iMuJoCo

iMuJoCo brings the MuJoCo physics engine to iPhone and iPad with native Swift UI and Metal rendering.

Stream simulation state over UDP and control robot models in real-time from external applications. Use the provided driver to send commands and receive state — ideal for prototyping robotics controllers, testing motion policies, and visualising simulations on the go.

Features:

• Real-time physics simulation powered by Google DeepMind's MuJoCo
• UDP streaming — receive state and send control commands from external apps Driver provided for easy integration
• Native Metal rendering for smooth, interactive 3D visuals
• Built-in models including Unitree G1, H1, and more
• Designed for iPhone and iPad
• More features to come

iMuJoCo will be open-sourced under the Apache 2.0 license.