# iMuJoCo

> iMuJoCo (iPhone/iPad app by XIAOCHEN WANG.)

- Source: https://appshunter.io/ios/app/imujoco/id6759394574 (this page in markdown: same URL + `.md`)
- Developer: [XIAOCHEN WANG](https://appshunter.io/developer/1878409496)
- Category: Developer Tools, Education
- Price: Free
- Age rating: 4+
- Requires: iOS 26.0 · 143 MB
- Languages: American English
- Released: 2026-03-02
- Data updated: 2026-06-05
- User reviews in markdown: https://appshunter.io/ios/app/imujoco/id6759394574/reviews.md

## What is 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.


## Version history (last 2 releases)

### 0.1.3 — 2026-04-07

- 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

### 0.1.2 — 2026-03-02

No release notes.

## Related topics

[imujoco](https://appshunter.io/ios/topics/imujoco)

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*Data collected daily from the US App Store and indexed by [AppsHunter](https://appshunter.io/). User reviews are verbatim App Store reviews. Ratings, prices and chart positions refresh continuously; this snapshot is from 2026-06-05.*