MARE-Lunar-Simulator v1.0.1

Maintenance release of MARE, the Unreal Engine 5 project of the MARE lunar rover simulation suite. The levels, rovers and sensors are the same as in v1.0.

What changed

• TAPython removed. Terrain Studio now builds Landscapes with UnrealDEMLandscape, a small open-source (MIT) editor plugin of this suite.
• Faster, exact Landscape import. The heightmap is imported as the Landscape is created, with no size limit; tested exact to the vertex on 0.09 km² and 1 km² terrains.
• Paper and citation: arXiv:2610.28465, with a CITATION.cff for GitHub's Cite this repository.

Download

MARE-Lunar-Simulator-v1.0.1-UE5.7-Win64.zip (below, about 440 MB): unzip it anywhere and open Moon_Simulator.uproject with Unreal Engine 5.7. Every plugin is prebuilt for Win64, so no compiler is needed.

Prefer this zip to cloning: the levels and assets are stored in Git LFS, and GitHub's automatic "Source code" archives contain LFS pointers, not the files.

What's inside

• Levels: Lunar_Terrain_Raph (default) and Lunar_Terrain_Yutu, on the same terrain and rock field the GNC planner's default maps describe
• Rovers: Raph Rover (asset Leo_Raph, 4 wheels) and Yutu (6 wheels, solar wings and mast), physics-based, linked to the GNC stack over TCP
• Sensor plugins (v1.0): UnrealStereoCam, UnrealLidarCam, UnrealEventCam, UnrealSPADCam, UnrealSimClock
• Ground truth: object masks (craters, rims, rocks, wheel tracks, the rover) and shadow masks, including the rover's own shadow
• Editor tools: follow, orbit and top-down viewport cameras; the Terrain Studio watcher; UnrealDEMLandscape (v1.0) for building Landscapes

Requirements

• Windows 10/11 and Unreal Engine 5.7 (built against 5.7.4; any 5.7.x should open it without rebuilding)
• A recent GPU (Lumen and virtual shadow maps) and about 32 GB of RAM to run Unreal with the GNC stack
• If Unreal reports a plugin as built for a different engine version, install Visual Studio 2022 (Game development with C++) and let it rebuild

Works with

Component	Version
GNC-Moon-Simulator	v1.0 (ROS 2 Jazzy, Docker on WSL2)
Unreal-Moon-Terrain-Generation	v1.0.1 (Terrain Studio, building Landscapes with UnrealDEMLandscape)
UnrealStereoCam, UnrealLidarCam, UnrealEventCam, UnrealSPADCam, UnrealSimClock	v1.0 (included)
UnrealDEMLandscape	v1.0 (included)

First run

1. Unzip and open Moon_Simulator.uproject (the first open compiles shaders and can take a while).
2. Start the GNC stack (./docker_build.sh in GNC-Moon-Simulator).
3. Press Play, then open mission control at http://127.0.0.1:5000 and click on the map to send a goal.

Setup details: docs/setup.md.

Credits

MIT, © 2026 Raúl Castilla Arquillo, Space Robotics (SpaceR) group, SnT, University of Luxembourg, except the third-party content listed in THIRD_PARTY_NOTICES.md: Poly Haven textures and rocks (CC0), the Yutu model by tashtego (CC-BY-4.0), TCP-Unreal (MIT) and the ESIM event model (MIT).

MARE-Lunar-Simulator-v1.0

First release of MARE, the Unreal Engine 5 project of the MARE lunar rover simulation suite: the levels, the two rovers and the sensor plugins, ready to open.

Download

MARE-Lunar-Simulator-v1.0-UE5.7-Win64.zip (below, about 500 MB): unzip it anywhere and open Moon_Simulator.uproject with Unreal Engine 5.7. Every plugin is prebuilt for Win64, so no compiler is needed.

Prefer this zip to cloning: the levels and assets are stored in Git LFS, and GitHub's automatic "Source code" archives contain LFS pointers, not the files.

What's inside

• Levels: Lunar_Terrain_Raph (default) and Lunar_Terrain_Yutu, on the same terrain and rock field the GNC planner's default maps describe
• Rovers: Leo_Raph (4 wheels) and Yutu (6 wheels, solar wings and mast), physics-based, linked to the GNC stack over TCP
• Sensor plugins (v1.0): UnrealStereoCam, UnrealLidarCam, UnrealEventCam, UnrealSPADCam, UnrealSimClock
• Ground truth: object masks (craters, rims, rocks, wheel tracks, the rover) and shadow masks, including the rover's own shadow
• Editor tools: follow, orbit and top-down viewport cameras; the Terrain Studio watcher; TAPython for building Landscapes

Requirements

• Windows 10/11 and Unreal Engine 5.7 (built against 5.7.4; any 5.7.x should open it without rebuilding)
• A recent GPU (Lumen and virtual shadow maps) and about 32 GB of RAM to run Unreal with the GNC stack
• If Unreal reports a plugin as built for a different engine version, install Visual Studio 2022 (Game development with C++) and let it rebuild

Works with

Component	Version
GNC-Moon-Simulator	v1.0 (ROS 2 Jazzy, Docker on WSL2)
Unreal-Moon-Terrain-Generation	v1.0 (Terrain Studio)
UnrealStereoCam, UnrealLidarCam, UnrealEventCam, UnrealSPADCam, UnrealSimClock	v1.0 (included)

First run

1. Unzip and open Moon_Simulator.uproject (the first open compiles shaders and can take a while).
2. Start the GNC stack (./docker_build.sh in GNC-Moon-Simulator).
3. Press Play, then open mission control at http://127.0.0.1:5000 and click on the map to send a goal.

Setup details: docs/setup.md.

Credits

MIT, © 2026 Raúl Castilla Arquillo, Space Robotics (SpaceR) group, SnT, University of Luxembourg, except the third-party content listed in THIRD_PARTY_NOTICES.md: Poly Haven textures and rocks (CC0), the Yutu model by tashtego (CC-BY-4.0), TCP-Unreal (MIT), the ESIM event model (MIT) and TAPython (its author's terms).