> ## 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.

# Simulator

> A complete simulation of MARS that runs on your laptop — no robot required

The Innate simulator is a **digital twin** of the MARS robot: the same software
that runs on a physical MARS — navigation, skills, the AI agent, the web app —
runs on your laptop against a physics simulation of the robot in a furnished
apartment. You drive it, run skills on it, and talk to its agent from your
browser, exactly as you would with the real thing.

<video autoPlay muted loop playsInline controls className="w-full rounded-xl" poster="/images/simulator/sim.png" src="https://mintcdn.com/innateinc/PpFFMgCc-h-UoNWU/videos/simulator/sim-recording.mp4?fit=max&auto=format&n=PpFFMgCc-h-UoNWU&q=85&s=3751507e456bef55bed94f974d05fade" data-path="videos/simulator/sim-recording.mp4">
  Driving the simulated MARS robot through its apartment in the browser.
</video>

Because it is the real robot software (only the hardware drivers are swapped
for a simulated equivalent), **anything you build against the simulator works
unchanged on a real MARS** — and the other way around. Use it to:

* **Try Innate OS before you own a robot** — the full experience, from
  driving to talking to the agent.
* **Build and test [skills](/software/skills) and [agents](/software/agents)**
  without leaving your desk, then deploy them to hardware as-is.
* **Develop input devices and integrations** against the same ROS 2 surface a
  real robot exposes.

<CardGroup cols={2}>
  <Card title="Set up the simulator" icon="rocket" href="/simulator/setup">
    Prerequisites per platform and the two commands that start everything.
  </Card>

  <Card title="Build with the simulator" icon="wrench" href="/simulator/building-with-the-simulator">
    The development workflow: skills, agents, ROS access, and the Python API.
  </Card>
</CardGroup>

## What is inside

The simulated MARS lives in a furnished apartment and has everything the real
robot has: a driving base, the arm, a head camera and a wrist camera
(rendered from the simulated world), a lidar, and a navigation map. The web
app at `https://localhost` is the same operator interface a real robot
serves — with an extra **top view** camera that only exists in simulation.

Physics runs in [MuJoCo](https://mujoco.org) on your machine, in real time.
For the architecture behind it (and a ROS-free Python API to the simulated
world), see the
[simulator README](https://github.com/innate-inc/innate-os/blob/main/sim/README.md)
in the innate-os repository.