[MJX] ETA for muscle actuation

[driesmarzougui]

Intro

Hi!

I am a PhD student at Ghent University, I use MuJoCo/MJX for my research on bio-inspired robotics.

My question

In my current MJX project, I'm interested in comparing the resulting gaits (optimized via RL) between direct joint control and a model incorporating tendon and muscle dynamics. Do you have any updates on when muscle dynamics might be available in MJX?

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[yuvaltassa]

This is currently WIP, should be out soon (1-2 weeks).
cc @thowell

[driesmarzougui]

Great! Thanks!

[thowell]

Muscle actuators have been added to MJX.