Environments – Manipulation (Static)

Fixed-base robot arm environments support manipulation tasks.

Manipulation (`_manipulation`)

Template environment for fixed-base manipulation tasks. Configure via env.robot=<manipulator>.

_manipulation


Episode Length	10.0s (500 steps)
Reward Terms	4
Default Robot	Franka

Compatible Robots

Canadarm3 | Franka | Kinova J2N6S | Kinova J2N7S | Kinova Gen3N7 | Levion Arms | So Arm100 D5 | So Arm100 D7 | Unitree Z1 | Ur3 | Ur3E | Ur5 | Ur5E | Ur10 | Ur10E | Ur16E | Ur20 | Ur30 | Random Ur Manipulator | Vispa | Zeroglab Arms

Reward Breakdown

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_joint_torque	Linear	-0.000025	–
penalty_joint_acceleration	Linear	-0.0005	–
penalty_undesired_robot_contacts	Threshold	-0.5	–

Debris Capture (`debris_capture`)

Capture and securement of floating debris in microgravity with a fixed-base manipulator


Episode Length	10.0s (500 steps)
Reward Terms	11
Default Robot	Franka

Compatible Robots

Reward Breakdown

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_joint_torque	Linear	-0.000025	–
penalty_joint_acceleration	Linear	-0.0005	–
penalty_undesired_robot_contacts	Threshold	-0.5	–
reward_distance_ee_to_obj	Gaussian	16	0.08
reward_grasp	SoftThreshold	16	–
penalty_debris_velocity_lin	Linear	-3	–
penalty_debris_velocity_ang	Linear	-1	–
reward_approach_velocity_alignment	Hyperbolic	4	0.1
penalty_approach_speed	Linear	-2	–
penalty_debris_too_far	Linear	-8	–

Termination semantics. distance_debris_too_far drives the penalty_debris_too_far reward and does not set terminated; the finite horizon is reported as truncated.

Success signal: return only. Evaluation reports the return, not a success rate.

Excavation (`excavation`)

Extraction of granular material (regolith)


Episode Length	8.0s (400 steps)
Reward Terms	13
Default Robot	Kinova Gen3N7

Compatible Robots

Kinova Gen3N7

Reward Breakdown

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.05	–
penalty_joint_torque	Linear	-0.00001	–
penalty_joint_acceleration	Linear	0	–
penalty_undesired_robot_contacts	Linear	0	–
reward_approach_pile	Gaussian	1.5	0.15
reward_scoop_depth	Tukey	2	–
reward_scoop_orientation	GaussianTracking	1	0.26
reward_lift	Hyperbolic	2	0.2
penalty_jerk	Linear	-0.02	–
penalty_joint_acc	Linear	-0.000001	–
penalty_undesired_contacts	Linear	-0.5	–
terminal_particle_count_scaled	Scaled	10	–
terminal_success_bonus	Scaled	50	–

Note: The observed heightmap is binned from live particle positions. The pedestal IMU (imu_pedestal) works only with env.num_envs=1.

Success signal: episode info. Evaluation reports a success rate and the return.

Event camera (opt-in; disabled by default). Set env.enable_event_camera_wrist=true to add the wrist event camera.

Excavation Demo (`excavation_demo`)

Manual excavation demo with presentation-oriented lunar regolith defaults

excavation_demo


Episode Length	1800.0s (90000 steps)
Reward Terms	13
Default Robot	Kinova Gen3N7

Compatible Robots

Kinova Gen3N7

Reward Breakdown

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.05	–
penalty_joint_torque	Linear	-0.00001	–
penalty_joint_acceleration	Linear	0	–
penalty_undesired_robot_contacts	Linear	0	–
reward_approach_pile	Gaussian	1.5	0.15
reward_scoop_depth	Tukey	2	–
reward_scoop_orientation	GaussianTracking	1	0.26
reward_lift	Hyperbolic	2	0.2
penalty_jerk	Linear	-0.02	–
penalty_joint_acc	Linear	-0.000001	–
penalty_undesired_contacts	Linear	-0.5	–
terminal_particle_count_scaled	Scaled	10	–
terminal_success_bonus	Scaled	50	–

Modular Assembly (`modular_assembly`)

Pick-and-place modular elements into an assembly configuration

modular_assembly


Episode Length	20.0s (1000 steps)
Reward Terms	10
Default Robot	Franka

Compatible Robots

Reward Breakdown

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_joint_torque	Linear	0	–
penalty_joint_acceleration	Linear	-0.0005	–
penalty_undesired_robot_contacts	Threshold	-32	–
reward_top_down_orientation	GaussianTracking	16	0.25
reward_pair_position	Linear	8	–
reward_pair_orientation	Linear	2	–
reward_peg_hole_entrance_alignment	Linear	8	–
reward_peg_hole_alignment	Linear	64	–
reward_success	Linear	512	–

Multi Peg In Hole (`multi_peg_in_hole`)

A variation of peg-in-hole assembly with multiple pegs and holes


Episode Length	40.0s (2000 steps)
Reward Terms	19
Default Robot	Franka

Compatible Robots

Reward Breakdown

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_joint_torque	Linear	-0.000025	–
penalty_joint_acceleration	Linear	-0.0005	–
penalty_undesired_robot_contacts	Threshold	-0.5	–
reward_top_down_orientation	GaussianTracking	1	0.25
reward_distance_ee_to_obj	Hyperbolic	0	0.25
reward_grasp	Linear	8	–
reward_lift	Linear	4	–
reward_align_peg_to_hole_primary	GaussianTracking	0	0.4
reward_align_peg_to_hole_secondary	Gaussian	0	0.2
reward_distance_peg_to_hole_entrance_gradual	Hyperbolic	0	0.16
reward_distance_peg_to_hole_entrance	Gaussian	0	0.04
reward_distance_peg_to_hole_bottom	Gaussian	0	0.003
reward_distance_ee_to_objs	Linear	2.5	–
reward_align_pegs_to_holes_primary	Linear	8	–
reward_align_pegs_to_holes_secondary	Linear	4	–
reward_distance_pegs_to_holes_entrance_gradual	Linear	8	–
reward_distance_pegs_to_holes_entrance	Linear	32	–
reward_distance_pegs_to_holes_bottom	Linear	256	–

Multi Sample Collection (`multi_sample_collection`)

A variation of sample collection with multiple samples


Episode Length	22.5s (1125 steps)
Reward Terms	12
Default Robot	Franka

Compatible Robots

Reward Breakdown

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_joint_torque	Linear	-0.000025	–
penalty_joint_acceleration	Linear	-0.0005	–
penalty_undesired_robot_contacts	Threshold	-0.5	–
reward_top_down_orientation	GaussianTracking	1	0.25
reward_distance_ee_to_obj	Gaussian	0	0.15
reward_grasp	Linear	4	–
reward_lift	Linear	8	–
reward_distance_obj_to_target	Gaussian	0	0.15
penalty_obj_fallen	Linear	0	–
reward_distance_ee_to_objs	Linear	2.5	–
reward_distance_objs_to_target	Linear	32	–

Peg In Hole (`peg_in_hole`)

Precision assembly task requiring the robot to insert a peg into a hole


Episode Length	10.0s (500 steps)
Reward Terms	13
Default Robot	Franka
Multi Variant	`multi_peg_in_hole`

Compatible Robots

Reward Breakdown

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_joint_torque	Linear	-0.000025	–
penalty_joint_acceleration	Linear	-0.0005	–
penalty_undesired_robot_contacts	Threshold	-0.5	–
reward_top_down_orientation	GaussianTracking	1	0.25
reward_distance_ee_to_obj	Hyperbolic	4	0.25
reward_grasp	SoftThreshold	8	–
reward_lift	GaussianZoneTracking	4	0.08
reward_align_peg_to_hole_primary	GaussianTracking	8	0.4
reward_align_peg_to_hole_secondary	Gaussian	4	0.2
reward_distance_peg_to_hole_entrance_gradual	Hyperbolic	8	0.16
reward_distance_peg_to_hole_entrance	Gaussian	32	0.04
reward_distance_peg_to_hole_bottom	Gaussian	256	0.003

Success signal: return only. Evaluation reports the return, not a success rate.

Sample Collection (`sample_collection`)

Grasping and collection of samples on planetary surfaces


Episode Length	7.5s (375 steps)
Reward Terms	10
Default Robot	Franka
Multi Variant	`multi_sample_collection`

Compatible Robots

Reward Breakdown

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_joint_torque	Linear	-0.000025	–
penalty_joint_acceleration	Linear	-0.0005	–
penalty_undesired_robot_contacts	Threshold	-0.5	–
reward_top_down_orientation	GaussianTracking	1	0.25
reward_distance_ee_to_obj	Gaussian	4	0.15
reward_grasp	SoftThreshold	6	–
reward_lift	GaussianZoneTracking	12	0.15
reward_distance_obj_to_target	Gaussian	32	0.15
penalty_obj_fallen	Linear	-16	–

Termination semantics. obj_floor_z drives the penalty_obj_fallen reward. A fallen sample does not set terminated; the finite horizon is reported as truncated.

Event camera (opt-in; disabled by default). Set env.enable_event_camera_wrist=true to add the wrist event camera.

Success signal: return only. Evaluation reports the return, not a success rate.

Screwdriving (`screwdriving`)

Fastening of a pre-inserted bolt


Episode Length	15.0s (750 steps)
Reward Terms	13
Default Robot	Franka

Compatible Robots

Reward Breakdown

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_joint_torque	Linear	-0.000025	–
penalty_joint_acceleration	Linear	-0.0005	–
penalty_undesired_robot_contacts	Threshold	-0.5	–
reward_top_down_orientation	GaussianTracking	8	0.04
penalty_object_top_down_orientation	Linear	-64	–
reward_distance_ee_to_bolt_driver_slot	Hyperbolic	12	0.4
reward_distance_ee_to_bolt_driver_slot_close	Hyperbolic	32	0.02
reward_distance_ee_to_bolt_driver_slot_precision	Hyperbolic	512	0.005
reward_contact	SoftThreshold	4	–
reward_screwing	Scaled	128	–
penalty_distance_obj_to_target_too_far	Threshold	-256	–
reward_distance_obj_to_target	Linear	2048	–

Success signal: return only. Evaluation reports the return, not a success rate.

Solar Panel Assembly (`solar_panel_assembly`)

Complex assembly sequence involving solar panel components


Episode Length	50.0s (2500 steps)
Reward Terms	17
Default Robot	Franka

Compatible Robots

Reward Breakdown

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_joint_torque	Linear	-0.000025	–
penalty_joint_acceleration	Linear	-0.0005	–
penalty_undesired_robot_contacts	Threshold	-0.5	–
reward_top_down_orientation	GaussianTracking	1	0.25
reward_distance_ee_to_objs	Linear	2.5	–
reward_grasp	SoftThreshold	8	–
reward_lift	Linear	4	–
reward_align_pegs_to_holes_primary	Linear	8	–
reward_align_pegs_to_holes_secondary	Linear	4	–
reward_distance_pegs_to_holes_entrance_gradual	Linear	8	–
reward_distance_pegs_to_holes_entrance	Linear	32	–
reward_distance_pegs_to_holes_bottom	Linear	256	–
reward_distance_ee_to_panel	Hyperbolic	10	0.25
reward_panel_lift	GaussianZoneTracking	16	0.1
reward_distance_panel_to_target_gradual	Hyperbolic	32	0.1
reward_distance_panel_to_target	Gaussian	1024	0.015

Success signal: return only. Evaluation reports the return, not a success rate.

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