A realistic physics-based Falcon 9 landing simulator written in Numerobis — a programming language with physical units as first-class types.
Land the Falcon 9 booster on the platform safely and with style—before you run out of fuel.
- Accurate Physics Simulation — Realistic gravity, aerodynamic drag, wind, and fuel consumption
- Manual & Autopilot Control — Fly it yourself or let the autopilot take over
- Physics-Safe Code — Built in Numerobis, unit errors are caught at compile time, not runtime
- Headless Mode — Run large batches for tuning and evaluation
Make sure you have Numerobis installed.
nbis build sim.nbis./simKeyboard (manual mode):
| Key | Action |
|---|---|
| ↑ | Throttle — Main engine thrust |
| ← | RCS Left — Rotate counterclockwise |
| → | RCS Right — Rotate clockwise |
| Space | Start mission / reset after crash or landing |
| A | Toggle autopilot |
| Q | Quit |
| 0–9 | Set simulation speed (0: fastest, 9: slowest) |
Tip: Set INVERT = true in consts.nbis to flip left/right controls.
Run with the --autopilot flag or press A:
./sim --autopilotThe autopilot uses a simple PID controller with a three-phase cascading control strategy.
All parameters are configurable via consts.nbis or CLI flags like --attitude_kp 2.8.
Evaluate autopilot performance across 10,000 randomized scenarios:
python eval.pyUse --headless to disable rendering (you probably want this with --autopilot).
Outputs landing accuracy and detailed stats to help tune the controller.