# ARMOR: URDF & Robot Simulator — MuJoCo Physics & AR Robotics

> Mobile URDF robot simulator with MuJoCo physics and AR visualization. (iPhone/iPad app by Eliott Radcliffe.)

- Source: https://appshunter.io/ios/app/armor-urdf-and-robot-simulator/id6755694245 (this page in markdown: same URL + `.md`)
- Developer: [Eliott Radcliffe](https://appshunter.io/developer/1477487767)
- Category: Developer Tools, Utilities
- Price: Free with in-app purchases
- Rating: 5.00/5 from 1 App Store ratings · 1 written reviews indexed
- Age rating: 4+
- Requires: iOS 18.0 · 36 MB
- Languages: German (Germany), European Spanish, American English, Italian, European Portuguese, French (France)
- Released: 2026-06-17
- Data updated: 2026-10-11
- Monetization: free with in-app purchases
- User reviews in markdown: https://appshunter.io/ios/app/armor-urdf-and-robot-simulator/id6755694245/reviews.md

## What is ARMOR?

ARMOR brings real MuJoCo physics simulation to your pocket. Load any URDF (Unified Robot Description Format) robot, simulate true dynamics, and place it in AR — directly on iPhone, iPad, and Mac.

Built for robotics engineers, students, and researchers, ARMOR bridges the gap between desktop-grade simulation and mobile accessibility — inspect joint kinematics, fine-tune a humanoid's balance, or demo a collaborative robot arm, all without a workstation.

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 robot files—the standard XML format produced by ROS and XACRO workflows. ARMOR handles complex links, joints, and geometries with ease, providing a comprehensive engineering view of your robot's structure.

• Built-In Editor & Export: Create and edit links and joints with guided wizards, then export your project as a ROS-style URDF package or a MuJoCo MJCF file to continue your work on the desktop.

• 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 layout.

• Engineering Workflow Integration: Designed for the modern robotics 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, fluid 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 project. References to third-party trademarks and robot models are for nominative and descriptive purposes only, to indicate compatibility and visualization capabilities. All other trademarks are the property of their respective owners.

Terms and Conditions: https://armor.dc-engineer.com/terms.html

## Key features

- 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

## 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 |


## Recent user reviews (1 of 1)

All indexed reviews: https://appshunter.io/ios/app/armor-urdf-and-robot-simulator/id6755694245/reviews.md

### 5/5 — Jams

*2026-10-01*

If you like robotics, this is the app for you

## Frequently asked questions about ARMOR

### 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.

## Version history (last 5 releases)

### 1.2.1 — 2026-10-10

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.

### 1.2.0 — 2026-10-08

Version 1.2 — 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.

### 1.1.2 — 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.

## 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

[eliott radcliffe](https://appshunter.io/ios/topics/eliott-radcliffe) · [robot simulator programing](https://appshunter.io/ios/topics/robot-simulator-programing) · [robot simulator control](https://appshunter.io/ios/topics/robot-simulator-control) · [armor](https://appshunter.io/ios/topics/armor)

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*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 2026-10-11.*