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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[v0.12.0] - 2025.01.05

Added

  • Obfuscated LBG1_LG5 challenge environments

Changed

  • Improving print functions in install_ksp_files.py called by kspdg-install-ksp-files entry point script
  • Improved default results/ directory handling/creation during kspdg-evaluate to make print commands less ambiguous about potential overwriting of existing directory

[v0.11.1] - 2024.12.30

Fixed

  • Typo in kspdg-evaluate entry point script
  • Instructions for installing from github to use main branch instead of latest

[v0.11.0] - 2024.12.16

Added

  • Explicit pyyaml dependency (I think this used to be a sub-dependency of astropy)
  • In-package src/kspdg/scripts/ directory for holding command-line entry-point scripts (e.g. julia install, unit tests) so that full download/clone of kspdg is not needed for julia install and unit testing
  • MANIFEST.in to include tests in source distributions
  • Julia dependency entry point. Run with
kspdg-install-julia-deps
  • KSP files copy script entry point. This creates the GameData/KSPDG directory for easier management of evaluation configs and results and copies the KSPDG mission files into the KSP installation. Run with
kspdg-install-ksp-files
  • Serverless and in-game unit test entry points. Run with
kspdg-run-serverless-tests
kspdg-run-lbg1-i2-tests
kspdg-run-pe1-i3-tests
kspdg-run-sb1-i5-tests
  • evaluate.py command-line entry point. Run with
kspdg-evaluate path/to/cfg.yml optional/path/to/results/

Changed

  • Moving tests/, ksp_files/, and evaluation/ directories into src/kspdg/ so that they are considered package-data that is accessible at runtime by end users. This enables no-clone unit testing and ksp-file installation. For justification for avoiding use of non-package data, see: https://setuptools.pypa.io/en/latest/userguide/datafiles.html#non-package-data-files
  • Moving install_julia_deps.py into kspdg package and adding it as a command-line entry point within pyproject.toml to simplify install process
  • Updated readme with no-clone install instructions and added recommended graphics settings

Removed

  • Unused astropy dependency and related instructions in readme
  • environment.yml and developer instructions in readme as they are not needed by, and may confuse, end-users and are easy to reprodocue for developers. For example, developers can use the following process:
# create conda development environment
conda create --name kspdg_dev python=3.12 ipython
conda activate kspdg_dev

# clone kspdg repo and install as editable
git clone git@github.com:mit-ll/spacegym-kspdg.git
cd spacegym-kspdg
pip install -e .[full]

# copy necessary game files to KSP install
kspdg-install-ksp-files

# instal juliaup and julia dependencies
curl -fsSL https://install.julialang.org | sh
kspdg-install-julia-deps

[v0.10.0] - 2024.12.09

Added

  • LBG1_LG4 private-source environments and unit-tests

Fixed

  • Very basic check of bot_thread status to see if an error occurs; if so, an error is thrown in the MainThread (e.g. Group1BaseEnv) so that environment execution does not continue with the bot error unnoticed
  • Slight change in test timings to make test_lbg1_i2 results more reliable

[v0.9.2] - 2024.12.03

Fixed

  • Private-source julia files included as setuptools package-data so that they are present when pip installing kspdg
  • test_jl_solvers.py imports julia files from kspdg install point, not from relative path from test script, to ensure files are present at install point

[v0.9.1] - 2024.12.02

Added

  • Support for python 3.13 in private_src obfuscated code

[v0.9.0] - 2024.09.10

Added

  • Platform (e.g. Windows, Mac, Linux) and architecture (e.g. x86_64, arm64) specific private source environments and evaluate.py
  • New utils/private_src_utils.py module that provides helper functions for managing obfuscated code imports

Fixed

  • Conditional statements for importing LBG1_LG3 environments so that the lighter-weight install of kspdg without juliacall dependency does not error on import
  • Handling of SSL_CERT_FILE in install_julia_deps.py

Changed

  • Updating environment READMEs for accuracy
  • Updating top-level README to simplify installation process

Removed

  • Removed unused astropy imports in utils.py

[v0.8.1] - 2024.08.14

Added

Fixed

  • Handling of .so files in package build

Changed

Removed

[v0.8.0] - 2024.08.13

Added

  • private_src/python3_XX/kspdg_envs/dist_evaluate.py which replace
  • evaluation/evaluate.py that replaces evaluation/evaluate.cpython-39.pyc and evaluation/evaluate.cpython-312.pyc by automatically detecting which python version is in use and importing the appropriate private_src/python3_XX/kspdg_envs/dist_evaluate.py for use

Fixed

Changed

Removed

  • evaluation/evaluate.cpython-39.pyc and evaluation/evaluate.cpython-312.pyc, replaced with single evaluation/evaluate.py that in turn imports version-specific code from private_src

[v0.7.0] - 2024.08.13

Added

  • private_src directory to hold all compiled and/or obfuscated source code (e.g. to obfuscate bot policies in environments)
  • 'lg3_envs.py` that use ilqgames-based Guard agent
  • juliacall dependency including basic unit tests to check proper installation
  • iLQGames.jl dependency and python script install_julia_deps.py for partially automating the install process
  • new optional dependency groups in pyproject.toml: adv_bots with juliacall dependency and full which installs all other dependency groups
  • scripts/example_private_src_env_runner.py as an example of running and debugging private-source, advanced-bot environment LBG1_LG3_I2_V1
  • 'matplotlib' dependency for testing group
  • 2025 AIAA SciTech competition anouncement to README.md

Fixed

  • Cleaning up inaccurate docstring

Changed

  • Updated example_eval_cfg.yaml and related instructions in README to point to the private-source LBG1_LG3_I2_V1 environment
  • Expanded DEBUG logger for better introspection on thread execution

Removed

  • 'scripts/basic_evade_v20220509001.py' to cleanup unused code
  • obsolete pe20220516 environments

[v0.6.2] - 2024.07.01

Added

  • logger to KSPDGBaseAgent for unified logging interface for all child class agents

Fixed

Changed

  • logger_name for KSPDGBaseEnv to point to the child class environment name for better specificity of origin of log statements (i.e. a log statement with child's name but originating in the parent class is more traceable than a log statement with the parent's name but originating in the child class)

Removed

[v0.6.1] - 2024.05.22

Added

  • Ability to check versioning on evaluation/evaluate.cpython-XXX.pyc, which is different than kspdg version number. Check with
conda activate kspdg
python evaluation/evaluate.cpython-312.pyc --version

Fixed

  • Updated evaluation/evaluate.cpython-XXX.pyc to work with new kspdg packaging

Changed

Removed

[v0.6.0] - 2024.05.15

Added

  • pyproject.toml for package and dependency management

Fixed

Changed

  • Updated setup.py to delegate most package management to pyproject.toml; maintains the get_version functionality
  • Updated copyright year in headers

Removed

[v0.5.1] - 2024.01.09

KSPDG Challenge @ SciTech 2024 - Finals Codebase

Added

  • Printout of current score for audience engagement purposes

Fixed

  • infinite loop in lbg1_lg2 if proximity to lady never reached
  • lbg1 smoketest overwrite

Changed

  • moved PARMAS.INFO.K_WEIGHTED_SCORE to parent environment class

Removed

[v0.5.0] - 2023.12.15

KSPDG Challenge @ SciTech 2024 - Semi-Finals Codebase

Added

  • New Lady-Bandit-Guard scenarios with active Lady spacecraft (LG2)

Fixed

Changed

  • updating test file names and adding additional scenarios to the test files (e.g. test_lbg1_lg0_i2.py -> test_lbg1_i2.py so we can test lg1_i2 and lg2_i2 in the same file)
  • Updating print statements to logger statements in pe1 e3_envs

Removed

[v0.4.4] - 2023-12-11

Added

  • iss2 Unit test to check for PhysicsRangeExtender (PRE) proper installation

Fixed

  • PRE installed instructions in README

Changed

Removed

[v0.4.3] - 2023-11-29

Added

Fixed

  • bug where PARAMS from LBG1 classes overwrite PARAMS in PE1 classes due to top-level imports at kspdg/init.py.

Changed

Removed

[v0.4.2] - 2023-11-28

Added

Fixed

Changed

  • Updated which tests to be run, i.e. sb1_e1_i5

Removed

  • 20220516_PursuitEvade mission files
  • Tests for 20220629 pursuit scenario

[v0.4.1] - 2023-11-22

Added

Fixed

  • Typo in SB1_E1_I5_V1

Changed

Removed

[v0.4.0] - 2023-11-19

Added

  • New field in composite action space "vec_type" which is a discrete variable that can be used to indicate if the action vector represents throttle values (-1, 1 in each axes) or thrust values (in Newtons in each axes)

Fixed

Changed

  • further abstracted code from pe1_base.PursuitEvadeGroup1Env and lbg1_base.LadyBanditGuardGroup1Env into base_envs.Group1BaseEnv which defines the composite action space shared across the child classes

Removed

[v0.3.0] - 2023-11-13

Added

  • New composite action space for pe1 environments that allows you to define the reference frame in which the burn is to be interpretted. The composite action space uses dictionaries as actions with two fields "burn_vec" and "ref_frame". burn_vec is the same format as the old action space (Box action space). ref_frame is an integer (Discrete action space). Backward compatibility with old action space has been maintained. If a list-like object is passed in, it will treat it as the old action space, otherwise a dict with appropriate fields must be passed
  • Addtional test_pe1_e1_i3.py tests for reference frames
  • Example agent using new action space and NTW reference frame. See ProgradePursuitAgent in agent_api/example_agent.py

Fixed

Changed

  • Abstracted convert_rhntw_to_rhpbody and convert_rhcbci_to_rhpbody to parent level functions requiring as input the vessel object for which conversion to right-hand body coords is to be performed
  • Abstracted _start_bot_threads() and close() to KSPDGBaseEnv to reduce redundancy
  • Abstracted the step function from pe1, lbg1, and sb1 environments up to KSPDGBaseEnv under the step_v1 function

Removed

  • Commented code in lbg1_base.py, observation_dict_to_list and observation_list_to_dict

[v0.2.0] - 2023-11-05

Added

Fixed

  • Resolve iss7 by switching print statements to logger statements in lbg1_base.py

Changed

  • Conda environment is no longer pinned to python 3.9 due to removal of poliastro dependency. This will cause the most recent python version (currently 3.12) to be used when creating the environment
  • evaluate.pyc script has been replaced by python-version-specific binaries evaluate.cpython-39.pyc (for python 3.9) and evaluate.cpython-312.pyc (for python 3.12). This is to avoid a RuntimeError: Bad magic number in .pyc file when trying to run evaluate.pyc from the wrong python version

Removed

  • poliastro dependency and related functions in utils.py. This removes functions for propagating orbits which were used for non-essential metric evals. For further justification, see this issue
  • utils.estimate_capture_dv and related unit tests which depended upon poliastro
  • utils.solve_lambert and related unit tests which depended upon poliastro
  • utils.propagate_orbit_tof and related unit tests which depended upon poliastro

[v0.1.0] - 2023-10-23

Added

  • Single-value scoring function for pursuit-evade (pe1), sun-blocking (sb1), and lady-bandit-guard (lbg1) scenarios
  • User id and passkey in evaluation process
  • Agent instance name in agent_cfg for evaluation script
  • Logs if episode is done in info
  • Individual scenario environments are made accessible at top-level of package and version numbers added. e.g. from kspdg import PE1_E1_I3_V1. This also sets the beginning of version-marking environments. Future updates to almost any aspect of the environment (particularly observation, action, or reward) would imply the need for version increment
  • New example baseline agents: random and passive

Fixed

Changed

  • Upgrading kRPC dependency from v0.4.8 to v0.5.2 which fixed several issues that had required hard-pinning some dependencies (setuptools, protobuf). By un-pinning these, the library is more flexible / less brittle
  • AgentEnvRunner timeout allowed to be None, will wait for environment episode to return done if runner timeout is None
  • Expanding evaluation results string to log additional information about user, agent, environment, and kspdg version
  • Evaluation results printed to a json-formatted txt file for ease of reading and unified uploading
  • Improving termination of AgentEnvRunner so as not to wait for observation timeout on runner.py
  • pe1 scenario reward function is now negative of scoring function and only assessed at termination (zero all other times)
  • Renamed compiled evaluation script to evaluate.pyc
  • Restructured where evaluation scripts, inputs (configs), and outputs (results) are housed in the repo

Removed

[v0.0.23] - 2023-09-07

Added

  • First implementation of sun-blocking environments (sb1)
  • example_hello_kspdg.py a "hello world" scirpt for defining an agent
  • agent_api subpackage used for defining KSPDG solver agents that integrate and run within KSPDG environments in a streamlined, systematic fashion
  • agent-environment evaluator with authentication tools. To be used for decentralized evalutation of user-defined agents

Fixed

Changed

  • Improved, custom logger for environments (KSPDGBaseEnv) and agent-environment runners (BaseAgentEnvRunner)

Removed

  • Unused scripts: lmp_safehandler.sh, lmp_safehandler_macos.sh, pf_lmp.conf to clean up library

[v0.0.22] - 2023-02-23