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If you like robotics, this is the app for you
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Simulate robot dynamics with a powerful physics engine and visualize them in augmented reality. Load and inspect URDF robot files, edit them, and export for further development. Ideal for engineers, students, and researchers working with robotics.
✓MuJoCo physics engine
✓Advanced URDF viewer
✓Built-in editor and export
✓Humanoid and spatial robot visualization
✓Robot arm kinematics
✓Augmented Reality (AR) integration
✓ROS workflow integration
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What's New in ARMOR
1.2.1
October 10, 2026
Version 1.2: Built-In Help, Smarter Robots • Built-In Help and Ask: Browse searchable guides offline, watch video walkthroughs, or ask a question in Ask. Ask uses on-device Apple Intelligence (iOS and macOS 26) to answer from the docs and about your loaded robot, and falls back to page summaries when the model is unavailable. Available in English, German, Spanish, French, Italian and Portuguese. • Mass & Inertia from Geometry: 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, with safe, automatically sized force and torque limits. • Fix Invalid Inertias: "Fix All Inertias" repairs invalid inertia tensors that used to block simulation entirely. • Mimic Joints in Simulation: Grippers and linkages built with URDF mimic joints now follow their driver joint during simulation, including parallelogram linkages. • Browse the Gallery In-App: Search and import robots straight from ARMOR's live gallery, no external links required. • Stable 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.
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$4.991 Month
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FAQ
What is ARMOR?
ARMOR is a mobile application that brings MuJoCo physics simulation and augmented reality visualization for URDF robot models directly to your iPhone, iPad, or Mac. It's designed for robotics professionals and students.
Can I load my own robot models into ARMOR?
Yes, ARMOR features an advanced URDF viewer that allows you to load and inspect your own URDF robot files, which are commonly produced by ROS and XACRO workflows. It handles complex links and joints with ease.
Does ARMOR support augmented reality?
Yes, ARMOR allows you to place your simulated robot models in your physical environment at a 1:1 scale using augmented reality. This is useful for assessing spatial dimensions and workplace layouts.
What kind of robots can I visualize with ARMOR?
ARMOR is perfect for visualizing a wide range of URDF configurations, including humanoid robots like Boston Dynamics Atlas, open-source humanoids like Reachy Mini, industrial robot arms like ABB YuMi, and mobile platforms.
Can I edit robot models within ARMOR?
Yes, ARMOR includes a built-in editor with guided wizards to create and edit links and joints. You can then export your project as a ROS-style URDF package or a MuJoCo MJCF file.
Is ARMOR free to use?
ARMOR is available for free, but it offers in-app purchases for premium features. Subscription plans include Premium Monthly at $4.99 and Premium Yearly at $49.99.
What platforms is ARMOR compatible with?
ARMOR is optimized for the latest iOS hardware and is available on Mac, iPhone, and iPad. It ensures smooth rendering even for complex robot assemblies.
How often is ARMOR updated?
The latest version of ARMOR is 1.2.0, which was last updated on October 8, 2026. Updates typically focus on improving simulation fidelity, adding new features, and enhancing compatibility.