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MARS

MARS (Machina Arte Robotum Simulans) is a cross-platform simulation and visualisation tool created for robotics research developed at the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI-RIC) and the University of Bremen. It runs on (Ubuntu) Linux, Mac and Windows and consists of a core framework containing all main simulation components, a GUI (based on Qt), 3D visualization (using OSG) and a physics core (based on ODE).
MARS is designed in a modular manner and can be used very flexibly, e.g. by running the physics simulation without visualization and GUI. It is possible to extend MARS writing your own plugins and many plugins introducing various functionality such as HUDs or custom ground reaction forces already exist - and it's easy to write your own.

MARS

Mailing Lists

If you have questions about MARS not suited for GitHub issues or would like to receive updates on upcoming releases, you can subscribe to the mars users mailing list.

Installation

We don't yet provide binaries for MARS, thus installing it requires downloading the source and building it locally. You can do this using PyBob, a Python tool that will check out all necessary repositories and build MARS for you. You can find PyBob and the installation instructions here.

Documentation

You can find MARS' user documentation on its GitHub Wiki and code documentation on its GitHub Page.

License

MARS is distributed under the Lesser GNU Public License (LGPL).

About

MARS is a cross-platform simulation and visualisation tool created for robotics research.

rock-simulation.github.io/mars

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Readme
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1 watching

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, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all 
 blocks\n(function() {\n function addCopyButtons() {\n document.querySelectorAll('pre code').forEach(function(codeBlock) {\n if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;\n codeBlock.parentElement.setAttribute('data-copy-added', 'true');\n \n var btn = document.createElement('button');\n btn.textContent = 'Copy';\n btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';\n btn.onmouseover = function() { this.style.opacity = '1'; };\n btn.onmouseout = function() { this.style.opacity = '0.7'; };\n btn.onclick = function() {\n navigator.clipboard.writeText(codeBlock.textContent).then(function() {\n btn.textContent = 'Copied!';\n setTimeout(function() { btn.textContent = 'Copy'; }, 1500);\n });\n };\n codeBlock.parentElement.style.position = 'relative';\n codeBlock.parentElement.appendChild(btn);\n });\n }\n \n addCopyButtons();\n \n // Re-run on dynamic content\n var observer = new MutationObserver(addCopyButtons);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Add Copy Buttons to Code Blocks");
}
} catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); }
})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

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MARS
MARS (Machina Arte Robotum Simulans) is a cross-platform simulation and visualisation tool created for robotics research developed at the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI-RIC) and the University of Bremen. It runs on (Ubuntu) Linux, Mac and Windows and consists of a core framework containing all main simulation components, a GUI (based on Qt), 3D visualization (using OSG) and a physics core (based on ODE).

MARS is designed in a modular manner and can be used very flexibly, e.g. by running the physics simulation without visualization and GUI.
It is possible to extend MARS writing your own plugins and many plugins introducing various functionality such as HUDs or custom ground reaction forces already exist - and it's easy to write your own.
MARS
Mailing Lists
If you have questions about MARS not suited for GitHub issues or would like to receive updates on upcoming releases, you can subscribe to the mars users mailing list.
Installation
We don't yet provide binaries for MARS, thus installing it requires downloading the source and building it locally. You can do this using PyBob, a Python tool that will check out all necessary repositories and build MARS for you. You can find PyBob and the installation instructions here.
Documentation
You can find MARS' user documentation on its GitHub Wiki and code documentation on its GitHub Page.
License
MARS is distributed under the Lesser GNU Public License (LGPL).
About
MARS is a cross-platform simulation and visualisation tool created for robotics research.
rock-simulation.github.io/mars
Resources
Readme
Activity
Stars
0 stars
Watchers
1 watching
Forks
0 forks
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix");
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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MARS
MARS (Machina Arte Robotum Simulans) is a cross-platform simulation and visualisation tool created for robotics research developed at the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI-RIC) and the University of Bremen. It runs on (Ubuntu) Linux, Mac and Windows and consists of a core framework containing all main simulation components, a GUI (based on Qt), 3D visualization (using OSG) and a physics core (based on ODE).

MARS is designed in a modular manner and can be used very flexibly, e.g. by running the physics simulation without visualization and GUI.
It is possible to extend MARS writing your own plugins and many plugins introducing various functionality such as HUDs or custom ground reaction forces already exist - and it's easy to write your own.
MARS
Mailing Lists
If you have questions about MARS not suited for GitHub issues or would like to receive updates on upcoming releases, you can subscribe to the mars users mailing list.
Installation
We don't yet provide binaries for MARS, thus installing it requires downloading the source and building it locally. You can do this using PyBob, a Python tool that will check out all necessary repositories and build MARS for you. You can find PyBob and the installation instructions here.
Documentation
You can find MARS' user documentation on its GitHub Wiki and code documentation on its GitHub Page.
License
MARS is distributed under the Lesser GNU Public License (LGPL).
About
MARS is a cross-platform simulation and visualisation tool created for robotics research.
rock-simulation.github.io/mars
Resources
Readme
Activity
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length > 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms");
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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MARS
MARS (Machina Arte Robotum Simulans) is a cross-platform simulation and visualisation tool created for robotics research developed at the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI-RIC) and the University of Bremen. It runs on (Ubuntu) Linux, Mac and Windows and consists of a core framework containing all main simulation components, a GUI (based on Qt), 3D visualization (using OSG) and a physics core (based on ODE).

MARS is designed in a modular manner and can be used very flexibly, e.g. by running the physics simulation without visualization and GUI.
It is possible to extend MARS writing your own plugins and many plugins introducing various functionality such as HUDs or custom ground reaction forces already exist - and it's easy to write your own.
MARS
Mailing Lists
If you have questions about MARS not suited for GitHub issues or would like to receive updates on upcoming releases, you can subscribe to the mars users mailing list.
Installation
We don't yet provide binaries for MARS, thus installing it requires downloading the source and building it locally. You can do this using PyBob, a Python tool that will check out all necessary repositories and build MARS for you. You can find PyBob and the installation instructions here.
Documentation
You can find MARS' user documentation on its GitHub Wiki and code documentation on its GitHub Page.
License
MARS is distributed under the Lesser GNU Public License (LGPL).
About
MARS is a cross-platform simulation and visualisation tool created for robotics research.
rock-simulation.github.io/mars
Resources
Readme
Activity
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links");
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

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MARS
MARS (Machina Arte Robotum Simulans) is a cross-platform simulation and visualisation tool created for robotics research developed at the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI-RIC) and the University of Bremen. It runs on (Ubuntu) Linux, Mac and Windows and consists of a core framework containing all main simulation components, a GUI (based on Qt), 3D visualization (using OSG) and a physics core (based on ODE).

MARS is designed in a modular manner and can be used very flexibly, e.g. by running the physics simulation without visualization and GUI.
It is possible to extend MARS writing your own plugins and many plugins introducing various functionality such as HUDs or custom ground reaction forces already exist - and it's easy to write your own.
MARS
Mailing Lists
If you have questions about MARS not suited for GitHub issues or would like to receive updates on upcoming releases, you can subscribe to the mars users mailing list.
Installation
We don't yet provide binaries for MARS, thus installing it requires downloading the source and building it locally. You can do this using PyBob, a Python tool that will check out all necessary repositories and build MARS for you. You can find PyBob and the installation instructions here.
Documentation
You can find MARS' user documentation on its GitHub Wiki and code documentation on its GitHub Page.
License
MARS is distributed under the Lesser GNU Public License (LGPL).
About
MARS is a cross-platform simulation and visualisation tool created for robotics research.
rock-simulation.github.io/mars
Resources
Readme
Activity
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default");
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
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MARS
MARS (Machina Arte Robotum Simulans) is a cross-platform simulation and visualisation tool created for robotics research developed at the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI-RIC) and the University of Bremen. It runs on (Ubuntu) Linux, Mac and Windows and consists of a core framework containing all main simulation components, a GUI (based on Qt), 3D visualization (using OSG) and a physics core (based on ODE).

MARS is designed in a modular manner and can be used very flexibly, e.g. by running the physics simulation without visualization and GUI.
It is possible to extend MARS writing your own plugins and many plugins introducing various functionality such as HUDs or custom ground reaction forces already exist - and it's easy to write your own.
MARS
Mailing Lists
If you have questions about MARS not suited for GitHub issues or would like to receive updates on upcoming releases, you can subscribe to the mars users mailing list.
Installation
We don't yet provide binaries for MARS, thus installing it requires downloading the source and building it locally. You can do this using PyBob, a Python tool that will check out all necessary repositories and build MARS for you. You can find PyBob and the installation instructions here.
Documentation
You can find MARS' user documentation on its GitHub Wiki and code documentation on its GitHub Page.
License
MARS is distributed under the Lesser GNU Public License (LGPL).
About
MARS is a cross-platform simulation and visualisation tool created for robotics research.
rock-simulation.github.io/mars
Resources
Readme
Activity
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers");
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
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MARS
MARS (Machina Arte Robotum Simulans) is a cross-platform simulation and visualisation tool created for robotics research developed at the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI-RIC) and the University of Bremen. It runs on (Ubuntu) Linux, Mac and Windows and consists of a core framework containing all main simulation components, a GUI (based on Qt), 3D visualization (using OSG) and a physics core (based on ODE).

MARS is designed in a modular manner and can be used very flexibly, e.g. by running the physics simulation without visualization and GUI.
It is possible to extend MARS writing your own plugins and many plugins introducing various functionality such as HUDs or custom ground reaction forces already exist - and it's easy to write your own.
MARS
Mailing Lists
If you have questions about MARS not suited for GitHub issues or would like to receive updates on upcoming releases, you can subscribe to the mars users mailing list.
Installation
We don't yet provide binaries for MARS, thus installing it requires downloading the source and building it locally. You can do this using PyBob, a Python tool that will check out all necessary repositories and build MARS for you. You can find PyBob and the installation instructions here.
Documentation
You can find MARS' user documentation on its GitHub Wiki and code documentation on its GitHub Page.
License
MARS is distributed under the Lesser GNU Public License (LGPL).
About
MARS is a cross-platform simulation and visualisation tool created for robotics research.
rock-simulation.github.io/mars
Resources
Readme
Activity
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode");
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

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MARS
MARS (Machina Arte Robotum Simulans) is a cross-platform simulation and visualisation tool created for robotics research developed at the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI-RIC) and the University of Bremen. It runs on (Ubuntu) Linux, Mac and Windows and consists of a core framework containing all main simulation components, a GUI (based on Qt), 3D visualization (using OSG) and a physics core (based on ODE).

MARS is designed in a modular manner and can be used very flexibly, e.g. by running the physics simulation without visualization and GUI.
It is possible to extend MARS writing your own plugins and many plugins introducing various functionality such as HUDs or custom ground reaction forces already exist - and it's easy to write your own.
MARS
Mailing Lists
If you have questions about MARS not suited for GitHub issues or would like to receive updates on upcoming releases, you can subscribe to the mars users mailing list.
Installation
We don't yet provide binaries for MARS, thus installing it requires downloading the source and building it locally. You can do this using PyBob, a Python tool that will check out all necessary repositories and build MARS for you. You can find PyBob and the installation instructions here.
Documentation
You can find MARS' user documentation on its GitHub Wiki and code documentation on its GitHub Page.
License
MARS is distributed under the Lesser GNU Public License (LGPL).
About
MARS is a cross-platform simulation and visualisation tool created for robotics research.
rock-simulation.github.io/mars
Resources
Readme
Activity
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages