ABB’s dual-arm YuMi robot rendered in a RealityKit spatial reality view on iPhone, loaded from a URDF file together with its visual and collider assets in STL format. Toggle the collider setting and the collision geometry appears as a glowing outline.
Even better, all 22 independent joints are simulated with the Google DeepMind MuJoCo engine in real time. For now the arms fall under gravity; control and AR interaction are on the roadmap.
Key points
- 22-joint ABB YuMi loaded from URDF + STL
- Real-time MuJoCo simulation of both arms
- Collider visualization in spatial AR
Find robots like this in Finding URDF Files.