MuJoCo on Mac

Most MuJoCo workflows on Mac start with a terminal: install Python, wrangle a virtual environment, compile bindings, then write a script just to load a single robot. ARMOR skips all of that. It’s a native Mac app that runs Google DeepMind’s MuJoCo physics engine directly — download it from the Mac App Store and you’re simulating a robot within a minute, no command line involved.

Install in seconds — no Python, no build step

ARMOR is a genuine native macOS app (Apple Silicon), not a wrapper around a Python environment. Install it from the Mac App Store, and the same MuJoCo 3.9 engine, URDF editor, and world builder you’d get on iPhone or iPad is right there on your desktop — with an Xcode-style inspector panel suited to a mouse and keyboard.

ARMOR running a multi-robot MuJoCo world on macOS

Build simulation worlds natively on your desktop

Once a robot is loaded, ARMOR’s World Builder is exactly as capable on Mac as it is on iPhone — a larger screen just makes it easier to work with:

Multi-Robot Worlds — place several robots in one scene, each with its own fixed or free base.
Ground Plane — toggle MuJoCo contact physics, adjust friction, switch between solid and checkerboard display.
World Objects — add box, sphere, cylinder, and mesh obstacles with static or dynamic physics.
ros2_control Actuators — real position, velocity, and motor actuators, compiled from ros2_control command interfaces into physically computed MuJoCo gains.
Understanding MuJoCo Source (MJCF) — see exactly what ARMOR compiles your world into under the hood.

Every world you build exports to a standard MJCF file, portable to any other MuJoCo-based tool.

Stay in sync with iCloud

ARMOR’s Mac and iPhone apps share the same project library over iCloud. Start a URDF import on your iPhone at your desk, and it’s already there when you open ARMOR on your Mac — no manual file transfer, no cables. That makes Mac a natural second stop in the workflow: prototype and capture on iPhone (including in augmented reality), then move to Mac for a larger view while iterating on a world or exporting a scene.

See ARMOR Arrives on Mac with Native MuJoCo Simulation Across All Your Apple Devices on the blog for the full macOS launch writeup.

Getting started

Don’t have a URDF loaded yet? See Finding URDF Files for where to source one, or the Robot Gallery for ready-to-import examples — every gallery entry opens directly in ARMOR on Mac the same way it does on iPhone and iPad.