LUMINSim

LUMINSim

LUMINSim (Lunar Mining and Infrastructure Network Simulator) is an open source lunar robotic simulator developed by Aurora Robotics using Godot 4. It serves as a critical tool for testing and refining autonomous robotic operations in a simulated lunar environment, directly supporting the overarching LUMIN control system. The simulation focuses on the challenges of mining, construction, and other infrastructure tasks essential for future lunar exploration.

Overview

LUMINSim provides a detailed and immersive simulation environment for lunar mining operations. As part of the broader LUMIN network, it allows the team to model various robotic designs, navigation algorithms, and task execution methods under realistic lunar conditions. The simulator currently features the Astra robot, the first prototype designed for lunar construction and mining.

The insights gained from LUMINSim's testing of Astra led to the development of a new, more versatile robot called LAMP (Lunar, Autonomous, Modular, Platform). Astra’s limitations and inadequacies identified in LUMINSim directly informed the modular design philosophy of LAMP, highlighting the simulator's crucial role in advancing lunar robotic platforms.

Features

Key features of LUMINSim include:

• Terrain Simulation: Realistic lunar terrain with adjustable parameters. The terrain colliders match the mesh, providing an accurate physical environment for robotic interactions. Terrain texture and lighting are enhanced for greater visual fidelity and accuracy.
• Autonomous Robot Control: Users can control mining robots, including the Astra prototype, in both autonomous and manual modes. Features include an in-game console for issuing commands, camera controls, and freecam mode for navigation and inspection.
• Robot Design Testing: One of LUMINSim's primary purposes is to test and validate new robotic designs. Astra, the current robot in the simulator, serves as a learning tool that guided the development of LAMP by exposing design flaws and providing insight into necessary features for lunar operations.
• Multi-Platform Support: Supports multiple platforms, including desktop and Android, providing a versatile simulation environment for different users and use cases.
• Immersive Astronaut Simulation: Allows users to control an astronaut avatar within the simulation, equipped with various tools and vehicles for exploration.
• Modular Design: The modular approach supports the addition of new features, robots, terrains, and missions, aligning with LAMP's design philosophy and the adaptive nature of the LUMIN control system.
• Console Commands and UI Controls: Includes various user commands and UI elements, such as speed readouts, light controls, and simulation rate adjustments to enhance the simulation experience.

Current Status and Development

LUMINSim is currently in its alpha stage, with ongoing development aimed at refining robot behavior, terrain interactions, and autonomous capabilities. The latest updates focus on improving terrain generation, enhancing the control of the Astra robot, and introducing new elements such as mountable lights, speed controls, and navigation systems.

Although Astra is the only robot currently in the simulator, its design serves as a foundation for the ongoing development of LAMP. LUMINSim continues to be an essential testbed for validating new designs and technologies before their implementation in actual lunar operations.

Related Projects

• LAMP (Lunar, Autonomous, Modular, Platform) - The next-generation robot designed based on the lessons learned from testing Astra in LUMINSim.
• LUMIN (Lunar Mining and Infrastructure Network) - The overarching control software that manages various lunar operations, using LUMINSim as its primary simulation environment for testing and development.

How to Get Involved

The Aurora Robotics Team welcomes collaboration with students and researchers interested in lunar robotics, simulation, and autonomous systems. For more details on LUMINSim or to contribute to its development, please visit our GitHub repository.