Contributions to open-sourced Lunar rover simulator based on NVDIA Omniverse framework
Project under LAGER lab to support NASA SBIR effort and my own PhD dissertation work
Evaluation and modification of OmniLRS to aid in research. This project involves:
Investigation, setup and evaluation of OmniLRS by Antoine Richard
Support original devs with bugs including collisions
Development of model based on NASA VIPER
Development LiDAR scan pattern generator script for RTX LiDAR support
Modification of terrain generation process
Project support the publication
T. D. Luong, and J. D. Larson, “3D Keypoint Detectors from Scanning Mirror LiDAR Scans for Localization of Lunar Rovers,” in 2025 IEEE/ION Position, Location, And Navigation Symposium (PLANS), May 2025, accepted
OmniLRS comes with several default robots such as Husky, and Jackal. A VIPER like rover is needed for an SBIR effort along with its corresponding navigation sensors.
Research for all publicly available dimension information of VIPER
Design of VIPER model in OnShape
Import of assets to IsaacSim along with proper joint rigging and ROS2 tele-op control
Integration of 2 exteroceptive sensor configs
Stereo NavCam - emulate optics of NASA NavCam
MEM LiDAR - custom Python tools to generate and import arbitrary scan patterns to IsaacSim [GitHub].
Current procedural generation terrain utilizes manual input of crater size ranges and distribution
Implemented methods for automatically generate size ranges and their corresponding distribution following NASA models
Addition of other terrain mask for rock placements - crater ejecta mask
Add Hapke lighting model to material used for regolith