Contact physics arrives in ARMOR: collision and visual geometry are now loaded straight from a URDF file, letting the simulator resolve real contacts between bodies. This was the missing piece in earlier multibody-dynamics work, and the reason ARMOR was rebuilt from scratch on a modern foundation.
ARMOR uses RealityKit’s native physics for in-engine contact, while keeping everything anchored to the serializable URDF standard. That means you can author a model on your phone and carry it into professional robotics and simulation engines like ROS 2 with Gazebo, or MuJoCo.
Key points
- Collision and visual geometry parsed from URDF
- Native contact resolution via RealityKit
- A standards-first approach built around URDF for portability
Related: learn how meshes and collision shapes are handled in Links.