Do we know a complete list of nutrients that humans must ingest to live?
For babies there is certainly a formula available for a complete menu for survival: formula*

Here are the nutrition facts from Nestlé's "Good Start":


Formula nutrition facts. source: Nestlé 

Comparable lists are available for people that cannot eat normally (e.g. people in a comatose state) and are fed enteral or parenteral nutrition.  

*. Remember though, breast is best :)