MuJoCo + Gymnasium
CPU environments such as myoElbowPose1D6MRandom-v0 with physiological musculotendon actuators.
MyoSuite
Musculoskeletal simulation for science & embodied AI
Physiologically grounded muscles, MuJoCo physics, and RL-ready tasks — open for labs building the next generation of motor intelligence.
1.2k+
GitHub stars
7
body models
416
full-body muscles
3
MyoChallenge 2026 tracks
MyoSim library
Models engineered for research
Arm
MyoArm
63 muscles · 38 DOF
myoShoulder*, myoRelocateEnvDemoV0, MyoChallenge table-tennis / reorient tracks
Leg
MyoLeg
80 muscles · 29 DOF
myoLegWalk-v0, myoChallengeRunTrackP2-v0, myoSarcLegWalk-v0
Torso / MyoBack
MyoTorso
210 muscles · 18 DOF
torso scaffolds, myotorso_arms composition, full-body trunk control
Hand
MyoHand
39 muscles · 23 DOF
myoHandPoseRandom-v0, myoHandReach*, myoChallengeBaodingP2-v1, reorient tracks
Full body
MyoFullBody
348 muscles · 123 DOF
myoMimicFullbody-v0, MjxMimicFullbody-v0, MyoChallenge Boxing (MuscleMimic)
Finger
MyoFinger
5 muscles · 4 DOF
myoFingerPoseFixed-v0, myoFingerPoseRandom-v0, myoFingerReachRandom-v0, MjxFingerPose*-v0
Elbow
MyoElbow
6 muscles · 2 DOF
myoElbowPose1D6MRandom-v0, myoElbowPoseFatigue*, myoElbowPoseSarcopenia*, MjxElbowPose*-v0
Built for labs and builders
MJX & mjlab backends
JAX/MJX and Warp/Isaac (mjlab) ports for elbow, finger, hand, gait, and mimic families on ms3.
MyoSim model library
Anatomically detailed XML fragments and composed assemblies from MyoHub/myo_sim@dev.
Docs & tutorials
Audience guides for biomechanics, neuroscience, ML, and rehab plus notebook tutorials on ms3.
Research-grade by design
Conference on Robot Learning (CoRL) · 2022
MyoSuite: A Contact-Rich Simulation Suite for Musculoskeletal Motor Control
Vittorio Caggiano, Huawei Wang, Guillaume Durandau, Massimo Sartori, Vikash Kumar
arXiv · 2026
Towards Embodied AI with MuscleMimic: Unlocking full-body musculoskeletal motor learning at scale
Chengkun Li, Cheryl Wang, Bianca Ziliotto, Merkourios Simos, Jozsef Kovecses, Guillaume Durandau, Alexander Mathis
MyoHub/myosuite · ongoing
MyoSuite ms3 — musculoskeletal environments for Gymnasium, MJX, and mjlab
MyoSuite maintainers
Challenge & symposium
Join the NeurIPS competition, workshop, and demo archive.