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Mark2000 merged 8 commits into from
Jan 2, 2026
Merged

Feature/model modularity #323

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2adee8e
[#156] Make dynamics, fsw more modular
Mark2000 Oct 2, 2025
e882f1c
[#156] Add resets to sim models
Mark2000 Oct 3, 2025
7d0742b
[#156] Allow for fsw and dyn types to be specified as tuples
Mark2000 Nov 4, 2025
6f01d04
[#156] Update release notes
Mark2000 Nov 4, 2025
d27abf9
[#156] Add warnings for changed behavior
Mark2000 Nov 5, 2025
cbe9350
[#156] Add direct attitude control and separate eclipse dynamics
Mark2000 Nov 5, 2025
c9bdaa2
[#156] Separate atmospheric dynamics models
Mark2000 Nov 5, 2025
1b7883e
[#323] Restructure dyn and fsw model inheritance
Mark2000 Dec 30, 2025
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18 changes: 18 additions & 0 deletions docs/source/release_notes.rst
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Expand Up @@ -17,7 +17,25 @@ Development - |version|
* Allow for a simpler Earth model to be used in Vizard by setting ``use_simple_earth=True``
in the Vizard settings dictionary. This is helpful for when visualizing may Earth-fixed
targets.
* Allow flight software and dynamics models to be specified as lists of classes. This allows
for multiple inheritance to be used for easily creating more complex satellite models.
* The inheritance structure of flight software and dynamics models has changed. Most models
now inherit from :class:`~bsk_rl.sim.fsw.FSWModel` or :class:`~bsk_rl.sim.dyn.DynModel`,
which are instantiable versions of the abstract bases :class:`~bsk_rl.sim.fsw.FSWModelABC` and
:class:`~bsk_rl.sim.dyn.DynModelABC`, instead of from :class:`~bsk_rl.sim.fsw.BasicFSWModel`
or :class:`~bsk_rl.sim.dyn.BasicDynModel`. These are lighter-weight base classes that lack
some functionality that was not always wanted.

.. warning::

If your custom satellite configurations break as a result of this change, add
:class:`~bsk_rl.sim.fsw.BasicFSWModel` and :class:`~bsk_rl.sim.dyn.BasicDynModel`
to your ``fsw_type`` and ``dyn_type`` lists in your satellite classes.

* :class:`~bsk_rl.sim.fsw.FSWModel` implements direct actuator-less attitude control.
By inheriting from a FSW class that overrides the ``MRPControlTask``, such as
:class:`~bsk_rl.sim.fsw.BasicFSWModel` or :class:`~bsk_rl.sim.fsw.SteeringFSWModel`,
users can implement custom attitude control strategies.

Version 1.2.0
-------------
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10 changes: 3 additions & 7 deletions examples/cloud_environment.ipynb
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Expand Up @@ -23,7 +23,7 @@
"from Basilisk.architecture import bskLogging\n",
"from Basilisk.utilities import orbitalMotion\n",
"from bsk_rl import act, obs, sats\n",
"from bsk_rl.sim import dyn, fsw, world\n",
"from bsk_rl.sim import dyn, fsw\n",
"from bsk_rl.utils.orbital import random_orbit\n",
"from bsk_rl.scene.targets import UniformTargets\n",
"from bsk_rl.data.unique_image_data import (\n",
Expand Down Expand Up @@ -92,7 +92,6 @@
" ]\n",
"\n",
" class CustomDynModel(dyn.FullFeaturedDynModel):\n",
"\n",
" @property\n",
" def solar_angle_norm(self) -> float:\n",
" sun_vec_N = (\n",
Expand Down Expand Up @@ -419,8 +418,6 @@
" \"GeneralSatelliteTasking-v1\",\n",
" satellites=satellites,\n",
" terminate_on_time_limit=True,\n",
" world_type=world.GroundStationWorldModel,\n",
" world_args=world.GroundStationWorldModel.default_world_args(),\n",
" scenario=scenario,\n",
" rewarder=rewarder,\n",
" sim_rate=0.5,\n",
Expand Down Expand Up @@ -485,7 +482,6 @@
"source": [
"count = 0\n",
"while True:\n",
"\n",
" if count == 0:\n",
" # Vector with an action for each satellite (we can pass different actions for each satellite)\n",
" # Tasking all satellites to charge (tasking None as the first action will raise a warning)\n",
Expand Down Expand Up @@ -532,7 +528,7 @@
],
"metadata": {
"kernelspec": {
"display_name": ".venv_update_cloud_env_JAIS",
"display_name": ".venv",
"language": "python",
"name": "python3"
},
Expand All @@ -546,7 +542,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.11.9"
"version": "3.12.10"
}
},
"nbformat": 4,
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4 changes: 1 addition & 3 deletions examples/cloud_environment_with_reimaging.ipynb
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Expand Up @@ -23,7 +23,7 @@
"from Basilisk.architecture import bskLogging\n",
"from Basilisk.utilities import orbitalMotion\n",
"from bsk_rl import act, obs, sats\n",
"from bsk_rl.sim import dyn, fsw, world\n",
"from bsk_rl.sim import dyn, fsw\n",
"from bsk_rl.scene.targets import UniformTargets\n",
"from bsk_rl.data.base import Data, DataStore, GlobalReward\n",
"from bsk_rl.data.unique_image_data import (\n",
Expand Down Expand Up @@ -844,8 +844,6 @@
"\n",
"env = ConstellationTasking(\n",
" satellites=satellites,\n",
" world_type=world.GroundStationWorldModel,\n",
" world_args=world.GroundStationWorldModel.default_world_args(),\n",
" scenario=scenario,\n",
" rewarder=rewarder,\n",
" sat_arg_randomizer=sat_arg_randomizer,\n",
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27 changes: 17 additions & 10 deletions examples/curriculum_learning.ipynb
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Expand Up @@ -24,7 +24,7 @@
"source": [
"import numpy as np\n",
"from bsk_rl import act, data, obs, scene, sats\n",
"from bsk_rl.sim import dyn, fsw, world\n",
"from bsk_rl.sim import dyn, fsw\n",
"from bsk_rl.gym import SatelliteTasking\n",
"from typing import Any, Callable, Optional, TypeVar\n",
"from bsk_rl.utils.rllib.callbacks import WrappedEpisodeDataCallbacks, EpisodeDataWrapper\n",
Expand Down Expand Up @@ -61,7 +61,6 @@
"outputs": [],
"source": [
"class SatelliteTaskingCL(SatelliteTasking):\n",
"\n",
" def __init__(\n",
" self,\n",
" satellite: Satellite,\n",
Expand All @@ -70,7 +69,6 @@
" CL_params={},\n",
" **kwargs,\n",
" ):\n",
"\n",
" super().__init__(\n",
" satellite,\n",
" *args,\n",
Expand All @@ -85,7 +83,6 @@
" seed: Optional[int] = None,\n",
" options=None,\n",
" ) -> tuple[MultiSatObs, dict[str, Any]]:\n",
"\n",
" self.update_sat_params() # Update satellite parameters based on difficulty before resetting\n",
" obs, info = super().reset(seed=seed, options=options)\n",
" return obs, info\n",
Expand Down Expand Up @@ -361,7 +358,6 @@
"outputs": [],
"source": [
"class CLCallbacks(WrappedEpisodeDataCallbacks):\n",
"\n",
" def on_episode_start(\n",
" self,\n",
" *,\n",
Expand All @@ -376,7 +372,6 @@
" env_index,\n",
" **kwargs,\n",
" ) -> None:\n",
"\n",
" try:\n",
" n_steps = metrics_logger.peek(\"num_env_steps_sampled_lifetime\")\n",
" if n_steps is None:\n",
Expand Down Expand Up @@ -627,7 +622,11 @@
" init_val = CL_options[CL_case][key][\"init_val\"]\n",
" final_val = CL_options[CL_case][key][\"final_val\"]\n",
" CL_params[CL_options[CL_case][key][\"var_name\"]] = (\n",
" lambda difficulty, capacity=capacity, init_val=init_val, final_val=final_val, time_seed=current_time: external_disturbance_fn(\n",
" lambda difficulty,\n",
" capacity=capacity,\n",
" init_val=init_val,\n",
" final_val=final_val,\n",
" time_seed=current_time: external_disturbance_fn(\n",
" time_seed,\n",
" capacity * init_val,\n",
" capacity * final_val,\n",
Expand All @@ -644,7 +643,11 @@
" else:\n",
" temp_name = CL_options[CL_case][key][\"name\"]\n",
" CL_params[temp_name] = (\n",
" lambda difficulty, capacity=capacity, init_val=init_val, final_val=final_val, time_seed=current_time: capacity_fn(\n",
" lambda difficulty,\n",
" capacity=capacity,\n",
" init_val=init_val,\n",
" final_val=final_val,\n",
" time_seed=current_time: capacity_fn(\n",
" time_seed,\n",
" capacity * init_val,\n",
" capacity * final_val,\n",
Expand All @@ -658,7 +661,12 @@
" init_val = CL_options[CL_case][key][\"init_val\"]\n",
" final_val = CL_options[CL_case][key][\"final_val\"]\n",
" CL_params[CL_options[CL_case][key][\"name_init\"]] = (\n",
" lambda difficulty, capacity=capacity, init_val=init_val, final_val=final_val, init_range=init_range, time_seed=current_time: capacity_init_fn(\n",
" lambda difficulty,\n",
" capacity=capacity,\n",
" init_val=init_val,\n",
" final_val=final_val,\n",
" init_range=init_range,\n",
" time_seed=current_time: capacity_init_fn(\n",
" time_seed,\n",
" capacity * init_val,\n",
" capacity * final_val,\n",
Expand Down Expand Up @@ -692,7 +700,6 @@
" satellite=sat,\n",
" scenario=scene.UniformNadirScanning(value_per_second=1 / duration),\n",
" rewarder=data.ScanningTimeReward(),\n",
" world_type=world.GroundStationWorldModel,\n",
" time_limit=duration,\n",
" failure_penalty=-1.0,\n",
" difficulty=0.0,\n",
Expand Down
4 changes: 1 addition & 3 deletions examples/fault_environment.ipynb
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Expand Up @@ -25,7 +25,7 @@
"from Basilisk.fswAlgorithms import rwNullSpace\n",
"from Basilisk.architecture import messaging\n",
"from bsk_rl import SatelliteTasking, act, data, obs, scene, sats\n",
"from bsk_rl.sim import dyn, fsw, world\n",
"from bsk_rl.sim import dyn, fsw\n",
"from bsk_rl.utils.orbital import random_orbit, random_unit_vector\n",
"from bsk_rl.utils.functional import default_args\n",
"\n",
Expand Down Expand Up @@ -477,8 +477,6 @@
"env = SatelliteTasking(\n",
" satellite=satellites,\n",
" terminate_on_time_limit=True,\n",
" world_type=world.GroundStationWorldModel,\n",
" world_args=world.GroundStationWorldModel.default_world_args(),\n",
" scenario=scene.UniformTargets(n_targets=1000),\n",
" rewarder=data.UniqueImageReward(),\n",
" sim_rate=0.5,\n",
Expand Down
46 changes: 11 additions & 35 deletions examples/rso_inspection.ipynb
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Expand Up @@ -24,7 +24,6 @@
"from bsk_rl.obs.relative_observations import rso_imaged_regions\n",
"from bsk_rl.utils.orbital import fibonacci_sphere\n",
"from bsk_rl.sim import dyn, fsw\n",
"import types\n",
"import numpy as np\n",
"from Basilisk.architecture import bskLogging\n",
"from functools import partial\n",
Expand Down Expand Up @@ -61,8 +60,7 @@
"source": [
"## Defining the Satellites\n",
"\n",
"First, the RSO satellite is configured. It is given support for nadir pointing through\n",
"the ``ImagingDynModel`` and ``Downlink`` action."
"First, the RSO satellite is configured. A simple model is used that has no actuators modelled and just deterministically points nadir."
]
},
{
Expand All @@ -76,11 +74,9 @@
" observation_spec = [\n",
" obs.SatProperties(dict(prop=\"one\", fn=lambda _: 1.0)),\n",
" ]\n",
" action_spec = [act.Downlink(duration=1e9)]\n",
" dyn_type = types.new_class(\n",
" \"Dyn\", (dyn.ImagingDynModel, dyn.ConjunctionDynModel, dyn.RSODynModel)\n",
" )\n",
" fsw_type = fsw.ContinuousImagingFSWModel\n"
" action_spec = [act.NadirPoint(duration=1e9)]\n",
" dyn_type = (dyn.ConjunctionDynModel, dyn.RSODynModel)\n",
" fsw_type = fsw.FSWModel\n"
]
},
{
Expand All @@ -98,17 +94,7 @@
"metadata": {},
"outputs": [],
"source": [
"rso_sat_args = dict(\n",
" conjunction_radius=2.0,\n",
" K=7.0 / 20,\n",
" P=35.0 / 20,\n",
" Ki=1e-6,\n",
" dragCoeff=0.0,\n",
" batteryStorageCapacity=1e9,\n",
" storedCharge_Init=1e9,\n",
" wheelSpeeds=[0.0, 0.0, 0.0],\n",
" u_max=1.0,\n",
")"
"rso_sat_args = dict(conjunction_radius=2.0)"
]
},
{
Expand Down Expand Up @@ -199,21 +185,11 @@
" fsw_action=\"action_inspect_rso\",\n",
" )\n",
" ]\n",
" dyn_type = types.new_class(\n",
" \"Dyn\",\n",
" (\n",
" dyn.MaxRangeDynModel,\n",
" dyn.ConjunctionDynModel,\n",
" dyn.RSOInspectorDynModel,\n",
" ),\n",
" )\n",
" fsw_type = types.new_class(\n",
" \"FSW\",\n",
" (\n",
" fsw.SteeringFSWModel,\n",
" fsw.MagicOrbitalManeuverFSWModel,\n",
" fsw.RSOInspectorFSWModel,\n",
" ),\n",
" dyn_type = (dyn.MaxRangeDynModel, dyn.ConjunctionDynModel, dyn.RSOInspectorDynModel)\n",
" fsw_type = (\n",
" fsw.SteeringFSWModel,\n",
" fsw.MagicOrbitalManeuverFSWModel,\n",
" fsw.RSOInspectorFSWModel,\n",
" )\n"
]
},
Expand Down Expand Up @@ -452,7 +428,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.10.11"
"version": "3.12.10"
}
},
"nbformat": 4,
Expand Down
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