> ## Documentation Index
> Fetch the complete documentation index at: https://innateinc-theo-docs-skills-authoring-api.mintlify.site/llms.txt
> Use this file to discover all available pages before exploring further.

# Overview & Hardware

<img src="https://mintcdn.com/innateinc-theo-docs-skills-authoring-api/9WIspYq4LkbGVthE/images/main/robots/mars-overview.png?fit=max&auto=format&n=9WIspYq4LkbGVthE&q=85&s=4b1060b402eb879db8ac88afae39728d" alt="" width="2304" height="1368" data-path="images/main/robots/mars-overview.png" />

MARS is a compact mobile manipulator with onboard AI compute, designed as a complete platform for building and sharing real-world robot applications.

## Hardware at a glance

### Sensors

MARS combines complementary perception sources: a forward-facing stereo RGB camera that computes scene depth, a gripper-mounted RGB camera for close manipulation, and a 2D LiDAR for localization.

#### Camera matrix

| Spec                   | Forward-Facing Stereo Camera                 | Gripper-Mounted RGB Camera          |
| ---------------------- | -------------------------------------------- | ----------------------------------- |
| Camera type            | Stereo RGB                                   | RGB                                 |
| Diagonal field of view | 150°                                         | 160°                                |
| Effective range        | 40 cm to 6 m                                 | Close-range manipulation            |
| Depth support          | Yes — computed from stereo disparity         | No                                  |
| Depth accuracy         | \<2% up to 3.5 m, \<4% to 6.5 m, \<6% to 9 m | N/A                                 |
| Resolution             | N/A                                          | 2MP (1920x1080)                     |
| Frame rate             | N/A                                          | 30 FPS                              |
| Primary role           | Navigation and scene perception              | Visual servoing and grasp alignment |

#### 2D LiDAR

| Property            | Value               |
| ------------------- | ------------------- |
| Coverage            | 360°                |
| Range               | 0.15 m to 6 m       |
| Angular resolution  | \<=1°               |
| Distance resolution | \<0.5 mm            |
| Scan rate           | 6 Hz (up to 10 Hz)  |
| Primary use         | SLAM and navigation |

<Card title="ROS2 Topics Reference" href="/software/ros2/topics">
  LiDAR data is exposed on `/scan` as `sensor_msgs/LaserScan` (RPLidar stack).
</Card>

#### Custom sensors

MARS provides two powered USB 3.0 ports for additional sensors/peripherals.

| Port property          | Value                     |
| ---------------------- | ------------------------- |
| USB ports              | 2x USB 3.0                |
| Power output           | 1.2 A per port            |
| Data rate              | Up to 5 Gbps              |
| Hot swap               | Supported                 |
| Backward compatibility | USB 2.0 devices supported |

### Arm

#### Specifications

| Property      | Value                      |
| ------------- | -------------------------- |
| Reach         | 40 cm                      |
| Repeatability | 2 mm                       |
| Payload       | 250 g at maximum extension |

#### Actuators

Seven Dynamixel servos (Robotis) drive MARS, numbered 1–7: **motors 1–6 form the arm** (motor 1 at the base, motor 6 driving the gripper) and **motor 7 moves the head**.

| Motors | Drives                        | Model            | Link                                                             |
| ------ | ----------------------------- | ---------------- | ---------------------------------------------------------------- |
| 1, 3   | Arm (lower joints)            | `XL430-W250-T`   | [Product Page](https://www.robotis.us/dynamixel-xl430-w250-t/)   |
| 2      | Arm (lower joint)             | `XC430-T240BB-T` | [Product Page](https://www.robotis.us/dynamixel-xc430-t240bb-t/) |
| 4–7    | Arm wrist + gripper, and head | `XL330-M288-T`   | [Product Page](https://www.robotis.us/dynamixel-xl330-m288-t/)   |

<Accordion title="Detailed motor specs">
  | Spec       | `XL430-W250-T` | `XC430-T240BB-T` | `XL330-M288-T` |
  | ---------- | -------------- | ---------------- | -------------- |
  | Used by    | Motors 1, 3    | Motor 2          | Motors 4–7     |
  | Gear ratio | 258.5 : 1      | 245.22 : 1       | 288.4 : 1      |
  | Resolution | 4096 pulse/rev | 4096 pulse/rev   | 4096 pulse/rev |

  All three models share the same 4096 pulse/rev encoder resolution — about 0.088° per step at the output shaft. The full electrical and mechanical specs are on the Robotis product pages linked above.
</Accordion>

These actuators were chosen for robustness and repeatability. The arm can reliably perform tasks such as chess manipulation (see [Examples](/get-started/mars-example-use-cases)).

### Onboard Computer

MARS ships with a [Jetson Orin Nano Super 8GB Development Kit](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/nano-super-developer-kit/).

<img src="https://mintcdn.com/innateinc-theo-docs-skills-authoring-api/9WIspYq4LkbGVthE/images/main/robots/mars/onboard-computer.png?fit=max&auto=format&n=9WIspYq4LkbGVthE&q=85&s=5883a8c9863bc5a3c0fd671471901150" alt="" width="679" height="568" data-path="images/main/robots/mars/onboard-computer.png" />

| Component      | Specification                                                       |
| -------------- | ------------------------------------------------------------------- |
| AI performance | Up to 67 TOPS (sparse INT8)                                         |
| GPU            | NVIDIA Ampere architecture with 1024 CUDA cores and 32 Tensor cores |
| CPU            | 6-core ARM Cortex-A78AE v8 (64-bit)                                 |
| Memory         | 8 GB LPDDR5                                                         |
| Storage        | 1 TB SSD (integrated by Innate)                                     |
| Dev kit base   | Jetson Orin Nano Super module and reference carrier board           |

Innate also exposes two additional USB ports for user extensions after core system wiring.

## Platform details

MARS is delivered assembled and calibrated so you can start quickly, while still being open and mod-friendly for deeper customization.

Everything the robot needs at runtime runs **on the robot** — the VLA ([Innate ACT](/training/overview)), SLAM, and [the Innate agent](/software/agent) all execute on the Jetson, with the cloud only handling the model call and [policy training](/training/train-act-policy). You need a computer to develop for MARS, but once your agents and skills are on it, you can close the laptop and walk away.

You can buy an assembled MARS and access the open hardware/software repository:

<CardGroup cols={2}>
  <Card title="Innate Website" href="https://innate.bot/">
    Buy assembled MARS units and find product information.
  </Card>

  <Card title="MARS Repository" href="https://github.com/innate-inc">
    Open-source hardware and software repository.
  </Card>
</CardGroup>