musclemimic_models/NOTICE at main · amathislab/musclemimic_models · GitHub

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MuscleMimic Models
Copyright 2026 MuscleMimic Team

This product includes software and model assets derived from the following
third-party projects. We gratefully acknowledge their contributions.

================================================================================

1. MyoSuite
   Source:  https://github.com/MyoHub/myosuite
   License: Apache License 2.0
   Copyright: 2020-2024 Vikash Kumar, Vittorio Caggiano, and contributors

2. MyoSim (myo_sim)
   Source:  https://github.com/MyoHub/myo_sim
   License: Apache License 2.0
   Copyright: 2020-2024 Vikash Kumar, Vittorio Caggiano, Huawei Wang, and contributors

   MyoSim provides the foundational musculoskeletal models (MyoArm, MyoLegs,
   MyoTorso, MyoHand, MyoHead) that MuscleMimic Models builds upon. These
   models were originally converted from OpenSim to MuJoCo format by the
   MyoSuite team.

   The upstream OpenSim model sources and their respective licenses are:

   a) Rajagopal Full Body Gait Model (used in MyoLegs)
      Source:  https://simtk.org/projects/full_body
      License: MIT
      Citation: Rajagopal et al. (2016), "Full-body musculoskeletal model for
                muscle-driven simulation of human gait", IEEE Trans Biomed Eng.

   b) MoBL-ARMS Upper Extremity Model (used in MyoArm / MyoHand)
      Source:  https://simtk.org/projects/upexdyn
      License: BSD 3-Clause with Non-Commercial restriction
      Copyright: 2014-present NC State University, Northwestern University,
                 Rehabilitation Institute of Chicago, Valparaiso University,
                 Wake Forest University, Stanford University, VA HCS
      Note:    The MoBL-ARMS model definition was released "solely for
               non-commercial purposes (including research, academic, evaluation
               and personal uses)." The standard OpenSim bone geometry meshes
               used by this model are shared infrastructure distributed under
               CC BY 3.0 by the OpenSim project.
      Citation: Saul et al. (2015), "Benchmarking of dynamic simulation
                predictions in two software platforms using an upper limb
                musculoskeletal model", Comput Methods Biomech Biomed Engin.

   c) 2nd-Hand Finger Model (used in MyoHand)
      Source:  https://simtk.org/projects/hand_muscle
      License: MIT
      Citation: McFarland et al. (2019)

   d) Constrained Lumbar Spine Model (used in MyoTorso)
      Source:  https://simtk.org/projects/lumbarspine
      License: MIT
      Citation: Bruno et al. (2015)

3. MuJoCo
   Source:  https://github.com/google-deepmind/mujoco
   License: Apache License 2.0
   Copyright: 2021 DeepMind Technologies Limited

================================================================================

Asset Provenance Summary
------------------------

All mesh files (STL) distributed in this package are sourced exclusively from
the MyoHub/myo_sim repository (Apache License 2.0). Left-side variants (_l)
were generated by mirroring the corresponding right-side myo_sim meshes on the
Z axis.

  model/meshes/
    Arm & hand bones    -> myo_sim (see 2 above)
      Right-side: directly from myo_sim
      Left-side (_l): Z-axis mirror of myo_sim right-side meshes

    Leg bones           -> myo_sim (see 2 above)
      (pelvis, femur, tibia, fibula, talus, foot, patella — both R and L)

    Torso/spine bones   -> myo_sim (see 2 above)
      (sacrum, lumbar1-5, thoracic1_s-12_s, thorax)

    Head bones          -> myo_sim (see 2 above)
      (hat_cervical, hat_jaw, hat_skull)

================================================================================

Modifications from upstream MyoSuite/myo_sim models:

  - Corrected left-right limb asymmetries in joint definitions and muscle paths
  - Fixed muscle-jumping behaviors at joint limits
  - Combined MyoArm, MyoLegs, MyoTorso, and MyoHead into unified full-body
    (MyoFullBody) and bimanual (BimanualMuscle) configurations
  - Added explicit collision pairs for self-contact (leg-leg, arm-leg, etc.)
  - Refined muscle attachment sites based on cadaver and MRI validation data
  - Generated left-side mirror variants (_l) from myo_sim right-side meshes