diff --git a/CMakeLists.txt b/CMakeLists.txt
index cfb5f52..551bc2c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,9 +47,6 @@ if (ROBOTICS_TOOLBOX_STANDALONE)
 
     FetchContent_MakeAvailable(emil)
 
-    # Declared before numerical_toolbox is made available: numerical-toolbox-cpp declares ui in
-    # its own standalone block, and FetchContent honours the first declaration it sees, so this
-    # keeps the pin here authoritative.
     if (ROBOTICS_TOOLBOX_BUILD_SIMULATOR)
         FetchContent_Declare(
             ui
@@ -57,8 +54,6 @@ if (ROBOTICS_TOOLBOX_STANDALONE)
             GIT_TAG        main
         )
 
-        # Explicit rather than inferred from this repository's simulator flag: e-foc configures
-        # its Qt tools on every host build, so no consumer flag means the same thing everywhere.
         set(UI_BUILD_QT_BACKEND On CACHE BOOL "" FORCE)
     endif()
 
diff --git a/simulator/CMakeLists.txt b/simulator/CMakeLists.txt
index ccada0d..619a7c2 100644
--- a/simulator/CMakeLists.txt
+++ b/simulator/CMakeLists.txt
@@ -1 +1,2 @@
+add_subdirectory(shell)
 add_subdirectory(dynamics)
diff --git a/simulator/dynamics/RobotArm/CMakeLists.txt b/simulator/dynamics/RobotArm/CMakeLists.txt
index 7a6aed0..cda79c7 100644
--- a/simulator/dynamics/RobotArm/CMakeLists.txt
+++ b/simulator/dynamics/RobotArm/CMakeLists.txt
@@ -9,6 +9,7 @@ emil_build_for(robotics.simulator.dynamics.robot_arm HOST All PREREQUISITE_BOOL
 target_link_libraries(robotics.simulator.dynamics.robot_arm PRIVATE
     robotics.simulator.dynamics.robotarm.application
     robotics.simulator.dynamics.robotarm.view
+    robotics.simulator.shell
 )
 
 target_sources(robotics.simulator.dynamics.robot_arm PRIVATE
diff --git a/simulator/dynamics/RobotArm/Main.cpp b/simulator/dynamics/RobotArm/Main.cpp
index cd9a80e..803a540 100644
--- a/simulator/dynamics/RobotArm/Main.cpp
+++ b/simulator/dynamics/RobotArm/Main.cpp
@@ -1,15 +1,7 @@
 #include "simulator/dynamics/RobotArm/view/RobotArmMainWindow.hpp"
-#include "ui/theme/Theme.hpp"
-#include <QApplication>
+#include "simulator/shell/AppRunner.hpp"
 
 int main(int argc, char* argv[])
 {
-    QApplication app(argc, argv);
-
-    ui::theme::SetCurrent(ui::theme::Instrument());
-
-    simulator::dynamics::view::RobotArmMainWindow window;
-    window.show();
-
-    return app.exec();
+    return simulator::shell::Run<simulator::dynamics::view::RobotArmMainWindow>(argc, argv, ui::theme::Instrument());
 }
diff --git a/simulator/dynamics/RobotArm/application/CMakeLists.txt b/simulator/dynamics/RobotArm/application/CMakeLists.txt
index 18cdb92..50bd0d0 100644
--- a/simulator/dynamics/RobotArm/application/CMakeLists.txt
+++ b/simulator/dynamics/RobotArm/application/CMakeLists.txt
@@ -8,11 +8,14 @@ target_include_directories(robotics.simulator.dynamics.robotarm.application PUBL
 target_link_libraries(robotics.simulator.dynamics.robotarm.application PUBLIC
     robotics.dynamics
     robotics.kinematics
+    ui.model
 )
 
 target_sources(robotics.simulator.dynamics.robotarm.application PRIVATE
     RobotArmSimulator.cpp
     RobotArmSimulator.hpp
+    RobotArmForm.cpp
+    RobotArmForm.hpp
 )
 
 if(MSVC)
@@ -22,3 +25,7 @@ else()
         -Wno-error
     )
 endif()
+
+if (ROBOTICS_TOOLBOX_BUILD_TESTS)
+    add_subdirectory(test)
+endif()
diff --git a/simulator/dynamics/RobotArm/application/RobotArmForm.cpp b/simulator/dynamics/RobotArm/application/RobotArmForm.cpp
new file mode 100644
index 0000000..d8ad244
--- /dev/null
+++ b/simulator/dynamics/RobotArm/application/RobotArmForm.cpp
@@ -0,0 +1,122 @@
+#include "simulator/dynamics/RobotArm/application/RobotArmForm.hpp"
+#include <numbers>
+
+namespace simulator::dynamics
+{
+    namespace
+    {
+        using ui::model::ActionSpec;
+        using ui::model::Condition;
+        using ui::model::FieldKind;
+        using ui::model::FieldSpec;
+        using ui::model::GroupSpec;
+        using ui::model::OptionSpec;
+
+        constexpr float torqueScale{ 10.0f };
+        constexpr float degreesToRadians{ std::numbers::pi_v<float> / 180.0f };
+
+        constexpr std::array<OptionSpec, 2> degreeOptions{
+            OptionSpec{ "2 DOF (Planar)", 2 },
+            OptionSpec{ "3 DOF (Spatial)", 3 }
+        };
+
+        constexpr Condition spatialOnly{ field::degreesOfFreedom, 0b10 };
+
+        constexpr std::array<GroupSpec, 7> groups{
+            GroupSpec{ field::robot, "Robot Configuration", {} },
+            GroupSpec{ field::firstLink, "Link 1", {} },
+            GroupSpec{ field::secondLink, "Link 2", {} },
+            GroupSpec{ field::thirdLink, "Link 3", spatialOnly },
+            GroupSpec{ field::torques, "Joint Torques (N·m)", {} },
+            GroupSpec{ field::positions, "Initial Position (deg)", {} },
+            GroupSpec{ field::simulation, "Simulation", {} }
+        };
+
+        constexpr std::array<FieldSpec, 14> fields{
+            FieldSpec{ field::degreesOfFreedom, field::robot, FieldKind::Choice, "DOF:", "", {}, degreeOptions, {}, {} },
+            FieldSpec{ field::firstLength, field::firstLink, FieldKind::Number, "Length (m):", "", { 0.05, 2.0, 0.05, 0.5, 2 }, {}, {}, {} },
+            FieldSpec{ field::firstMass, field::firstLink, FieldKind::Number, "Mass (kg):", "", { 0.1, 20.0, 0.1, 1.0, 2 }, {}, {}, {} },
+            FieldSpec{ field::secondLength, field::secondLink, FieldKind::Number, "Length (m):", "", { 0.05, 2.0, 0.05, 0.4, 2 }, {}, {}, {} },
+            FieldSpec{ field::secondMass, field::secondLink, FieldKind::Number, "Mass (kg):", "", { 0.1, 20.0, 0.1, 0.8, 2 }, {}, {}, {} },
+            FieldSpec{ field::thirdLength, field::thirdLink, FieldKind::Number, "Length (m):", "", { 0.05, 2.0, 0.05, 0.3, 2 }, {}, spatialOnly, {} },
+            FieldSpec{ field::thirdMass, field::thirdLink, FieldKind::Number, "Mass (kg):", "", { 0.1, 20.0, 0.1, 0.6, 2 }, {}, spatialOnly, {} },
+            FieldSpec{ field::firstTorque, field::torques, FieldKind::Slider, "τ1:", "", { -200.0, 200.0, 1.0, 0.0, 0, 50.0 }, {}, {}, {} },
+            FieldSpec{ field::secondTorque, field::torques, FieldKind::Slider, "τ2:", "", { -200.0, 200.0, 1.0, 0.0, 0, 50.0 }, {}, {}, {} },
+            FieldSpec{ field::thirdTorque, field::torques, FieldKind::Slider, "τ3:", "", { -200.0, 200.0, 1.0, 0.0, 0, 50.0 }, {}, spatialOnly, {} },
+            FieldSpec{ field::firstPosition, field::positions, FieldKind::Slider, "q1:", "", { -180.0, 180.0, 1.0, 0.0, 0, 45.0 }, {}, {}, {} },
+            FieldSpec{ field::secondPosition, field::positions, FieldKind::Slider, "q2:", "", { -180.0, 180.0, 1.0, 0.0, 0, 45.0 }, {}, {}, {} },
+            FieldSpec{ field::thirdPosition, field::positions, FieldKind::Slider, "q3:", "", { -180.0, 180.0, 1.0, 0.0, 0, 45.0 }, {}, spatialOnly, {} },
+            FieldSpec{ field::damping, field::simulation, FieldKind::Number, "Damping:", "", { 0.0, 5.0, 0.01, 0.05, 3 }, {}, {}, {} }
+        };
+
+        constexpr std::array<ActionSpec, 3> actions{
+            ActionSpec{ field::start, "Start", ui::theme::ButtonRole::Start, 0 },
+            ActionSpec{ field::stop, "Stop", ui::theme::ButtonRole::Stop, 0 },
+            ActionSpec{ field::reset, "Reset", ui::theme::ButtonRole::Reset, 0 }
+        };
+
+        constexpr std::array<ui::model::FieldId, 3> lengthFields{ field::firstLength, field::secondLength, field::thirdLength };
+        constexpr std::array<ui::model::FieldId, 3> massFields{ field::firstMass, field::secondMass, field::thirdMass };
+        constexpr std::array<ui::model::FieldId, 3> torqueFields{ field::firstTorque, field::secondTorque, field::thirdTorque };
+        constexpr std::array<ui::model::FieldId, 3> positionFields{ field::firstPosition, field::secondPosition, field::thirdPosition };
+    }
+
+    RobotArmForm::RobotArmForm()
+        : spec{ groups, fields, actions, {} }
+        , model{ spec, values, {} }
+    {}
+
+    ui::model::FormModel& RobotArmForm::Model()
+    {
+        return model;
+    }
+
+    const ui::model::FormModel& RobotArmForm::Model() const
+    {
+        return model;
+    }
+
+    std::size_t RobotArmForm::DegreesOfFreedom() const
+    {
+        return static_cast<std::size_t>(model.SelectedData(field::degreesOfFreedom));
+    }
+
+    RobotArmConfig RobotArmForm::BuildConfiguration() const
+    {
+        RobotArmConfig config;
+
+        config.dof = static_cast<int>(DegreesOfFreedom());
+        config.damping = model.Float(field::damping);
+
+        config.linkLengths.resize(DegreesOfFreedom());
+        config.linkMasses.resize(DegreesOfFreedom());
+
+        for (std::size_t i = 0; i < DegreesOfFreedom(); ++i)
+        {
+            config.linkLengths[i] = model.Float(lengthFields[i]);
+            config.linkMasses[i] = model.Float(massFields[i]);
+        }
+
+        return config;
+    }
+
+    std::vector<float> RobotArmForm::Torques() const
+    {
+        std::vector<float> torques(DegreesOfFreedom());
+
+        for (std::size_t i = 0; i < torques.size(); ++i)
+            torques[i] = model.Float(torqueFields[i]) / torqueScale;
+
+        return torques;
+    }
+
+    std::vector<float> RobotArmForm::InitialPositions() const
+    {
+        std::vector<float> positions(DegreesOfFreedom());
+
+        for (std::size_t i = 0; i < positions.size(); ++i)
+            positions[i] = model.Float(positionFields[i]) * degreesToRadians;
+
+        return positions;
+    }
+}
diff --git a/simulator/dynamics/RobotArm/application/RobotArmForm.hpp b/simulator/dynamics/RobotArm/application/RobotArmForm.hpp
new file mode 100644
index 0000000..0003b39
--- /dev/null
+++ b/simulator/dynamics/RobotArm/application/RobotArmForm.hpp
@@ -0,0 +1,62 @@
+#pragma once
+
+#include "simulator/dynamics/RobotArm/application/RobotArmTypes.hpp"
+#include "ui/model/FormModel.hpp"
+#include <array>
+#include <vector>
+
+namespace simulator::dynamics
+{
+    namespace field
+    {
+        inline constexpr ui::model::FieldId degreesOfFreedom{ 1 };
+        inline constexpr ui::model::FieldId firstLength{ 2 };
+        inline constexpr ui::model::FieldId firstMass{ 3 };
+        inline constexpr ui::model::FieldId secondLength{ 4 };
+        inline constexpr ui::model::FieldId secondMass{ 5 };
+        inline constexpr ui::model::FieldId thirdLength{ 6 };
+        inline constexpr ui::model::FieldId thirdMass{ 7 };
+        inline constexpr ui::model::FieldId firstTorque{ 8 };
+        inline constexpr ui::model::FieldId secondTorque{ 9 };
+        inline constexpr ui::model::FieldId thirdTorque{ 10 };
+        inline constexpr ui::model::FieldId firstPosition{ 11 };
+        inline constexpr ui::model::FieldId secondPosition{ 12 };
+        inline constexpr ui::model::FieldId thirdPosition{ 13 };
+        inline constexpr ui::model::FieldId damping{ 14 };
+
+        inline constexpr ui::model::GroupId robot{ 1 };
+        inline constexpr ui::model::GroupId firstLink{ 2 };
+        inline constexpr ui::model::GroupId secondLink{ 3 };
+        inline constexpr ui::model::GroupId thirdLink{ 4 };
+        inline constexpr ui::model::GroupId torques{ 5 };
+        inline constexpr ui::model::GroupId positions{ 6 };
+        inline constexpr ui::model::GroupId simulation{ 7 };
+
+        inline constexpr ui::model::ActionId start{ 1 };
+        inline constexpr ui::model::ActionId stop{ 2 };
+        inline constexpr ui::model::ActionId reset{ 3 };
+    }
+
+    class RobotArmForm
+    {
+    public:
+        RobotArmForm();
+
+        [[nodiscard]] ui::model::FormModel& Model();
+        [[nodiscard]] const ui::model::FormModel& Model() const;
+
+        [[nodiscard]] RobotArmConfig BuildConfiguration() const;
+        [[nodiscard]] std::vector<float> Torques() const;
+        [[nodiscard]] std::vector<float> InitialPositions() const;
+
+    private:
+        [[nodiscard]] std::size_t DegreesOfFreedom() const;
+
+        static constexpr std::size_t fieldCount{ 14 };
+
+        std::array<ui::model::FieldValue, fieldCount> values{};
+
+        ui::model::FormSpec spec;
+        ui::model::FormModel model;
+    };
+}
diff --git a/simulator/dynamics/RobotArm/application/test/CMakeLists.txt b/simulator/dynamics/RobotArm/application/test/CMakeLists.txt
new file mode 100644
index 0000000..e4177b3
--- /dev/null
+++ b/simulator/dynamics/RobotArm/application/test/CMakeLists.txt
@@ -0,0 +1,12 @@
+add_executable(robotics.simulator.dynamics.robotarm.application_test)
+emil_build_for(robotics.simulator.dynamics.robotarm.application_test HOST All PREREQUISITE_BOOL ROBOTICS_TOOLBOX_BUILD_SIMULATOR)
+emil_add_test(robotics.simulator.dynamics.robotarm.application_test)
+
+target_link_libraries(robotics.simulator.dynamics.robotarm.application_test PUBLIC
+    gmock_main
+    robotics.simulator.dynamics.robotarm.application
+)
+
+target_sources(robotics.simulator.dynamics.robotarm.application_test PRIVATE
+    TestRobotArmForm.cpp
+)
diff --git a/simulator/dynamics/RobotArm/application/test/TestRobotArmForm.cpp b/simulator/dynamics/RobotArm/application/test/TestRobotArmForm.cpp
new file mode 100644
index 0000000..e971344
--- /dev/null
+++ b/simulator/dynamics/RobotArm/application/test/TestRobotArmForm.cpp
@@ -0,0 +1,127 @@
+#include "simulator/dynamics/RobotArm/application/RobotArmForm.hpp"
+#include <gmock/gmock.h>
+#include <numbers>
+
+namespace
+{
+    using simulator::dynamics::RobotArmForm;
+    namespace field = simulator::dynamics::field;
+
+    class RobotArmFormTest
+        : public ::testing::Test
+    {
+    protected:
+        RobotArmForm form;
+    };
+}
+
+TEST_F(RobotArmFormTest, TheDefaultsMatchThePanelThisReplaced)
+{
+    const auto config = form.BuildConfiguration();
+
+    EXPECT_EQ(config.dof, 2);
+    EXPECT_NEAR(config.damping, 0.05f, 1e-5f);
+
+    ASSERT_EQ(config.linkLengths.size(), 2u);
+    EXPECT_NEAR(config.linkLengths[0], 0.5f, 1e-4f);
+    EXPECT_NEAR(config.linkLengths[1], 0.4f, 1e-4f);
+    EXPECT_NEAR(config.linkMasses[0], 1.0f, 1e-4f);
+    EXPECT_NEAR(config.linkMasses[1], 0.8f, 1e-4f);
+}
+
+TEST_F(RobotArmFormTest, TheThirdLinkAppearsOnlyForTheSpatialRobot)
+{
+    EXPECT_FALSE(form.Model().IsGroupVisible(field::thirdLink));
+    EXPECT_FALSE(form.Model().IsVisible(field::thirdLength));
+    EXPECT_FALSE(form.Model().IsVisible(field::thirdTorque));
+    EXPECT_FALSE(form.Model().IsVisible(field::thirdPosition));
+
+    form.Model().SetSelection(field::degreesOfFreedom, 1);
+
+    EXPECT_TRUE(form.Model().IsGroupVisible(field::thirdLink));
+    EXPECT_TRUE(form.Model().IsVisible(field::thirdLength));
+    EXPECT_TRUE(form.Model().IsVisible(field::thirdTorque));
+    EXPECT_TRUE(form.Model().IsVisible(field::thirdPosition));
+}
+
+TEST_F(RobotArmFormTest, TheThirdLinkReachesTheConfigurationOnlyWhenSelected)
+{
+    EXPECT_EQ(form.BuildConfiguration().linkLengths.size(), 2u);
+
+    form.Model().SetSelection(field::degreesOfFreedom, 1);
+
+    const auto config = form.BuildConfiguration();
+    ASSERT_EQ(config.linkLengths.size(), 3u);
+    EXPECT_EQ(config.dof, 3);
+    EXPECT_NEAR(config.linkLengths[2], 0.3f, 1e-4f);
+    EXPECT_NEAR(config.linkMasses[2], 0.6f, 1e-4f);
+}
+
+TEST_F(RobotArmFormTest, TheDegreeCountComesFromTheOptionDataNotItsPosition)
+{
+    EXPECT_EQ(form.BuildConfiguration().dof, 2);
+
+    form.Model().SetSelection(field::degreesOfFreedom, 1);
+
+    EXPECT_EQ(form.BuildConfiguration().dof, 3);
+}
+
+TEST_F(RobotArmFormTest, TheTorqueSlidersCarryTenthsOfANewtonMetre)
+{
+    form.Model().SetNumber(field::firstTorque, 125.0);
+    form.Model().SetNumber(field::secondTorque, -40.0);
+
+    const auto torques = form.Torques();
+
+    ASSERT_EQ(torques.size(), 2u);
+    EXPECT_NEAR(torques[0], 12.5f, 1e-4f);
+    EXPECT_NEAR(torques[1], -4.0f, 1e-4f);
+}
+
+TEST_F(RobotArmFormTest, ThePositionSlidersAreDegreesAndReachTheSimulatorAsRadians)
+{
+    form.Model().SetNumber(field::firstPosition, 90.0);
+    form.Model().SetNumber(field::secondPosition, -180.0);
+
+    const auto positions = form.InitialPositions();
+
+    ASSERT_EQ(positions.size(), 2u);
+    EXPECT_NEAR(positions[0], std::numbers::pi_v<float> / 2.0f, 1e-5f);
+    EXPECT_NEAR(positions[1], -std::numbers::pi_v<float>, 1e-5f);
+}
+
+TEST_F(RobotArmFormTest, TheTorqueAndPositionVectorsFollowTheSelectedDegreeCount)
+{
+    EXPECT_EQ(form.Torques().size(), 2u);
+    EXPECT_EQ(form.InitialPositions().size(), 2u);
+
+    form.Model().SetSelection(field::degreesOfFreedom, 1);
+
+    EXPECT_EQ(form.Torques().size(), 3u);
+    EXPECT_EQ(form.InitialPositions().size(), 3u);
+}
+
+TEST_F(RobotArmFormTest, TheDraggedControlsAreSlidersCarryingTheirTickIntervals)
+{
+    for (const auto id : { field::firstTorque, field::secondTorque, field::thirdTorque })
+    {
+        EXPECT_EQ(form.Model().Field(id).kind, ui::model::FieldKind::Slider);
+        EXPECT_NEAR(form.Model().Field(id).number.tickInterval, 50.0, 1e-9);
+    }
+
+    for (const auto id : { field::firstPosition, field::secondPosition, field::thirdPosition })
+    {
+        EXPECT_EQ(form.Model().Field(id).kind, ui::model::FieldKind::Slider);
+        EXPECT_NEAR(form.Model().Field(id).number.tickInterval, 45.0, 1e-9);
+    }
+}
+
+TEST_F(RobotArmFormTest, TheHiddenThirdLinkKeepsItsValuesAcrossASwitch)
+{
+    form.Model().SetSelection(field::degreesOfFreedom, 1);
+    form.Model().SetNumber(field::thirdLength, 1.25);
+    form.Model().SetSelection(field::degreesOfFreedom, 0);
+    form.Model().SetSelection(field::degreesOfFreedom, 1);
+
+    EXPECT_NEAR(form.BuildConfiguration().linkLengths[2], 1.25f, 1e-4f);
+}
diff --git a/simulator/dynamics/RobotArm/view/CMakeLists.txt b/simulator/dynamics/RobotArm/view/CMakeLists.txt
index 008975b..8ff6052 100644
--- a/simulator/dynamics/RobotArm/view/CMakeLists.txt
+++ b/simulator/dynamics/RobotArm/view/CMakeLists.txt
@@ -21,8 +21,6 @@ set_target_properties(robotics.simulator.dynamics.robotarm.view PROPERTIES
 target_sources(robotics.simulator.dynamics.robotarm.view PRIVATE
     RobotArmSceneView.cpp
     RobotArmSceneView.hpp
-    RobotArmConfigurationPanel.cpp
-    RobotArmConfigurationPanel.hpp
     RobotArmMainWindow.cpp
     RobotArmMainWindow.hpp
 )
diff --git a/simulator/dynamics/RobotArm/view/RobotArmConfigurationPanel.cpp b/simulator/dynamics/RobotArm/view/RobotArmConfigurationPanel.cpp
deleted file mode 100644
index 35d3403..0000000
--- a/simulator/dynamics/RobotArm/view/RobotArmConfigurationPanel.cpp
+++ /dev/null
@@ -1,232 +0,0 @@
-#include "simulator/dynamics/RobotArm/view/RobotArmConfigurationPanel.hpp"
-#include <QHBoxLayout>
-#include <QVBoxLayout>
-#include <array>
-#include <cmath>
-
-namespace simulator::dynamics::view
-{
-    RobotArmConfigurationPanel::RobotArmConfigurationPanel(QWidget* parent)
-        : QWidget(parent)
-    {
-        SetupUi();
-    }
-
-    void RobotArmConfigurationPanel::SetupUi()
-    {
-        auto* mainLayout = new QVBoxLayout(this);
-        mainLayout->setContentsMargins(8, 8, 8, 8);
-        mainLayout->setSpacing(6);
-
-        // DOF selection
-        auto* dofGroup = new QGroupBox("Robot Configuration", this);
-        auto* dofLayout = new QHBoxLayout(dofGroup);
-        dofLayout->addWidget(new QLabel("DOF:", this));
-        dofCombo = new QComboBox(this);
-        dofCombo->addItem("2 DOF (Planar)", 2);
-        dofCombo->addItem("3 DOF (Spatial)", 3);
-        dofLayout->addWidget(dofCombo);
-        mainLayout->addWidget(dofGroup);
-
-        // Link parameters
-        std::array<float, 3> defaultLengths = { 0.5f, 0.4f, 0.3f };
-        std::array<float, 3> defaultMasses = { 1.0f, 0.8f, 0.6f };
-
-        for (int i = 0; i < maxDof; ++i)
-        {
-            auto* group = new QGroupBox(QString("Link %1").arg(i + 1), this);
-            auto* layout = new QVBoxLayout(group);
-
-            auto* lenLayout = new QHBoxLayout();
-            lenLayout->addWidget(new QLabel("Length (m):", this));
-            auto* lenSpin = new QDoubleSpinBox(this);
-            lenSpin->setRange(0.05, 2.0);
-            lenSpin->setSingleStep(0.05);
-            lenSpin->setValue(static_cast<double>(defaultLengths[i]));
-            lenSpin->setDecimals(2);
-            lenLayout->addWidget(lenSpin);
-            layout->addLayout(lenLayout);
-
-            auto* massLayout = new QHBoxLayout();
-            massLayout->addWidget(new QLabel("Mass (kg):", this));
-            auto* massSpin = new QDoubleSpinBox(this);
-            massSpin->setRange(0.1, 20.0);
-            massSpin->setSingleStep(0.1);
-            massSpin->setValue(static_cast<double>(defaultMasses[i]));
-            massSpin->setDecimals(2);
-            massLayout->addWidget(massSpin);
-            layout->addLayout(massLayout);
-
-            linkGroups.push_back(group);
-            lengthSpins.push_back(lenSpin);
-            massSpins.push_back(massSpin);
-            mainLayout->addWidget(group);
-        }
-
-        // Torque sliders
-        torqueGroup = new QGroupBox("Joint Torques (N·m)", this);
-        auto* torqueLayout = new QVBoxLayout(torqueGroup);
-
-        for (int i = 0; i < maxDof; ++i)
-        {
-            auto* rowWidget = new QWidget(torqueGroup);
-            auto* rowLayout = new QHBoxLayout(rowWidget);
-            rowLayout->setContentsMargins(0, 0, 0, 0);
-            rowLayout->addWidget(new QLabel(QString("τ%1:").arg(i + 1), rowWidget));
-
-            auto* slider = new QSlider(Qt::Horizontal, rowWidget);
-            slider->setRange(-200, 200);
-            slider->setValue(0);
-            slider->setTickPosition(QSlider::TicksBelow);
-            slider->setTickInterval(50);
-            rowLayout->addWidget(slider);
-
-            auto* label = new QLabel("0.0", rowWidget);
-            label->setFixedWidth(55);
-            label->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
-            rowLayout->addWidget(label);
-
-            torqueSliders.push_back(slider);
-            torqueLabels.push_back(label);
-            torqueRows.push_back(rowWidget);
-            torqueLayout->addWidget(rowWidget);
-
-            connect(slider, &QSlider::valueChanged, this, &RobotArmConfigurationPanel::UpdateTorqueLabels);
-        }
-        mainLayout->addWidget(torqueGroup);
-
-        // Initial position sliders
-        positionGroup = new QGroupBox("Initial Position (deg)", this);
-        auto* posLayout = new QVBoxLayout(positionGroup);
-
-        for (int i = 0; i < maxDof; ++i)
-        {
-            auto* rowWidget = new QWidget(positionGroup);
-            auto* rowLayout = new QHBoxLayout(rowWidget);
-            rowLayout->setContentsMargins(0, 0, 0, 0);
-            rowLayout->addWidget(new QLabel(QString("q%1:").arg(i + 1), rowWidget));
-
-            auto* slider = new QSlider(Qt::Horizontal, rowWidget);
-            slider->setRange(-180, 180);
-            slider->setValue(0);
-            slider->setTickPosition(QSlider::TicksBelow);
-            slider->setTickInterval(45);
-            rowLayout->addWidget(slider);
-
-            auto* label = new QLabel("0°", rowWidget);
-            label->setFixedWidth(45);
-            label->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
-            rowLayout->addWidget(label);
-
-            positionSliders.push_back(slider);
-            positionLabels.push_back(label);
-            positionRows.push_back(rowWidget);
-            posLayout->addWidget(rowWidget);
-
-            connect(slider, &QSlider::valueChanged, this, &RobotArmConfigurationPanel::UpdatePositionLabels);
-        }
-        mainLayout->addWidget(positionGroup);
-
-        // Damping
-        auto* dampGroup = new QGroupBox("Simulation", this);
-        auto* dampLayout = new QHBoxLayout(dampGroup);
-        dampLayout->addWidget(new QLabel("Damping:", this));
-        dampingSpin = new QDoubleSpinBox(this);
-        dampingSpin->setRange(0.0, 5.0);
-        dampingSpin->setSingleStep(0.01);
-        dampingSpin->setValue(0.05);
-        dampingSpin->setDecimals(3);
-        dampLayout->addWidget(dampingSpin);
-        mainLayout->addWidget(dampGroup);
-
-        // Control buttons
-        auto* controlLayout = new QHBoxLayout();
-        startButton = new QPushButton("▶ Start", this);
-        stopButton = new QPushButton("⬜ Stop", this);
-        resetButton = new QPushButton("↺ Reset", this);
-
-        startButton->setStyleSheet("QPushButton { background-color: #4CAF50; color: white; padding: 6px; }");
-        stopButton->setStyleSheet("QPushButton { background-color: #f44336; color: white; padding: 6px; }");
-        resetButton->setStyleSheet("QPushButton { background-color: #2196F3; color: white; padding: 6px; }");
-
-        controlLayout->addWidget(startButton);
-        controlLayout->addWidget(stopButton);
-        controlLayout->addWidget(resetButton);
-        mainLayout->addLayout(controlLayout);
-
-        mainLayout->addStretch();
-
-        // Connections
-        connect(dofCombo, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RobotArmConfigurationPanel::OnDofChanged);
-        connect(startButton, &QPushButton::clicked, this, &RobotArmConfigurationPanel::StartRequested);
-        connect(stopButton, &QPushButton::clicked, this, &RobotArmConfigurationPanel::StopRequested);
-        connect(resetButton, &QPushButton::clicked, this, &RobotArmConfigurationPanel::ResetRequested);
-
-        OnDofChanged(0);
-    }
-
-    void RobotArmConfigurationPanel::OnDofChanged(int index)
-    {
-        int dof = dofCombo->itemData(index).toInt();
-        for (int i = 0; i < maxDof; ++i)
-        {
-            bool visible = (i < dof);
-            linkGroups[i]->setVisible(visible);
-            torqueRows[i]->setVisible(visible);
-            positionRows[i]->setVisible(visible);
-        }
-
-        emit ConfigurationChanged();
-    }
-
-    void RobotArmConfigurationPanel::UpdateTorqueLabels()
-    {
-        for (int i = 0; i < maxDof; ++i)
-        {
-            float value = torqueSliders[i]->value() / 10.0f;
-            torqueLabels[i]->setText(QString::number(static_cast<double>(value), 'f', 1));
-        }
-    }
-
-    void RobotArmConfigurationPanel::UpdatePositionLabels()
-    {
-        for (int i = 0; i < maxDof; ++i)
-            positionLabels[i]->setText(QString("%1°").arg(positionSliders[i]->value()));
-    }
-
-    RobotArmConfig RobotArmConfigurationPanel::GetConfiguration() const
-    {
-        RobotArmConfig cfg;
-        cfg.dof = dofCombo->currentData().toInt();
-        cfg.damping = static_cast<float>(dampingSpin->value());
-
-        cfg.linkLengths.resize(cfg.dof);
-        cfg.linkMasses.resize(cfg.dof);
-
-        for (int i = 0; i < cfg.dof; ++i)
-        {
-            cfg.linkLengths[i] = static_cast<float>(lengthSpins[i]->value());
-            cfg.linkMasses[i] = static_cast<float>(massSpins[i]->value());
-        }
-
-        return cfg;
-    }
-
-    std::vector<float> RobotArmConfigurationPanel::GetTorques() const
-    {
-        int dof = dofCombo->currentData().toInt();
-        std::vector<float> t(dof);
-        for (int i = 0; i < dof; ++i)
-            t[i] = torqueSliders[i]->value() / 10.0f;
-        return t;
-    }
-
-    std::vector<float> RobotArmConfigurationPanel::GetInitialPositions() const
-    {
-        int dof = dofCombo->currentData().toInt();
-        std::vector<float> pos(dof);
-        for (int i = 0; i < dof; ++i)
-            pos[i] = positionSliders[i]->value() * 3.14159265f / 180.0f;
-        return pos;
-    }
-}
diff --git a/simulator/dynamics/RobotArm/view/RobotArmConfigurationPanel.hpp b/simulator/dynamics/RobotArm/view/RobotArmConfigurationPanel.hpp
deleted file mode 100644
index 89c6998..0000000
--- a/simulator/dynamics/RobotArm/view/RobotArmConfigurationPanel.hpp
+++ /dev/null
@@ -1,63 +0,0 @@
-#pragma once
-
-#include "simulator/dynamics/RobotArm/application/RobotArmTypes.hpp"
-#include <QComboBox>
-#include <QDoubleSpinBox>
-#include <QGroupBox>
-#include <QLabel>
-#include <QPushButton>
-#include <QSlider>
-#include <QWidget>
-#include <vector>
-
-namespace simulator::dynamics::view
-{
-    class RobotArmConfigurationPanel
-        : public QWidget
-    {
-        Q_OBJECT
-
-    public:
-        explicit RobotArmConfigurationPanel(QWidget* parent = nullptr);
-
-        RobotArmConfig GetConfiguration() const;
-        std::vector<float> GetTorques() const;
-        std::vector<float> GetInitialPositions() const;
-
-    signals:
-        void ConfigurationChanged();
-        void StartRequested();
-        void StopRequested();
-        void ResetRequested();
-
-    private:
-        void SetupUi();
-        void OnDofChanged(int index);
-        void UpdateTorqueLabels();
-        void UpdatePositionLabels();
-
-        QComboBox* dofCombo;
-
-        static constexpr int maxDof = 3;
-
-        std::vector<QGroupBox*> linkGroups;
-        std::vector<QDoubleSpinBox*> lengthSpins;
-        std::vector<QDoubleSpinBox*> massSpins;
-
-        std::vector<QSlider*> torqueSliders;
-        std::vector<QLabel*> torqueLabels;
-        std::vector<QWidget*> torqueRows;
-        QGroupBox* torqueGroup;
-
-        std::vector<QSlider*> positionSliders;
-        std::vector<QLabel*> positionLabels;
-        std::vector<QWidget*> positionRows;
-        QGroupBox* positionGroup;
-
-        QDoubleSpinBox* dampingSpin;
-
-        QPushButton* startButton;
-        QPushButton* stopButton;
-        QPushButton* resetButton;
-    };
-}
diff --git a/simulator/dynamics/RobotArm/view/RobotArmMainWindow.cpp b/simulator/dynamics/RobotArm/view/RobotArmMainWindow.cpp
index f85155a..4f472b8 100644
--- a/simulator/dynamics/RobotArm/view/RobotArmMainWindow.cpp
+++ b/simulator/dynamics/RobotArm/view/RobotArmMainWindow.cpp
@@ -1,42 +1,42 @@
 #include "simulator/dynamics/RobotArm/view/RobotArmMainWindow.hpp"
-#include <QSplitter>
 #include <cmath>
 
 namespace simulator::dynamics::view
 {
+    namespace
+    {
+        const ui::shell::ShellSpec shellSpec{
+            "Robot Arm Dynamics Simulator",
+            ui::Size{ 1400.0f, 900.0f },
+            350.0f,
+            {},
+            "Configure robot parameters and press Start"
+        };
+    }
+
     RobotArmMainWindow::RobotArmMainWindow(QWidget* parent)
         : QMainWindow(parent)
+        , formView(new ui::backend::qt::QtFormView{ this })
+        , shell(*this, shellSpec)
+        , view3D(new ui::backend::qt::QtPaintedWidget{ sceneView, this })
+        , simulationTimer(new QTimer{ this })
     {
-        setWindowTitle("Robot Arm Dynamics Simulator");
-        resize(1400, 900);
+        formView->Build(form.Model());
+        formView->setMinimumWidth(280);
+        shell.SetPanel(formView);
 
-        auto* splitter = new QSplitter(Qt::Horizontal, this);
-
-        configPanel = new RobotArmConfigurationPanel(splitter);
-        configPanel->setMaximumWidth(350);
-        configPanel->setMinimumWidth(280);
-
-        view3D = new ui::backend::qt::QtPaintedWidget(sceneView, splitter);
         view3D->SetBackgroundRole(ui::theme::ColorRole::SceneBackground);
         view3D->SetPanCursorEnabled(true);
+        shell.SetContent(view3D);
 
-        splitter->addWidget(configPanel);
-        splitter->addWidget(view3D);
-        splitter->setStretchFactor(0, 0);
-        splitter->setStretchFactor(1, 1);
-
-        setCentralWidget(splitter);
-
-        simulationTimer = new QTimer(this);
         connect(simulationTimer, &QTimer::timeout, this, &RobotArmMainWindow::OnSimulationStep);
 
-        connect(configPanel, &RobotArmConfigurationPanel::StartRequested, this, &RobotArmMainWindow::OnStartRequested);
-        connect(configPanel, &RobotArmConfigurationPanel::StopRequested, this, &RobotArmMainWindow::OnStopRequested);
-        connect(configPanel, &RobotArmConfigurationPanel::ResetRequested, this, &RobotArmMainWindow::OnResetRequested);
-        connect(configPanel, &RobotArmConfigurationPanel::ConfigurationChanged, this, &RobotArmMainWindow::ApplyConfiguration);
+        form.Model().onActionTriggered = [this](ui::model::ActionId action)
+        {
+            OnActionTriggered(action);
+        };
 
         ApplyConfiguration();
-        statusBar()->showMessage("Configure robot parameters and press Start");
     }
 
     RobotArmMainWindow::~RobotArmMainWindow()
@@ -44,11 +44,21 @@ namespace simulator::dynamics::view
         delete view3D;
     }
 
+    void RobotArmMainWindow::OnActionTriggered(ui::model::ActionId action)
+    {
+        if (action == field::start)
+            OnStartRequested();
+        else if (action == field::stop)
+            OnStopRequested();
+        else if (action == field::reset)
+            OnResetRequested();
+    }
+
     void RobotArmMainWindow::ApplyConfiguration()
     {
-        auto config = configPanel->GetConfiguration();
+        auto config = form.BuildConfiguration();
         simulator.Configure(config);
-        simulator.SetInitialPositions(configPanel->GetInitialPositions());
+        simulator.SetInitialPositions(form.InitialPositions());
         simulationTimer->setInterval(static_cast<int>(std::round(1000.0f * config.dt)));
         sceneView.SetState(simulator.GetState(), config.dof);
     }
@@ -58,10 +68,10 @@ namespace simulator::dynamics::view
         if (!running)
         {
             ApplyConfiguration();
-            simulator.SetInitialPositions(configPanel->GetInitialPositions());
+            simulator.SetInitialPositions(form.InitialPositions());
             running = true;
             simulationTimer->start();
-            statusBar()->showMessage("Simulation running...");
+            shell.SetStatus("Simulation running...");
         }
     }
 
@@ -69,7 +79,7 @@ namespace simulator::dynamics::view
     {
         running = false;
         simulationTimer->stop();
-        statusBar()->showMessage("Simulation stopped");
+        shell.SetStatus("Simulation stopped");
     }
 
     void RobotArmMainWindow::OnResetRequested()
@@ -77,20 +87,21 @@ namespace simulator::dynamics::view
         running = false;
         simulationTimer->stop();
         ApplyConfiguration();
-        statusBar()->showMessage("Simulation reset");
+        shell.SetStatus("Simulation reset");
     }
 
     void RobotArmMainWindow::OnSimulationStep()
     {
-        simulator.SetTorques(configPanel->GetTorques());
+        simulator.SetTorques(form.Torques());
         simulator.Step();
 
         auto config = simulator.GetConfig();
         sceneView.SetState(simulator.GetState(), config.dof);
 
         auto& state = simulator.GetState();
-        statusBar()->showMessage(
-            QString("t=%1s | Running")
-                .arg(static_cast<double>(state.time), 0, 'f', 2));
+
+        shell.SetStatus(QString("t=%1s | Running")
+                .arg(static_cast<double>(state.time), 0, 'f', 2)
+                .toStdString());
     }
 }
diff --git a/simulator/dynamics/RobotArm/view/RobotArmMainWindow.hpp b/simulator/dynamics/RobotArm/view/RobotArmMainWindow.hpp
index 8511c29..02e2d63 100644
--- a/simulator/dynamics/RobotArm/view/RobotArmMainWindow.hpp
+++ b/simulator/dynamics/RobotArm/view/RobotArmMainWindow.hpp
@@ -1,11 +1,12 @@
 #pragma once
 
+#include "simulator/dynamics/RobotArm/application/RobotArmForm.hpp"
 #include "simulator/dynamics/RobotArm/application/RobotArmSimulator.hpp"
-#include "simulator/dynamics/RobotArm/view/RobotArmConfigurationPanel.hpp"
 #include "simulator/dynamics/RobotArm/view/RobotArmSceneView.hpp"
+#include "ui/backend/qt/QtAppShell.hpp"
+#include "ui/backend/qt/QtFormView.hpp"
 #include "ui/backend/qt/QtPaintedWidget.hpp"
 #include <QMainWindow>
-#include <QStatusBar>
 #include <QTimer>
 
 namespace simulator::dynamics::view
@@ -20,6 +21,7 @@ namespace simulator::dynamics::view
         ~RobotArmMainWindow() override;
 
     private:
+        void OnActionTriggered(ui::model::ActionId action);
         void OnStartRequested();
         void OnStopRequested();
         void OnResetRequested();
@@ -27,8 +29,10 @@ namespace simulator::dynamics::view
         void ApplyConfiguration();
 
         RobotArmSimulator simulator;
+        RobotArmForm form;
         RobotArmSceneView sceneView;
-        RobotArmConfigurationPanel* configPanel;
+        ui::backend::qt::QtFormView* formView;
+        ui::backend::qt::QtAppShell shell;
         ui::backend::qt::QtPaintedWidget* view3D;
         QTimer* simulationTimer;
         bool running = false;
diff --git a/simulator/shell/AppRunner.hpp b/simulator/shell/AppRunner.hpp
new file mode 100644
index 0000000..0ad5ba0
--- /dev/null
+++ b/simulator/shell/AppRunner.hpp
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "ui/backend/qt/QtTheme.hpp"
+#include <QApplication>
+
+namespace simulator::shell
+{
+    template<class Window>
+    int Run(int argc, char* argv[], const ui::theme::Theme& theme)
+    {
+        QApplication application{ argc, argv };
+
+        ui::backend::qt::ApplyTheme(theme);
+
+        Window window;
+        window.show();
+
+        return application.exec();
+    }
+}
diff --git a/simulator/shell/CMakeLists.txt b/simulator/shell/CMakeLists.txt
new file mode 100644
index 0000000..8be3160
--- /dev/null
+++ b/simulator/shell/CMakeLists.txt
@@ -0,0 +1,14 @@
+add_library(robotics.simulator.shell INTERFACE)
+
+target_include_directories(robotics.simulator.shell INTERFACE
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/../../>"
+    "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>"
+)
+
+target_sources(robotics.simulator.shell INTERFACE
+    AppRunner.hpp
+)
+
+target_link_libraries(robotics.simulator.shell INTERFACE
+    ui.backend.qt
+)