Musculoskeletal models

MyoArm

Primary upper-extremity model (MyoArm_v0.01): clavicle through hand, 38 DoF and 63 musculotendon actuators. Loadable MJCF at arm/myoarm.xml from MyoSim.

Muscles

63

DOF

38

Registry

myoarm, myoarm_r, myoarms

ms3 tasks: myoShoulder*, myoRelocateEnvDemoV0, MyoChallenge table-tennis / reorient tracks

XML: /models/arm/myoarm.xml

Fragment: /models/fragments/arm/myoarm_r_muscle.xml

MyoLeg

Musculoskeletal lower limbs from myo_sim@dev (registry: myolegs). 29 DoF and 80 muscle actuators for gait, balance, and assistive-device research.

Muscles

80

DOF

29

Registry

myolegs, myolegs_abdomen

ms3 tasks: myoLegWalk-v0, myoChallengeRunTrackP2-v0, myoSarcLegWalk-v0

XML: /models/leg/myolegs.xml

Fragment: /models/fragments/leg/myolegs_muscle.xml

MyoTorso

Torso / MyoBack model with 18 DoF and 210 muscle actuators. Registry names include myotorso and myotorso_abdomen on myo_sim@dev.

Muscles

210

DOF

18

Registry

myotorso, myotorso_abdomen, myotorso_arm_r, myotorso_arms

ms3 tasks: torso scaffolds, myotorso_arms composition, full-body trunk control

XML: /models/body/myobody.xml

Fragment: /models/fragments/torso/myotorso_muscle.xml

MyoHand

23 DoF / 39 muscle hand (forearm–digit actuators from MyoArm). Registry: myohand_r, myohands on myo_sim@dev.

Muscles

39

DOF

23

Registry

myohand_r, myohands

ms3 tasks: myoHandPoseRandom-v0, myoHandReach*, myoChallengeBaodingP2-v1, reorient tracks

XML: /models/arm/myoarm.xml

Fragment: /models/arm/assets/myoarm_assets.xml

MyoFullBody

Composed full body preview: torso + legs + arms (myo_sim meshes). Lab drives 348 musculotendon paths; full 416-actuator MuJoCo compose remains upstream.

Muscles

416

DOF

123

Registry

myofullbody

ms3 tasks: myoMimicFullbody-v0, MjxMimicFullbody-v0, MyoChallenge Boxing (MuscleMimic)

XML: /models/body/myobody.xml

MyoFinger

Legacy 4 DoF / 5 muscle finger (extn, adabR, adabL, mflx, dflx). Loadable XML: myo_sim/models/legacy/finger/myofinger_v0.xml.

Muscles

5

DOF

4

Registry

myofinger, finger

ms3 tasks: myoFingerPoseFixed-v0, myoFingerPoseRandom-v0, myoFingerReachRandom-v0, MjxFingerPose*-v0

XML: /models/legacy/finger/myofinger_v0.xml

MyoElbow

Legacy elbow with TRI{long,lat,med} and BIC{long,short} + BRA. Primary XML: myoelbow_1dof6muscles.xml (also 2-DoF and exo variants).

Muscles

6

DOF

2

Registry

myoelbow, elbow, myoelbow_2dof, myoelbow_exo

ms3 tasks: myoElbowPose1D6MRandom-v0, myoElbowPoseFatigue*, myoElbowPoseSarcopenia*, MjxElbowPose*-v0

XML: /models/legacy/elbow/myoelbow_1dof6muscles.xml