A native macOS workbench for robot simulation and reinforcement learning, built with SwiftUI and MuJoCo.
Download · 中文 · Training guide
- Import MJCF/XML and supported URDF models; edit robot scenes, body properties, joints, and actuators.
- Run, pause, and step simulations; inspect contacts, IMU sensors, and live signal plots.
- Save portable projects, record and replay experiments, and export CSV data.
- Configure training tasks, view learning curves, save and resume checkpoints, and evaluate policies.
- English and Simplified Chinese interfaces. English is the default.
Includes Unitree G1, cart-pole, and acrobot models. The training workspace supports task/algorithm plugins and a Stage-Wise-CMORL adapter for Go1/H1 tasks. Imported projects and their assets are downloaded separately.
Apple Silicon · macOS 14 or later
Download the ZIP from Releases, extract it, and move RoboVerse Studio.app to Applications. Python, MuJoCo, and PyTorch are bundled.
The app is ad hoc signed and is not notarized by Apple. If macOS blocks the first launch, use System Settings → Privacy & Security → Open Anyway. A SHA-256 checksum accompanies the download.
Choose a model from the library or import your own. Drag to orbit, Shift-drag to pan, and scroll to zoom. Use Joints and Control to configure the robot; use Record and Replay to capture an experiment. Save the scene as a .mjstudio project.
Switch to Training to import a compatible task configuration or project. See the training guide for supported adapters and configuration. Pretrained policies are not included.
Requires Swift 5.9+ and Python 3.11 on macOS.
git clone https://github.com/sinpoce/RoboVerse-Studio.git
cd RoboVerse-Studio
PYTHON=python3.11 make setup
make runmake app builds a standalone application in dist/. Packaging requires a relocatable CPython installation, such as uv-managed Python.
Apache-2.0. Models and dependencies retain their upstream licenses; see third-party notices.
Built with MuJoCo, mjbatch, and PyTorch. The G1 model comes from MuJoCo Menagerie.