> ## Documentation Index
> Fetch the complete documentation index at: https://docs.innate.bot/llms.txt
> Use this file to discover all available pages before exploring further.

# Overview & Hardware

<img src="https://mintcdn.com/innateinc/hx7RaA7br-n-YY5y/images/main/robots/mars-overview.png?fit=max&auto=format&n=hx7RaA7br-n-YY5y&q=85&s=cb93ef7366c1b403bfe90780497e3b14" 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/hx7RaA7br-n-YY5y/images/main/robots/mars/onboard-computer.png?fit=max&auto=format&n=hx7RaA7br-n-YY5y&q=85&s=442b38c0ae7358eb8525f50a9a6f2c5e" 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.

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>