iMuJoCo

Developer Tools

Free · Designed for iPad. Not verified for macOS.

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.

Ratings & Reviews

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- Control mode decoupling: 4 simulation/driver sync modes for more flexible remote control - PTP precision time synchronization for accurate timing between device and driver - Contact forces and body forces now available in state data - Per-instance sync server support for multi-device setups - Stability and build improvements

Version 0.1.3

The developer, XIAOCHEN WANG, indicated that the app’s privacy practices may include handling of data as described below. For more information, see the developer’s privacy policy .

  • Data Not Collected

    The developer does not collect any data from this app.

    Privacy practices may vary based, for example, on the features you use or your age. Learn More

    Accessibility

    The developer has not yet indicated which accessibility features this app supports. Learn More

    Information

    Provider
    • XIAOCHEN WANG
    Size
    • 149.9 MB
    Category
    • Developer Tools
    Compatibility
    Requires iOS 26.0 or later.
    • iPhone
      Requires iOS 26.0 or later.
    • iPad
      Requires iPadOS 26.0 or later.
    • Mac
      Requires macOS 26.0 or later and a Mac with Apple M1 chip or later.
    • Apple Vision
      Requires visionOS 26.0 or later.
    Languages
    • English
    Age Rating
    4+
    Copyright
    • © 2026 hhkb logi
  • Privacy Policy

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