myo-sim 0.2.0__tar.gz

myo_sim-0.2.0/LICENSE

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myo_sim-0.2.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: myo-sim
+Version: 0.2.0
+Summary: MuJoCo musculoskeletal model definitions for MyoSuite
+Requires-Python: >=3.10
+License-File: LICENSE
+Requires-Dist: mujoco>=3.0
+Requires-Dist: numpy>=1.24
+Dynamic: license-file

myo_sim-0.2.0/README.md

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+# MyoSim
+
+[![CI](https://github.com/MyoHub/myo_sim/actions/workflows/ci.yml/badge.svg?branch=dev)](https://github.com/MyoHub/myo_sim/actions/workflows/ci.yml)
+[![License](https://img.shields.io/badge/license-Apache%202.0-blue.svg)](LICENSE)
+[![Python](https://img.shields.io/badge/python-%3E%3D3.10-blue.svg)](pyproject.toml)
+
+MyoSim is the MuJoCo musculoskeletal model library used by [MyoSuite](https://github.com/facebookresearch/myoSuite).
+It provides anatomically detailed XML models of the human arm, leg, torso, and hand,
+plus a Python package for loading and composing them.
+
+## Models
+
+| Model | DoF | Muscles | Preview | Version |
+|---|---:|---:|---|---|
+| [**MyoLeg**](myo_sim/models/leg/README.md) | 29 | 80 | <img width="160" alt="Screenshot 2026-08-07 at 9 00 43 AM" src="https://github.com/user-attachments/assets/687308a3-29f0-4dfd-853f-5765e242dd62" />| stable |
+| [**MyoArm**](myo_sim/models/arm/README.md) | 38 | 63 | <img alt="myoarm_demo" src="https://github.com/user-attachments/assets/eab77a8b-18af-445c-826f-b050b2a6ed7d" width="160"/> | stable |
+| [**MyoTorso**](myo_sim/models/torso/README.md) (MyoBack) | 18 | 210 | <img src="https://github.com/cherylwang20/myo_sim/blob/cec3ce211a516a8798ed2edf9486a0814a0965da/MyoBack.png?raw=true" width="160"> | stable |
+| [**MyoHand**](myo_sim/models/arm/README.md) | 23 | 39 | <img src="https://user-images.githubusercontent.com/23240128/232323950-39552200-614b-4c73-aab5-8a78daa0f5f3.png" width="160"> | stable |
+| [**MyoFullBody**](docs/wiki/build-and-composition.md) | 123 | 416 | <img src="https://github.com/user-attachments/assets/37976636-1952-48a6-83c4-506722db4c82" width="160"/> | stable |
+| [**MyoLeg26**](myo_sim/models/leg/README.md) | 18 | 26 | <img width="160" alt="Screenshot 2026-08-07 at 8 56 17 AM" src="https://github.com/user-attachments/assets/26b733d5-e47f-4d70-b2cc-b9e6f0fd1e7c" /> |beta |
+| [**MyoFinger**](myo_sim/models/legacy/README.md) | 4 | 5 | <img src="https://user-images.githubusercontent.com/23240128/232323930-d1721f87-731b-432d-bafd-8c818ab4bbfe.png" width="160"> | legacy |
+| [**MyoElbow**](myo_sim/models/legacy/README.md) | 2 | 6 | <img src="https://user-images.githubusercontent.com/23240128/232323890-6a601a82-1d3c-4e12-901c-0fd9cf232691.png" width="160"> | legacy |
+
+Legacy models ship in the pip package under `myo_sim/models/legacy/` and load via registry names such as `myoelbow`, `myofinger`, and `osl`. They are maintained for backwards compatibility only — see `myo_sim/models/legacy/README.md`.
+
+## Buildable Models
+
+The following registered models can be compiled with `myo_sim.build.compose.build_model("<name>")`:
+
+- `myotorso` — torso scaffold with torso muscles.
+- `myotorso_abdomen` — simple abdomen scaffold.
+- `myotorso_arm_r` — torso with the right arm only.
+- `myotorso_arms` — torso with the right arm plus a mirrored-left arm.
+- `myoarm_r` — passive anatomical torso scaffold with the right arm.
+- `myoarms` — passive anatomical torso scaffold with mirrored arms.
+- `myohand_r` — passive anatomical torso scaffold with the right hand derived from the pruned right arm.
+- `myohands` — passive anatomical torso scaffold with right and mirrored-left hands derived from pruned arms.
+- `myolegs` — passive anatomical torso scaffold with legs.
+- `myolegs26` — passive anatomical torso scaffold with reduced-muscle legs and simplified kinematic chain.
+- `myolegs_abdomen` — simple abdomen scaffold with legs.
+- `myofullbody` — full body with torso, mirrored arms, and legs.
+
+To generate compiled MuJoCo XML files for the primary composed assemblies, run:
+
+```bash
+uv run python -m myo_sim.build.compose --generate
+```
+
+This writes loadable XML files for `myoarms`, `myotorso`, `myolegs`, `myolegs26`, and `myofullbody` under `myo_sim/models/`. Treat these as generated snapshots for GUI viewing and compatibility; for source edits, update the component XML files and `myo_sim/build/compose.py`, then regenerate. Those downstream XMLs are not actively maintained.
+
+## Install
+
+```bash
+pip install git+https://github.com/MyoHub/myo_sim.git@dev
+```
+
+Note: the PyPI package `myo-sim` currently points to an older incompatible version.
+Use the git install above until a new release is published.
+
+## Quickstart
+
+```python
+import mujoco
+import myo_sim
+
+# Load a model by registry name
+model, data = myo_sim.load("myolegs")
+print(f"Joints: {model.njnt}, Muscles: {model.nu}")
+
+# Or compose another registered model
+model, data = myo_sim.load("myotorso")
+
+# Legacy models (backwards compatibility)
+model, data = myo_sim.load("myoelbow")
+```
+
+```python
+# Compose a full-body MjSpec model
+from myo_sim.build.compose import build_model
+model = build_model("myofullbody")
+print(f"Full body — joints: {model.njnt}, muscles: {model.nu}")
+```
+
+## Development
+
+```bash
+git clone https://github.com/MyoHub/myo_sim.git
+cd myo_sim
+uv sync --dev
+uv run pytest tests/ -x -n auto --ignore=tests/test_equivalence.py
+```
+
+See [CONTRIBUTING.md](CONTRIBUTING.md) for the full contributor guide.
+
+## Citation
+
+If you find this repository useful in your research, please cite the following works:
+
+```bibtex
+@misc{MyoSuite2022,
+  author    = {Caggiano, Vittorio and Wang, Huawei and Durandau, Guillaume
+               and Sartori, Massimo and Kumar, Vikash},
+  title     = {{MyoSuite}: A contact-rich simulation suite for musculoskeletal motor control},
+  year      = {2022},
+  doi       = {10.48550/ARXIV.2205.13600},
+  url       = {https://arxiv.org/abs/2205.13600},
+}
+```
+
+```bibtex
+@article{Li2026MuscleMimic,
+  title={Towards Embodied AI with MuscleMimic: Unlocking full-body musculoskeletal motor learning at scale},
+  author={Li, Chengkun and Wang, Cheryl and Ziliotto, Bianca and Simos, Merkourios and Kovecses, Jozsef and Durandau, Guillaume and Mathis, Alexander},
+  journal={arXiv preprint arXiv:2603.25544},
+  year={2026}
+}
+```
+
+## License
+
+Apache 2.0 — see [LICENSE](LICENSE).

myo_sim-0.2.0/myo_sim/__init__.py

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+from importlib.metadata import PackageNotFoundError, version
+from pathlib import Path
+from typing import TYPE_CHECKING
+
+from myo_sim.fragments import FragmentInfo as FragmentInfo
+from myo_sim.fragments import FragmentRegistry as FragmentRegistry
+
+if TYPE_CHECKING:
+    import mujoco
+
+try:
+    __version__ = version("myo-sim")
+except PackageNotFoundError:
+    __version__ = "0.0.0+unknown"
+
+# Root of the packaged XML model tree.
+MODELS_DIR = Path(__file__).resolve().parent / "models"
+
+# Catalog of static XML fragments: (name, rel_path, version).
+# Only list models whose XML files are actually present in myo_sim/models/.
+# Legacy names match myosuite's _FALLBACK_PATHS so ModelBuilder resolves them
+# via FragmentRegistry before falling back to the simhive submodule.
+_FRAGMENT_CATALOG: list[tuple[str, str, int]] = [
+    # Legacy models — pending proper migration (see legacy/README.md).
+    ("elbow", "legacy/elbow/myoelbow_1dof6muscles.xml", 1),
+    ("myoelbow", "legacy/elbow/myoelbow_1dof6muscles.xml", 1),
+    ("myoelbow_2dof", "legacy/elbow/myoelbow_2dof6muscles.xml", 1),
+    ("myoelbow_exo", "legacy/elbow/myoelbow_1dof6muscles_1dofexo.xml", 1),
+    ("finger", "legacy/finger/myofinger_v0.xml", 1),
+    ("myofinger", "legacy/finger/myofinger_v0.xml", 1),
+    ("osl", "legacy/osl/myolegs_osl.xml", 1),
+    ("myolegs_osl", "legacy/osl/myolegs_osl.xml", 1),
+]
+
+REGISTRY: dict[str, str] = {}
+
+for _name, _rel, _ver in _FRAGMENT_CATALOG:
+    _p = MODELS_DIR / _rel
+    if _p.exists():
+        FragmentRegistry._store[_name] = FragmentInfo(name=_name, path=_p, version=_ver)
+        REGISTRY[_name] = _rel
+
+
+def get_xml_path(name: str) -> Path:
+    """Return the absolute Path to a named model XML.
+
+    Raises ValueError for unknown names.
+    """
+    if name not in REGISTRY:
+        raise ValueError(f"Unknown model {name!r}. Available: {sorted(REGISTRY)}")
+    return MODELS_DIR / REGISTRY[name]
+
+
+def _composed_models() -> frozenset[str]:
+    """Names loadable via the MjSpec compose pipeline (registry keys + aliases).
+
+    Derived from ``MODEL_REGISTRY`` and ``ALIASES`` so there is a single source
+    of truth; importing compose here (rather than at module top) keeps
+    ``import myo_sim`` free of a MuJoCo dependency.
+    """
+    from myo_sim.build.compose import ALIASES, MODEL_REGISTRY
+
+    return frozenset(MODEL_REGISTRY) | frozenset(ALIASES)
+
+
+def __getattr__(name: str):
+    # Preserve the historical ``myo_sim._COMPOSED_MODELS`` attribute while keeping
+    # its contents derived from the compose registry instead of a hand-kept copy.
+    if name == "_COMPOSED_MODELS":
+        return _composed_models()
+    raise AttributeError(f"module {__name__!r} has no attribute {name!r}")
+
+
+def _right_hand_spec():
+    from myo_sim.build.compose import load_right_hand_from_arm_spec
+
+    return load_right_hand_from_arm_spec()
+
+
+def _left_hand_spec():
+    from myo_sim.build.compose import load_left_hand_from_arm_spec
+
+    return load_left_hand_from_arm_spec()
+
+
+def _legs_spec():
+    from myo_sim.build.compose import load_legs_spec
+
+    return load_legs_spec()
+
+
+def _legs26_spec():
+    from myo_sim.build.compose import load_legs26_spec
+
+    return load_legs26_spec()
+
+
+# TODO: there should be a myohand_l alias, which should work with load. Also a given name (myolegs) should refer to the
+#       same model consistently.
+# Maps fragment names to zero-arg callables returning an editable (uncompiled)
+# MjSpec, with no torso scaffold.  Used by downstream consumers (e.g. myosuite
+# ModelBuilder, assist_sim) so that attaching a fragment routes through the compose
+# pipeline instead of falling back to a bundled static XML.  Includes myohand_l
+# (left hand only); there is no myo_sim.load("myohand_l") alias — use this dict or
+# myohands instead.  Note "myolegs" here is the bare legs fragment; myo_sim.load(
+# "myolegs") differs in that it attaches the legs to a passive torso scaffold.
+FRAGMENT_SPEC_BUILDERS: dict[str, object] = {
+    "hand": _right_hand_spec,
+    "myohand": _right_hand_spec,
+    "myohand_r": _right_hand_spec,
+    "myohand_l": _left_hand_spec,
+    "myolegs": _legs_spec,
+    "myolegs26": _legs26_spec,
+}
+
+
+def load(name: str) -> tuple:
+    """Load a MuJoCo model by registry name. Returns (MjModel, MjData).
+
+    Supports MjSpec-composed models such as myohand_r, myohands, myoarms,
+    myofullbody, and myolegs, plus packaged legacy static XMLs. For a
+    left-hand-only MjSpec builder, use FRAGMENT_SPEC_BUILDERS["myohand_l"].
+    """
+    import mujoco
+
+    model = load_model(name)
+    return model, mujoco.MjData(model)
+
+
+def load_model(name: str) -> tuple:
+    spec = load_spec(name)
+    model = spec.compile()
+    return model
+
+
+def load_spec(name: str) -> "mujoco.MjSpec":
+    """Build and return the uncompiled MjSpec for a named model.
+
+    Unlike load(), this stops at the editable MjSpec so downstream consumers
+    (e.g. assist_sim) can edit the model -- attach devices, delete bodies, add
+    actuators -- before compiling it themselves.
+    """
+    import mujoco
+
+    from myo_sim.build.compose import ALIASES, build_spec
+
+    composed_models = _composed_models()
+    if name in composed_models:
+        # Legacy aliases (e.g. hand, myohand, myoarm) resolve to a registry entry.
+        composed_name = ALIASES.get(name, name)
+        spec = build_spec(composed_name)
+        return spec
+
+    if name not in REGISTRY:
+        available = sorted(composed_models | frozenset(REGISTRY))
+        raise ValueError(f"Unknown model {name!r}. Available: {available}")
+
+    spec = mujoco.MjSpec.from_file(str(get_xml_path(name)))
+    return spec
+
+
+def get_path(rel: str) -> Path:
+    """Return the absolute Path to a model file by relative path within MODELS_DIR.
+
+    This is a convenience wrapper for scripts and tutorials that prefer to
+    reference models by relative path (e.g. ``"scene/myosuite_scene.xml"``)
+    rather than registry name.
+
+    Args:
+        rel: Relative path inside MODELS_DIR, e.g. ``"scene/myosuite_scene.xml"``.
+
+    Returns:
+        Absolute Path to the file.
+
+    Raises:
+        FileNotFoundError: If the path does not exist.
+    """
+    p = MODELS_DIR / rel
+    if not p.exists():
+        raise FileNotFoundError(f"Model file not found: {p}")
+    return p
+
+
+def print_path(name: str | None = None) -> None:
+    """Print packaged model file paths."""
+    if name:
+        print(get_path(name))
+    else:
+        print(MODELS_DIR)

myo_sim-0.2.0/myo_sim/build/README.md

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+# MjSpec Prototypes
+
+This folder contains prototype utilities for composing MuJoCo models with
+`mujoco.MjSpec` instead of relying only on static MJCF includes.
+
+The main entry point is:
+
+```bash
+uv run python -m myo_sim.build.compose --model myotorso_arms --view
+```
+
+Available registered models:
+
+- `myotorso_arms`: full torso plus right arm and a mirrored-left arm.
+- `myoarm_r`: passive anatomical torso scaffold plus right arm only.
+- `myotorso_arm_r`: full torso plus right arm only.
+- `myofullbody`: torso, mirrored arms, and legs.
+- `myolegs26`: passive anatomical torso scaffold with reduced 26-muscle legs.
+- `myolegs_abdomen`: simple abdomen scaffold plus legs.
+- `myoarms`: passive anatomical torso scaffold plus mirrored arms.
+- `myohand_r`: passive anatomical torso scaffold plus a right hand derived by pruning `myoarm_r`.
+- `myohands`: passive anatomical torso scaffold plus right and mirrored-left hands derived from arm specs.
+
+`utils.py` contains shared XML and mirroring helpers. `hand.py` contains the
+hand-specific pruning logic used to derive hand-only specs from arm specs.

myo_sim-0.2.0/myo_sim/build/__init__.py

@@ -0,0 +1 @@
+"""MjSpec composition prototypes for MyoSim models."""