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Musculoskeletal environments simulated in MuJoCo

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MyoSuite is a collection of musculoskeletal environments and tasks simulated with the MuJoCo physics engine and wrapped in the OpenAI gym API to enable the application of Machine Learning to bio-mechanic control problems.

Full task details | Baselines | Documentation | Tutorials

Below is an overview of the tasks in the MyoSuite.


Getting Started

You will need Python 3.8 or later versions.

It is recommended to use Miniconda and to create a separate environment with:

conda create --name myosuite python=3.8
conda activate myosuite

It is possible to install MyoSuite with:

pip install -U myosuite

for advanced installation, see here.

Test your installation using the following command (this will return also a list of all the current environments):

python -m myosuite.tests.test_myo

You can also visualize the environments with random controls using the command below:

python -m myosuite.utils.examine_env --env_name myoElbowPose1D6MRandom-v0

NOTE: On MacOS, we moved to mujoco native launch_passive which requires that the Python script be run under mjpython:

mjpython -m myosuite.utils.examine_env --env_name myoElbowPose1D6MRandom-v0


It is possible to create and interface with MyoSuite environments just like any other OpenAI gym environments. For example, to use the myoElbowPose1D6MRandom-v0 environment, it is possible simply to run: Open In Colab

import myosuite
import gym
env = gym.make('myoElbowPose1D6MRandom-v0')
for _ in range(1000):
  env.step(env.action_space.sample()) # take a random action

You can find tutorials on how to load MyoSuite models/tasks, train them, and visualize their outcome. Also, you can find baselines to test some pre-trained policies.


MyoSuite is licensed under the Apache License.


If you find this repository useful in your research, please consider giving a star ⭐ and cite our arXiv paper by using the following BibTeX entrys.

  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{}},
  year =         {2022}
  doi = {10.48550/ARXIV.2205.13600},
  url = {},

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