[writeslowly]

NASA was experimenting with this in the past with Robonaut (apparently it also started as a collaboration with DARPA)

https://en.wikipedia.org/wiki/Robonaut

[mikepurvis]

I believe Robotnaut is back on earth as of sometime in 2018, but it was briefly at the ISS and even ran ROS— there was an official NASA-supplied Gazebo simulator for it: https://www.slashgear.com/nasa-robonaut-2-simulator-stack-no...