 The Asteroid Retrieval Robotic Mission (ARRM) spacecraft would rendezvous with a large near-Earth asteroid and use robotic arms with anchoring grippers to retrieve a 4-meter boulder from the asteroid.It would then be visited by the Orion spacecraft in lunar orbit on Exploration Mission 5 in the mid 2020s.It was later changed so that the asteroid would be brought to the Exploration Gateway Platform where the Orion would then visit it.