diff --git a/CHANGELOG.md b/CHANGELOG.md
index ae7376a..8a294ff 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -17,15 +17,20 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - 'lg3_envs.py` that use ilqgames-based Guard agent
 - 'matplotlib' dependency for testing group
 
-
 ### Fixed
 
+- Cleaning up inaccurate docstring
+
 ### Changed
 
 - Updated `example_eval_cfg.yaml` and related instructions in README to point to the private-source LBG1_LG3_I2_V1 environment
 
 ### Removed
 
+- 'scripts/basic_evade_v20220509001.py' to cleanup unused code
+- obsolete `pe20220516` environments
+
+
 ## [v0.6.2] - 2024.07.01
 
 ### Added
diff --git a/scripts/basic_evade_v20220509001.py b/scripts/basic_evade_v20220509001.py
deleted file mode 100644
index f4608b4..0000000
--- a/scripts/basic_evade_v20220509001.py
+++ /dev/null
@@ -1,59 +0,0 @@
-# This script is for a two-vessl, in-orbit pursuit-evasion scenario.
-#
-# It is expected that a human operator controls the pursuer
-# while this script controls the evader
-#
-# The evasion algorithm is very simplistic:
-# if the pursuer comes within a specified radius, the 
-# evader simply burns orbit-normal direction to evade
-
-import krpc
-import time
-import numpy as np
-
-# set parameters for evasion
-DIST_THRESHOLD = 50.0
-
-# establish krpc connect to send remote commands
-conn = krpc.connect(name='basic_evader')
-print("Connected to kRPC server")
-
-# get vessel objects
-vesE, vesP = conn.space_center.vessels[:2]
-
-# Set the pursuer as the the active (i.e. human-controlled) vessel
-# and target evader
-conn.space_center.active_vessel = vesP
-conn.space_center.target_vessel = vesE
-
-# set the evader to stability assist and orient in orbit-normal direction
-vesE.control.sas = True
-vesE.control.sas_mode = vesE.control.sas_mode.anti_normal
-print("Re-orienting Evader...")
-time.sleep(10)   # give time to re-orient
-
-# actuate RCS thrusters
-vesE.control.rcs = True
-
-# run basic evasion loop
-print("Executing evasion loop")
-was_evading = False
-while True:
-
-    # get distance to pursuer
-    p_vesE_vesP__vesP = vesE.position(vesP.reference_frame)
-    d_vesE_vesP = np.linalg.norm(p_vesE_vesP__vesP)
-
-    # if pursuer is too close, evade in orbit-normal direction
-    if d_vesE_vesP < DIST_THRESHOLD:
-        vesE.control.forward = 1.0
-        if not was_evading:
-            print("Pursuer detected! Executing evasive maneuvers")
-        was_evading = True
-    else:
-        vesE.control.forward = 0.0
-        if was_evading:
-            print("No pursuer in range. Zeroing thrust")
-        was_evading = False
-
-
diff --git a/src/kspdg/agent_api/runner.py b/src/kspdg/agent_api/runner.py
index 96af13f..a4304a6 100644
--- a/src/kspdg/agent_api/runner.py
+++ b/src/kspdg/agent_api/runner.py
@@ -46,9 +46,6 @@ class of (not instance of) KSPDG environment to run agent within
             runner_timeout : float
                 total time to run agent-environment pair,
                 if None, wait for environment done
-            action_rollout_time_horizon : float
-                amount of time to allocate for an action to rollout in the environment
-                before a new action is queried from the agent
             debug : bool
                 if true, set logging level to debug
         """
@@ -148,7 +145,6 @@ def policy_loop(self):
             if action is not None:
                 self.act_conn_send.send(action)
 
-
             # check for agent timeout
             if self.runner_timeout is not None:
                 if time.time() - policy_loop_start > self.runner_timeout:
diff --git a/src/kspdg/pe20220516/__init__.py b/src/kspdg/pe20220516/__init__.py
deleted file mode 100644
index f11a4fd..0000000
--- a/src/kspdg/pe20220516/__init__.py
+++ /dev/null
@@ -1,3 +0,0 @@
-# Copyright (c) 2024, MASSACHUSETTS INSTITUTE OF TECHNOLOGY
-# Subject to FAR 52.227-11 – Patent Rights – Ownership by the Contractor (May 2014).
-# SPDX-License-Identifier: MIT
diff --git a/src/kspdg/pe20220516/evasion_v20220705.py b/src/kspdg/pe20220516/evasion_v20220705.py
deleted file mode 100644
index 32898d6..0000000
--- a/src/kspdg/pe20220516/evasion_v20220705.py
+++ /dev/null
@@ -1,358 +0,0 @@
-# Copyright (c) 2024, MASSACHUSETTS INSTITUTE OF TECHNOLOGY
-# Subject to FAR 52.227-11 – Patent Rights – Ownership by the Contractor (May 2014).
-# SPDX-License-Identifier: MIT
-
-import krpc
-import time
-import gymnasium as gym
-import numpy as np
-
-from types import SimpleNamespace
-from typing import List
-from datetime import datetime
-from threading import Thread
-
-import kspdg.utils.utils as U
-
-_INIT_LOADFILE = "20220516_PursuitEvade_init"
-_MISSION_DONE_DIST_THRESHOLD = 20.0
-
-
-class EvasionEnvV20220705(gym.Env):
-    '''
-     A simple pursuit-evasion orbital scenario
-    
-     Agent controls the evader and pursuer has a scripted policy
-    
-     The pursuit algorithm is very simplistic:
-     the pursuer thrusts in the direction of the evader
-     
-     Objective is to avoid contact with the pursuer
-    '''
-
-    # hard-coded, static parameters for pursuer vehicle
-    # that are accessible yet constant (so shouldn't be
-    # in observation which should really only be variable values)
-    # Need for hard-coding rsc properties comes from the errors in 
-    # krpc's handling of thruster objects. 
-    PARAMS = SimpleNamespace()
-    PARAMS.PURSUER = SimpleNamespace()
-    PARAMS.PURSUER.RCS = SimpleNamespace()
-
-    # Specific impulse assumes all RCS thrusters are identical RV-105
-    # parts operating in vacuum
-    PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE = 240  # [s]
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE = 1000  # [N]
-
-    # Assumed number of thrusters creating thrust in each direction
-    PARAMS.PURSUER.RCS.N_THRUSTERS_FORWARD = 8
-    PARAMS.PURSUER.RCS.N_THRUSTERS_REVERSE = 8
-    PARAMS.PURSUER.RCS.N_THRUSTERS_RIGHT = 4
-    PARAMS.PURSUER.RCS.N_THRUSTERS_LEFT = 4
-    PARAMS.PURSUER.RCS.N_THRUSTERS_UP = 4
-    PARAMS.PURSUER.RCS.N_THRUSTERS_DOWN = 4
-
-    # computed max thrust in each direction [N]
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_FORWARD = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_FORWARD * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_REVERSE = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_REVERSE * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_RIGHT = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_RIGHT * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_LEFT = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_LEFT * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_UP = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_UP * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_DOWN = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_DOWN * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-
-    # computed maximum fuel consumption rate in each direction [kg/s]
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_FORWARD = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_FORWARD / (U._G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_REVERSE = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_REVERSE / (U._G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_RIGHT = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_RIGHT / (U._G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_LEFT = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_LEFT / (U._G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_UP = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_UP / (U._G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_DOWN = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_DOWN / (U._G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-
-    def __init__(self):
-
-        # establish observation space
-        # TODO
-
-        # establish action space (forward, up, right, time)
-        self.action_space = gym.spaces.Box(
-            low=np.array([-1.0, -1.0, -1.0, 0.0]),
-            high=np.array([1.0, 1.0, 1.0, 10.0])
-        )
-
-        # call reset function
-        self.reset()
-
-    def reset(self):
-
-        # remove prior connection and join prior pursuit thread
-        if hasattr(self, 'conn'):
-            self.close()
-
-        # establish krpc connect to send remote commands
-        self.conn = krpc.connect(name='evasion_v20220516')
-        print("Connected to kRPC server")
-
-        # Load save file from start of mission scenario
-        self.conn.space_center.load(_INIT_LOADFILE)
-
-        # get vessel objects
-        self.vesReferee, self.vesEvade, self.vesPursue = self.conn.space_center.vessels[:3]
-
-        # Set the pursuer as the active (i.e. human-controlled) vessel
-        # and target evader
-        self.conn.space_center.active_vessel = self.vesEvade
-        self.conn.space_center.target_vessel = self.vesPursue
-        print("Changing active vehicle...")
-        time.sleep(1)  # give time to re-orient
-
-        # set the evader to stability assist and orient in orbit-normal direction
-        # orient pursuer in target-pointing direction
-
-        self.vesEvade.control.sas = True
-        self.vesPursue.control.sas = True
-        print("Activating stability assist...")
-        time.sleep(0.1)  # give time to re-orient
-        self.vesPursue.control.sas_mode = self.vesPursue.control.sas_mode.normal
-        self.vesEvade.control.sas_mode = self.vesEvade.control.sas_mode.normal
-        print("Re-orienting Pursuer and Evader...")
-        time.sleep(2)  # give time to re-orient
-
-        # actuate RCS thrusters
-        print("Activating reaction control systems...")
-        self.vesEvade.control.rcs = True
-        self.vesPursue.control.rcs = True
-
-        # start process for pursuer maneuvers
-        self.stop_pursue_thread = False
-        self.pursuer_thrust = [0, 0, 0]
-        self.pursue_thread = Thread(target=self.pursue)
-        self.pursue_thread.start()
-
-        # start process for checking episode termination
-        self.is_episode_done = False
-        self.stop_episode_termination_thread = False
-        self.episode_termination_thread = Thread(target=self.check_episode_termination)
-        self.episode_termination_thread.start()
-
-        return self.get_observation()
-
-    def step(self, action):
-        ''' Apply thrust and torque actuation for specified time
-        Args:
-            action : np.ndarray
-                4-tuple of throttle values in 3D and timestep (forward, right, down, tstep)
-
-        Ref: 
-            Actions are in forward, right, down to align with the right-handed version of the
-            Vessel Surface Reference Frame 
-            https://krpc.github.io/krpc/tutorials/reference-frames.html#vessel-surface-reference-frame
-        '''
-
-        # parse and apply action
-        self.vesEvade.control.forward = action[0]
-        self.vesEvade.control.right = action[1]
-        self.vesEvade.control.up = -action[2]
-
-        # execute maneuver for specified time, checking for end
-        # conditions while you do
-        timeout = time.time() + action[3]
-        while True:
-            if self.is_episode_done or time.time() > timeout:
-                break
-
-        # zero out thrusts
-        self.vesEvade.control.forward = 0.0
-        self.vesEvade.control.up = 0.0
-        self.vesEvade.control.right = 0.0
-
-        # get observation
-        obs = self.get_observation()
-
-        # compute reward
-        rew = -self.pursue_evade_relative_distance()
-
-        info = {}
-
-        return obs, rew, self.is_episode_done, info
-
-    def convert_rhntw_to_rhpbody(self, v__rhntw: List[float]) -> List[float]:
-        '''Converts vector in right-handed NTW frame to pursuer vessel right-oriented body frame
-        Args:
-            v__ntw : List[float]
-                3-vector represented in orbital NTW coords
-        
-        Returns
-            v__rhpbody : List[float]
-                3-vector vector represented in pursuer's right-hadded body coords (forward, right, down)
-        
-        Ref:
-            Left-handed vessel body system: 
-                https://krpc.github.io/krpc/tutorials/reference-frames.html#vessel-surface-reference-frame
-            Right-handed NTW system: Vallado, 3rd Edition Sec 3.3.3
-        '''
-
-        # convert right-handed NTW coords to left-handed NTW
-        v__lhntw = U.convert_rhntw_to_lhntw(v__rhntw=v__rhntw)
-
-        # convert left-handed NTW to left-handed vessel body coords
-        # ref: https://krpc.github.io/krpc/python/api/space-center/space-center.html#SpaceCenter.transform_direction
-        # ref: https://krpc.github.io/krpc/tutorials/reference-frames.html#vessel-surface-reference-frame
-        v__lhpbody = list(self.conn.space_center.transform_direction(
-            direction=tuple(v__lhntw),
-            from_=self.vesPursue.orbital_reference_frame,
-            to=self.vesPursue.reference_frame
-        ))
-
-        # convert left-handed body coords (right, forward, down) to right-handed body coords (forward, right, down)
-        v__rhpbody = U.convert_lhbody_to_rhbody(v__lhbody=v__lhpbody)
-
-        return v__rhpbody
-
-    def get_observation(self):
-        ''' return observation of pursuit and evader vessels from referee ref frame
-
-        Returns:
-            obs : list
-                [0] : current vehicle (pursuer) mass [kg]
-                [1] : current vehicle (pursuer) propellant  (mono prop) [kg]
-                [2:5] : pursuer position in reference orbit NTW coords 
-                [5:8] : pursuer velocity in reference orbit NTW coords
-                [8:11] : evader position in reference orbit NTW coords 
-                [11:14] : evader velocity in reference orbit NTW coords
-
-        Ref: 
-            reference orbit coords from krpc are left-handed NTW frame(anti-radial, prograde, orbit-normal)
-            https://krpc.github.io/krpc/tutorials/reference-frames.html#vessel-orbital-reference-frame
-        '''
-
-        rf = self.vesReferee.orbital_reference_frame
-
-        obs = []
-
-        # get pursuer mass properties
-        obs.append(self.vesPursue.mass)
-        obs.append(self.vesPursue.resources.amount('MonoPropellant'))
-
-        # got pursuer and evader position and velocity in 
-        # left-handed NTW frame relative to "referee" satellite
-        p_p_r__lhntw = list(self.vesPursue.position(rf))
-        v_p_r__lhntw = list(self.vesPursue.velocity(rf))
-        p_e_r__lhntw = list(self.vesEvade.position(rf))
-        v_e_r__lhntw = list(self.vesEvade.velocity(rf))
-
-        # convert to right-hand system and add to observation
-        p_p_r__rhntw = U.convert_lhntw_to_rhntw(p_p_r__lhntw)
-        v_p_r__rhntw = U.convert_lhntw_to_rhntw(v_p_r__lhntw)
-        p_e_r__rhntw = U.convert_lhntw_to_rhntw(p_e_r__lhntw)
-        v_e_r__rhntw = U.convert_lhntw_to_rhntw(v_e_r__lhntw)
-
-        # store observation of pursuer and evader position and velocity
-        obs.extend(p_p_r__rhntw)
-        obs.extend(v_p_r__rhntw)
-        obs.extend(p_e_r__rhntw)
-        obs.extend(v_e_r__rhntw)
-
-        return obs
-
-    def pursue_evade_relative_distance(self):
-        '''compute relative distance between pursuer and evader'''
-        p_vesE_vesP__lhpbody = self.vesEvade.position(self.vesPursue.reference_frame)
-        return np.linalg.norm(p_vesE_vesP__lhpbody)
-
-    def check_episode_termination(self) -> bool:
-        '''determine if episode termination conditions are met
-        
-        Returns:
-            bool
-                true if episode termination criteria is met
-        '''
-
-        while not self.stop_episode_termination_thread:
-            # get distance to pursuer
-            d_vesE_vesP = self.pursue_evade_relative_distance()
-            self.is_episode_done = d_vesE_vesP < _MISSION_DONE_DIST_THRESHOLD
-            if self.is_episode_done:
-                print("Evasion Failed!")
-                self.stop_episode_termination_thread = True
-                self.stop_pursue_thread = True
-                self.pursue_thread.join()
-
-    def pursue(self):
-        '''use relative position of evader to thrust towards it
-                Args:
-                    vesE : krpc.Vessel
-                        krpc vessel object for evader
-                    vesP : krpc.Vessel
-                        krpc vessel object for pursuer
-                    vesR : krpc.Vessel
-                        krpc vessel object for referee
-                '''
-        while not self.stop_pursue_thread:
-
-            # get positions of evader and pursuer relative to referee
-            rf = self.vesReferee.orbital_reference_frame
-            p_vesE_vesR__lhntw = self.vesEvade.position(rf)
-            p_vesP_vesR__lhntw = self.vesPursue.position(rf)
-
-            # get position of evader relative to pursuer
-            p_vesE_vesP__lhntw = (p_vesE_vesR__lhntw[0] - p_vesP_vesR__lhntw[0],
-                                  p_vesE_vesR__lhntw[1] - p_vesP_vesR__lhntw[1],
-                                  p_vesE_vesR__lhntw[2] - p_vesP_vesR__lhntw[2])
-
-            # convert lhntw coordinates to lhpbody (centered around pursuer) coordinates
-            p_vesE_vesP__lhpbody = self.conn.space_center.transform_direction(
-                direction=p_vesE_vesP__lhntw, from_=rf, to=self.vesPursue.reference_frame)
-
-            # find the largest component of the distance between evader and pursuer
-            max_axis_parallel_dist = max(abs(p_vesE_vesP__lhpbody[0]),
-                                         abs(p_vesE_vesP__lhpbody[1]),
-                                         abs(p_vesE_vesP__lhpbody[2]))
-
-            # always thrust in direction of evader at maximum speed
-            self.vesPursue.control.right = p_vesE_vesP__lhpbody[0] / max_axis_parallel_dist
-            self.vesPursue.control.forward = p_vesE_vesP__lhpbody[1] / max_axis_parallel_dist
-            self.vesPursue.control.up = -p_vesE_vesP__lhpbody[2] / max_axis_parallel_dist
-
-            # # print thrust values for debugging
-            # if self.vesPursue.control.forward != self.pursuer_thrust[0] or \
-            #         self.vesPursue.control.forward != self.pursuer_thrust[1] or \
-            #         self.vesPursue.control.forward != self.pursuer_thrust[2]:
-            #     print("Changing pursuer thrust to ({forward:.2f}, {right:.2f}, {up:.2f})"
-            #           .format(forward=self.vesPursue.control.forward,
-            #                   right=self.vesPursue.control.right,
-            #                   up=self.vesPursue.control.up))
-            #
-            #     self.pursuer_thrust[0] = self.vesPursue.control.forward
-            #     self.pursuer_thrust[1] = self.vesPursue.control.right
-            #     self.pursuer_thrust[2] = self.vesPursue.control.up
-
-        # Zero out pursuer thrust if target is reached
-        print("Zeroing pursuer thrust...")
-        self.vesPursue.control.forward = 0
-        self.vesPursue.control.right = 0
-        self.vesPursue.control.up = 0
-
-    def close(self):
-
-        # handle evasive maneuvering thread
-        self.stop_pursue_thread = True
-        self.pursue_thread.join()
-
-        # handle episode termination thread
-        self.stop_episode_termination_thread = True
-        self.episode_termination_thread.join()
-
-        # close connection to krpc server
-        self.conn.close()
diff --git a/src/kspdg/pe20220516/evasion_v20220714.py b/src/kspdg/pe20220516/evasion_v20220714.py
deleted file mode 100644
index 7a3b24f..0000000
--- a/src/kspdg/pe20220516/evasion_v20220714.py
+++ /dev/null
@@ -1,410 +0,0 @@
-# Copyright (c) 2024, MASSACHUSETTS INSTITUTE OF TECHNOLOGY
-# Subject to FAR 52.227-11 – Patent Rights – Ownership by the Contractor (May 2014).
-# SPDX-License-Identifier: MIT
-
-import krpc
-import time
-import gymnasium as gym
-import numpy as np
-
-from types import SimpleNamespace
-from typing import List
-from datetime import datetime
-from threading import Thread
-
-import kspdg.utils.utils as U
-
-_INIT_LOADFILE = "20220516_PursuitEvade_init"
-_MISSION_DONE_DIST_THRESHOLD = 20.0
-_PURSUE_SWITCH_THRESHOLD_MOD = 0.66
-_NEGATE_VEL_SWITCH_THRESHOLD = 0.03
-_SWITCH_DELAY = 1
-
-
-class EvasionEnvV20220714(gym.Env):
-    '''
-     A simple pursuit-evasion orbital scenario
-    
-     Agent controls the evader and pursuer has a scripted policy
-    
-     The pursuit algorithm is very simplistic:
-     the pursuer thrusts in the direction of the evader
-     
-     Objective is to avoid contact with the pursuer
-    '''
-
-    # hard-coded, static parameters for pursuer vehicle
-    # that are accessible yet constant (so shouldn't be
-    # in observation which should really only be variable values)
-    # Need for hard-coding rsc properties comes from the errors in 
-    # krpc's handling of thruster objects. 
-    PARAMS = SimpleNamespace()
-    PARAMS.PURSUER = SimpleNamespace()
-    PARAMS.PURSUER.RCS = SimpleNamespace()
-
-    # Specific impulse assumes all RCS thrusters are identical RV-105
-    # parts operating in vacuum
-    PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE = 240  # [s]
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE = 1000  # [N]
-
-    # Assumed number of thrusters creating thrust in each direction
-    PARAMS.PURSUER.RCS.N_THRUSTERS_FORWARD = 8
-    PARAMS.PURSUER.RCS.N_THRUSTERS_REVERSE = 8
-    PARAMS.PURSUER.RCS.N_THRUSTERS_RIGHT = 4
-    PARAMS.PURSUER.RCS.N_THRUSTERS_LEFT = 4
-    PARAMS.PURSUER.RCS.N_THRUSTERS_UP = 4
-    PARAMS.PURSUER.RCS.N_THRUSTERS_DOWN = 4
-
-    # computed max thrust in each direction [N]
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_FORWARD = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_FORWARD * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_REVERSE = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_REVERSE * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_RIGHT = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_RIGHT * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_LEFT = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_LEFT * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_UP = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_UP * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_DOWN = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_DOWN * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-
-    # computed maximum fuel consumption rate in each direction [kg/s]
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_FORWARD = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_FORWARD / (U._G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_REVERSE = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_REVERSE / (U._G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_RIGHT = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_RIGHT / (U._G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_LEFT = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_LEFT / (U._G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_UP = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_UP / (U._G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_DOWN = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_DOWN / (U._G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-
-    def __init__(self):
-
-        # establish observation space
-        # TODO
-
-        # establish action space (forward, up, right, time)
-        self.action_space = gym.spaces.Box(
-            low=np.array([-1.0, -1.0, -1.0, 0.0]),
-            high=np.array([1.0, 1.0, 1.0, 10.0])
-        )
-
-        # call reset function
-        self.reset()
-
-    def reset(self):
-
-        # remove prior connection and join prior pursuit thread
-        if hasattr(self, 'conn'):
-            self.close()
-
-        # establish krpc connect to send remote commands
-        self.conn = krpc.connect(name='evasion_v20220516')
-        print("Connected to kRPC server")
-
-        # Load save file from start of mission scenario
-        self.conn.space_center.load(_INIT_LOADFILE)
-
-        # get vessel objects
-        self.vesReferee, self.vesEvade, self.vesPursue = self.conn.space_center.vessels[:3]
-
-        # Set the pursuer as the active (i.e. human-controlled) vessel
-        # and target evader
-        self.conn.space_center.active_vessel = self.vesEvade
-        self.conn.space_center.target_vessel = self.vesPursue
-        print("Changing active vehicle...")
-        time.sleep(1)  # give time to re-orient
-
-        # set the evader to stability assist and orient in orbit-normal direction
-        # orient pursuer in target-pointing direction
-
-        self.vesEvade.control.sas = True
-        self.vesPursue.control.sas = True
-        print("Activating stability assist...")
-        time.sleep(0.1)  # give time to re-orient
-        self.vesPursue.control.sas_mode = self.vesPursue.control.sas_mode.normal
-        self.vesEvade.control.sas_mode = self.vesEvade.control.sas_mode.normal
-        print("Re-orienting Pursuer and Evader...")
-        time.sleep(2)  # give time to re-orient
-
-        # actuate RCS thrusters
-        print("Activating reaction control systems...")
-        self.vesEvade.control.rcs = True
-        self.vesPursue.control.rcs = True
-
-        # start process for pursuer maneuvers
-        self.stop_pursue_thread = False
-        self.negate_rel_v = False
-        self.pursuer_thrust = [0, 0, 0]
-        self.pursue_thread = Thread(target=self.pursue)
-        self.pursue_thread.start()
-
-        # start process for checking episode termination
-        self.is_episode_done = False
-        self.stop_episode_termination_thread = False
-        self.episode_termination_thread = Thread(target=self.check_episode_termination)
-        self.episode_termination_thread.start()
-
-        return self.get_observation()
-
-    def step(self, action):
-        ''' Apply thrust and torque actuation for specified time
-        Args:
-            action : np.ndarray
-                4-tuple of throttle values in 3D and timestep (forward, right, down, tstep)
-
-        Ref: 
-            Actions are in forward, right, down to align with the right-handed version of the
-            Vessel Surface Reference Frame 
-            https://krpc.github.io/krpc/tutorials/reference-frames.html#vessel-surface-reference-frame
-        '''
-
-        # parse and apply action
-        self.vesEvade.control.forward = action[0]
-        self.vesEvade.control.right = action[1]
-        self.vesEvade.control.up = -action[2]
-
-        # execute maneuver for specified time, checking for end
-        # conditions while you do
-        timeout = time.time() + action[3]
-        while True:
-            if self.is_episode_done or time.time() > timeout:
-                break
-
-        # zero out thrusts
-        self.vesEvade.control.forward = 0.0
-        self.vesEvade.control.up = 0.0
-        self.vesEvade.control.right = 0.0
-
-        # get observation
-        obs = self.get_observation()
-
-        # compute reward
-        rew = -self.pursue_evade_relative_distance()
-
-        info = {}
-
-        return obs, rew, self.is_episode_done, info
-
-    def convert_rhntw_to_rhpbody(self, v__rhntw: List[float]) -> List[float]:
-        '''Converts vector in right-handed NTW frame to pursuer vessel right-oriented body frame
-        Args:
-            v__ntw : List[float]
-                3-vector represented in orbital NTW coords
-        
-        Returns
-            v__rhpbody : List[float]
-                3-vector vector represented in pursuer's right-hadded body coords (forward, right, down)
-        
-        Ref:
-            Left-handed vessel body system: 
-                https://krpc.github.io/krpc/tutorials/reference-frames.html#vessel-surface-reference-frame
-            Right-handed NTW system: Vallado, 3rd Edition Sec 3.3.3
-        '''
-
-        # convert right-handed NTW coords to left-handed NTW
-        v__lhntw = U.convert_rhntw_to_lhntw(v__rhntw=v__rhntw)
-
-        # convert left-handed NTW to left-handed vessel body coords
-        # ref: https://krpc.github.io/krpc/python/api/space-center/space-center.html#SpaceCenter.transform_direction
-        # ref: https://krpc.github.io/krpc/tutorials/reference-frames.html#vessel-surface-reference-frame
-        v__lhpbody = list(self.conn.space_center.transform_direction(
-            direction=tuple(v__lhntw),
-            from_=self.vesPursue.orbital_reference_frame,
-            to=self.vesPursue.reference_frame
-        ))
-
-        # convert left-handed body coords (right, forward, down) to right-handed body coords (forward, right, down)
-        v__rhpbody = U.convert_lhbody_to_rhbody(v__lhbody=v__lhpbody)
-
-        return v__rhpbody
-
-    def get_observation(self):
-        ''' return observation of pursuit and evader vessels from referee ref frame
-
-        Returns:
-            obs : list
-                [0] : current vehicle (pursuer) mass [kg]
-                [1] : current vehicle (pursuer) propellant  (mono prop) [kg]
-                [2:5] : pursuer position in reference orbit NTW coords 
-                [5:8] : pursuer velocity in reference orbit NTW coords
-                [8:11] : evader position in reference orbit NTW coords 
-                [11:14] : evader velocity in reference orbit NTW coords
-
-        Ref: 
-            reference orbit coords from krpc are left-handed NTW frame(anti-radial, prograde, orbit-normal)
-            https://krpc.github.io/krpc/tutorials/reference-frames.html#vessel-orbital-reference-frame
-        '''
-
-        rf = self.vesReferee.orbital_reference_frame
-
-        obs = []
-
-        # get pursuer mass properties
-        obs.append(self.vesPursue.mass)
-        obs.append(self.vesPursue.resources.amount('MonoPropellant'))
-
-        # got pursuer and evader position and velocity in 
-        # left-handed NTW frame relative to "referee" satellite
-        p_p_r__lhntw = list(self.vesPursue.position(rf))
-        v_p_r__lhntw = list(self.vesPursue.velocity(rf))
-        p_e_r__lhntw = list(self.vesEvade.position(rf))
-        v_e_r__lhntw = list(self.vesEvade.velocity(rf))
-
-        # convert to right-hand system and add to observation
-        p_p_r__rhntw = U.convert_lhntw_to_rhntw(p_p_r__lhntw)
-        v_p_r__rhntw = U.convert_lhntw_to_rhntw(v_p_r__lhntw)
-        p_e_r__rhntw = U.convert_lhntw_to_rhntw(p_e_r__lhntw)
-        v_e_r__rhntw = U.convert_lhntw_to_rhntw(v_e_r__lhntw)
-
-        # store observation of pursuer and evader position and velocity
-        obs.extend(p_p_r__rhntw)
-        obs.extend(v_p_r__rhntw)
-        obs.extend(p_e_r__rhntw)
-        obs.extend(v_e_r__rhntw)
-
-        return obs
-
-    def pursue_evade_relative_distance(self):
-        '''compute relative distance between pursuer and evader'''
-        p_vesE_vesP__lhpbody = self.vesEvade.position(self.vesPursue.reference_frame)
-        return np.linalg.norm(p_vesE_vesP__lhpbody)
-
-    def check_episode_termination(self) -> bool:
-        '''determine if episode termination conditions are met
-        
-        Returns:
-            bool
-                true if episode termination criteria is met
-        '''
-
-        while not self.stop_episode_termination_thread:
-            # get distance to pursuer
-            d_vesE_vesP = self.pursue_evade_relative_distance()
-            self.is_episode_done = d_vesE_vesP < _MISSION_DONE_DIST_THRESHOLD
-            if self.is_episode_done:
-                print("Evasion Failed!")
-                self.stop_episode_termination_thread = True
-                self.stop_pursue_thread = True
-                self.pursue_thread.join()
-
-    def pursue(self):
-        '''use relative position of evader to thrust towards it
-                Args:
-                    vesE : krpc.Vessel
-                        krpc vessel object for evader
-                    vesP : krpc.Vessel
-                        krpc vessel object for pursuer
-                '''
-        d_vesE_vesP_switch = self.pursue_evade_relative_distance()
-        d_vesE_vesP_prev = self.pursue_evade_relative_distance()
-        time_switch = time.time()
-
-        while not self.stop_pursue_thread:
-            rf = self.vesReferee.orbital_reference_frame
-            d_vesE_vesP_cur = self.pursue_evade_relative_distance()
-
-            # mode 1: full thrust towards evader
-            if not self.negate_rel_v:
-                # get positions of evader and pursuer relative to referee
-                p_vesE_vesR__lhntw = self.vesEvade.position(rf)
-                p_vesP_vesR__lhntw = self.vesPursue.position(rf)
-
-                # get position of evader relative to pursuer
-                p_vesE_vesP__lhntw = (p_vesE_vesR__lhntw[0] - p_vesP_vesR__lhntw[0],
-                                      p_vesE_vesR__lhntw[1] - p_vesP_vesR__lhntw[1],
-                                      p_vesE_vesR__lhntw[2] - p_vesP_vesR__lhntw[2])
-
-                # convert lhntw coordinates to lhpbody (centered around pursuer) coordinates
-                p_vesE_vesP__lhpbody = self.conn.space_center.transform_direction(
-                    direction=p_vesE_vesP__lhntw, from_=rf, to=self.vesPursue.reference_frame)
-
-                # find the largest component of the distance between evader and pursuer
-                max_dist_comp = max(abs(p_vesE_vesP__lhpbody[0]),
-                                             abs(p_vesE_vesP__lhpbody[1]),
-                                             abs(p_vesE_vesP__lhpbody[2]))
-
-                # always thrust in direction of evader at maximum speed
-                self.vesPursue.control.right = p_vesE_vesP__lhpbody[0] / max_dist_comp
-                self.vesPursue.control.forward = p_vesE_vesP__lhpbody[1] / max_dist_comp
-                self.vesPursue.control.up = -p_vesE_vesP__lhpbody[2] / max_dist_comp
-
-                # switch to equalizing relative velocity if the distance between the evader and pursuer is less than
-                # _PURSUE_SWITCH_THRESHOLD_MOD times the distance at the last switch or the distance is greater than
-                # in the previous iteration and more than a second has passed since the last switch
-                activate_v_eq = d_vesE_vesP_cur <= (d_vesE_vesP_switch * _PURSUE_SWITCH_THRESHOLD_MOD) or \
-                    ((d_vesE_vesP_cur > d_vesE_vesP_prev) and ((time.time() - time_switch) > _SWITCH_DELAY))
-                if activate_v_eq:
-                    self.negate_rel_v = True
-                    print("Equalizing velocities...")
-            # mode 2: negate velocity relative to evader
-            else:
-                # get velocities of evader and pursuer relative to referee
-                v_vesE_vesR__lhntw = self.vesEvade.velocity(rf)
-                v_vesP_vesR__lhntw = self.vesPursue.velocity(rf)
-
-                # get velocity of evader relative to pursuer
-                v_vesE_vesP__lhntw = (v_vesE_vesR__lhntw[0] - v_vesP_vesR__lhntw[0],
-                                      v_vesE_vesR__lhntw[1] - v_vesP_vesR__lhntw[1],
-                                      v_vesE_vesR__lhntw[2] - v_vesP_vesR__lhntw[2])
-
-                # convert lhntw coordinates to lhpbody (centered around pursuer) coordinates
-                v_vesE_vesP__lhpbody = self.conn.space_center.transform_direction(
-                    direction=v_vesE_vesP__lhntw, from_=rf, to=self.vesPursue.reference_frame)
-
-                # find the largest component of the difference in velocity between evader and pursuer
-                max_v_diff_comp = max(abs(v_vesE_vesP__lhpbody[0]),
-                                      abs(v_vesE_vesP__lhpbody[1]),
-                                      abs(v_vesE_vesP__lhpbody[2]))
-
-                # always thrust opposite direction of relative velocity vector maximum speed
-                self.vesPursue.control.right = v_vesE_vesP__lhpbody[0] / max_v_diff_comp
-                self.vesPursue.control.forward = v_vesE_vesP__lhpbody[1] / max_v_diff_comp
-                self.vesPursue.control.up = -v_vesE_vesP__lhpbody[2] / max_v_diff_comp
-
-                # switch to thrusting towards evader if relative velocity between evader and pursuer is near 0
-                v_diff = np.linalg.norm(v_vesE_vesP__lhpbody)
-                # print(v_vesE_vesP__lhpbody)
-                if abs(v_diff) <= _NEGATE_VEL_SWITCH_THRESHOLD:
-                    d_vesE_vesP_switch = d_vesE_vesP_cur
-                    time_switch = time.time()
-                    self.negate_rel_v = False
-                    print("Pursuing target...")
-
-            d_vesE_vesP_prev = d_vesE_vesP_cur
-
-            # # print thrust values for debugging
-            # if self.vesPursue.control.forward != self.pursuer_thrust[0] or \
-            #         self.vesPursue.control.forward != self.pursuer_thrust[1] or \
-            #         self.vesPursue.control.forward != self.pursuer_thrust[2]:
-            #     print("Changing pursuer thrust to ({right:.2f}, {forward:.2f}, {up:.2f})"
-            #           .format(forward=self.vesPursue.control.forward,
-            #                   right=self.vesPursue.control.right,
-            #                   up=self.vesPursue.control.up))
-            #
-            #     self.pursuer_thrust[0] = self.vesPursue.control.forward
-            #     self.pursuer_thrust[1] = self.vesPursue.control.right
-            #     self.pursuer_thrust[2] = self.vesPursue.control.up
-
-        print("Zeroing pursuer thrust...")
-        self.vesPursue.control.forward = 0
-        self.vesPursue.control.right = 0
-        self.vesPursue.control.up = 0
-
-    def close(self):
-
-        # handle evasive maneuvering thread
-        self.stop_pursue_thread = True
-        self.pursue_thread.join()
-
-        # handle episode termination thread
-        self.stop_episode_termination_thread = True
-        self.episode_termination_thread.join()
-
-        # close connection to krpc server
-        self.conn.close()
diff --git a/src/kspdg/pe20220516/pursuit_v20220516.py b/src/kspdg/pe20220516/pursuit_v20220516.py
deleted file mode 100644
index 3666b89..0000000
--- a/src/kspdg/pe20220516/pursuit_v20220516.py
+++ /dev/null
@@ -1,333 +0,0 @@
-# Copyright (c) 2024, MASSACHUSETTS INSTITUTE OF TECHNOLOGY
-# Subject to FAR 52.227-11 – Patent Rights – Ownership by the Contractor (May 2014).
-# SPDX-License-Identifier: MIT
-
-import time
-import gymnasium as gym
-import numpy as np
-
-from types import SimpleNamespace
-from typing import List
-from threading import Thread
-
-import kspdg.utils.constants as C
-import kspdg.utils.utils as U
-
-from kspdg.base_envs import KSPDGBaseEnv
-
-_INIT_LOADFILE = "20220516_PursuitEvade_init"
-_EVADE_DIST_THRESHOLD = 100.0
-_MISSION_DONE_DIST_THRESHOLD = 20.0
-
-class PursuitEnvV20220516(KSPDGBaseEnv):
-    '''
-     A simple pursuit-evasion orbital scenario
-    
-     Agent controls the pursuer and evader has a scripted policy
-    
-     The evasion algorithm is very simplistic:
-     if the pursuer comes within a specified radius, the 
-     evader simply burns orbit-normal direction to evade
-     
-     Objective is to safely grapple/dock with evader without crashing
-    '''
-
-    # hard-coded, static parameters for pursuer vehicle
-    # that are accessible yet constant (so shouldn't be
-    # in observation which should really only be variable values)
-    # Need for hard-coding rsc properties comes from the errors in 
-    # krpc's handling of thruster objects.
-    PARAMS = SimpleNamespace()
-    PARAMS.PURSUER = SimpleNamespace()
-    PARAMS.PURSUER.RCS = SimpleNamespace()
-
-    # Specific impulse assumes all RCS thrusters are identical RV-105
-    # parts operating in vacuum
-    PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE = 240 # [s]
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE = 1000 # [N]
-
-    # Assumed number of thrusters creating thrust in each direction
-    PARAMS.PURSUER.RCS.N_THRUSTERS_FORWARD = 8
-    PARAMS.PURSUER.RCS.N_THRUSTERS_REVERSE = 8
-    PARAMS.PURSUER.RCS.N_THRUSTERS_RIGHT = 4
-    PARAMS.PURSUER.RCS.N_THRUSTERS_LEFT = 4
-    PARAMS.PURSUER.RCS.N_THRUSTERS_UP = 4
-    PARAMS.PURSUER.RCS.N_THRUSTERS_DOWN = 4
-
-    # computed max thrust in each direction [N]
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_FORWARD = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_FORWARD * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_REVERSE = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_REVERSE * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_RIGHT = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_RIGHT * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_LEFT = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_LEFT * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_UP = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_UP * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-    PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_DOWN = \
-        PARAMS.PURSUER.RCS.N_THRUSTERS_DOWN * PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_PER_NOZZLE
-
-    # computed maximum fuel consumption rate in each direction [kg/s]
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_FORWARD = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_FORWARD / (C.G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_REVERSE = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_REVERSE / (C.G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_RIGHT = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_RIGHT / (C.G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_LEFT = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_LEFT / (C.G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_UP = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_UP / (C.G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-    PARAMS.PURSUER.RCS.VACUUM_MAX_FUEL_CONSUMPTION_DOWN = \
-        PARAMS.PURSUER.RCS.VACUUM_MAX_THRUST_DOWN / (C.G0 * PARAMS.PURSUER.RCS.VACUUM_SPECIFIC_IMPULSE)
-
-
-    def __init__(self):
-
-        # establish load file for environment resets
-        self.loadfile = _INIT_LOADFILE
-
-        # establish observation space (see get_observation for mapping)
-        self.observation_space = gym.spaces.Box(
-            low = np.concatenate((np.zeros(2), -np.inf*np.ones(12))),
-            high = np.inf * np.ones(14)
-        )
-
-        # establish action space (forward, right, down, time)
-        self.action_space = gym.spaces.Box(
-            low=np.array([-1.0, -1.0, -1.0, 0.0]), 
-            high=np.array([1.0, 1.0, 1.0, 10.0])
-        )
-        
-        # call reset function
-        self.reset()
-        
-    
-    def _reset_vessels(self) -> None:
-
-        # get vessel objects
-        self.vesReferee, self.vesEvade, self.vesPursue = self.conn.space_center.vessels[:3]
-
-        # Set the pursuer as the the active (i.e. human-controlled) vessel
-        # and target evader
-        self.conn.space_center.active_vessel = self.vesPursue
-        self.conn.space_center.target_vessel = self.vesEvade
-        print("Changing active vehicle...")
-        time.sleep(1)   # give time to re-orient
-
-        # set the evader to stability assist and orient in orbit-normal direction
-        # orient pursuer in target-pointing direction
-
-        self.vesEvade.control.sas = True
-        self.vesPursue.control.sas = True
-        print("Activating stability assist...")
-        time.sleep(0.1)   # give time to re-orient
-        self.vesEvade.control.sas_mode = self.vesEvade.control.sas_mode.normal
-        self.vesPursue.control.sas_mode = self.vesPursue.control.sas_mode.target
-        print("Re-orienting Pursuer and Evader...")
-        time.sleep(2)   # give time to re-orient
-
-        # actuate RCS thrusters
-        print("Activating reaction control systems...")
-        self.vesEvade.control.rcs = True
-        self.vesPursue.control.rcs = True
-
-    def _reset_episode_metrics(self) -> None:
-        pass
-
-    def _start_bot_threads(self) -> None:
-        """ Start parallel thread to execute Evader's evasive maneuvers
-        """
-
-        self.stop_evade_thread = False
-
-        # check that thread does not exist or is not running
-        if hasattr(self, "evade_thread"):
-            if self.evade_thread.is_alive():
-                raise ConnectionError("evade_thread is already running."+ 
-                    " Close and join evade_thread before restarting")
-
-        self.evade_thread = Thread(target=self.evasive_maneuvers)
-        self.evade_thread.start()
-
-    def step(self, action):
-        ''' Apply thrust and torque actuation for speciefied time
-        Args:
-            action : np.ndarray
-                4-tuple of throttle values in 3D and timestep (forward, right, down, tstep)
-
-        Ref: 
-            Actions are in forward, right, down to align with the right-handed version of the
-            Vessel Surface Reference Frame 
-            https://krpc.github.io/krpc/tutorials/reference-frames.html#vessel-surface-reference-frame
-        '''
-
-        # parse and apply action
-        self.vesPursue.control.forward = action[0]
-        self.vesPursue.control.right = action[1]
-        self.vesPursue.control.up = -action[2]
-
-        # execute maneuver for specified time, checking for end
-        # conditions while you do
-        timeout = time.time() + action[3]
-        while True: 
-            if self.is_episode_done or time.time() > timeout:
-                break
-
-        # zero out thrusts
-        self.vesPursue.control.forward = 0.0
-        self.vesPursue.control.up = 0.0
-        self.vesPursue.control.right = 0.0
-
-        # get observation
-        obs = self.get_observation()
-
-        # compute reward
-        rew = -self.pursue_evade_relative_distance()
-
-        info = {}
-
-        return obs, rew, self.is_episode_done, info
-    
-    def get_info(self, observation: List, done: bool):
-        return {}
-
-    def convert_rhntw_to_rhpbody(self, v__rhntw: List[float]) -> List[float]:
-        '''Converts vector in right-handed NTW frame to pursuer vessel right-oriented body frame
-        Args:
-            v__ntw : List[float]
-                3-vector represented in orbital NTW coords
-        
-        Returns
-            v__rhpbody : List[float]
-                3-vector vector represented in pursuer's right-hadded body coords (forward, right, down)
-        
-        Ref:
-            Left-handed vessel body system: 
-                https://krpc.github.io/krpc/tutorials/reference-frames.html#vessel-surface-reference-frame
-            Right-handed NTW system: Vallado, 3rd Edition Sec 3.3.3
-        '''
-
-        # convert right-handed NTW coords to left-handed NTW
-        v__lhntw = U.convert_rhntw_to_lhntw(v__rhntw=v__rhntw)
-
-        # convert left-handed NTW to left-handed vessel body coords
-        # ref: https://krpc.github.io/krpc/python/api/space-center/space-center.html#SpaceCenter.transform_direction
-        # ref: https://krpc.github.io/krpc/tutorials/reference-frames.html#vessel-surface-reference-frame
-        v__lhpbody = list(self.conn.space_center.transform_direction(
-            direction = tuple(v__lhntw),
-            from_ = self.vesPursue.orbital_reference_frame,
-            to = self.vesPursue.reference_frame
-        ))
-
-        # convert left-handed body coords (right, forward, down) to right-handed body coords (forward, right, down)
-        v__rhpbody = U.convert_lhbody_to_rhbody(v__lhbody=v__lhpbody)
-
-        return v__rhpbody
-
-    def get_observation(self):
-        ''' return observation of pursuit and evader vessels from referee ref frame
-
-        Returns:
-            obs : list
-                [0] : current vehicle (pursuer) mass [kg]
-                [1] : current vehicle (pursuer) propellant  (mono prop) [kg]
-                [2:5] : pursuer position in reference orbit right-hand NTW coords 
-                [5:8] : pursuer velocity in reference orbit right-hand NTW coords
-                [8:11] : evader position in reference orbit right-hand NTW coords 
-                [11:14] : evader velocity in reference orbit right-hand NTW coords
-
-        Ref: 
-            reference orbit coords from krpc are left-handed NTW frame(anti-radial, prograde, orbit-normal)
-            https://krpc.github.io/krpc/tutorials/reference-frames.html#vessel-orbital-reference-frame
-        '''
-
-        rf = self.vesReferee.orbital_reference_frame
-
-        obs = []
-
-        # get pursuer mass properties
-        obs.append(self.vesPursue.mass)
-        obs.append(self.vesPursue.resources.amount('MonoPropellant'))
-
-        # got pursuer and evader position and velocity in 
-        # left-handed NTW frame relative to "referee" satellite
-        p_p_r__lhntw = list(self.vesPursue.position(rf))
-        v_p_r__lhntw = list(self.vesPursue.velocity(rf))
-        p_e_r__lhntw = list(self.vesEvade.position(rf))
-        v_e_r__lhntw = list(self.vesEvade.velocity(rf))
-
-        # convert to right-hand system and add to observation
-        p_p_r__rhntw = U.convert_lhntw_to_rhntw(p_p_r__lhntw)
-        v_p_r__rhntw = U.convert_lhntw_to_rhntw(v_p_r__lhntw)
-        p_e_r__rhntw = U.convert_lhntw_to_rhntw(p_e_r__lhntw)
-        v_e_r__rhntw = U.convert_lhntw_to_rhntw(v_e_r__lhntw)
-
-        # store observation of pursuer and evader position and velocity
-        obs.extend(p_p_r__rhntw)
-        obs.extend(v_p_r__rhntw)
-        obs.extend(p_e_r__rhntw)
-        obs.extend(v_e_r__rhntw)
-
-        return obs
-        
-    def pursue_evade_relative_distance(self):
-        '''compute relative distance between pursuer and evader'''
-        p_vesE_vesP__lhpbody = self.vesEvade.position(self.vesPursue.reference_frame)
-        return np.linalg.norm(p_vesE_vesP__lhpbody)
-
-    def enforce_episode_termination(self) -> bool:
-        '''determine if episode termination conditions are met
-        
-        Returns:
-            bool
-                true if episode termination criteria is met
-        '''
-
-        while not self.stop_episode_termination_thread:
-            # get distance to pursuer
-            d_vesE_vesP = self.pursue_evade_relative_distance()
-            self.is_episode_done = d_vesE_vesP < _MISSION_DONE_DIST_THRESHOLD
-            if self.is_episode_done:
-                print("Successful Capture!")
-                self.stop_episode_termination_thread = True
-
-    def evasive_maneuvers(self):
-        '''use relative position of pursuer to execute simple evasive maneuver
-        Args:
-            vesE : krpc.Vessel
-                krpc vessel object for evader
-            vesP : krpc.Vessel
-                krpc vessel object for pursuer
-        '''
-        was_evading = False
-        while not self.stop_evade_thread:
-
-            # get distance to pursuer
-            d_vesE_vesP = self.pursue_evade_relative_distance()
-
-            # if pursuer is too close, evade in orbit-normal direction
-            if d_vesE_vesP < _EVADE_DIST_THRESHOLD:
-                self.vesEvade.control.forward = 1.0
-                if not was_evading:
-                    print("Pursuer detected! Executing evasive maneuvers")
-                was_evading = True
-            else:
-                self.vesEvade.control.forward = 0.0
-                if was_evading:
-                    print("No pursuer in range. Zeroing thrust")
-                was_evading = False
-
-    def close(self):
-
-        # handle evasive maneuvering thread
-        self.stop_evade_thread = True
-        self.evade_thread.join()
-
-        # handle episode termination thread
-        self.stop_episode_termination_thread = True
-        self.episode_termination_thread.join()
-
-        # close connection to krpc server
-        self.conn.close()