed from the Moco
codebase. The interface to this class has been updated to use
OpenSim's ContactSphere and ContactHalfSpace classes, so your models
must be updated in order to continue using this component. You can refer
to the gait model included with example2DWalking for the correct XML
syntax and view a file "diff" of the changes here:
https://github.com/opensim-org/opensim-moco/commit/ccd39f82acba5f23ebc3423eb40d2197d6d41d8b#diff-eb627df1f2a265a84a30b7c6b4f92999.

Contact tracking was added as an option to example2Dwalking, and
MocoContactTrackingGoal was updated to support contact spheres
distributed across multiple bodies. MocoControlTrackingGoal was updated
to more easily associate controls to reference data, as demonstrated by
a new electromyography tracking option added to exampleMocoInverse.  A
"projection" setting was added to MocoFrameDistanceConstraint to
provide more flexibility in posing this constraint.

DeGrooteFregly2016Muscle's passive force multiplier now has a stiffness
parameter. To support this change, the curve was tweaked slightly. This
may have a minor effect on solutions relying on passive fiber forces.
The maximum difference between the new and old passive force-length
curves is 0.07 (unitless).

Finally, we've included various bug fixes in this release:
- Fixed a bug where MocoPeriodicityGoal incorrectly specified control constraints
- Fixed an error that occurs when using ModOpRemoveMuscles
- Fixed some default pelvis and lumbar parameters in createPeriodicTrajectory()
- Added some missing MATLAB and Python commands to the bindings

More details about this release are in the CHANGELOG.md file.