Is Simulink Blockset for MuJoCo Simulator compatible with Simulink Desktop Real-Time and External Mode kernel execution?

Hi everyone,

I am using the Simulink Blockset for MuJoCo Simulator and I would like to understand whether it can be used together with:

• Simulink Desktop Real-Time
• execution on the real-time kernel
• External Mode

More specifically, I would like to know:

1. Can a model containing the MuJoCo Simulink Blockset run with Simulink Desktop Real-Time?
2. If yes, can it run on the kernel in real-time?
3. Is External Mode supported in this case?
4. Are there any known limitations regarding:

• supported blocks,
• solver settings,
• sample times,
• communication with the MuJoCo simulator,
• code generation or real-time execution?

My goal is to understand whether the MuJoCo blockset can be used not only in normal Simulink simulation, but also in a real-time workflow with Desktop Real-Time and External Mode.

If this is not supported, is there any recommended alternative workflow for connecting MuJoCo with Simulink in real time?

Thanks in advance.