# Will the muscle simulation available in Issac gym?

**URL:** <https://forums.developer.nvidia.com/t/will-the-muscle-simulation-available-in-issac-gym/289287>\
**Category:** Isaac Gym\
**Created:** [April 11, 2024, 8:42am UTC](https://forums.developer.nvidia.com/t/will-the-muscle-simulation-available-in-issac-gym/289287 "2024-04-11T08:42:42Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![3207650009](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@3207650009](https://forums.developer.nvidia.com/u/3207650009)\
**Post date:** [April 11, 2024, 8:42am UTC](https://forums.developer.nvidia.com/t/will-the-muscle-simulation-available-in-issac-gym/289287/1 "2024-04-11T08:42:42Z")

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Muscle simulator such as mujoco, opensim are using CPUs with minor speed. In issac gym, there are not APIs for adding forces on individual parts rather than the torques applied on the joints.

Maybe the Issac gym can provide some APIs for adding forces directly so we can imitate those muscle simulators. Or the muscle actuators are in the schedule, so we do not need to to that matters?