Exporting Models
ARMOR can export your robot as a self-contained package for use in desktop tools. Three export formats are available: GLB for 3D viewers and Blender, URDF archive for ROS, Gazebo, Drake, and Isaac Sim, and MJCF archive for MuJoCo. When exporting an archive, ARMOR automatically converts mesh assets into the format your target software requires.
The video above demonstrates loading the Reachy Mini humanoid robot by Pollen Robotics from GitHub, exporting it as a GLB file, and rendering it in Blender.
Exporting to GLB
GLB is the binary container form of glTF — a single file that bundles geometry, materials, and textures. It is widely supported by 3D tools and web viewers.
Best for: Blender, general-purpose 3D viewers, web-based visualizers, and any workflow that does not require joint or physics data.
To export: tap the Share button, then choose Export As → GLB.
Note: GLB captures visual geometry only. Joint definitions, inertial properties, and physics parameters are not included.
Exporting to URDF Archive
A URDF archive is a ZIP file containing the robot’s URDF description along with all referenced mesh assets. ARMOR converts mesh assets to your chosen format at export time.
Best for: ROS, Gazebo, Drake, and Isaac Sim.
Mesh format options at export: OBJ, DAE (Collada), GLB, STL — choose based on the target tool (see the compatibility table below).
If you have defined joint groups or end-effector semantics, the SRDF file is included in the archive automatically.
Exporting to MJCF Archive
A MJCF archive is a ZIP file containing the MuJoCo XML model and all mesh assets. MuJoCo supports OBJ, STL, and its own MSH format — DAE and GLB are not supported.
Best for: MuJoCo by Google DeepMind and any tool in the MuJoCo ecosystem.
ARMOR exports meshes as OBJ by default, which preserves texture coordinates. STL is geometry-only and does not carry color or texture data.
Mesh Format Compatibility
When exporting a URDF or MJCF archive, choose the mesh format that matches your target software.
| Tool | OBJ | STL | DAE (Collada) | GLB / glTF | Notes |
|---|---|---|---|---|---|
| MuJoCo | ✅ | ✅ | ❌ | ❌ | OBJ preserves texture coords; STL does not |
| ROS / RViz | ❌ | ✅ | ✅ preferred | ❌ | DAE carries material and color data; STL is geometry-only |
| Gazebo Classic | ✅ | ✅ | ✅ preferred | ❌ | DAE required for textures and materials |
| Gazebo Harmonic+ | ✅ | ✅ | ✅ | ✅ GLB | Full ASSIMP support; all four formats work |
| Drake | ✅ preferred | ❌ | ❌ | ✅ .gltf only | .glb container files are not supported — use .gltf or OBJ |
| NVIDIA Isaac Sim | ✅ | ✅ | ✅ | ✅ | Broad ASSIMP support; OBJ and STL are most reliable for URDF import |
Recommendation: OBJ offers the widest compatibility across all listed tools. For ROS and Gazebo workflows where material fidelity matters, use DAE (Collada).
