Issue #130: Infer environment model type

docs/source/index.rst

@@ -69,8 +69,6 @@ TODO: Add more detail to this example
             sats.FullFeaturedSatellite.default_sat_args(oe=random_orbit), n_ahead_observe=30, 
             n_ahead_act=15
         ),
-        env_type=environment.GroundStationEnvModel,
-        env_args=environment.GroundStationEnvModel.default_env_args(),
         env_features=StaticTargets(n_targets=1000),
         data_manager=data.UniqueImagingManager,
         max_step_duration=600.0,

examples/general_satellite_tasking/multisat_aeos.py

@@ -13,7 +13,6 @@
 from bsk_rl.envs.general_satellite_tasking.scenario.environment_features import (
     CityTargets,
 )
-from bsk_rl.envs.general_satellite_tasking.simulation import environment
 from bsk_rl.utilities.initial_conditions import leo_orbit
 
 
@@ -72,12 +71,6 @@ def run():
     env = gym.make(
         "GeneralSatelliteTasking-v1",
         satellites=satellites,
-        # Pick the type for the Basilisk environment model. Note that it is not instantiated
-        # here.
-        env_type=environment.GroundStationEnvModel,
-        # Like default_sat_args, default_env_args infers model parameters from the type and
-        # specific parameters can be overridden or randomized.
-        env_args=environment.GroundStationEnvModel.default_env_args(),
         # Pass configuration objects
         env_features=env_features,
         data_manager=data_manager,

examples/general_satellite_tasking/satellite_customization.py

@@ -9,7 +9,7 @@
 from bsk_rl.envs.general_satellite_tasking.scenario.environment_features import (
     CityTargets,
 )
-from bsk_rl.envs.general_satellite_tasking.simulation import dynamics, environment, fsw
+from bsk_rl.envs.general_satellite_tasking.simulation import dynamics, fsw
 from bsk_rl.envs.general_satellite_tasking.utils.orbital import random_orbit
 
 bskLogging.setDefaultLogLevel(bskLogging.BSK_WARNING)
@@ -181,8 +181,6 @@ class CustomDynModel(dynamics.ImagingDynModel, dynamics.LOSCommDynModel):
         "SingleSatelliteTasking-v1",
         satellites=satellite,
         # Select an EnvironmentModel compatible with the models in the satellite
-        env_type=environment.BasicEnvironmentModel,
-        env_args=environment.BasicEnvironmentModel.default_env_args(),
         env_features=env_features,
         data_manager=data_manager,
         sim_rate=0.5,

examples/general_satellite_tasking/single_sat.py

@@ -5,7 +5,6 @@
 from bsk_rl.envs.general_satellite_tasking.scenario.environment_features import (
     StaticTargets,
 )
-from bsk_rl.envs.general_satellite_tasking.simulation import environment
 from bsk_rl.envs.general_satellite_tasking.utils.orbital import random_orbit
 
 # This script demonstrates the configuration of an environment with a single imaging
@@ -44,12 +43,11 @@
         "SingleSatelliteTasking-v1",
         satellites=satellite,
         # Pick the type for the Basilisk environment model. Note that it is not instantiated
-        # here.
-        env_type=environment.GroundStationEnvModel,
+        # here. This can be automatically inferred from the satellite types
+        # env_type=environment.GroundStationEnvModel,
         # Like default_sat_args, default_env_args infers model parameters from the type and
-        # specific parameters can be
-        # overridden or randomized.
-        env_args=environment.GroundStationEnvModel.default_env_args(),
+        # specific parameters can be overridden or randomized.
+        # env_args={},
         # Pass configuration objects
         env_features=env_features,
         data_manager=data_manager,

src/bsk_rl/envs/general_satellite_tasking/gym_env.py

@@ -57,9 +57,9 @@ class GeneralSatelliteTasking(Env, Generic[SatObs, SatAct]):
     def __init__(
         self,
         satellites: Union[Satellite, list[Satellite]],
-        env_type: type[EnvironmentModel],
         env_features: EnvironmentFeatures,
         data_manager: DataManager,
+        env_type: Optional[type[EnvironmentModel]] = None,
         env_args: Optional[dict[str, Any]] = None,
         communicator: Optional[CommunicationMethod] = None,
         sim_rate: float = 1.0,
@@ -75,13 +75,13 @@ def __init__(
 
         Args:
             satellites: Satellites(s) to be simulated.
+            env_features: Information about the environment.
+            data_manager: Object to record and reward data collection.
+            communicator: Object to manage communication between satellites/
             env_type: Type of environment model to be constructed.
             env_args: Arguments for environment model construction. {key: value or key:
                 function}, where function is called at reset to set the value (used for
                 randomization).
-            env_features: Information about the environment.
-            data_manager: Object to record and reward data collection.
-            communicator: Object to manage communication between satellites
             sim_rate: Rate for model simulation [s].
             max_step_duration: Maximum time to propagate sim at a step [s].
             failure_penalty: Reward for satellite failure. Should be nonpositive.
@@ -98,6 +98,8 @@ def __init__(
             satellites = [satellites]
         self.satellites = satellites
         self.simulator: Simulator
+        if env_type is None:
+            env_type = self._minimum_env_model()
         self.env_type = env_type
         if env_args is None:
             env_args = self.env_type.default_env_args()
@@ -121,6 +123,26 @@ def __init__(
         self.latest_step_duration = 0
         self.render_mode = render_mode
 
+    def _minimum_env_model(self) -> type[EnvironmentModel]:
+        """Determine the minimum environment model required by the satellites."""
+        types = set(
+            sum(
+                [satellite.dyn_type._requires_env() for satellite in self.satellites],
+                [],
+            )
+        )
+        if len(types) == 1:
+            return list(types)[0]
+        for test_type in types:
+            if all([issubclass(test_type, other_type) for other_type in types]):
+                return test_type
+
+        # Else compose all types into a new class
+        class MinimumEnv(*types):
+            pass
+
+        return MinimumEnv
+
     def _configure_logging(self, log_level, log_dir=None):
         if isinstance(log_level, str):
             log_level = log_level.upper()

src/bsk_rl/envs/general_satellite_tasking/simulation/dynamics.py

@@ -52,7 +52,6 @@ class DynamicsModel(ABC):
     """
 
     @classmethod
-    @property
     def _requires_env(cls) -> list[type["EnvironmentModel"]]:
         """Define minimum EnvironmentModels for compatibility."""
         return []
@@ -75,7 +74,7 @@ def __init__(
         self.satellite = satellite
         self.logger = self.satellite.logger.getChild(self.__class__.__name__)
 
-        for required in self._requires_env:
+        for required in self._requires_env():
             if not issubclass(type(self.simulator.environment), required):
                 raise TypeError(
                     f"{self.simulator.environment} must be a subclass of {required} to "
@@ -130,7 +129,6 @@ class BasicDynamicsModel(DynamicsModel):
     """Basic Dynamics model with minimum necessary Basilisk components."""
 
     @classmethod
-    @property
     def _requires_env(cls) -> list[type["EnvironmentModel"]]:
         return [environment.BasicEnvironmentModel]
 
@@ -977,9 +975,8 @@ class GroundStationDynModel(ImagingDynModel):
     """Model that connects satellite to environment ground stations."""
 
     @classmethod
-    @property
     def _requires_env(cls) -> list[type["EnvironmentModel"]]:
-        return super()._requires_env + [environment.GroundStationEnvModel]
+        return super()._requires_env() + [environment.GroundStationEnvModel]
 
     def _init_dynamics_objects(self, **kwargs) -> None:
         super()._init_dynamics_objects(**kwargs)

src/bsk_rl/envs/general_satellite_tasking/simulation/fsw.py

@@ -62,7 +62,6 @@ class FSWModel(ABC):
     """
 
     @classmethod
-    @property
     def _requires_dyn(cls) -> list[type["DynamicsModel"]]:
         """Define minimum DynamicsModels for compatibility."""
         return []
@@ -81,7 +80,7 @@ def __init__(
         self.satellite = satellite
         self.logger = self.satellite.logger.getChild(self.__class__.__name__)
 
-        for required in self._requires_dyn:
+        for required in self._requires_dyn():
             if not issubclass(satellite.dyn_type, required):
                 raise TypeError(
                     f"{satellite.dyn_type} must be a subclass of {required} to "
@@ -205,7 +204,6 @@ class BasicFSWModel(FSWModel):
     """Basic FSW model with minimum necessary Basilisk components."""
 
     @classmethod
-    @property
     def _requires_dyn(cls) -> list[type["DynamicsModel"]]:
         return [dynamics.BasicDynamicsModel]
 
@@ -560,9 +558,8 @@ class ImagingFSWModel(BasicFSWModel):
     """Extend FSW with instrument pointing and triggering control."""
 
     @classmethod
-    @property
     def _requires_dyn(cls) -> list[type["DynamicsModel"]]:
-        return super()._requires_dyn + [dynamics.ImagingDynModel]
+        return super()._requires_dyn() + [dynamics.ImagingDynModel]
 
     @property
     def c_hat_P(self):

tests/integration/envs/general_satellite_tasking/scenario/test_int_communication.py

@@ -11,7 +11,6 @@
 from bsk_rl.envs.general_satellite_tasking.scenario.environment_features import (
     StaticTargets,
 )
-from bsk_rl.envs.general_satellite_tasking.simulation import environment
 from bsk_rl.utilities.initial_conditions import leo_orbit
 
 oes_visible = leo_orbit.walker_delta(
@@ -53,8 +52,6 @@ def make_communication_env(oes, comm_type):
     env = gym.make(
         "GeneralSatelliteTasking-v1",
         satellites=satellites,
-        env_type=environment.GroundStationEnvModel,
-        env_args=environment.GroundStationEnvModel.default_env_args(),
         env_features=StaticTargets(n_targets=1000),
         data_manager=data.UniqueImagingManager(),
         communicator=comm_type(satellites),

tests/integration/envs/general_satellite_tasking/scenario/test_int_environment_features.py

@@ -7,7 +7,7 @@
     CityTargets,
     StaticTargets,
 )
-from bsk_rl.envs.general_satellite_tasking.simulation import dynamics, environment, fsw
+from bsk_rl.envs.general_satellite_tasking.simulation import dynamics, fsw
 from bsk_rl.envs.general_satellite_tasking.utils.orbital import random_orbit
 
 
@@ -30,8 +30,6 @@ class ImageSat(
                 imageRateErrorRequirement=0.05,
             ),
         ),
-        env_type=environment.GroundStationEnvModel,
-        env_args=environment.GroundStationEnvModel.default_env_args(),
         env_features=env_features,
         data_manager=data.UniqueImagingManager(),
         sim_rate=1.0,

tests/integration/envs/general_satellite_tasking/scenario/test_int_sat_actions.py

@@ -9,7 +9,7 @@
     StaticTargets,
     UniformNadirFeature,
 )
-from bsk_rl.envs.general_satellite_tasking.simulation import dynamics, environment, fsw
+from bsk_rl.envs.general_satellite_tasking.simulation import dynamics, fsw
 from bsk_rl.envs.general_satellite_tasking.utils.orbital import random_orbit
 
 #########################
@@ -40,8 +40,6 @@ class ImageSat(
                 transmitterBaudRate=-1.0,
             ),
         ),
-        env_type=environment.GroundStationEnvModel,
-        env_args=environment.GroundStationEnvModel.default_env_args(),
         env_features=StaticTargets(n_targets=1000),
         data_manager=data.NoDataManager(),
         sim_rate=1.0,
@@ -98,8 +96,6 @@ class ChargeSat(
                 storedCharge_Init=250_000,
             ),
         ),
-        env_type=environment.BasicEnvironmentModel,
-        env_args=environment.BasicEnvironmentModel.default_env_args(),
         env_features=StaticTargets(n_targets=0),
         data_manager=data.NoDataManager(),
         sim_rate=1.0,
@@ -133,8 +129,6 @@ def make_env(self):
                     wheelSpeeds=[1000.0, -1000.0, 1000.0],
                 ),
             ),
-            env_type=environment.BasicEnvironmentModel,
-            env_args=environment.BasicEnvironmentModel.default_env_args(),
             env_features=StaticTargets(n_targets=0),
             data_manager=data.NoDataManager(),
             sim_rate=1.0,
@@ -201,8 +195,6 @@ class ImageSat(
                 transmitterBaudRate=-1.0,
             ),
         ),
-        env_type=environment.BasicEnvironmentModel,
-        env_args=environment.BasicEnvironmentModel.default_env_args(),
         env_features=UniformNadirFeature(),
         data_manager=data.NoDataManager(),
         sim_rate=1.0,

tests/integration/envs/general_satellite_tasking/scenario/test_int_sat_observations.py

@@ -9,7 +9,7 @@
 from bsk_rl.envs.general_satellite_tasking.scenario.environment_features import (
     StaticTargets,
 )
-from bsk_rl.envs.general_satellite_tasking.simulation import dynamics, environment, fsw
+from bsk_rl.envs.general_satellite_tasking.simulation import dynamics, fsw
 from bsk_rl.envs.general_satellite_tasking.utils.orbital import random_orbit
 
 
@@ -39,8 +39,6 @@ class ComposedPropSat(
             "Explorer 1",
             sat_args=ComposedPropSat.default_sat_args(oe=random_orbit),
         ),
-        env_type=environment.BasicEnvironmentModel,
-        env_args=environment.BasicEnvironmentModel.default_env_args(),
         env_features=StaticTargets(n_targets=1000),
         data_manager=data.NoDataManager(),
         sim_rate=1.0,
@@ -81,8 +79,6 @@ class NormdPropSat(
             "Sputnik",
             sat_args=NormdPropSat.default_sat_args(oe=random_orbit(r_body=7000, alt=0)),
         ),
-        env_type=environment.BasicEnvironmentModel,
-        env_args=environment.BasicEnvironmentModel.default_env_args(),
         env_features=StaticTargets(n_targets=0),
         data_manager=data.NoDataManager(),
         sim_rate=1.0,
@@ -111,8 +107,6 @@ class TimedSat(
             "Voyager",
             sat_args=TimedSat.default_sat_args(oe=random_orbit()),
         ),
-        env_type=environment.BasicEnvironmentModel,
-        env_args=environment.BasicEnvironmentModel.default_env_args(),
         env_features=StaticTargets(n_targets=0),
         data_manager=data.NoDataManager(),
         sim_rate=1.0,
@@ -144,8 +138,6 @@ class TargetSat(
             n_ahead_observe=2,
             sat_args=TargetSat.default_sat_args(oe=random_orbit()),
         ),
-        env_type=environment.BasicEnvironmentModel,
-        env_args=environment.BasicEnvironmentModel.default_env_args(),
         env_features=StaticTargets(n_targets=100),
         data_manager=data.NoDataManager(),
         sim_rate=1.0,
@@ -176,8 +168,6 @@ class EclipseSat(
             obs_type=list,
             sat_args=EclipseSat.default_sat_args(oe=random_orbit()),
         ),
-        env_type=environment.BasicEnvironmentModel,
-        env_args=environment.BasicEnvironmentModel.default_env_args(),
         env_features=StaticTargets(n_targets=0),
         data_manager=data.NoDataManager(),
         sim_rate=1.0,
@@ -207,8 +197,6 @@ class GroundSat(
             obs_type=list,
             sat_args=GroundSat.default_sat_args(oe=random_orbit()),
         ),
-        env_type=environment.GroundStationEnvModel,
-        env_args=environment.GroundStationEnvModel.default_env_args(),
         env_features=StaticTargets(n_targets=0),
         data_manager=data.NoDataManager(),
         sim_rate=1.0,

tests/integration/envs/general_satellite_tasking/scenario/test_int_satellites.py

@@ -8,7 +8,7 @@
 from bsk_rl.envs.general_satellite_tasking.scenario.environment_features import (
     StaticTargets,
 )
-from bsk_rl.envs.general_satellite_tasking.simulation import dynamics, environment, fsw
+from bsk_rl.envs.general_satellite_tasking.simulation import dynamics, fsw
 from bsk_rl.envs.general_satellite_tasking.utils.orbital import random_orbit
 
 
@@ -33,8 +33,6 @@ class ImageSat(
                 imageRateErrorRequirement=0.05,
             ),
         ),
-        env_type=environment.BasicEnvironmentModel,
-        env_args=environment.BasicEnvironmentModel.default_env_args(),
         env_features=StaticTargets(n_targets=5000),
         data_manager=data.NoDataManager(),
         sim_rate=1.0,

tests/integration/envs/general_satellite_tasking/simulation/test_int_dynamics.py

@@ -7,7 +7,7 @@
 from bsk_rl.envs.general_satellite_tasking.scenario.environment_features import (
     StaticTargets,
 )
-from bsk_rl.envs.general_satellite_tasking.simulation import dynamics, environment, fsw
+from bsk_rl.envs.general_satellite_tasking.simulation import dynamics, fsw
 from bsk_rl.envs.general_satellite_tasking.utils.orbital import random_orbit
 
 ###########################
@@ -48,8 +48,6 @@ class ImageSat(
                     storageInit=initial_storage,
                 ),
             ),
-            env_type=environment.GroundStationEnvModel,
-            env_args=environment.GroundStationEnvModel.default_env_args(),
             env_features=StaticTargets(n_targets=1000),
             data_manager=data.NoDataManager(),
             sim_rate=1.0,
@@ -92,8 +90,6 @@ class ImageSat(
                     storageInit=initial_storage,
                 ),
             ),
-            env_type=environment.GroundStationEnvModel,
-            env_args=environment.GroundStationEnvModel.default_env_args(),
             env_features=StaticTargets(n_targets=1000),
             data_manager=data.NoDataManager(),
             sim_rate=1.0,