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Add `get_sat_model` and improve `model` documentation #929

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Job	Run time
build (ubuntu-latest, 4.14)	2m 46s
build (ubuntu-latest, 5.3)	2m 58s
build (macos-latest, 4.14)	4m 36s
build (macos-latest, 5.3)	4m 6s
	14m 26s