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.