# <img  style="float: left;" src="https://user-images.githubusercontent.com/23240128/233209820-821715e0-07e6-4dbc-8133-d915a7ea06b7.png" width=40> MyoSim: MyoSuite's musculoskeletal model library

 `MyoSim` is the library of MuJoCo Musculoskeletal Models of [MyoSuite](https://github.com/facebookresearch/myoSuite).

The models present in the library are:

| Model name  | |

|-----------|--------------------|

| **MyoFinger** <br> - 4 Degree of Freedom (DoF) <br> - 5 simplified muscles |<img src="https://user-images.githubusercontent.com/23240128/232323930-d1721f87-731b-432d-bafd-8c818ab4bbfe.png" width="200">|

| **MyoElbow**  <br> - 2 Degree of Freedom (DoF) <br> - 6 muscles | <img src="https://user-images.githubusercontent.com/23240128/232323890-6a601a82-1d3c-4e12-901c-0fd9cf232691.png" width="200">|

| **MyoHand**  <br>  - 23 Degree of Freedom (DoF) <br> - 39 muscles | <img src="https://user-images.githubusercontent.com/23240128/232323950-39552200-614b-4c73-aab5-8a78daa0f5f3.png" width="200">|

| **MyoLeg**  <br>  - 20 Degree of Freedom (DoF) <br> - 80 muscles | <img src="https://user-images.githubusercontent.com/12837145/236839645-e34eab3f-0358-4ca8-8ae0-68a5c08585e4.png" width="200">|

| **MyoArm**  <br>  - 27 Degree of Freedom (DoF) <br> - 63 muscles | <img src="https://github.com/MyoHub/myo_sim/assets/23240128/1f57c639-b7de-4bbb-a3c2-d2c29716e6c8" width="200">|

| **MyoOSL**  <br>  - 19 Degree of Freedom (DoF) <br> - 54 muscles, 2 torque actuators | <img src="https://github.com/elladyr/myo_sim/assets/5383997/ec9dfc65-94ba-457f-8375-594c0e3a89b5" width="200">|

Description of the models can be found [here](https://myosuite.readthedocs.io/en/latest/suite.html#models).

## License

MyoSuite is licensed under the [Apache License](LICENSE).

## Citation

If you find this repository useful in your research, please consider giving a star ⭐ and cite our [arXiv paper](https://arxiv.org/abs/2205.13600)  by using the following BibTeX entrys.

```BibTeX

@Misc{MyoSuite2022,

  author = {Vittorio, Caggiano AND Huawei, Wang AND Guillaume, Durandau AND Massimo, Sartori AND Vikash, Kumar},

  title = {MyoSuite -- A contact-rich simulation suite for musculoskeletal motor control},

  publisher = {arXiv},

  year = {2022},

  howpublished = {\url{https://github.com/facebookresearch/myosuite}},

  year = {2022}

  doi = {10.48550/ARXIV.2205.13600},

  url = {https://arxiv.org/abs/2205.13600},

}

```