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MyoFullBody

MyoFullBody is a MuJoCo-derived musculoskeletal full-body model from amathislab/musclemimic_models. It exposes rigid STL link meshes, body-frame skeleton transforms, site positions, and tendon metadata through the same NumPy, PyTorch, and JAX backend layout as the other models.

Setup

MyoFullBody downloads automatically on first use from https://huggingface.co/abcamiletto/body-models. The Hugging Face repo records the original MuscleMimic Apache 2.0 provenance. To prefetch and save the path:

# Download the MyoFullBody MJCF and referenced mesh assets.
body-models download myofullbody

When passed manually, model_path should contain body/myofullbody.xml and the referenced mesh assets from the upstream musclemimic_models/model/ tree.

Usage

from body_models.myofullbody.numpy import MyoFullBody

# Load the rigid articulated model and start from its bundled A-pose.
model = MyoFullBody()
params = model.get_apose(batch_dims=(1,))

# Evaluate the concatenated link meshes, body-frame skeleton, and link transforms.
vertices = model.forward_vertices(**params)
skeleton = model.forward_skeleton(**params)
links = model.forward_links(**params)

# Lift MuJoCo site positions from local body frames into world coordinates.
sites = model.world_sites(skeleton)

Notes

MyoFullBody is a rigid articulated model, so it does not define skin_weights. Use forward_links, link_mesh, or joint_meshes when rendering or inspecting individual STL links.

API

::: body_models.skeletons.myofullbody.numpy.MyoFullBody