Is a Municipal Judge considered a Public Safety Officer?

Based on what I am reading you don't qualify.  I would look over job description to see if you meet the IRS definition I have listed below. 

Who is a qualified public safety employee?

A-6. For purposes of § 72(t)(10), the term “qualified public safety employee” means an employee of a State or of a political subdivision of a State (such as a county or city) whose principal duties include services requiring specialized training in the area of police protection, firefighting services, or emergency medical services for any area within the jurisdiction of the State or the political subdivision of the State.

Source: https://www.irs.gov/irb/2007-05_IRB/ar11.html

Retired Public Safety Officers, or PSOs, can exclude up to $3,000 of their retirement income, if the money was used towards health or long-term care insurance premiums.