ARMOR v1.2 adds built-in help: browse guides, watch videos, or Ask the on-device AI. Plus mass & inertia from mesh, one-tap controllers and mimic joints.
ARMOR brings real MuJoCo physics simulation to your pocket. Load any URDF (Unified Robot Description Format) robot, simulate true dynamics, and place it in AR — directly on iPhone, iPad, and Mac.
Built for robotics engineers, students, and researchers, ARMOR bridges the gap between desktop-grade simulation and mobile accessibility — inspect joint kinematics, fine-tune a humanoid's balance, or demo a collaborative robot arm, all without a workstation.
KEY FEATURES:
• MuJoCo Physics Engine: Leverage the industry-standard MuJoCo engine for high-fidelity physics simulations. ARMOR makes it easy to visualize joint dynamics and collisions on mobile hardware.
• Advanced URDF Viewer: Load and inspect your own URDF robot files—the standard XML format produced by ROS and XACRO workflows. ARMOR handles complex links, joints, and geometries with ease, providing a comprehensive engineering view of your robot's structure.
• Built-In Editor & Export: Create and edit links and joints with guided wizards, then export your project as a ROS-style URDF package or a MuJoCo MJCF file to continue your work on the desktop.
• Humanoid & Spatial Robot Visualization: Perfect for visualizing cutting-edge platforms. Load models similar to the Boston Dynamics Atlas or open-source humanoids like the Reachy Mini to study their form and motion in a spatial context.
• Robot Arm Kinematics: A vital tool for industrial automation and cobot development. Inspect robot arms like the ABB YuMi and other multi-axis systems with precision.
• Augmented Reality (AR): Move from the screen to the real world. Place your robot models in your physical environment at 1:1 scale to assess spatial dimensions and workplace layout.
• Engineering Workflow Integration: Designed for the modern robotics professional. ARMOR supports standard file formats, making it the perfect companion for ROS (Robot Operating System) workflows.
WHY ARMOR?
ARMOR was built by engineers, for engineers. By bridging the gap between desktop simulation and mobile accessibility, ARMOR allows you to present your robotics projects to clients, teach engineering concepts in the classroom, or debug kinematics during a field test—all from your mobile device.
COMPATIBILITY:
ARMOR supports a wide range of URDF configurations, including those used for humanoid robots, industrial grippers, and mobile platforms. Optimized for the latest iOS hardware to ensure smooth, fluid rendering even for complex assemblies.
Disclaimer: ARMOR is an independent third-party application and is not affiliated with, sponsored by, or endorsed by Boston Dynamics, ABB, or the MuJoCo project. References to third-party trademarks and robot models are for nominative and descriptive purposes only, to indicate compatibility and visualization capabilities. All other trademarks are the property of their respective owners.
Terms and Conditions: https://armor.dc-engineer.com/terms.html
Version 1.2: Built-In Help, Smarter Robots
• Built-In Help and Ask: Browse searchable guides offline, watch video walkthroughs, or ask a question in Ask. Ask uses on-device Apple Intelligence (iOS and macOS 26) to answer from the docs and about your loaded robot, and falls back to page summaries when the model is unavailable. Available in English, German, Spanish, French, Italian and Portuguese.
• Mass & Inertia from Geometry: 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, with safe, automatically sized force and torque limits.
• Fix Invalid Inertias: "Fix All Inertias" repairs invalid inertia tensors that used to block simulation entirely.
• Mimic Joints in Simulation: Grippers and linkages built with URDF mimic joints now follow their driver joint during simulation, including parallelogram linkages.
• Browse the Gallery In-App: Search and import robots straight from ARMOR's live gallery, no external links required.
• Stable 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.
Version 1.2.1
The developer, Eliott Radcliffe, 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, for example, based 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
