Hardware at a glance
Sensors
MARS combines complementary perception sources: a forward-facing RGBD camera for scene depth, a gripper-mounted RGB camera for close manipulation, and a 2D LiDAR for localization.Camera matrix
| Spec | Forward-Facing RGBD Camera | Gripper-Mounted RGB Camera |
|---|---|---|
| Camera type | Stereo RGBD | RGB |
| Diagonal field of view | 150° | 160° |
| Effective range | 40 cm to 6 m | Close-range manipulation |
| Depth support | Yes | 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 | 10 Hz |
| Primary use | SLAM and navigation |
ROS2 Topics Reference
LiDAR data is exposed on
/scan as sensor_msgs/LaserScan (RPLidar stack).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
| Qty | Actuator | Model | Link |
|---|---|---|---|
| 2 | Dynamixel XL430 (Robotis) | XL430-W250-T | Product Page |
| 1 | Dynamixel XC430 (Robotis) | XC430-T240BB-T | Product Page |
| 4 | Dynamixel XL330 (Robotis) | XL330-M288 | Product Page |
Onboard Computer
MARS ships with a Jetson Orin Nano Super 8GB Development Kit.
| 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) + 32 GB microSD (for OS) |
| Dev kit base | Jetson Orin Nano Super module and reference carrier board |