Smarter Robots, Zero Setup • Instant Mass & Inertia: The new "Estimate from Geometry" tool calculates realistic mass and inertia straight from your robot's mesh — even for models that ship with no physics data at all. • One-Tap Controllers: Add physically-tuned PD controllers to your whole robot at once, complete with safe, automatically-sized force and torque limits. • Auto-Repair Physics Errors: "Fix All Inertias" instantly repairs invalid inertia tensors that used to block simulation entirely. • Browse the Gallery In-App: Search and import robots straight from ARMOR's live gallery — no external links required. • Rock-Solid Simulation: Unstable simulations are now caught immediately with a clear, actionable explanation instead of failing silently. • Broader Robot Support: Fixed import issues affecting FANUC, Doosan, and Techman industrial arms, plus new AR shadows for more realistic augmented reality.

- Gallery Deep Links: Instantly download and initialize robot projects from web galleries using Universal Links and custom armor:// schemes. - Native Xacro Support: Enjoy full macro evaluation, conditional branching, and package resolution on device with our rewritten XacroPreprocessor. - ROS 2 Control Actuators: Automatically compile MuJoCo position, velocity, and motor actuators with dynamically computed damping gains from command interfaces. - Hardened Security & Performance: Enhanced ZIP pre-validation against path traversal, granular scene diffing, and per-robot mesh asset namespacing.

- Gallery Deep Links: Instantly download and initialize robot projects from web galleries using Universal Links and custom armor:// schemes. - Native Xacro Support: Enjoy full macro evaluation, conditional branching, and package resolution on device with our rewritten XacroPreprocessor. - ROS 2 Control Actuators: Automatically compile MuJoCo position, velocity, and motor actuators with dynamically computed damping gains from command interfaces. - Hardened Security & Performance: Enhanced ZIP pre-validation against path traversal, granular scene diffing, and per-robot mesh asset namespacing.

Version 1.0.0 — Build a World, Not Just a Robot • Simulation Worlds: Drop your robot onto a checkered ground plane with adjustable friction, then add box, sphere, and cylinder obstacles as static props or dynamic rigid bodies. • Fixed or Floating Base: Choose whether your robot is welded to the world or free to fall under gravity and contact. • One-to-One MuJoCo Export: The physics you run on iPhone and iPad now matches your desktop—export the exact same MJCF you simulate on-device. • Scene Editor: Edit the world and robot placement directly from the 3D view, with every change reflected live. • MJCF Preview: Inspect the compiled MuJoCo XML in the XML tab before you export. • Plus camera persistence and project-naming improvements.

Multi-Robot Worlds & MuJoCo Improvements • New world model: place one or more robots at defined poses with fixed or free bases, built on an SDF-compatible format familiar from Gazebo and Drake. • Ground plane physics: enable contact with a configurable friction surface, and toggle its visibility in the 3D view. • World editor: add, position, and remove robot placements directly in the app. • MJCF viewer: inspect the compiled MuJoCo XML right in the XML tab — identical to what you export, with meshes converted to MuJoCo-ready OBJ/STL. • View the world definition (SDF subset) alongside your URDF and SRDF. • Simplified one-tap sharing from the project list: Share in ARMOR or export a ROS-ready URDF package. • Fixes: resolved duplicate-entity and ground-contact issues, and ensured imported projects always load with a valid robot placement.

Multi-Robot Worlds & MuJoCo Improvements • New world model: place one or more robots at defined poses with fixed or free bases, built on an SDF-compatible format familiar from Gazebo and Drake. • Ground plane physics: enable contact with a configurable friction surface, and toggle its visibility in the 3D view. • World editor: add, position, and remove robot placements directly in the app. • MJCF viewer: inspect the compiled MuJoCo XML right in the XML tab — identical to what you export, with meshes converted to MuJoCo-ready OBJ/STL. • View the world definition (SDF subset) alongside your URDF and SRDF. • Simplified one-tap sharing from the project list: Share in ARMOR or export a ROS-ready URDF package. • Fixes: resolved duplicate-entity and ground-contact issues, and ensured imported projects always load with a valid robot placement.

- Share your models as ARMOR projects, or export XML archives - Use robot semantic format to specify joint values

Now you can share your projects with other users, or export your files to a URDF archive. Plus, if you are a premium user, all of your models will be synched to iCloud for use on all of your devices!

- iCloud storage is unlocked in premium - MuJoCo solver is default for all projects