The crew of a NASA mission to Mars emerged from their craft after a yearlong voyage that never left Earth.

The four volunteer crew members spent more than 12 months inside NASA’s first simulated Mars environment at Johnson Space Center in Houston, coming out of the artificial alien environment Saturday around 5 p.m.

The first CHAPEA crew focused on establishing possible conditions for future Mars operations through simulated spacewalks, dubbed “Marswalks,” as well as growing and harvesting vegetables to supplement their provisions and maintaining the habitat and their equipment.