App Store
ARMOR is now available on the App Store for iPhone, iPad, and Mac.
During the development of ARMOR, we released open-source utilities to cleanly import and export 3D geometry formats in Apple's RealityKit — the foundation of ARMOR's universal model import and export.
A universal 3D model importer and exporter for RealityKit. RealityKitFormats unifies the two packages below into a single Swift API that loads and saves GLB, USDZ, DAE, OBJ, and STL — it is the engine behind ARMOR's import and export of robot models across formats.
This is what powers ARMOR's one-tap conversion between formats for Blender, the web, MuJoCo, ROS, Gazebo, and Drake, all without leaving the app.
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Extensions to synthesize RealityKit Native ModelEntity objects directly from STL, OBJ, PLY, and ABC generic formats parsed by Apple's lower-level ModelIO framework.
This framework supports the parsing of complex mesh bounds and material structs, robustly bridging legacy robotics definitions with RealityKit scene tracking and physical rendering properties.
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Specialized extension for converting Collada (.dae) 3D models into RealityKit entities asynchronously at runtime without requiring intermediate xcode compilation.
This tool was developed to natively support complex URDF robot structures using custom generic XML parsing via XMLCoder, deprecating older dependency workflows on legacy SceneKit loaders.
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