Setup

Prerequisites

Memory and CPU: 16 GB RAM and 4+ CPU cores recommended. 8 GB works, but expect slower performance.
Disk space: Up to 15 GB free, or less if Docker is already installed. The installer checks before downloading.

Choose your operating system

macOS
Linux
Windows (WSL2)

Open Docker Desktop and leave it running.The installer sets up everything else, but not this one: containers are Linux processes, so on macOS they run inside the virtual machine Docker Desktop provides — and a desktop app with a licence to accept is not something a shell script can install for you. The installer checks for it and stops with instructions if it is missing.

Don't have Docker Desktop yet?

Download Docker Desktop

Open the Docker Desktop download page and choose the button that matches your Mac.Not sure which button? Apple menu (top left) → About This Mac. If Chip or Processor says Apple, pick Apple silicon. If it says Intel, pick Intel chip.

Install and start Docker

Open the downloaded .dmg, move Docker to Applications, then open Docker.

Accept the Docker Subscription Service Agreement.
Keep Use recommended settings and click Finish. Enter your Mac password if asked.
On Welcome to Docker, click Skip. You do not need a Docker account.

After Skip, you land on the Docker home screen with an empty Containers list. That is normal — you have not started the simulator yet.

Docker Desktop with no running containers

Leave Docker open.

No preparation needed. The installer installs missing prerequisites, including Docker and uv.

The simulator runs inside WSL2, Windows’ built-in Linux environment. You install it once, from PowerShell:

wsl --install -d Ubuntu

Follow the prompts — it asks you to choose a username and password for Linux, and may ask you to restart Windows. When it finishes it opens an Ubuntu terminal for you. That terminal is where the simulator lives; open it again later from the Start menu.Install into your Linux home folder. If the prompt shows a path starting with /mnt/, run cd ~ first: that prefix is the Windows drive seen from Linux, and the simulator is far too slow to run from there.Nothing else to prepare — the installer handles Docker and uv inside Ubuntu, and skips Docker if you already run Docker Desktop with WSL integration.

Install the simulator

Open a terminal — on Windows, the Ubuntu one — go to the folder you want the simulator in, and run:

curl -fsSL https://link.innate.bot/sim | sh

It clones innate-os/ into that folder. The installer shows its plan before making changes. Use the arrow keys to move through the prompts and press Enter to select. After the prompts, it installs missing dependencies, clones innate-os, and downloads the runtime without further input.

Choose your agent setup

During installation, choose how the agent connects to Gemini:

Option	What you get
Your own Gemini key — default	Agent calls Google directly. Needs a Gemini API key. No voice.
Innate service key	Agent calls Gemini through Innate’s proxy. Includes voice. Use the key included with your MARS or ask on Discord if you plan on building with it.
None	Drive, navigate, trigger skills. No agent.

Open the simulator

Start the simulator

When prompted with Start the simulator now?, select Yes. The installer starts the runtime and opens the live dashboard.

Open the web app

From the dashboard, open https://localhost and accept the self-signed certificate.

Seeing a privacy warning?

The simulator creates a certificate on your computer to encrypt the local connection. Your browser cannot verify who created it, so it displays a warning. This is expected for https://localhost.Confirm that the address is https://localhost, then continue:

Chrome or Edge: Click Advanced → Proceed to localhost (unsafe).
Safari: Click Show Details → visit this website → Visit Website.
Firefox: Click Advanced → Accept the Risk and Continue.

Only bypass this warning for https://localhost.

You're ready!

If you see an interface like this, the simulator is running:

The simulator running in the MARS web app

Try these controls:

Drive with the W, A, S, and D controls in the lower-left corner.
Select a camera preview in the upper-right corner to change views.
In third-person view, click and drag the scene to move the camera around MARS.

Already have an innate-os checkout? Run sh scripts/install-sim.sh inside it. To change agent keys later, run ./innate-sim setup.

Manage the simulator

./innate-sim up          # start the runtime + live dashboard
./innate-sim status      # current runtime status
./innate-sim logs startup  # last boot; `logs brain` / `logs world-server` for those streams
./innate-sim sh          # shell into the container
./innate-sim down        # stop the container + world server (keeps data)
./innate-sim clean       # remove containers/volumes (keeps .env + config)
./innate-sim setup       # change the agent key, or re-download the runtime

Troubleshooting

Launcher errors include the next step (missing packages come with the install command), and the installer keeps its detailed output in ~/.innate-install.log. If you’re stuck, ask on Discord — setup reports from new machines are how the rough edges get fixed.

Build with the simulator

Building with the simulator

Write a skill, hand it to an agent, iterate on save.

Get Started

MARS Hardware

Simulator

Controller App

Web App

Agent SDK

Hacking on MARS

Manipulation

ROS2 Core

Troubleshooting & Support

Hackathon

Prerequisites

Choose your operating system

Install the simulator

Choose your agent setup

Open the simulator

Manage the simulator

Troubleshooting

Build with the simulator

Building with the simulator

​Prerequisites

​Choose your operating system

​Install the simulator

​Choose your agent setup

​Open the simulator

​Manage the simulator

​Troubleshooting

​Build with the simulator

Building with the simulator

Prerequisites

Choose your operating system

Install the simulator

Choose your agent setup

Open the simulator

Manage the simulator

Troubleshooting

Build with the simulator