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@@ -870,7 +870,7 @@ If you want to contribute to Pose2Sim, please follow [this guide](https://docs.g
 ✔ **OpenSim:** Integrate better spine from [lifting fullbody model](https://pubmed.ncbi.nlm.nih.gov/30714401) to the [gait full-body model](https://nmbl.stanford.edu/wp-content/uploads/07505900.pdf), more accurate for the knee.
 ✔ **OpenSim:** Optimize model marker positions as compared to ground-truth marker-based positions.
 ✔ **OpenSim:** Add scaling and inverse kinematics setup files.
-▢ **OpenSim:** Add muscles from OpenSim [lifting full-body model](https://simtk.org/projects/lfbmodel), add Hertzian footground contacts, for inverse dynamics and more.
+✔ **OpenSim:** Add full model with contact spheres ([SmoothSphereHalfSpaceForce](https://simtk.org/api_docs/opensim/api_docs/classOpenSim_1_1SmoothSphereHalfSpaceForce.html#details)) and full-body muscles ([DeGrooteFregly2016Muscle](https://simtk.org/api_docs/opensim/api_docs/classOpenSim_1_1DeGrooteFregly2016Muscle.html#details)), for [Moco](https://opensim-org.github.io/opensim-moco-site/) for example.
 ▢ **OpenSim:** Implement optimal fixed-interval Kalman smoothing for inverse kinematics ([this OpenSim fork](https://github.com/antoinefalisse/opensim-core/blob/kalman_smoother/OpenSim/Tools/InverseKinematicsKSTool.cpp)), or [Biorbd](https://github.com/pyomeca/biorbd/blob/f776fe02e1472aebe94a5c89f0309360b52e2cbc/src/RigidBody/KalmanReconsMarkers.cpp))
 
 ▢ **GUI:** 3D plot of cameras and of triangulated keypoints.