Skip to content

Commit 2964ecb

Browse files
Mark2000Mark2000
committed
temp ipynb
1 parent 779c6d2 commit 2964ecb

2 files changed

Lines changed: 323 additions & 0 deletions

File tree

‎examples/_default.rst‎

Lines changed: 12 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -14,10 +14,22 @@ Environments
1414
simple_environment
1515
satellite_configuration
1616
multiagent_envs
17+
18+
Earth Observation
19+
~~~~~~~~~~~~~~~~~
20+
.. toctree::
21+
:maxdepth: 1
22+
1723
cloud_environment
1824
cloud_environment_with_reimaging
1925
aeos
2026

27+
RSO Inspection
28+
~~~~~~~~~~~~~~
29+
.. toctree::
30+
:maxdepth: 1
31+
32+
rso_inspection
2133

2234
Training
2335
--------

‎examples/rso_inspection.ipynb‎

Lines changed: 311 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,311 @@
1+
{
2+
"cells": [
3+
{
4+
"cell_type": "markdown",
5+
"id": "22082c62",
6+
"metadata": {},
7+
"source": [
8+
"# RSO Inspection\n",
9+
"\n",
10+
"This example demonstrates the configuration of a resident space object (RSO) inspection\n",
11+
"environment, in which a servicer spacecraft circumnavigates a RSO to image the illuminated\n",
12+
"facets.\n",
13+
"\n",
14+
"\n",
15+
"RLlib is actively developed and can change significantly from version to version. For this\n",
16+
"script, the following version is used:"
17+
]
18+
},
19+
{
20+
"cell_type": "code",
21+
"execution_count": null,
22+
"id": "fde78b08",
23+
"metadata": {},
24+
"outputs": [],
25+
"source": [
26+
"from importlib.metadata import version\n",
27+
"from bsk_rl import sats, obs, act, ConstellationTasking, scene, data\n",
28+
"from bsk_rl.obs.relative_observations import rso_imaged_regions\n",
29+
"from bsk_rl.utils.orbital import fibonacci_sphere\n",
30+
"from bsk_rl.sim import dyn, fsw\n",
31+
"import types\n",
32+
"import numpy as np\n",
33+
"from Basilisk.architecture import bskLogging\n",
34+
"from functools import partial\n",
35+
"from bsk_rl.utils.orbital import random_orbit, random_unit_vector, relative_to_chief\n",
36+
"from Basilisk.utilities.orbitalMotion import elem2rv\n",
37+
"from Basilisk.utilities.RigidBodyKinematics import C2MRP\n",
38+
"\n",
39+
"bskLogging.setDefaultLogLevel(bskLogging.BSK_WARNING)\n",
40+
"\n",
41+
"version(\"ray\") # Parent package of RLlib"
42+
]
43+
},
44+
{
45+
"cell_type": "markdown",
46+
"id": "e5875010",
47+
"metadata": {},
48+
"source": [
49+
"## Defining the Satellites\n",
50+
"\n",
51+
"First, the RSO satellite is configured. It is given support for nadir pointing through\n",
52+
"the ``ImagingDynModel`` and ``Downlink`` action."
53+
]
54+
},
55+
{
56+
"cell_type": "code",
57+
"execution_count": null,
58+
"id": "48b72ea2",
59+
"metadata": {},
60+
"outputs": [],
61+
"source": [
62+
"class RSOSat(sats.Satellite):\n",
63+
" observation_spec = [\n",
64+
" obs.SatProperties(dict(prop=\"one\", fn=lambda _: 1.0)),\n",
65+
" ]\n",
66+
" action_spec = [act.Downlink(duration=1e9)]\n",
67+
" dyn_type = types.new_class(\n",
68+
" \"Dyn\", (dyn.ImagingDynModel, dyn.ConjunctionDynModel, dyn.RSODynModel)\n",
69+
" )\n",
70+
" fsw_type = fsw.ContinuousImagingFSWModel\n",
71+
"\n",
72+
"\n",
73+
"rso_sat_args = dict(\n",
74+
" conjunction_radius=2.0,\n",
75+
" K=7.0 / 20,\n",
76+
" P=35.0 / 20,\n",
77+
" Ki=1e-6,\n",
78+
" dragCoeff=0.0,\n",
79+
" batteryStorageCapacity=1e9,\n",
80+
" storedCharge_Init=1e9,\n",
81+
" wheelSpeeds=[0.0, 0.0, 0.0],\n",
82+
" u_max=1.0,\n",
83+
")"
84+
]
85+
},
86+
{
87+
"cell_type": "markdown",
88+
"id": "fcbb42c7",
89+
"metadata": {},
90+
"source": [
91+
"The inspector satellite has a more complex configuration."
92+
]
93+
},
94+
{
95+
"cell_type": "code",
96+
"execution_count": null,
97+
"id": "e01b5686",
98+
"metadata": {},
99+
"outputs": [],
100+
"source": [
101+
"def sun_hat_chief(self, other):\n",
102+
" r_SN_N = (\n",
103+
" self.simulator.world.gravFactory.spiceObject.planetStateOutMsgs[\n",
104+
" self.simulator.world.sun_index\n",
105+
" ]\n",
106+
" .read()\n",
107+
" .PositionVector\n",
108+
" )\n",
109+
" r_BN_N = self.dynamics.r_BN_N\n",
110+
" r_SN_N = np.array(r_SN_N)\n",
111+
" r_SB_N = r_SN_N - r_BN_N\n",
112+
" r_SB_N_hat = r_SB_N / np.linalg.norm(r_SB_N)\n",
113+
" HN = other.dynamics.HN\n",
114+
" return HN @ r_SB_N_hat\n",
115+
"\n",
116+
"\n",
117+
"class InspectorSat(sats.Satellite):\n",
118+
" observation_spec = [\n",
119+
" obs.SatProperties(\n",
120+
" dict(prop=\"dv_available\", norm=10),\n",
121+
" dict(prop=\"inclination\", norm=np.pi),\n",
122+
" # dict(prop=\"laan_rel_sun\", norm=np.pi),\n",
123+
" # dict(prop=\"altitude\", norm=1000),\n",
124+
" ),\n",
125+
" obs.ResourceRewardWeight(),\n",
126+
" obs.RelativeProperties(\n",
127+
" dict(prop=\"r_DC_Hc\", norm=500),\n",
128+
" dict(prop=\"v_DC_Hc\", norm=5),\n",
129+
" dict(\n",
130+
" prop=\"rso_imaged_regions\",\n",
131+
" fn=partial(\n",
132+
" rso_imaged_regions,\n",
133+
" region_centers=fibonacci_sphere(15),\n",
134+
" frame=\"chief_hill\",\n",
135+
" ),\n",
136+
" ),\n",
137+
" dict(prop=\"sun_hat_Hc\", fn=sun_hat_chief),\n",
138+
" chief_name=\"RSO\",\n",
139+
" ),\n",
140+
" obs.Eclipse(norm=5700),\n",
141+
" obs.Time(),\n",
142+
" ]\n",
143+
" action_spec = [\n",
144+
" act.ImpulsiveThrustHill(\n",
145+
" chief_name=\"RSO\",\n",
146+
" max_dv=1.0,\n",
147+
" max_drift_duration=5700.0 * 2,\n",
148+
" fsw_action=\"action_inspect_rso\",\n",
149+
" )\n",
150+
" ]\n",
151+
" dyn_type = types.new_class(\n",
152+
" \"Dyn\", (dyn.MaxRangeDynModel, dyn.ConjunctionDynModel, dyn.RSOInspectorDynModel)\n",
153+
" )\n",
154+
" fsw_type = types.new_class(\n",
155+
" \"FSW\",\n",
156+
" (\n",
157+
" fsw.SteeringFSWModel,\n",
158+
" fsw.MagicOrbitalManeuverFSWModel,\n",
159+
" fsw.RSOInspectorFSWModel,\n",
160+
" ),\n",
161+
" )\n",
162+
"\n",
163+
"\n",
164+
"inspector_sat_args = dict(\n",
165+
" imageAttErrorRequirement=1.0,\n",
166+
" imageRateErrorRequirement=None,\n",
167+
" instrumentBaudRate=1,\n",
168+
" dataStorageCapacity=1e6,\n",
169+
" batteryStorageCapacity=1e9,\n",
170+
" storedCharge_Init=1e9,\n",
171+
" conjunction_radius=2.0,\n",
172+
" dv_available_init=10.0,\n",
173+
" max_range_radius=1000,\n",
174+
" chief_name=\"RSO\",\n",
175+
" u_max=1.0,\n",
176+
")"
177+
]
178+
},
179+
{
180+
"cell_type": "markdown",
181+
"id": "832adeb8",
182+
"metadata": {},
183+
"source": [
184+
"## Environment Generation\n",
185+
"\n",
186+
"A satellite argument randomizer is "
187+
]
188+
},
189+
{
190+
"cell_type": "code",
191+
"execution_count": null,
192+
"id": "f6e96922",
193+
"metadata": {},
194+
"outputs": [],
195+
"source": [
196+
"def sat_arg_randomizer(satellites):\n",
197+
" alt = np.random.uniform(500, 1100)\n",
198+
" R_E = 6371.0 # km\n",
199+
" e = np.random.uniform(0.0, 1 - (500 + R_E) / (alt + R_E))\n",
200+
" chief_orbit = random_orbit(alt=alt, e=e)\n",
201+
"\n",
202+
" inspectors = [sat for sat in satellites if \"Inspector\" in sat.name]\n",
203+
" rso = [satellite for satellite in satellites if satellite.name == \"RSO\"][0]\n",
204+
"\n",
205+
" args = {}\n",
206+
" for inspector in inspectors:\n",
207+
" relative_randomizer = relative_to_chief(\n",
208+
" chief_name=\"RSO\",\n",
209+
" chief_orbit=chief_orbit,\n",
210+
" deputy_relative_state={\n",
211+
" inspector.name: lambda: np.concatenate(\n",
212+
" (\n",
213+
" random_unit_vector() * np.random.uniform(250, 750),\n",
214+
" random_unit_vector() * np.random.uniform(0, 0.3),\n",
215+
" )\n",
216+
" ),\n",
217+
" },\n",
218+
" )\n",
219+
" args.update(relative_randomizer([rso, inspector]))\n",
220+
"\n",
221+
" # Align RSO Hill frame for initial nadir pointing\n",
222+
" mu = rso.sat_args_generator[\"mu\"]\n",
223+
" r_N, v_N = elem2rv(mu, args[rso][\"oe\"])\n",
224+
" r_hat = r_N / np.linalg.norm(r_N)\n",
225+
" v_hat = v_N / np.linalg.norm(v_N)\n",
226+
" x = r_hat\n",
227+
" z = np.cross(r_hat, v_hat)\n",
228+
" z = z / np.linalg.norm(z)\n",
229+
" y = np.cross(z, x)\n",
230+
" HN = np.array([x, y, z])\n",
231+
" BH = np.eye(3)\n",
232+
" args[rso][\"sigma_init\"] = C2MRP(BH @ HN)\n",
233+
"\n",
234+
" a = chief_orbit.a\n",
235+
" T = np.sqrt(a**3 / mu) * 2 * np.pi\n",
236+
" omega_BN_N = z * 2 * np.pi / T\n",
237+
" args[rso][\"omega_init\"] = BH @ HN @ omega_BN_N\n",
238+
"\n",
239+
" return args\n"
240+
]
241+
},
242+
{
243+
"cell_type": "code",
244+
"execution_count": null,
245+
"id": "f19447ce",
246+
"metadata": {},
247+
"outputs": [],
248+
"source": [
249+
"env = ConstellationTasking(\n",
250+
" satellites=[\n",
251+
" RSOSat(\"RSO\", sat_args=rso_sat_args),\n",
252+
" InspectorSat(\"Inspector\", sat_args=inspector_sat_args, obs_type=dict),\n",
253+
" ],\n",
254+
" sat_arg_randomizer=sat_arg_randomizer,\n",
255+
" scenario=scene.SphericalRSO(\n",
256+
" n_points=100,\n",
257+
" radius=1.0,\n",
258+
" theta_max=np.radians(30),\n",
259+
" range_max=250,\n",
260+
" theta_solar_max=np.radians(60),\n",
261+
" ),\n",
262+
" rewarder=(\n",
263+
" data.RSOInspectionReward(),\n",
264+
" data.ResourceReward(\n",
265+
" resource_fn=lambda sat: sat.fsw.dv_available\n",
266+
" if isinstance(sat.fsw, fsw.MagicOrbitalManeuverFSWModel)\n",
267+
" else 0.0,\n",
268+
" reward_weight=np.random.uniform(0.0, 0.5),\n",
269+
" ),\n",
270+
" ),\n",
271+
" time_limit=60000,\n",
272+
" sim_rate=5.0,\n",
273+
" log_level=\"INFO\",\n",
274+
")"
275+
]
276+
},
277+
{
278+
"cell_type": "code",
279+
"execution_count": null,
280+
"id": "0fcfc081",
281+
"metadata": {},
282+
"outputs": [],
283+
"source": [
284+
"env.reset()\n",
285+
"for i in range(10):\n",
286+
" env.step(dict(RSO=0, Inspector=[0.1, 0.1, 0.1, 100]))"
287+
]
288+
}
289+
],
290+
"metadata": {
291+
"kernelspec": {
292+
"display_name": ".venv",
293+
"language": "python",
294+
"name": "python3"
295+
},
296+
"language_info": {
297+
"codemirror_mode": {
298+
"name": "ipython",
299+
"version": 3
300+
},
301+
"file_extension": ".py",
302+
"mimetype": "text/x-python",
303+
"name": "python",
304+
"nbconvert_exporter": "python",
305+
"pygments_lexer": "ipython3",
306+
"version": "3.10.11"
307+
}
308+
},
309+
"nbformat": 4,
310+
"nbformat_minor": 5
311+
}

0 commit comments

Comments
 (0)