f

docs/build/doctrees/nbsphinx/examples/multiagent_envs.ipynb

@@ -14,10 +14,10 @@
    "execution_count": 1,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2024-05-30T01:14:11.832284Z",
-     "iopub.status.busy": "2024-05-30T01:14:11.832192Z",
-     "iopub.status.idle": "2024-05-30T01:14:11.836625Z",
-     "shell.execute_reply": "2024-05-30T01:14:11.836368Z"
+     "iopub.execute_input": "2024-05-30T02:22:13.170922Z",
+     "iopub.status.busy": "2024-05-30T02:22:13.170812Z",
+     "iopub.status.idle": "2024-05-30T02:22:13.176020Z",
+     "shell.execute_reply": "2024-05-30T02:22:13.175728Z"
     }
    },
    "outputs": [],

docs/build/doctrees/nbsphinx/examples/rllib_training.ipynb

@@ -12,10 +12,10 @@
    "execution_count": 1,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2024-05-30T01:14:13.120944Z",
-     "iopub.status.busy": "2024-05-30T01:14:13.120825Z",
-     "iopub.status.idle": "2024-05-30T01:14:13.125502Z",
-     "shell.execute_reply": "2024-05-30T01:14:13.125218Z"
+     "iopub.execute_input": "2024-05-30T02:22:14.311233Z",
+     "iopub.status.busy": "2024-05-30T02:22:14.311148Z",
+     "iopub.status.idle": "2024-05-30T02:22:14.316857Z",
+     "shell.execute_reply": "2024-05-30T02:22:14.316565Z"
     }
    },
    "outputs": [

docs/build/doctrees/nbsphinx/examples/satellite_configuration.ipynb

@@ -12,10 +12,10 @@
    "execution_count": 1,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2024-05-30T01:14:14.275239Z",
-     "iopub.status.busy": "2024-05-30T01:14:14.275138Z",
-     "iopub.status.idle": "2024-05-30T01:14:14.279420Z",
-     "shell.execute_reply": "2024-05-30T01:14:14.279142Z"
+     "iopub.execute_input": "2024-05-30T02:22:15.389648Z",
+     "iopub.status.busy": "2024-05-30T02:22:15.389566Z",
+     "iopub.status.idle": "2024-05-30T02:22:15.394202Z",
+     "shell.execute_reply": "2024-05-30T02:22:15.393962Z"
     }
    },
    "outputs": [

docs/source/conf.py

@@ -289,11 +289,6 @@ def run(self, source_dir=None):
             nb_cache = (
                 self.nb_cache_dir / self.base_doc_dir / index_path / notebook.name
             )
-
-            print()
-            print(notebook.resolve())
-            print("cache at", nb_cache.resolve(), nb_cache.is_file())
-
             if (
                 self.nb_cache_dir is not None
                 and nb_cache.is_file()
@@ -305,13 +300,11 @@ def run(self, source_dir=None):
                     ).__repr__()
                 )
             ):
-                print("COPYING CACHE")
                 shutil.copy(
                     nb_cache,
                     self.base_doc_dir / index_path / notebook.name,
                 )
             else:
-                print("COPYING NOTEBOOK")
                 shutil.copy(notebook, self.base_doc_dir / index_path / notebook.name)
 
         # Recursively go through all directories in source, documenting what is available.

docs/source/index.rst

@@ -1,5 +1,5 @@
-BSK-RL: Environments Spacecraft Planning and Scheduling
-=======================================================
+BSK-RL: Environments for Spacecraft Planning and Scheduling
+===========================================================
 
 .. toctree::
     :hidden:
@@ -58,72 +58,8 @@ Complete installation instructions and common troubleshooting tips can be found
 Construct an Environment
 ^^^^^^^^^^^^^^^^^^^^^^^^
 
-A more detailed tutorial can be found at :doc:`examples/simple_environment`. To construct
-an environment
-
-#. Import the necessary modules.
-
-    .. code-block:: python
-
-        import gymnasium as gym
-
-        import bsk_rl
-        from bsk_rl import act, obs, scene, sats
-
-#. Describe the satellite's actions and observations.
-
-    .. code-block:: python
-        
-        class MyImagingSatellite(sats.Satellite):
-            observation_spec = [
-                obs.SatProperties(
-                    dict(prop="storage_level_fraction"),
-                    dict(prop="battery_charge_fraction")
-                ),
-                obs.Eclipse(),
-                obs.OpportunityProperties(
-                    dict(prop="opportunity_open"),
-                    dict(prop="opportunity_close"),
-                    n_ahead_observe=2,
-                    type="ground_station",
-                ),
-            ]
-            action_spec = [
-                act.Scan(duration=60.0), 
-                act.Charge(duration=120.0),
-                act.Downlink(duration=60.0),
-            ]
-
-#. Make the environment. Pass specific and randomized configurations to the satellite.
-
-    .. code-block:: python
-
-        env = gym.make(
-            "SatelliteTasking-v1",
-            satellites=MyImagingSatellite(
-                name="EO1", 
-                sat_args=dict(
-                    imageAttErrorRequirement=0.05,
-                    imageRateErrorRequirement=0.05,
-                    dataStorageCapacity=3.0,
-                    storageInit=lambda: np.random.uniform(0.5, 2.5),
-            )),
-            scenario=scene.UniformNadirScanning(value_per_second=1/10000.0),
-            time_limit=10000.0,
-            failure_penalty=-1.0,
-            log_level="INFO",
-        )
-
-#. Step through the environment with random actions.
-
-    .. code-block:: python
-
-        obs, info = env.reset()
-        terminated = False
-        truncated = False
-        while not (terminated or truncated):
-            action = env.action_space.sample()
-            observation, reward, terminated, truncated, info = env.step(action)
+A quick but comprehensive tutorial can be found at :doc:`examples/simple_environment`.
+
 
 Acknowledgements
 ----------------

examples/simple_environment.ipynb

@@ -58,8 +58,8 @@
     "        obs.Eclipse(),\n",
     "    ]\n",
     "    action_spec = [\n",
-    "        act.Scan(duration=60.0),\n",
-    "        act.Charge(duration=120.0),\n",
+    "        act.Scan(duration=60.0),  # Scan for 1 minute\n",
+    "        act.Charge(duration=600.0),  # Charge for 10 minutes\n",
     "    ]\n",
     "    dyn_type = dyn.ContinuousImagingDynModel\n",
     "    fsw_type = fsw.ContinuousImagingFSWModel"
@@ -100,9 +100,9 @@
     "\n",
     "# Set some parameters as constants\n",
     "sat_args[\"imageAttErrorRequirement\"] = 0.05\n",
-    "# sat_args[\"imageRateErrorRequirement\"] = 0.01\n",
     "sat_args[\"dataStorageCapacity\"] = 1e10\n",
     "sat_args[\"instrumentBaudRate\"] = 1e7\n",
+    "sat_args[\"storedCharge_Init\"] = 50000.0\n",
     "\n",
     "# Randomize the initial storage level on every reset\n",
     "sat_args[\"storageInit\"] = lambda: np.random.uniform(0.25, 0.75) * 1e10\n",
@@ -134,6 +134,7 @@
     "    satellite=sat,\n",
     "    scenario=scene.UniformNadirScanning(),\n",
     "    rewarder=data.ScanningTimeReward(),\n",
+    "    time_limit=5700.0,  # approximately 1 orbit\n",
     "    log_level=\"INFO\",\n",
     ")"
    ]
@@ -153,15 +154,17 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "observation, info = env.reset(seed=0)"
+    "observation, info = env.reset(seed=1)"
    ]
   },
   {
    "cell_type": "markdown",
    "metadata": {},
    "source": [
     "Next, we take the scan action (`action=0`) a few times. This allows for the satellite to\n",
-    "settle in the pointing mode to satisfy imaging conditions."
+    "settle its attitude in the nadir pointing mode to satisfy imaging conditions. Note that \n",
+    "the logs show little or no data accumulated in the first two steps as it settles, but\n",
+    "achieves 60 reward (corresponding to 60 seconds of imaging) by the third step."
    ]
   },
   {
@@ -180,7 +183,12 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "Note that the logs show little or no \n"
+    "The observation reflects the increase in stored data. The first element, corresponding\n",
+    "to `storage_level_fraction`, starts at a random value set by the `storageInit` function\n",
+    "in `sat_args` and increases based on the time spent imaging.\n",
+    "\n",
+    "Finally, the charging mode is tasked repeatedly in 10-minute increments until the\n",
+    "environment time limit is reached."
    ]
   },
   {
@@ -189,8 +197,17 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "observation, reward, terminated, truncated, info = env.step(action=1)\n",
-    "diff = True"
+    "while not truncated:\n",
+    "    observation, reward, terminated, truncated, info = env.step(action=1)\n",
+    "    print(f\"Charge level: {observation[1]:.3f} ({env.unwrapped.simulator.sim_time:.1f} seconds)\\n\\tEclipse: start: {observation[2]:.1f} end: {observation[3]:.1f}\")"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "It is observed that the battery decrease while the satellite is in eclipse, but once the\n",
+    "satellite is out of eclipse, the battery quickly increases to full charge."
    ]
   }
  ],

src/bsk_rl/_default.rst

@@ -48,5 +48,4 @@ See the :ref:`examples` for more information on environment configuration argume
    data/index
    comm/index
    sim/index
-   train/index
    utils/index