Environments – Mobile Manipulation

Environments combine mobility and manipulation capabilities.

Aerial Manipulation (`_aerial_manipulation`)

Template environment for aerial mobile manipulators. Configure via env.robot.mobile_base=<aerial_robot> and env.robot.manipulator=<manipulator>.

_aerial_manipulation

Readiness: simulator-only. No learned-policy, real-data or hardware evidence for aerial platforms is recorded in the capability ledger (docs/data/capabilities.toml); every lane there is still at present.


Episode Length	10.0s (500 steps)
Reward Terms	2
Default Robot	Generic Aerial Manipulator

Compatible Robots

Generic Aerial Manipulator

Reward Breakdown

Term	Type	Weight	Scale	Notes
penalty_action_rate	Linear	-0.1	–
penalty_undesired_robot_contacts	Threshold	-0.5	–

Ground Manipulation (`_ground_manipulation`)

Template environment for ground mobile manipulators. Configure via env.robot.mobile_base=<ground_robot> and env.robot.manipulator=<manipulator>.

_ground_manipulation


Episode Length	10.0s (500 steps)
Reward Terms	2
Default Robot	Generic Ground Manipulator

Compatible Robots

Generic Ground Manipulator

Reward Breakdown

Term	Type	Weight	Scale	Notes
penalty_action_rate	Linear	-0.1	–
penalty_undesired_robot_contacts	Threshold	-0.5	–

Orbital Manipulation (`_orbital_manipulation`)

Template environment for orbital mobile manipulators. Configure via env.robot.mobile_base=<orbital_robot> and env.robot.manipulator=<manipulator>.

_orbital_manipulation


Episode Length	10.0s (500 steps)
Reward Terms	2
Default Robot	Generic Orbital Manipulator

Compatible Robots

Generic Orbital Manipulator

Reward Breakdown

Term	Type	Weight	Scale	Notes
penalty_action_rate	Linear	-0.1	–
penalty_undesired_robot_contacts	Threshold	-0.5	–

Mobile Debris Capture (`mobile_debris_capture`)

Capture of floating debris in microgravity with a floating-base mobile manipulator


Episode Length	60.0s (3000 steps)
Reward Terms	10
Default Robot	Generic Orbital Manipulator

Compatible Robots

Generic Orbital Manipulator

Reward Breakdown

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_fuel_consumption	Linear	-2	–
penalty_angular_velocity	Linear	-0.05	–
penalty_joint_torque	Linear	-0.000025	–
penalty_joint_acceleration	Linear	-0.0005	–
reward_distance_end_effector_to_obj	Gaussian	16	0.2
reward_grasp	SoftThreshold	32	–
reward_minimize_rel_lin_vel	Gaussian	12	0.01
reward_minimize_rel_ang_vel	Gaussian	24	0.03
penalty_debris_too_far	Linear	-16	–

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.

Spacewalk (`spacewalk`)

Humanoid spacewalk: rail-aligned waypoint traversal near spacecraft structure

spacewalk

Readiness: simulator-only. No trained checkpoint, benchmark result or EVA hardware evidence ships with this task, and the capability ledger (docs/data/capabilities.toml) records none.

A thruster-less humanoid pushes off spacecraft structure to reach a sequence of waypoints, then holds the final one. env.mode=eva (default) runs handrail-adjacent traversal outside ISS+Gateway; env.mode=iva runs inside Kibou, which has no handrails. spacewalk_eva and spacewalk_iva pre-select each mode, and env.use_waypoint_path=false replaces the path with one random target.


Episode Length	20.0s (500 steps)
Reward Terms	9
Default Robot	Unitree G1

Compatible Robots

Humanoid21 | Humanoid28 | Unitree H1 | Unitree G1

Reward Breakdown

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.5	–
penalty_angular_velocity	Linear	-2	–
reward_distance_to_target	Gaussian	16	2.5
reward_progress	Scaled	8	–
reward_approach_velocity	GaussianAlignment	12	0.7854
reward_reaching	SoftThreshold	32	–
reward_stability	Gaussian	8	0.1
reward_success_hold	Linear	10	–
penalty_drift_from_spacecraft	SoftThreshold	-6	–

Success. The humanoid stays within 0.5 m of the final waypoint for 10 consecutive control steps. Evaluation also reports min_distance_to_target, min_distance_to_final_target, waypoint_progress and dist_to_nearest_handrail.

Spacewalk Eva (`spacewalk_eva`)

Humanoid EVA traversal along exterior spacecraft handrails

spacewalk_eva

Readiness: simulator-only. No trained checkpoint, benchmark result or EVA hardware evidence ships with this task, and the capability ledger (docs/data/capabilities.toml) records none.


Episode Length	20.0s (500 steps)
Reward Terms	9
Default Robot	Unitree G1

Compatible Robots

Humanoid21 | Humanoid28 | Unitree H1 | Unitree G1

Reward Breakdown

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.5	–
penalty_angular_velocity	Linear	-2	–
reward_distance_to_target	Gaussian	16	2.5
reward_progress	Scaled	8	–
reward_approach_velocity	GaussianAlignment	12	0.7854
reward_reaching	SoftThreshold	32	–
reward_stability	Gaussian	8	0.1
reward_success_hold	Linear	10	–
penalty_drift_from_spacecraft	SoftThreshold	-6	–

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

Spacewalk Iva (`spacewalk_iva`)

Humanoid IVA traversal inside the Kibou module

spacewalk_iva

Readiness: simulator-only. No trained checkpoint, benchmark result or EVA hardware evidence ships with this task, and the capability ledger (docs/data/capabilities.toml) records none.


Episode Length	20.0s (500 steps)
Reward Terms	9
Default Robot	Unitree G1

Compatible Robots

Humanoid21 | Humanoid28 | Unitree H1 | Unitree G1

Reward Breakdown

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.5	–
penalty_angular_velocity	Linear	-2	–
reward_distance_to_target	Gaussian	16	2.5
reward_progress	Scaled	8	–
reward_approach_velocity	GaussianAlignment	12	0.7854
reward_reaching	SoftThreshold	32	–
reward_stability	Gaussian	8	0.1
reward_success_hold	Linear	10	–
penalty_drift_from_spacecraft	SoftThreshold	-6	–

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