Formats
The robot and environment models are most easily generated by the tool Phobos.
MARS is compatible with the following formats:
The Unified Robot Description Format is a format to describe the kinematics of a robot developed by the ROS community. MARS can load a URDF, however this will only lead to a robot's links and joints be created in simulation, but no motors or sensors will be attached.
URDF is therefore best used in MARS to create passive objects.
The Supplementable, Mostly Universal Robot Format is a flexible format to describe the entirety of a robot. It extends URDF - which it maintains as a separate file - by annotating the URDF data in additional YAML files.
You can find the SMURF format documentation on the GitHub repository of the SMURF parser.
SMURF scenes are a scene format based on SMURF.
SMURF SVG scenes use SVG files to position entities defined in YAML.
MARS Scenes are the original 3D scene format used with MARS. They are deprecated, but MARS is still compatible with them (March 2015).
.obj and .stl files can be directly imported as meshes in MARS. We do not recommend this functionality unless you know what you're doing, but it can be very useful for debugging purposes.
