Important
Requires MuJoCo 3.2.6 or later.
See CHANGELOG.md for a full history of changes.
This package contains a Human MusculoSkeletal model description (MJCF) of the MS-Human-700 model developed by the LNS Group. It is adapted from the official MS-Human-700 repository, which remains the source of truth for the latest version of the model.
The package includes three model variants:
- MS-Human-700.xml: full-body musculoskeletal model.
- MS-Human-700-Locomotion.xml: locomotion-focused variant with a simplified upper body.
- MS-Human-700-Manipulation.xml: manipulation-focused variant with a detailed right arm and hand together with a graspable bottle.
Viewer-ready scene files are also provided:
- Started from the MJCF and asset files provided in the official MS-Human-700 repository.
- Reorganized meshes, tendons, muscles, contacts, equality constraints, and body subtrees into reusable XML components under
assets/. - Added scene files so the models can be loaded directly in the MuJoCo viewer.
This model is released under an Apache-2.0 License.
If you use this work in an academic context, please cite the following publication:
@inproceedings{zuo2024self,
title={Self model for embodied intelligence: Modeling full-body human musculoskeletal system and locomotion control with hierarchical low-dimensional representation},
author={Zuo, Chenhui and He, Kaibo and Shao, Jing and Sui, Yanan},
booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
pages={13062--13069},
year={2024},
organization={IEEE}
}