Skip to main content
You can drive MARS from the phone app (Manual Control) or the web app (Teleop, joystick or WASD). Driving is ramped: releasing the stick or losing Wi-Fi slows the robot down smoothly instead of cutting out.

​
Speed modes

The multiplier scales motion_control.max_speed from settings. The mode is stored on the robot, so every app sees the same one. Recording an episode or a map holds the robot at Med.
Mad goes past the configured limit. Use it only in open space.

​
Leader arm

The leader arm is the small controller arm that ships with MARS. Move it and MARS’s arm copies the joint angles. Squeeze the trigger at the tip to open and close the gripper. It has no camera and its proportions differ from the robot’s arm. Neither matters: training records the robot’s joints and cameras, not the leader arm’s.
Plug the leader arm into your phone with the double USB-C cable, then press the red Arm button.
Using an iPhone? The leader arm connects over USB-C and doesn’t work with iOS devices yet. Ping us on Discord and we’ll get you a free Android phone for leader arm teleoperation.
Stand behind the robot while teleoperating, so left and right match.
MARS starts mapping by itself the first time it connects. To make a new map, go to Configuration → Mapping → Create New Map, drive slowly through every room and doorway, then save. Keep the arm folded while mapping. For developers, the current mode is published on /nav/current_mode.