ARMOR

Augmented Reality Mobile Robotics

URDF Viewer, Editor & MuJoCo Simulator — no ROS required

Professional Robotics on the Go

MuJoCo Simulator

The industry-standard MuJoCo simulator runs natively on-device for realistic robot arm kinematics and joint physics. Learn more →

Augmented Reality Robotics

Visualize your URDF models in the real world with high-performance augmented reality robotics overlays.

Visual URDF Editor

Modify robots safely using intuitive SwiftUI wizard forms, ensuring compliant and error-free URDF XML structures.

Bring your own robot — find URDF files to import from GitHub, robot vendors, and the MuJoCo Menagerie.

Screenshots

Yaskawa Motoman MH5 industrial robot arm URDF in ARMOR 3D view with collision surfaces and kinematic links highlighted — Collision & Kinematics

ARMOR Bot mascot posed in augmented reality at the Guggenheim Bilbao using the ARMOR app on iPhone — Spatial Reality

ABB YuMi collaborative dual-arm robot URDF model rendered in ARMOR with high-fidelity MuJoCo physics simulation — High-Fidelity Simulation

ARMOR robotics simulation app running on macOS showing 3D humanoid model and MuJoCo solver settings — macOS Desktop View

Boston Dynamics ATLAS robot model rendered in a high-fidelity 3D mobile physics simulator — Boston Dynamics Atlas

Reachy Mini AI companion robot by Hugging Face loaded in ARMOR URDF viewer with MuJoCo physics simulation on iPhone — Reachy – Hugging Face AI Robot

Augmented Reality (AR) robotics visualization of a custom humanoid mascot in a real-world environment — AR Mascot

ARMOR sidebar menu displaying imported URDF robot models and user projects on iPhone — Project Management

Mobile URDF editor interface for modifying robot links, joints, and MuJoCo physics parameters — URDF Editor

Native URDF XML code editor with syntax highlighting for robot description format files — XML Viewer

Custom humanoid robot mascot visualized in augmented reality outdoors using ARMOR AR robotics app on iPhone — AR Mascot Outdoors

ABB IRB 6640 industrial robot arm URDF rendered in augmented reality with ARMOR on iPhone — ABB IRB 6640

Yaskawa Motoman MH5 industrial robot arm URDF rendered in augmented reality with ARMOR on iPhone — Yaskawa Motoman MH5

FANUC LR Mate 200iB industrial robot arm URDF rendered in augmented reality with ARMOR on iPhone — FANUC LR Mate 200iB

Build a World. Export to Desktop.

Everything you configure in the app — ground plane, obstacles, robot placement — exports as a ready-to-run MuJoCo MJCF and ROS-compatible URDF package. One pipeline, zero surprises.

Robot Worlds & SDF

Wrap your URDF robot in a full simulation world — gravity, timestep, ground plane, and obstacles — stored in SDF format, familiar to Gazebo and Drake users. Learn more →

Ground Plane & Obstacles

Toggle contact physics with adjustable friction, add a checkerboard floor that mirrors MuJoCo's default appearance, and populate the scene with box, sphere, and cylinder obstacles that react to the robot. Ground plane →

Desktop-Fidelity Export

The in-app MuJoCo simulation and the exported MJCF use the same build pipeline — correct fixed vs. free base, world context, and converted OBJ/STL meshes — so your robot behaves identically on-device and on the desktop. Export docs →