myosuite

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MyoSuite is a collection of environments/tasks to be solved by musculoskeletal models simulated with the MuJoCo physics engine and wrapped in the OpenAI gym API.

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- - docs.yml
  - pipy_release.yml
  - python-app.yml
- CHANGELOG.md
- DeployPypi.md
- release_utils.py
- test_deploy.sh
- mjx_benchmark.py
- mjx_benchmark_baseline.py
- mjx_benchmark_PPO.py
- mjx_benchmark_PPO.sh
- mjx_benchmark_PPO_baseline.py
- - baselines.rst
  - challenge-doc.rst
  - challenge-doc2025.rst
  - conf.py
  - index.rst
  - install.rst
  - projects.rst
  - publications.rst
  - suite.rst
  - tutorials.rst
- CODE_OF_CONDUCT.md
- CONTRIBUTING.md
- LICENSE.md
- make.bat
- Makefile
- Readme.md
- requirements.txt
- - config_mujoco.yaml
  - hydra_mjrl_launcher.py
  - hydra_sb3_launcher.py
  - in_callbacks.py
  - mjrl_job_script.py
  - README.md
  - requirements_train.txt
  - sb3_job_script.py
  - torchrl_job_script.py
  - train_myosuite.sh
- - __init__.py
  - env_base.py
  - env_variants.py
  - heightfields.py
  - obs_vec_dict.py
- - examine_logs.py
  - examine_reference.py
  - grouped_datasets.py
  - reference_motion.py
  - reference_motion_jax.py
  - roboset_logger.py
- - __init__.py
  - mj_renderer.py
  - mjpy_renderer.py
  - renderer.py
- - __init__.py
  - robot.py
- - furniture_sim
  - MPL_sim
  - myo_sim
  - object_sim
  - YCB_sim
- - __init__.py
  - execute_tutorial.py
  - test_editor.py
  - test_envs.py
  - test_heightfields.py
  - test_mjx.py
  - test_myo.py
  - test_myoapi.py
  - test_sb.py
  - test_tutorials.sh
  - test_versions.sh
- - __init__.py
  - curriculum_utils.py
  - dict_utils.py
  - examine_env.py
  - examine_sim.py
  - html.py
  - implement_for.py
  - import_utils.py
  - inverse_kinematics.py
  - min_jerk.py
  - obj_vec_dict.py
  - paths_utils.py
  - prompt_utils.py
  - quat_math.py
  - quat_math_jax.py
  - render_cams.py
  - spec_processing.py
  - tensor_utils.py
  - vector_math.py
  - viz_paths.py
  - xml_utils.py
- __init__.py
- version.py
- - baseline_params.txt
  - MyoSuite_MyoReflex_Walk.ipynb
  - reflexCtr.py
  - ReflexCtrInterface.py
- - 6_trajectory.csv
  - 9_joint_trajectory.csv
  - 9_Opensim_cmc.csv
- - ik_demo_mc25.py
  - ik_interactive_mc25.py
  - README.md
- - SAR_tutorial.ipynb
  - SAR_tutorial_utils.py
- 10_PlaybackMotFile.ipynb
- 1_Get_Started.ipynb
- 2_Load_policy.ipynb
- 3_Analyse_movements.ipynb
- 4a_deprl.ipynb
- 4c_Train_SB_policy.ipynb
- 5_Move_Hand_Fingers.ipynb
- 6_Inverse_Dynamics.ipynb
- 7_Fatigue_Modeling.ipynb
- 8_inverse_kinematics.py
- 9_Computed_muscle_control.ipynb
- README.md
- test_fatigue.py
.gitignore
.gitmodules
.readthedocs.yaml
LICENSE
myosuite_init.py
pyproject.toml
README.md
uv.lock

# Installation Guide

1. Get the code

git clone https://github.com/MyoHub/myosuite

Downloads the entire project code from GitHub to your computer.

cd myosuite

Moves into the project folder you just downloaded.

2. Python

Easy Recommended

Prerequisites

Git Needed to download the project code from GitHub.
Python 3 On Windows, be sure to check 'Add Python to PATH' during installation.

It is possible to take advantage of the latest MyoSkeleton. Once added (follow the instructions prompted by `uv run myoapi_init` or `python -m myosuite_init`), run:

Runs the Python script (or module).

✅ If it runs without errors and prints output in the terminal, it worked.

Pulled directly from this repo's README.

myosuite

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# Installation Guide

2. Python

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myosuite

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# Installation Guide

2. Python

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