BSK Scripting Settings

Overview

The About Vizard Unity-based visualization can have its settings scripted from a Basilisk python simulation script. This allows the user to write a BSK simulation script and specify in the same script what Vizard options should be used. Within Vizard the user can change these gain if needed. The BSK scripted Vizard settings are only used once at the beginning of the playback.

When calling the enableUnityVisualization macro method a copy of the vizInterface module is returned. All scriptable Vizard settings are stored inside the settings variable. For example, to set the Vizard ambient lighting the following code is used:

viz = vizSupport.enableUnityVisualization(scSim, simTaskName, simProcessName, gravBodies=gravFactory, saveFile=fileName)
viz.settings.ambient = 0.5

If a setting is not provided, then the Vizard defaults are used. This allows the user to specify just a few or a lot of settings, as is appropriate.

Listing of all BSK Scriptable Vizard Settings

The following list contains the optional Vizard settings that can be specified. Only the settings used will be applied to Vizard. If a variable below is not specified, then it is not applied to Vizard and the Vizard default values are used.

General Settings

The following settings can be set directly using:

viz.settings.variableName = value

Note that for setting flags 1 means turn on, -1 means turn off, and a setting of 0 tells Vizard to use its own default setting for that behavior.

Vizard Simulation Parameters

Variable

Type

Description

ambient

[0,1]

float value to specify the ambient Vizard lighting.

orbitLinesOn

(-1,1)

flag to show (1) or hide (-1) the orbit trajectory lines

spacecraftCSon

(-1,1)

flag to show (1) or hide (-1) the spacecraft coordinate axes

planetCSon

(-1,1)

flag to show (1) or hide (-1) the planet coordinate axes

skyBox

String

Used determine what star background should be shown. The empty string “” provides default NASA SVS Starmap, “ESO” shows the ESO Milky Way skybox, “black” provides a black background, or the user can provide a filepath to custom background image file.

viewCameraBoresightHUD

(-1,1)

flag to show (1) or hide (-1) the camera boresight line

viewCameraConeHUD

(-1,1)

flag to show (1) or hide (-1) the camera cone

showCSLabels

(-1,1)

flag to show (1) or hide (-) the coordinate system labels

showCelestialBodyLabels

(-1,1)

flag to show (1) or hide (-1) the celestial body labels

showSpacecraftLabels

(-1,1)

flag to show (1) or hide (-1) the spacecraft labels

showCameraLabels

(-1,1)

flag to show (1) or hide (-1) the camera labels

customGUIScale

pos. double

GUI scaling factor, default is -1 which uses Vizard default.

defaultSpacecraftSprite

string

Set sprite for ALL spacecraft through shape name and optional int RGB color values [0,255]. Possible settings: CIRCLE,``SQUARE``, STAR, TRIANGLE or bskSat for a 2D spacecraft sprite of the bskSat shape. Default value is empty yielding a white CIRCLE. To set this in python, use the helper function vizSupport.setSprite("STAR", color="red")

showSpacecraftAsSprites

(-1,1)

Flag to show spacecraft as sprites if their visual size gets too small

showCelestialBodiesAsSprites

(-1,1)

Flag to show celestial bodies as sprites if their visual size gets too small

show24hrClock

(-1,1)

Flag to make mission date/time use a 24h clock instead of a 12h clock with am/pm

showDataRateDisplay

(-1,1)

Flag to show the data frame rate

keyboardAngularRate

pos. double

[rad/sec] controls the angular rate at which the camera rotates with keyboard hot-keys.

keyboardZoomRate

pos. double

Non-dimensional speed at which the camera zooms in and out with hot-keys.

defaultThrusterColor

int(4)

RGBA color values between (0,255). Default values of -1 makes Vizard use the default thruster plume color You can use vizSupport.toRGBA255("red") to convert common color names to RGBA values.

defaultThrusterPlumeLifeScalar

double

Value of 1.0 or 0.0 to use viz default, values between 0 and 1 will decrease the length of all thruster plumes, >1 will increase lengths of all thruster plumes

orbitLineSegments

int

Number of line segments to use when drawing an osculating trajectory. Value of 0 (protobuffer default) to use viz default or any value greater than or equal to 4

relativeOrbitRange

int

+/- angular range in degrees of the osculating trajectory to show. Value of 0 (protobuffer default) to use viz default or any value greater than or equal to 1

showHillFrame

int

flag to show the orbit Hill frame of the spacecraft camera target. Value of 0 (protobuffer default) to use viz default, -1 for false, 1 for true

showVelocityFrame

int

flag to show the orbit velocity frame of the spacecraft camera target. Value of 0 (protobuffer default) to use viz default, -1 for false, 1 for true

relativeOrbitFrame

int

flag to set with respect to which frame the relative orbit trajectory is drawn. Value of 0 (protobuffer default) or 1 to use Hill Frame, 2 to use Velocity Frame

relativeOrbitFrame

string

If valid spacecraft name provided, the relative orbit chief spacecraft will be set to that spacecraft object. Setting the string to “AUTO” or leaving this field empty will select the camera target spacecraft as the chief.

spacecraftShadowBrightness

double

Control the ambient light specific to spacecraft objects, value between 0 and 1, use negative value to use viz default

Setting Actuator GUI Options

To specify the actuator GUI settings use the setActuatorGuiSetting helper method in Python. An example is:

vizSupport.setActuatorGuiSetting(viz, viewRWPanel=True, viewRWHUD=True)

The following table includes the keyword options for this method.

GUI Parameter Options

Variable

Type

Required

Description

viewThrusterPanel

Boolean

No

Show the thruster panel

viewThrusterHUD

Boolean

No

Show the thruster particle streams

showThrusterLabels

Boolean

No

Show the thruster labels

viewRWPanel

Boolean

No

Show the reaction wheel panel

viewRWHUD

Boolean

No

Show the reaction wheel disks configuration outside the spacecraft

showRWLabels

Boolean

No

Show the reaction wheel labels

spacecraftName

string

No, sc name default

Specify which spacecraft should show actuator information. If not provided then the viz.spacecraftName is used.

Setting Instrument GUI Options

To specify the instrument GUI settings use the setInstrumentGuiSetting helper method in Python. An example is:

vizSupport.setInstrumentGuiSetting(viz, viewCSSPanel=True, viewCSSCoverage=True)

The following table includes the keyword options for this method.

GUI Parameter Options

Variable

Type

Required

Description

viewCSSPanel

Boolean

No

Show the CSS panel

viewCSSCoverage

Boolean

No

Show the CSS coverage spheres

viewCSSBoresight

Boolean

No

Show the CSS boresight axes

showCSSLabels

Boolean

No

Show the CSS labels

spacecraftName

string

No, sc name default

Specify which spacecraft should show actuator information. If not provided then the viz.spacecraftName is used.

Defining a Pointing Line

Vizard can create a heading line from one object to another. For example, it might be handy to create a line from the spacecraft pointing towards the sun direction, or from the spacecraft towards Earth to know how the antennas should point. These pointing lines can be scripted from Basilisk as well using using a helper function createPointLine():

viz = vizSupport.enableUnityVisualization(scSim, simTaskName, simProcessName, gravBodies=gravFactory, saveFile=fileName)
vizSupport.createPointLine(viz, toBodyName='earth', lineColor=[0, 0, 255, 255]) vizSupport.createPointLine(viz, toBodyName=“sun”, lineColor=“yellow”)]

The createPointLine support macro requires the parameters toBodyName and lineColor to be defined. The parameter fromBodyName is optional. If it is not specified, then the viz.spacecraftName is used as a default origin. The lineColor state can be either a string containing the color name, or a list containing RGBA values. The support macro converts this into the required set of numerical values.

Each pointing line message contains the three variables listed in the next table.

Pointing Line Parameter Options

Variable

Type

Required

Description

fromBodyName

string

No, sc name default

contains the name of the originating body

toBodyName

string

Yes

contains the name of the body to point towards

lineColor

int(4)

Yes

color name or array on integer values specifying the RGBA values between 0 to 255

Defining Keep In/Out Cones

Vizard can create cones relative to the spacecraft which illustrated if a body axis is within some angle to the sun (i.e. keep in cone), or if a sensor axis is outside some angle to the sun (i.e. keep out cone). These cones can be setup in Vizard, but can also be scripted from Basilisk using the helper function createConeInOut:

viz = vizSupport.enableUnityVisualization(scSim, simTaskName, simProcessName, gravBodies=gravFactory, saveFile=fileName)
vizSupport.createConeInOut(viz, toBodyName='earth', coneColor='teal', normalVector_B=[1, 0, 0], incidenceAngle=30\ macros.D2R, isKeepIn=True, coneHeight=5.0, coneName=‘sensorCone’)
vizSupport.createConeInOut(viz,toBodyName='earth', coneColor='blue', normalVector_B=[0, 1, 0], incidenceAngle=30\ macros.D2R, isKeepIn=False, coneHeight=5.0, coneName=‘comCone’)]

The following table illustrates the arguments for the createConeInOut method:

Keep In/Out Cones Parameter Options

Variable

Type

Units

Required

Description

isKeepIn

bool

Yes

make cone keep in (True) or keep out (False)

fromBodyName

string

No, sc name default

contains the name of the originating body

toBodyName

string

Yes

contains the name of the body to point towards

lineColor

int(4)

Yes

color name or array on integer values specifying the RGBA values between 0 to 255

position_B

float(3)

m

No, (0,0,0) default

position of the cone vertex

normalVector_B

float(3)

m

Yes

normal axis of the cone in body frame components

incidenceAngle

float

rad

Yes

angle of the cone

incidenceAngle

float

rad

Yes

height of the cone

coneName

string

No

cone label name, if unspecified viz will autogenerate name

Defining the Vizard Camera View Panels

Vizard can create a spacecraft relative camera panel. This functionality can be controlled by using the createStandardCamera helper method. The camera can point in a body-fixed direction (setMode=1), or be aimed at a celestial target (setMode=0). Multiple camera panels can be setup at the same time, and they can be attached to different spacecraft through the spacecraftName argument.

viz = vizSupport.enableUnityVisualization(scSim, simTaskName, simProcessName,
gravBodies=gravFactory, saveFile=fileName)
vizSupport.createStandardCamera(viz, setMode=0, bodyTarget='earth', setView=0)
vizSupport.createStandardCamera(viz, setMode=1, fieldOfView=60.*macros.D2R, pointingVector_B=[0.0, -1.0, 0.0])

The following table illustrates the arguments for the createStandardCamera method.

Standard Camera View Panel Parameter Options

Variable

Type

Units

Required

Description

spacecraftName

string

No, sc name default

name of the spacecraft with respect to which the camera is shown

setMode

int

No, default is 1

0 -> body targeting, 1 -> pointing vector

setView

int

No, default is 0

0 -> Nadir, 1 -> Orbit Normal, 2 -> Along Track (default to nadir). This is a setting for body targeting mode.

bodyTarget

string

No, default to first celestial body in messages

Name of body camera should point to. This is a setting for body targeting mode.

fieldOfView

float

rad

No, default is -1

camera edge-to-edge field of view in the camera vertical y axis, to use the Vizard default set it to -1

pointingVector_B

float(3)

No, default is (0,0,0) for auto placement

Name of body camera should point to. This is a setting for pointing vector mode

position_B

float(3)

m

No, default is (0,0,0) for auto placement

If populated, ets camera position relative to parent body coordinate frame in meters using B frame components. If unpopulated camera is positioned automatically along camera view direction outside of parent body’s mesh to prevent obstruction of view.

../_images/vizard-ImgCustomCam.jpg

It is also possible to create a custom instrument camera view for opNav mode which points in an arbitrary direction as illustrate in the image above. The following helper method is an example of how such an instrument camera view can be created:

vizSupport.createCameraConfigMsg(viz, cameraID=1, fieldOfView=10 * macros.D2R,
                                     resolution=[1024, 1024], renderRate=0.1,
                                     cameraPos_B=[0.2, 0.1, 0.3], sigma_CB=[-1./3., 1./3., -1./3.])

Note that with this instrument camera Vizard will save off images the the user home folder at the rate specified in renderRate. To avoid saving off images just make renderRate zero.

The camera frame is illustrated in the following image. It uses classical image image coordinates where x points to the right, y point downwards and z points outward. More information is availabe in section 2.4.1 of Dr. Teil’s dissertation.

../_images/imageFrame.jpg

The following tale illustrates the arguments for the createCameraConfigMsg method.

createCameraConfigMsg Parameter Options

Variable

Type

Units

Required

Description

cameraID

int

Yes

ID of the Vizard camera

parentName

string

No, sc name default

name of the spacecraft with respect to which the camera is shown

fieldOfView

float

rad

yes

edge-to-edge field of view in the camera vertical y axis

resolution

int(2)

yes

image sensor pixels

renderRate

float

yes

time between image grabs. 0 turns this off (default).

cameraPos_B

float(3)

m

yes

camera location relative to body frame in B frame components

sigma_CB

float(3)

yes

camera orientation relative to the body frame in MRPs

skyBox

string

No

Used to determine what star background should be shown. The empty string “” provides default NASA SVS Starmap, “ESO” shows the ESO Milky Way skybox, “black” provides a black background, or the user can provide a filepath to custom background image file.

Defining the Custom Spacecraft Shape model

You can specify a custom OBJ model to be used with Vizard spacecraft representation. An sample is shown in the following screen capture.

../_images/vizard-ImgCustomCAD.jpg

This functionality can be controlled by using the ‘createCustomModel’ helper method.

viz = vizSupport.enableUnityVisualization(scSim, simTaskName, simProcessName,
gravBodies=gravFactory, saveFile=fileName)
vizSupport.createCustomModel(viz,
                            modelPath="/Users/hp/Downloads/Topex-Posidon/Topex-Posidon-composite.obj",
                            scale=[2, 2, 10])

The following table illustrates the arguments for the createCustomModel method.

Custom Space Object OBJ Import Parameter Options

Variable

Type

Units

Required

Description

modelPath

string

Yes

Path to model obj -OR- “CUBE”, “CYLINDER”, or “SPHERE” to use a primitive shape

simBodiesToModify

string

No, default is bsk-Sat

Which bodies in scene to replace with this model, use “ALL_SPACECRAFT” to apply custom model to all spacecraft in simulation

offset

float(3)

m

No, default is (0,0,0)

offset to use to draw the model

rotation

float(3)

rad

No, default is (0,0,0)

3-2-1 Euler angles to rotate CAD about z, y, x axes

scale

float(3)

No, default is (1,1,1)

desired model scale in x, y, z in spacecraft CS

customTexturePath

String

No

Path to texture to apply to model (note that a custom model’s .mtl will be automatically imported with its textures during custom model import)

normalMapPath

string

No

Path to the normal map for the customTexture

shader

int

No, default is -1

Value of -1 to use viz default, 0 for Unity Specular Standard Shader, 1 for Unity Standard Shader

Specifying the Spacecraft Sprite Representation

In the spacecraft centric view a 3D model is rendered of the spacecraft. However, in planet and heliocentric views the spacecraft is automatically represented as a 2D sprite (circle, triangle, etc.) if more than one spacecraft is being simulated. The default sprite shape for all spacecraft can be set through the defaultSpacecraftSprite value discussed above. To specify a specific sprite shape, and optional color, for a specific spacecraft this can be done by setting the string variable spacecraftSprite inside the spacecraft data structure.

The example scenario scenarioFormationBasic illustrates how to simulate multiple spacecraft. To make a spacecraft use a specific sprite representation use:

scData.spacecraftSprite = vizSupport.setSprite("STAR")

Specifying the Simulation Epoch Date and Time Information

Vizard can show the both the simulation time that has elapsed, or the mission time. If now epoch message has been set then Basilisk assumes a default January 1, 2019, 00:00:00 epoch time and date. The simulation time elapsed is thus the time since epoch. To specify a different simulation epoch data and time the epochSimMsg can be setup as discussed in scenarioMagneticFieldWMM. To tell ref:vizInterface what epoch message to read use:

viz.epochMsgName = "Epoch_Msg_Name_Used"

An example of the use of this epoch message is shown in scenarioMagneticFieldWMM.

Specifying Reaction Wheel (RW) Information

The simplest method to include the RW states of a one more spacecraft in the Vizard data file is to call vizSupport.enableUnityVisualization with the numRW specified to be the number of RW being modeled. This can be a single integer if each spacecraft contains the same number of RW devices, or a list of integers with the number of RW specified for each spacecraft. Module: vizInterface will seek the RW messages assuming default RW state message naming. This method is illustrated in the scenarioAttitudeFeedbackRW script.

If custom RW state output messages are used, then the scData.rwInMsgName can be specified directly. This case is employed in the test script test_dataFileToViz.

Specifying Thruster Information

Using default names the thruster states can be included in the Vizard data by calling vizSupport.enableUnityVisualization with the thrDevices argument. This is a list of ThrClusterMap states needed by Module: vizInterface. Each list entry should contain:

  • number of thrusters in a group

  • thruster group tag string

  • (optional) color value to be used by the thruster plume illustration

The illustration of thrusters is shown in the example script scenarioAttitudeFeedback2T_TH.

Note that if the maximum force of a thruster is less than 0.01N (i.e. a micro-thruster), then the plume length is held the same as with a 0.01N thruster. Otherwise the micro-thruster plumes would not be visible.

The thruster information for each spacecraft can also be set directly by specifying the sc.thrMsgData as demonstrated in test_dataFileToViz.