diff --git a/.github/workflows/push_matlab_eigen_binaries.yml b/.github/workflows/push_matlab_eigen_binaries.yml new file mode 100644 index 00000000..d855bca3 --- /dev/null +++ b/.github/workflows/push_matlab_eigen_binaries.yml @@ -0,0 +1,122 @@ +name: Publish MATLAB binaries + +on: + release: + types: [published] + +env: + BUILD_FOLDER: build + EXAMPLES_FOLDER: examples + +jobs: + build: + strategy: + matrix: + os: [ubuntu-latest, macos-13-arm64, macos-13, windows-latest] + include: + - os: ubuntu-latest + label: linux-64 + prefix: /usr/share/miniconda3/envs/biorbd_eigen + - os: macos-13-arm64 + label: osx-arm64 + prefix: /Users/runner/miniconda3/envs/biorbd_eigen + - os: macos-13 + label: osx-intel + prefix: /Users/runner/miniconda3/envs/biorbd_eigen + - os: windows-latest + label: win-64 + prefix: C:\Miniconda3\envs\biorbd_eigen + name: ${{ matrix.label }} + runs-on: ${{ matrix.os }} + defaults: + run: + shell: bash -l {0} + steps: + - name: Checkout code + uses: actions/checkout@v4 + + - name: Get number of CPU cores + uses: SimenB/github-actions-cpu-cores@v1 + id: cpu-cores + + - name: Setup environment + uses: conda-incubator/setup-miniconda@v2 + with: + miniforge-variant: Mambaforge + miniforge-version: latest + use-mamba: true + activate-environment: biorbd_eigen + environment-file: environment_eigen.yml + + - name: Print mamba info + run: | + mamba info + mamba list + + - name: Setup Linux dependencies + run: | + sudo apt update + sudo apt install libstdc++-11-dev + if: matrix.label == 'linux-64' + + - name: Install extra common dependencies + run: | + mamba install cmake git pkgconfig swig pytest -cconda-forge + mamba list + git submodule update --init --recursive + + - name: Install MATLAB on WINDOWS, LINUX and MACOS-Intel + uses: matlab-actions/setup-matlab@v2 + if: matrix.label != 'osx-arm64' + + - name: Install MATLAB on MACOS-arm64 + uses: matlab-actions/setup-matlab@v2 + with: + release: R2023a + if: matrix.label == 'osx-arm64' + + - name: Build biorbd on UNIX + run: | + MAIN_FOLDER=`pwd` + cd + HOME=`pwd` + cd $MAIN_FOLDER + CONDA_ENV_PATH=$CONDA/envs/biorbd_eigen + mkdir -p $MAIN_FOLDER/$BUILD_FOLDER + cd $MAIN_FOLDER/$BUILD_FOLDER + cmake -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH -DMATH_LIBRARY_BACKEND="Eigen3" -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_TESTS=OFF -DBUILD_DOC=OFF -DBUILD_EXAMPLE=OFF -DMODULE_ACTUATORS=ON -DMODULE_KALMAN=ON -DMODULE_PASSIVE_TORQUES=ON -DMODULE_MUSCLES=ON -DBINDER_MATLAB=ON -DMatlab_biorbd_INSTALL_DIR=$HOME .. + make install -j${{ steps.cpu-cores.outputs.count }} + cd $MAIN_FOLDER + if: matrix.label != 'win-64' + + - name: Build biorbd on WINDOWS + run: | + MAIN_FOLDER=`pwd` + CONDA_ENV_PATH=$CONDA/envs/biorbd_eigen + mkdir -p $BUILD_FOLDER + cd $BUILD_FOLDER + cmake -G"Visual Studio 17 2022" -Ax64 -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH -DMATH_LIBRARY_BACKEND="Eigen3" -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_TESTS=OFF -DBUILD_DOC=OFF -DBUILD_EXAMPLE=OFF -DMODULE_ACTUATORS=ON -DMODULE_KALMAN=ON -DMODULE_MUSCLES=ON -DBINDER_MATLAB=ON -DMatlab_biorbd_INSTALL_DIR=$HOME .. + cmake --build . --config Release --target install -j${{ steps.cpu-cores.outputs.count }} + cd $MAIN_FOLDER + if: matrix.label == 'win-64' + + - name: Build MATLAB archives on UNIX + run: | + cp -r $HOME/biorbd_matlab . + zip -r biorbd_matlab_${{ matrix.label }}.zip biorbd_matlab + if: matrix.label != 'win-64' + + - name: Build MATLAB archives on WINDOWS + run: | + 7z a biorbd_matlab_${{ matrix.label }}.zip $HOME/biorbd_matlab + if: matrix.label == 'win-64' + + - name: Upload files to a GitHub release + uses: xresloader/upload-to-github-release@v1 + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + with: + file: "biorbd_eigen_matlab_${{ matrix.label }}.zip" + update_latest_release: true + verbose: true + overwrite: true diff --git a/.github/workflows/run_casadi_tests.yml b/.github/workflows/run_casadi_tests.yml index 5f1f9642..233075c0 100644 --- a/.github/workflows/run_casadi_tests.yml +++ b/.github/workflows/run_casadi_tests.yml @@ -10,12 +10,16 @@ jobs: build: strategy: matrix: + os: [ubuntu-latest, macos-14-arm64, macos-13, windows-latest] include: - - os: ubuntu-20.04 + - os: ubuntu-latest label: linux-64 prefix: /usr/share/miniconda3/envs/biorbd_casadi - - os: macos-latest - label: osx-64 + - os: macos-14-arm64 + label: osx-arm64 + prefix: /Users/runner/miniconda3/envs/biorbd_casadi + - os: macos-13 + label: osx-intel prefix: /Users/runner/miniconda3/envs/biorbd_casadi - os: windows-latest label: win-64 @@ -26,7 +30,8 @@ jobs: run: shell: bash -l {0} steps: - - uses: actions/checkout@v2 + - name: Checkout code + uses: actions/checkout@v4 - name: Get number of CPU cores uses: SimenB/github-actions-cpu-cores@v1 diff --git a/.github/workflows/run_codecoverage.yml b/.github/workflows/run_codecoverage.yml index 09905ba4..29d4c639 100644 --- a/.github/workflows/run_codecoverage.yml +++ b/.github/workflows/run_codecoverage.yml @@ -11,7 +11,7 @@ jobs: strategy: matrix: include: - - os: ubuntu-20.04 + - os: ubuntu-latest label: linux-64 prefix: /usr/share/miniconda3/envs/biorbd_eigen name: ${{ matrix.label }} diff --git a/.github/workflows/run_eigen_tests.yml b/.github/workflows/run_eigen_tests.yml index 5bada6a0..3a52b6da 100644 --- a/.github/workflows/run_eigen_tests.yml +++ b/.github/workflows/run_eigen_tests.yml @@ -10,13 +10,17 @@ jobs: build: strategy: matrix: + os: [ubuntu-latest, macos-13-arm64, macos-13, windows-latest] include: - - os: ubuntu-20.04 + - os: ubuntu-latest label: linux-64 prefix: /usr/share/miniconda3/envs/biorbd_eigen - - os: macos-latest - label: osx-64 - prefix: /Users/runner/miniconda3/envs/biorbd_casadi + - os: macos-13-arm64 + label: osx-arm64 + prefix: /Users/runner/miniconda3/envs/biorbd_eigen + - os: macos-13 + label: osx-intel + prefix: /Users/runner/miniconda3/envs/biorbd_eigen - os: windows-latest label: win-64 prefix: C:\Miniconda3\envs\biorbd_eigen @@ -26,7 +30,8 @@ jobs: run: shell: bash -l {0} steps: - - uses: actions/checkout@v2 + - name: Checkout code + uses: actions/checkout@v4 - name: Get number of CPU cores uses: SimenB/github-actions-cpu-cores@v1 @@ -51,20 +56,30 @@ jobs: sudo apt update sudo apt install libstdc++-11-dev if: matrix.label == 'linux-64' - + - name: Install extra common dependencies run: | mamba install cmake git pkgconfig swig pytest -cconda-forge mamba list git submodule update --init --recursive + - name: Install MATLAB on WINDOWS, LINUX and MACOS-Intel + uses: matlab-actions/setup-matlab@v2 + if: matrix.label != 'osx-arm64' + + - name: Install MATLAB on MACOS-arm64 + uses: matlab-actions/setup-matlab@v2 + with: + release: R2023a + if: matrix.label == 'osx-arm64' + - name: Build biorbd UNIX run: | BIORBD_FOLDER=`pwd` CONDA_ENV_PATH=$CONDA/envs/biorbd_eigen mkdir -p $BIORBD_FOLDER/$BUILD_FOLDER cd $BIORBD_FOLDER/$BUILD_FOLDER - cmake -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH -DMATH_LIBRARY_BACKEND="Eigen3" -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DMODULE_ACTUATORS=ON -DMODULE_KALMAN=ON -DMODULE_PASSIVE_TORQUES=ON -DMODULE_MUSCLES=ON -DBUILD_EXAMPLE=ON -DBINDER_C=ON -DBINDER_PYTHON3=ON .. + cmake -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH -DMATH_LIBRARY_BACKEND="Eigen3" -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DMODULE_ACTUATORS=ON -DMODULE_KALMAN=ON -DMODULE_PASSIVE_TORQUES=ON -DMODULE_MUSCLES=ON -DBUILD_EXAMPLE=ON -DBINDER_C=ON -DBINDER_PYTHON3=ON -DBINDER_MATLAB=ON -DMatlab_biorbd_INSTALL_DIR=$HOME .. make install -j${{ steps.cpu-cores.outputs.count }} cd $BIORBD_FOLDER if: matrix.label != 'win-64' @@ -104,7 +119,7 @@ jobs: CONDA_ENV_PATH=$CONDA/envs/biorbd_eigen mkdir -p $BUILD_FOLDER cd $BUILD_FOLDER - cmake -G"Visual Studio 17 2022" -Ax64 -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH -DMATH_LIBRARY_BACKEND="Eigen3" -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DMODULE_ACTUATORS=ON -DMODULE_KALMAN=ON -DMODULE_MUSCLES=ON -DBUILD_EXAMPLE=ON -DBINDER_C=ON -DBINDER_PYTHON3=ON .. + cmake -G"Visual Studio 17 2022" -Ax64 -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH -DMATH_LIBRARY_BACKEND="Eigen3" -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DMODULE_ACTUATORS=ON -DMODULE_KALMAN=ON -DMODULE_MUSCLES=ON -DBUILD_EXAMPLE=ON -DBINDER_C=ON -DBINDER_PYTHON3=ON -DBINDER_MATLAB=ON -DMatlab_biorbd_INSTALL_DIR=$HOME .. cmake --build . --config Release --target install -j${{ steps.cpu-cores.outputs.count }} cd $BIORBD_FOLDER if: matrix.label == 'win-64' @@ -154,3 +169,8 @@ jobs: cd python -c "import biorbd" cd $BIORBD_FOLDER + + - name: Run MATLAB binder tests + run: | + # We cannot run the tests as we do not have a license. + # At least we know it compiles \ No newline at end of file diff --git a/README.md b/README.md index 132c7d02..6d63078e 100644 --- a/README.md +++ b/README.md @@ -5,6 +5,48 @@ />

+# Table of contents +- [Table of contents](#table-of-contents) +- [How to install](#how-to-install) + - [Anaconda (For Windows, Linux and Mac)](#anaconda-for-windows-linux-and-mac) + - [Download binaries (For MATLAB users on Windows, Linux and Mac)](#download-binaries-for-matlab-users-on-windows-linux-and-mac) + - [Compiling (For Windows, Linux and Mac)](#compiling-for-windows-linux-and-mac) + - [Dependencies](#dependencies) + - [CMake](#cmake) +- [How to use](#how-to-use) + - [The C++ API](#the-c-api) + - [Create an empty yet valid model](#create-an-empty-yet-valid-model) + - [Read and write a bioMod file](#read-and-write-a-biomod-file) + - [Perform some analyses](#perform-some-analyses) + - [MATLAB](#matlab) + - [Perform some analyses](#perform-some-analyses-1) + - [Help](#help) + - [Python 3](#python-3) + - [Perform some analyses](#perform-some-analyses-2) +- [Model files](#model-files) + - [*bioMod* files](#biomod-files) + - [Header](#header) + - [version](#version) + - [gravity](#gravity) + - [variables / endvariables](#variables--endvariables) + - [Definition of the model](#definition-of-the-model) + - [Segment](#segment) + - [Marker](#marker) + - [Imu](#imu) + - [Loopconstraint](#loopconstraint) + - [Actuators](#actuators) + - [Convert from OpenSim models](#convert-from-opensim-models) +- [How to contribute](#how-to-contribute) +- [Graphical User Interface (GUI)](#graphical-user-interface-gui) +- [Documentation](#documentation) +- [Troubleshoots](#troubleshoots) + - [Slow BIORBD](#slow-biorbd) +- [Cite](#cite) + + + + + BIORBD is a library to analyze biomechanical data. It provides several useful functions for the direct and inverse flow including rigid body (based on *Feathestone* equations implemented in RBDL) and muscle elements. Biomechanical data are often analyzed using similar flow, that is inverse or direct. BIORBD implements these common analyses providing high-level and easy to use Python and MATLAB interfaces of an efficient C++ implementation. @@ -37,6 +79,12 @@ The current building status for Anaconda release is as follow. | --- | --- | --- | --- | --- | | License | [![Conda Recipe](https://img.shields.io/badge/recipe-biorbd-green.svg)](https://anaconda.org/conda-forge/biorbd) | [![Conda Downloads](https://img.shields.io/conda/dn/conda-forge/biorbd.svg)](https://anaconda.org/conda-forge/biorbd) | [![Conda Version](https://img.shields.io/conda/vn/conda-forge/biorbd.svg)](https://anaconda.org/conda-forge/biorbd) | [![Conda Platforms](https://img.shields.io/conda/pn/conda-forge/biorbd.svg)](https://anaconda.org/conda-forge/biorbd) | +## Download binaries (For MATLAB users on Windows, Linux and Mac) + +The MATLAB users can download the binaries directly from the Release page of `biorbd` at this URL: [https://github.com/pyomeca/biorbd/releases/latest](https://github.com/pyomeca/biorbd/releases/latest). + +Once the folder is download, you simply unzip it, add it to the MATLAB's path and enjoy `biorbd`! + ## Compiling (For Windows, Linux and Mac) The main drawback with downloading the pre-compiled version from Anaconda is that this version may be out-of-date (even if I do my best to keep the release versions up-to-date). Moreover, since it is already compiled, it doesn't allow you to modify BIORBD if you need to. Therefore, a more versatile way to enjoy BIORBD is to compile it by yourself. @@ -392,50 +440,50 @@ segment second_segment endsegment ``` -##### parent +##### parent The `parent` tag is the name of the segment that particular segment is attached to. If no segment parent is provided, it is considered to be attached to the environment. The parent must be defined earlier in the file and is case dependent. This tag is waits for $1$ string. -##### rt +##### rt The `homogeneous matrix` of transformation (rototranslation) of the current segment relative to its parent. If `rtinmatrix` is defined to `1`, `rt` waits for a 4 by 4 matrix (the 3 x 3 matrix of rotation and the 4th column being the translation and the last row being 0 0 0 1); if it is defined to `0` it waits for the 3 rotations, the rotation sequence and the translation. The default value is the identity matrix. -##### rtinmatrix +##### rtinmatrix The tag that defines if the `rt` is in matrix or not. If the `version` of the file is higher or equal than $3$, the default value is false ($0$), otherwise, it true ($1$). -##### translations +##### translations The `translations` tag specifies the number of degrees-of-freedom in translation and their order. The possible values are `x`, `y` and/or `z` combined whatever fits the model. Please note that the vector of generalized coordinate will comply the the order wrote in this tag. If no translations are provided, then the segment has no translation relative to its parent. This tag waits for $1$ string. -##### rotations +##### rotations The `rotations` tag specifies the number of degrees-of-freedom in rotation and their order. The possible values are `x`, `y` and/or `z` combined whatever fits the model. Please note that the vector of generalized coordinate will comply the the order wrote in this tag. If no rotations are provided, then the segment has no rotation relative to its parent. This tag waits for $1$ string. -##### mass +##### mass The `mass` tag specifies the mass of the segment in kilogram. This tag waits for $1$ value. The default value is $0.00001$. Please note that a pure $0$ can create a singularity. -##### com +##### com The $3$ values position of the `center of mass` relative to the local reference of the segment. The default values are `0 0 0`. -##### inertia +##### inertia The `inertia` tag allows to specify the matrix of inertia of the segment ( computed with respect to the center of mass of the segment ). It waits for $9$ values. The default values are the `identity matrix` -##### foreceplate or externalforceindex +##### foreceplate or externalforceindex This tag is deprecated and should therefore not be used. -##### meshfile or ply +##### meshfile or ply The path of the meshing `.bioBone`, `.ply`, `.stl` file respectively. It can be relative to the current running folder or absolute (relative being preferred) and UNIX or Windows formatted (`/` vs `\\`, UNIX being preferred). -##### mesh +##### mesh If the mesh is not written in a file, it can be written directly in the segment. If so, the `mesh` tag stands for the vertex. Therefore, there are as many `mesh` tags as vertex. It waits for $3$ values being the position relative to reference of the segment. -##### meshcolor +##### meshcolor The color of the segment mesh given in RGV values `[0, 1]`. Default is `0.89, 0.855, 0.788`, that is bone color-ish. -##### meshscale +##### meshscale The scaling to apply to the provided mesh, given in `X Y Z` values. Default is `1 1 1`. -##### meshrt +##### meshrt The RT to apply to the provided mesh, given in `RX RY RZ seq TX TY TZ` as for RT. The default value is `0 0 0 xyz 0 0 0`. -##### patch +##### patch The patches to define the orientation of the patches of the mesh. It waits for $3$ values being the $0-based$ of the index of the vertex defined by the `mesh`. #### Marker @@ -450,19 +498,19 @@ marker my_marker endmarker ``` -##### parent +##### parent The `parent` tag is the name of the segment that particular segment is attached to. The parent must be defined earlier in the file and is case dependent. This tag is waits for $1$ string. -##### position +##### position The `position` of the marker in the local reference frame of the segment. -##### technical +##### technical If the marker will be taged as technical (will be returned when asking technical markers). Default value is true ($1$). -##### anatomical +##### anatomical If the marker will be taged as anatomical (will be returned when asking anatomical markers). Default value is false ($0$). -##### axestoremove +##### axestoremove It is possible to project the marker onto some axes, if so, write the name of the axes to project onto here. Waits for the axes in a string. #### Imu @@ -476,22 +524,22 @@ imu my_imu anatomical 0 endimu ``` -##### parent +##### parent The `parent` tag is the name of the segment that particular segment is attached to. The parent must be defined earlier in the file and is case dependent. This tag is waits for $1$ string. -##### rt +##### rt The `homogeneous matrix` of transformation (rototranslation) of the current segment relative to its parent. If `rtinmatrix` is defined to `1`, `rt` waits for a 4 by 4 matrix (the 3 x 3 matrix of rotation and the 4th column being the translation and the last row being 0 0 0 1); if it is defined to `0` it waits for the 3 rotations, the rotation sequence and the translation. The default value is the identity matrix. -##### rtinmatrix +##### rtinmatrix The tag that defines if the `rt` is in matrix or not. If the `version` of the file is higher or equal than $3$, the default value is false ($0$), otherwise, it true ($1$). -##### technical +##### technical If the marker will be taged as technical (will be returned when asking technical markers). Default value is true ($1$). -##### anatomical +##### anatomical If the marker will be taged as anatomical (will be returned when asking anatomical markers). Default value is false ($0$). -#### Contact +#### Contact The position of a non acceleration point while computing the forward dynamics. ```c contact my_contact @@ -500,19 +548,19 @@ contact my_contact axis xyz endcontact ``` -##### parent +##### parent The `parent` tag is the name of the segment that particular segment is attached to. The parent must be defined earlier in the file and is case dependent. This tag is waits for $1$ string. -##### position +##### position The `position` of the marker in the local reference frame of the segment. -##### axis +##### axis The name of the `axis` that the contact acts on. If the version of the file is $1$, this tag has no effect. -##### normal +##### normal The `normal` that the contact acts on. This tags waits for $3$ values with a norm $1$. If the version of the file is not $1$, this tag has no effect. To get the `x`, `y` and `z` axes, one must therefore define three separate contacts. -##### acceleration +##### acceleration The constant `acceleration` of the contact point. The default values are `0, 0, 0`. #### Loopconstraint @@ -521,7 +569,7 @@ The constant `acceleration` of the contact point. The default values are `0, 0, The Actuators specifies the different parameters used to express the torque generated by a particular movement at a joint. These different parameters were described by M. Jackson (The mechanics of the table contact phase of gymnastics vaulting, 2019). -#### type +##### type Different types of actuator can be defined with the `type` tag : `Constant`, `Linear`, `Gauss3p`, `Gauss6p`, `Sigmoidgauss3p`. In function of the type of actuator the parameters are different. @@ -543,56 +591,56 @@ actuator default_segment ``` -#### dof (Constant, Linear, Gauss3p, Gauss6p, Sigmoidgauss3p) +##### dof (Constant, Linear, Gauss3p, Gauss6p, Sigmoidgauss3p) The `dof` tag defines the degree of fredoom of the segment. It can be a rotation (`Rot`) or a translation (`Trans`) on one of the 3 axis (`x`, `y`, `z`). This argument is not required. -#### direction (Constant, Linear, Gauss3p, Gauss6p, Sigmoidgauss3p) +##### direction (Constant, Linear, Gauss3p, Gauss6p, Sigmoidgauss3p) The `direction` of the torque can be positive or negative. This argument is not required. -#### Tmax (Constant, Gauss3p, Gauss6p) +##### Tmax (Constant, Gauss3p, Gauss6p) `Tmax` is the maximum eccentric torque. -#### T0 (Linear, Gauss3p, Gauss6p) +##### T0 (Linear, Gauss3p, Gauss6p) The tag `T0` defines the maximum concentric torque. -##### wmax (Gauss3p, Gauss6p) +##### wmax (Gauss3p, Gauss6p) The values of `wmax` is the maximum angular velocity above which torque cannot be produced. -##### wc (Gauss3p, Gauss6p) +##### wc (Gauss3p, Gauss6p) The `wc` tag specifies the angular velocity of the vertical asymptote of the concentric hyperbola based of the relation between tetanic torque and contractile component angular velocity. -##### amin (Gauss3p, Gauss6p) +##### amin (Gauss3p, Gauss6p) The `amin` tag allows to specify the plateau low activation level (values between 0.5 and 0.99) based of the differential activation-velocity relationship. -##### wr (Gauss3p, Gauss6p) +##### wr (Gauss3p, Gauss6p) The tag `wr` is the angular velocity range over which the ramp occurs based of the differential activation-velocity relationship. -##### w1 (Gauss3p, Gauss6p) +##### w1 (Gauss3p, Gauss6p) `w1` represents the angular velocity of the midpoint between the maximum and the low plateau activation level based of the differential activation-velocity relationship. -##### qopt (Gauss3p, Gauss6p, Sigmoidguass3p) +##### qopt (Gauss3p, Gauss6p, Sigmoidguass3p) The `qopt` tag allows to specify the optimum angle for torque production. This argument is required, the default value is `0`. -##### r (Gauss3p, Gauss6p, Sigmoidguass3p) +##### r (Gauss3p, Gauss6p, Sigmoidguass3p) The tag `r` represented the width of the curve based of the torque-angle relationship. This argument is required, the default value is `0`. -#### facteur (Gauss6p) +##### facteur (Gauss6p) ... -#### r2 (Gauss6p) +##### r2 (Gauss6p) ... -#### qopt2 (Gauss6p) +##### qopt2 (Gauss6p) ... -#### theta (Sigmoidgauss3p) +##### theta (Sigmoidgauss3p) ... -#### lambda(Sigmoidgauss3p) +##### lambda(Sigmoidgauss3p) ... -#### offset (Sigmoidgauss3p) +##### offset (Sigmoidgauss3p) ... ## Convert from OpenSim models