Welcome to the SADSimEnv (Spacecraft Attitude Dynamics Simulation Environment) project! This custom gymnasium environment allows you to simulate the dynamics of a spacecraft for reinforcement learning and control experiments.

To use the environment, please follow these steps:

1. Clone this repository to your local machine:

   git clone https://github.com/SlowWave/SADSimEnv.git

2. Install the required dependencies by navigating to the project directory and running:

   pip install -r requirements.txt

    from environment import SpacecraftEnv

    # initialize and reset the environment
    env = SpacecraftEnv()
    observation, info = env.reset()
    
    # set the number of simulation steps
    n_steps = 1000
    
    for _ in range(n_steps):
    
        # randomly sample an action from the action space
        action = env.action_space.sample()
        
        # perform an environment step
        observation, reward, terminated, truncated, info = env.step(action)
    
    # plot data acquired during simulation and render the animation
    env.plot_results()
    env.render_animation()

The SpacecraftEnv object is divided into several classes, each one dedicated to performing a specific function:

• ObservationSpaceModel object: used to define the environment observation space
• ActionSpaceModel object: used to define the environment action space
• Spacecraft object: used to store the spacecraft properties and the current spacecraft state $s_t$
• Propagator object: used to propagate the spacecraft state from $s_t$ to $s_{t+1}$ according to the spacecraft dynamic equations and the integration properties
• Storage object: used to store the list of spacecraft states and agent actions
• RewardModel object: used to compute the agent reward $r_t$ starting from data contained inside Storage object

This simple enviroment has been developed with a focus on modularity, allowing users to easily extend and customize its features to meet specific requirements. There are two ways to customize the environment:

• Modify the config.toml file
• Modify the methods exposed by the classes used inside the environment

config.toml is a configuration file written according to the TOML file format. It allows to configure several environment parameters in order to customize the simulations.

• Create a Reference Generator object capable of updating/modifying the target quaternion at each time step according to some user-defined settings.

This project is licensed under the MIT license - see the LICENSE file for details.