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Draft: Bugfixes and final changes for 4.0.0 release

Robin van Esch requested to merge release_v4.0.0 into develop
  • Moved rst files for the read the docs user guide and tutorials to separate directories and added captions to the toc tree in index.rst.
  • Changed grouping relaxation and sub-parameter options to not have a default and require either the relaxation or all sub-values to be set.

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