Getting Started

ARMOR (Augmented Reality Mobile Robotics) is a robot design and simulation app for iPhone, iPad, and Mac. It brings together a full URDF editor, MuJoCo physics simulation by Google DeepMind, and RealityKit-powered 3D and spatial reality visualization in a single mobile app.

Installation

Download ARMOR from the App Store, or search for ARMOR directly on any supported device.

Requirements: iPhone or iPad running iOS 18 or later, or a Mac running macOS 15 Sonoma or later.

First Launch & Onboarding

On first launch, ARMOR walks you through its core features: robot design and simulation tools, 3D and spatial reality rendering, the MuJoCo multibody dynamics solver, URDF viewing and editing, and iCloud project storage and sharing.

The onboarding includes an interactive tutorial where you build a simple swinging pendulum from scratch. You’ll add a continuous joint for a single rotational degree of freedom, then attach a box-shaped link offset from center so it falls under gravity — your first MuJoCo simulation in ARMOR.

Physics & Visualization

ARMOR uses MuJoCo (by Google DeepMind) for multibody dynamics and contact simulation, the modern standard for robotics research and design. Visualization runs on RealityKit, so you can inspect robots in full 3D or render them in the real world using spatial reality on supported devices.

Working with URDF

ARMOR uses URDF (Universal Robot Description Format), the standard robot description used in ROS, Gazebo, and Drake. This compatibility means you can:

• Load published URDF models from GitHub — many robot vendors provide their files publicly (e.g., the Reachy Mini by Hugging Face)
• Prompt an AI assistant such as Gemini, ChatGPT, or Claude to generate a custom URDF model from a text description
• Share your robot models with other ARMOR users directly from within the app

Next Steps

• See Basic Workflow to learn the standard usage pattern.
• See Finding URDF Files for a listing of URDF files published online.
• See Loading URDF Files for details on supported file formats.
• Coming soon: See Building with AI for examples of prompting LLMs like Gemini, ChatGPT, or Claude to create URDF robot models.
• Coming soon: See Viewing Robots in 3D and AR to understand the camera and view types available in ARMOR.
• Coming soon: See Working with the Editor to learn how to create and edit robot links and joints.
• Coming soon: See Sharing Your Model to learn how to send URDF files to other users or export them for use in MuJoCo or other desktop simulators.
• Coming soon: See Understanding URDF to explore the XML structure behind robot models.