u/DC-Engineer-dot-com

Full blog post here https://dc-engineer.com/native-srdf-editing-on-ios-and-robot-xml-export-armor-v0-10-release-notes/

AR Mobile Robotics is my personal project to bring a professional-grade robotics simulation to iPhone and iPad. https://armor.dc-engineer.com

The latest update includes a semantics structure and editor to create joint groups and states, setting initial values for the MuJoCo simulation.

Existing features include a loader and editor for the unified robot description format, URDF, which is standard in ROS, and can be used in simulators like Gazebo and Drake. ARMOR will also export in URDF and MJCF, with assets organized into a robot archive.

I’m also open-sourcing a few of the components of the app as I go along. I hope these will be useful to others who are building engineering tools into mobile apps, particularly with the capability to handle standard file formats used in multiple industries. https://armor.dc-engineer.com/open-source/

What would you like to see me add?

I talk more about this on my blog, https://dc-engineer.com/native-srdf-editing-on-ios-and-robot-xml-export-armor-v0-10-release-notes/

This ties in with my AR Mobile Robotics project, which is in beta testing and open for preorder, https://armor.dc-engineer.com

My background is in aerospace, where I’ve long been a specialist in multibody dynamics. I also have the niche skillset of developing for mobile. A while back, I learned about MuJoCo, and that I could embed it in an iPhone app, and started looking into XML standards for defining kinematics, physics, etc.

Now I have a fully functioning URDF editor for iOS, which is the ARMOR app I have referenced earlier. Uniquely, this also includes viewing in spatial reality, aka augmented reality, so you can view your robot in the real world through your camera.

Recently I added a semantics editor, meaning the SRDF file, which I’m using to set the initial state for the MuJoCo simulator. I also added sharing and XML export, so you can manipulate your model on your iPhone, then move it over to your desktop.

I hope you’ll take a look at the blog post and landing page. More importantly, and why I post to the ROS subreddit, I’d like feedback from this community about what features you would like to see in a mobile app, that are actually useful to a professional roboticist.