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Some bug fixes and final changes for release in 4.0.0

Robin van Esch requested to merge merge_release_v4.0.0_to_develop 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.
  • Made group --relaxation option required (either relaxation or ALL sub-values must be given)

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