Environments – Digital Twins
Facility-inspired simulator environments, not validated against their physical counterparts.
Lunalab (lunalab)
Digital twin of the LunaLab planetary analogue testbed
| Episode Length | 100000.0s (2500000 steps; truncation disabled) |
| Reward Terms | 2 |
| Default Robot | Generic Ground Manipulator |
Robots
Rewards
| Term | Type | Weight | Scale | Notes |
|---|---|---|---|---|
| penalty_action_rate | Linear | -0.1 | – | |
| penalty_undesired_robot_contacts | Threshold | -0.5 | – |
Zerog Lab (zerog_lab)
Digital twin of a zero-gravity laboratory testbed
| Episode Length | 100000.0s (1000000 steps; truncation disabled) |
| Reward Terms | 2 |
| Default Robot | Generic Orbital Manipulator |
Robots
Rewards
| Term | Type | Weight | Scale | Notes |
|---|---|---|---|---|
| penalty_action_rate | Linear | -0.1 | – | |
| penalty_fuel_consumption | Linear | -1 | – |