MuJoCo Simulator for iPhone, iPad & Mac

ARMOR runs MuJoCo — Google DeepMind's industry-standard physics engine — natively on your device. Load a URDF and simulate robot arms and humanoids in real time, right in your hand. No ROS, no desktop, no setup.

Download ARMOR, the MuJoCo simulator, on the App Store

The Bridge Between ROS, URDF & MuJoCo

Diagram showing how ARMOR connects the robotics ecosystem: ROS provides the URDF standard for robot geometry and physics; ARMOR imports URDF for mobile-first on-device editing on iPhone, iPad, and Mac, runs MuJoCo multibody-dynamics simulation, and exports projects compatible with desktop tools like ROS, Gazebo, and Drake.

Robotics runs on shared standards. ROS gives the field its tooling and conventions — including URDF, the common format that describes a robot's geometry and physics. MuJoCo imports URDF to deliver advanced multibody-dynamics simulation. ARMOR ties it together on your iPhone, iPad, or Mac: import a URDF, edit it on-device, simulate it with MuJoCo in real time, then export a project that drops straight into your desktop workflow. It's a mobile-first tool that fits the pipeline academics and professionals already use.

What is MuJoCo?

MuJoCo (Multi-Joint dynamics with Contact) is a high-performance physics engine developed by Google DeepMind. It is the modern standard for robotics research, reinforcement learning, and multibody dynamics, prized for fast and accurate simulation of joints, contacts, and constraints. Learn more at the official MuJoCo site.

A Real MuJoCo Simulator in Your Pocket

ARMOR doesn't stream or fake it — it runs the actual MuJoCo solver natively on iOS, iPadOS, and macOS, rendered through Apple's RealityKit. Robot models step forward in real time on the device, so you can iterate on dynamics anywhere.

Native, real-time MuJoCo simulation on iPhone, iPad & Mac
High-fidelity joint dynamics, contacts, and collisions
Tune gravity, timestep, and solver settings on the fly

MuJoCo physics simulation of a robot arm with collision surfaces highlighted in ARMOR

From URDF to MuJoCo in Seconds

ARMOR reads the same URDF robot descriptions used across ROS and desktop tooling, builds the model on-device, and hands it to the MuJoCo solver — no manual conversion required. When you're ready to move to the desktop, export an MJCF (MuJoCo) archive with all assets bundled and converted for you.

Don't have a model yet? Find URDF files to import from GitHub, robot vendors, and the MuJoCo Menagerie.

Simulate Real Robots with MuJoCo

ABB YuMi dual-arm robot URDF simulated with MuJoCo in augmented reality in ARMOR — ABB YuMi

ANYmal quadruped URDF simulated with MuJoCo in augmented reality in ARMOR — ANYmal

ABB IRB 6640 industrial robot arm URDF simulated with MuJoCo in augmented reality in ARMOR — ABB IRB 6640

See more in the video gallery.

Boston Dynamics Spot quadruped simulated with MuJoCo and rendered in augmented reality on a real-world surface with ARMOR on iPhone

MuJoCo Simulation in Augmented Reality

Place your MuJoCo simulation in the real world. ARMOR's spatial reality mode overlays the running simulation on detected surfaces with real-world occlusion, so you can see your robot at true scale on your desk or floor.

Start Simulating with MuJoCo Today

Download ARMOR and run the MuJoCo simulator on your iPhone, iPad, or Mac — then explore the full feature set.

Download ARMOR, the MuJoCo robot simulator, on the App Store