MyoHub · cherylwang20 · Nov 21, 2024 · Nov 21, 2024 · Dec 13, 2024 · Dec 13, 2024
diff --git a/README.md b/README.md
@@ -15,6 +15,7 @@ The models present in the library are:
 | **MyoLeg**  <br>  - 20 Degree of Freedom (DoF) <br> - 80 muscles | <img src="https://user-images.githubusercontent.com/12837145/236839645-e34eab3f-0358-4ca8-8ae0-68a5c08585e4.png" width="200">|
 | **MyoArm**  <br>  - 27 Degree of Freedom (DoF) <br> - 63 muscles | <img src="https://github.com/MyoHub/myo_sim/assets/23240128/1f57c639-b7de-4bbb-a3c2-d2c29716e6c8" width="200">|
 | **MyoOSL**  <br>  - 19 Degree of Freedom (DoF) <br> - 54 muscles, 2 torque actuators | <img src="https://github.com/elladyr/myo_sim/assets/5383997/ec9dfc65-94ba-457f-8375-594c0e3a89b5" width="200">|
+| **MyoBack**  <br>  - 18 Degree of Freedom (DoF) <br> - 210 muscles | <img src="https://github.com/cherylwang20/myo_sim/blob/cec3ce211a516a8798ed2edf9486a0814a0965da/MyoBack.png?raw=true" width="200">|
 
 Description of the models can be found [here](https://myosuite.readthedocs.io/en/latest/suite.html#models).
 

diff --git a/back/README.md b/back/README.md
@@ -0,0 +1,31 @@
+# MyoBack 0.1
+
+## General:
+
+The myoBack mujoco musculoskeletal (MSK) model is generated from: Constrained Lumbar Spine model - 210 [https://simtk.org/projects/lumbarspine] from Opensim.
+
+This generated mujoco MSK model has almost identical kinematics, and very similar muscle kinematics (moment arms) and kinetic (forces) properties.
+
+The model have 210 actuators and 18 joints. The model can be controlled by 3 "virtual joints": Flexion extension, lateral bending, and axial rotation, that maps onto the real joints. 
+
+## Conversion process:
+
+The myoBack model was generated using our developed automatic conversion pipeline (released on June 2023).
+
+Three Conversion steps were taken to generate the myoLeg models from the reference Osim model:
+
+1. Basic element conversion [bone meshes, joint definitions, muscle paths, wrapping objects]
+2. Moment arm optimization [matching the moment arm of each muscle by optimizing how muscles wrap over wrapping objects]
+3. Muscle force optimizaiton [matching the muscle force-length relationship by optimizing muscle parameters]
+
+After the conversion, a manual adjusting process is done to correct the abnormal results.
+
+## Maunal adjustment:
+- Adjustments post conversion to optimize for kinematic and dynamic behaviors
+
+## Contact Geometries:
+- Manually designed with references
+- Contact properties optimized for contact rich behaviors
+
+## Issues:
+- N/A
diff --git a/back/assets/myoback_assets.xml b/back/assets/myoback_assets.xml
diff --git a/back/assets/myoback_assets_exosuit.xml b/back/assets/myoback_assets_exosuit.xml
diff --git a/back/assets/myoback_body.xml b/back/assets/myoback_body.xml
diff --git a/back/assets/myoback_body_exosuit.xml b/back/assets/myoback_body_exosuit.xml
diff --git a/back/myoback.xml b/back/myoback.xml
@@ -0,0 +1,26 @@
+<mujoco model="MyoBack_v0.01">
+<!-- =================================================
+	Copyright 2024
+	Model	:: MyoBack (MuJoCoV2.0)
+	Author	:: Vikash Kumar ([email protected]), Vittorio Caggiano, Rohan Walia, 
+                Morgane Billot, Kevin Garzon-Aguirre, Swathika Subramanian, Huiyi Wang,
+                 Mohamed Irfan Refai, Guillaume Durandau
+	source	:: https://github.com/vikashplus
+	License	:: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+====================================================== -->
+
+  <include file="assets/myoback_assets.xml"/>
+  <include file="../scene/myosuite_scene.xml"/>
+  <compiler meshdir=".." texturedir=".."/>
+
+
+  <worldbody>
+    <body name="full_body" pos="-.025 0.1 0">
+        <include file="assets/myoback_body.xml"/>
+    </body>
+  </worldbody>
+
+  <keyframe>
+    <key name="default-pose"/>
+  </keyframe>
+</mujoco>
diff --git a/back/myoback_exosuit.xml b/back/myoback_exosuit.xml
@@ -0,0 +1,38 @@
+<mujoco model="MyoBack_v0.02">
+  <!-- This model has been converted from an OpenSim model. Model conversion by MyoConverter https://github.com/MyoHub/myoconverter. This model is licensed under Apache 2.0. -->
+
+  <include file="assets/myoback_assets_exosuit.xml"/>
+  <include file="../scene/myosuite_scene.xml"/>
+  <compiler meshdir=".." texturedir=".."/>
+
+  <worldbody>
+    <body name="full_body" pos="-.025 0.1 0">
+        <include file="assets/myoback_body_exosuit.xml"/>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <spatial name="Exo_LS_RL" stiffness="515.5998876" springlength="0 0.378820941018748" group="1" rgba="0.2 0.2 0.2 1"> 
+        <site site="Exo_RightShoulder"/>
+        <geom geom="Exo_cylinder" sidesite="Exo_sidesite"/>
+        <site site="Exo_LeftLeg"/>
+    </spatial>
+    <spatial name="Exo_RS_LL" stiffness="515.5998876" springlength="0 0.378820941018748" group="1" rgba="0.2 0.2 0.2 1"> 
+        <site site="Exo_LeftShoulder"/>
+        <geom geom="Exo_cylinder" sidesite="Exo_sidesite"/>
+        <site site="Exo_RightLeg"/>
+    </spatial>
+    <spatial name="Lower_Exo_Left" stiffness="0" group="1" rgba="0.4 0.4 0.4 1"> 
+        <site site="Lower_Exo_Left_Belt"/>
+        <site site="Lower_Exo_Left_Leg"/>
+    </spatial>
+        <spatial name="Lower_Exo_Right" stiffness="0" group="1" rgba="0.4 0.4 0.4 1"> 
+        <site site="Lower_Exo_Right_Belt"/>
+        <site site="Lower_Exo_Right_Leg"/>
+    </spatial>
+  </tendon>
+
+  <keyframe>
+    <key name="default-pose" qpos='0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0'/>
+  </keyframe>
+</mujoco>
diff --git a/meshes/LowerExo.stl b/meshes/LowerExo.stl
diff --git a/meshes/LowerExoBelt.stl b/meshes/LowerExoBelt.stl
diff --git a/meshes/LowerExoLeftLeg.stl b/meshes/LowerExoLeftLeg.stl
diff --git a/meshes/LowerExoLegs.stl b/meshes/LowerExoLegs.stl
diff --git a/meshes/LowerExoRightLeg.stl b/meshes/LowerExoRightLeg.stl
diff --git a/meshes/LowerExo_old.stl b/meshes/LowerExo_old.stl
diff --git a/meshes/UpperExo.stl b/meshes/UpperExo.stl
diff --git a/meshes/lumbar1.stl b/meshes/lumbar1.stl
diff --git a/meshes/lumbar2.stl b/meshes/lumbar2.stl
diff --git a/meshes/lumbar3.stl b/meshes/lumbar3.stl
diff --git a/meshes/lumbar4.stl b/meshes/lumbar4.stl
diff --git a/meshes/lumbar5.stl b/meshes/lumbar5.stl
diff --git a/meshes/ribcage_s.stl b/meshes/ribcage_s.stl
diff --git a/meshes/thoracic10_s.stl b/meshes/thoracic10_s.stl
diff --git a/meshes/thoracic11_s.stl b/meshes/thoracic11_s.stl
diff --git a/meshes/thoracic12_s.stl b/meshes/thoracic12_s.stl
diff --git a/meshes/thoracic1_s.stl b/meshes/thoracic1_s.stl
diff --git a/meshes/thoracic2_s.stl b/meshes/thoracic2_s.stl
diff --git a/meshes/thoracic3_s.stl b/meshes/thoracic3_s.stl
diff --git a/meshes/thoracic4_s.stl b/meshes/thoracic4_s.stl
diff --git a/meshes/thoracic5_s.stl b/meshes/thoracic5_s.stl
diff --git a/meshes/thoracic6_s.stl b/meshes/thoracic6_s.stl
diff --git a/meshes/thoracic7_s.stl b/meshes/thoracic7_s.stl
diff --git a/meshes/thoracic8_s.stl b/meshes/thoracic8_s.stl
diff --git a/meshes/thoracic9_s.stl b/meshes/thoracic9_s.stl