add muscle actuator utilities #224

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thowell wants to merge 2 commits into google-deepmind:main from thowell:muscle_actuator_utilities

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thowell commented May 7, 2025

add utilities:

muscle_gain_length
muscle_gain
muscle_bias
_sigmoid
muscle_dynamics_timescale
muscle_dynamics

for muscle actuators

mujoco implementation reference: https://github.com/google-deepmind/mujoco/blob/6cfea719850f7dbc91b9d6fb36deafb3c5d04eaf/src/engine/engine_util_misc.c#L500
mujoco test reference: https://github.com/google-deepmind/mujoco/blob/6cfea719850f7dbc91b9d6fb36deafb3c5d04eaf/test/engine/engine_util_misc_test.cc#L144


          add muscle actuator utilities

fdf7aa9

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          fix util_misc_test.py import order

aa76242

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