A robot’s joints as a renderable skeleton has been a surprisingly long-standing gap — not anymore. The upcoming ARMOR release adds full joint visualization to the RealityKit view, giving an at-a-glance look at every reference frame in a robot: how they connect, and how they’re aligned to one another.
In the video, joint visualization is switched on for a Unitree H1. Translations between frames are drawn as yellow lines, orientations as the familiar red/green/blue axis triad, and any joint with an active degree of freedom gets its motion axis marked with an orange cylinder. The skeleton isn’t static either — it tracks the robot live as MuJoCo simulates and animates it in 3D.
Key Points
- Full joint-skeleton visualization in ARMOR’s RealityKit view
- Yellow lines for translations, RGB axes for frame orientation
- Orange cylinders mark each joint’s active motion axis
- The skeleton tracks the robot live through MuJoCo simulation, not just at rest pose
- Demonstrated on a Unitree H1
See Joints for how joint frames and degrees of freedom are defined, and Augmented Reality for more on ARMOR’s 3D/AR view.