# ARMOR: MuJoCo Robot Simulator — Robotics Engineering & URDF > Robotics Engineering & URDF (iPhone/iPad app by Eliott Radcliffe.) - Source: https://appshunter.io/ios/app/armor-mujoco-robot-simulator/id6755694245 (this page in markdown: same URL + `.md`) - Developer: [Eliott Radcliffe](https://appshunter.io/developer/1477487767) - Category: Utilities, Developer Tools - Price: Free with in-app purchases - Age rating: 4+ - Requires: iOS 18.0 · 34 MB - Languages: American English, French (France), German (Germany), Italian, European Portuguese, European Spanish - Released: 2026-06-17 - Data updated: 2026-09-03 - User reviews in markdown: https://appshunter.io/ios/app/armor-mujoco-robot-simulator/id6755694245/reviews.md ## What is ARMOR? ARMOR is the premier mobile utility for robotics engineers, students, and researchers. Experience high-performance 3D visualization and physics-based simulation for your URDF (Unified Robot Description Format) models directly on iPhone, iPad, and Mac. Whether you are developing complex kinematics for a collaborative robot arm or fine-tuning the balance of a humanoid model, ARMOR provides a robust environment to inspect and simulate your designs anywhere. KEY FEATURES: • MuJoCo Physics Engine: Leverage the industry-standard MuJoCo engine for high-fidelity physics simulations. ARMOR makes it easy to visualize joint dynamics and collisions on mobile hardware. • Advanced URDF Viewer: Load and inspect your own URDF and XACRO files. ARMOR handles complex links, joints, and geometries with ease, providing a comprehensive engineering view of your robot's structure. • Humanoid & Spatial Robot Visualization: Perfect for visualizing cutting-edge platforms. Load models similar to the Boston Dynamics Atlas or open-source humanoids like the Reachy Mini to study their form and motion in a spatial context. • Robot Arm Kinematics: A vital tool for industrial automation and cobot development. Inspect robot arms like the ABB YuMi and other multi-axis systems with precision. • Augmented Reality (AR): Move from the screen to the real world. Place your robot models in your physical environment at 1:1 scale to assess spatial dimensions and workplace safety. • Engineering Workflow Integration: Designed for the modern robotics services professional. ARMOR supports standard file formats, making it the perfect companion for ROS (Robot Operating System) workflows. WHY ARMOR? ARMOR was built by engineers, for engineers. By bridging the gap between desktop simulation and mobile accessibility, ARMOR allows you to present your robotics projects to clients, teach engineering concepts in the classroom, or debug kinematics during a field test—all from your mobile device. COMPATIBILITY: ARMOR supports a wide range of URDF configurations, including those used for humanoid robots, industrial grippers, and mobile platforms. Optimized for the latest iOS hardware to ensure smooth 60fps rendering even for complex assemblies. Disclaimer: ARMOR is an independent third-party application and is not affiliated with, sponsored by, or endorsed by Boston Dynamics, ABB, or the MuJoCo development team. References to third-party trademarks and robot models are for nominative and descriptive purposes only to indicate compatibility and visualization capabilities. Terms and Conditions: https://armor.dc-engineer.com/terms.html ## Pricing and in-app purchases Base price: Free. **Subscriptions** | Subscription | Price | Period | | --- | --- | --- | | Premium Monthly | $4.99 | per month | | Premium Yearly | $49.99 | per year | **One-time purchases** | Purchase | Price | Type | | --- | --- | --- | | Premium Lifetime | $99.99 | one-time | ## Version history (last 5 releases) ### 1.1.2 — 2026-08-28 Smarter Robots, Zero Setup • Instant Mass & Inertia: The new "Estimate from Geometry" tool calculates realistic mass and inertia straight from your robot's mesh — even for models that ship with no physics data at all. • One-Tap Controllers: Add physically-tuned PD controllers to your whole robot at once, complete with safe, automatically-sized force and torque limits. • Auto-Repair Physics Errors: "Fix All Inertias" instantly repairs invalid inertia tensors that used to block simulation entirely. • Browse the Gallery In-App: Search and import robots straight from ARMOR's live gallery — no external links required. • Rock-Solid Simulation: Unstable simulations are now caught immediately with a clear, actionable explanation instead of failing silently. • Broader Robot Support: Fixed import issues affecting FANUC, Doosan, and Techman industrial arms, plus new AR shadows for more realistic augmented reality. ### 1.1.1 — 2026-08-14 - Gallery Deep Links: Instantly download and initialize robot projects from web galleries using Universal Links and custom armor:// schemes. - Native Xacro Support: Enjoy full macro evaluation, conditional branching, and package resolution on device with our rewritten XacroPreprocessor. - ROS 2 Control Actuators: Automatically compile MuJoCo position, velocity, and motor actuators with dynamically computed damping gains from command interfaces. - Hardened Security & Performance: Enhanced ZIP pre-validation against path traversal, granular scene diffing, and per-robot mesh asset namespacing. ### 1.1 — 2026-08-01 - Gallery Deep Links: Instantly download and initialize robot projects from web galleries using Universal Links and custom armor:// schemes. - Native Xacro Support: Enjoy full macro evaluation, conditional branching, and package resolution on device with our rewritten XacroPreprocessor. - ROS 2 Control Actuators: Automatically compile MuJoCo position, velocity, and motor actuators with dynamically computed damping gains from command interfaces. - Hardened Security & Performance: Enhanced ZIP pre-validation against path traversal, granular scene diffing, and per-robot mesh asset namespacing. ### 1.0.0 — 2026-06-18 Version 1.0.0 — Build a World, Not Just a Robot • Simulation Worlds: Drop your robot onto a checkered ground plane with adjustable friction, then add box, sphere, and cylinder obstacles as static props or dynamic rigid bodies. • Fixed or Floating Base: Choose whether your robot is welded to the world or free to fall under gravity and contact. • One-to-One MuJoCo Export: The physics you run on iPhone and iPad now matches your desktop—export the exact same MJCF you simulate on-device. • Scene Editor: Edit the world and robot placement directly from the 3D view, with every change reflected live. • MJCF Preview: Inspect the compiled MuJoCo XML in the XML tab before you export. • Plus camera persistence and project-naming improvements. ### 0.9 — 2026-06-17 Now you can share your projects with other users, or export your files to a URDF archive. Plus, if you are a premium user, all of your models will be synched to iCloud for use on all of your devices! ## More apps by Eliott Radcliffe - [dRuBbLe](https://appshunter.io/ios/app/drubble/id1477487768) - [Mobile Multibody Dynamics](https://appshunter.io/ios/app/mobile-multibody-dynamics/id1491149780) - [Two Links Double Pendulum](https://appshunter.io/ios/app/two-links-double-pendulum/id1625794656) - [YouKon Engineer Unit Converter](https://appshunter.io/ios/app/youkon-engineer-unit-converter/id6477476799) - [Juego de la Rana](https://appshunter.io/ios/app/juego-de-la-rana/id6680199511) - [ER3D Euler Rotations in 3D](https://appshunter.io/ios/app/er3d-euler-rotations-in-3d/id6741169432) All apps by Eliott Radcliffe: https://appshunter.io/developer/1477487767 ## Related topics [robot simulator control](https://appshunter.io/ios/topics/robot-simulator-control) · [robot simulator programing](https://appshunter.io/ios/topics/robot-simulator-programing) · [eliott radcliffe](https://appshunter.io/ios/topics/eliott-radcliffe) · [armor](https://appshunter.io/ios/topics/armor) --- *Data collected daily from the US App Store and indexed by [AppsHunter](https://appshunter.io/). User reviews are verbatim App Store reviews. Ratings, prices and chart positions refresh continuously; this snapshot is from 2026-09-03.*