The proposed innovation is a hybrid simulation module to replace the current "Behavioral Sim" in JSC's Predictive Interactive Graphical Interface (PIGI). PIGI helps an operator compensate for lunar-scale time delay, and is part of NASA's "RAPID Workbench". The Behavioral Sim acts as an oracle, taking initial conditions and a sequence of commands and producing trajectories and expected final location of the robot. We propose to provide functionality to extend PIGI to manipulation activities. This includes modeling the robot's manipulation and perception capabilities and its environment. We will use NASA's R2 robot operating on ISS as our test case.