diff --git a/docs/build/doctrees/nbsphinx/Examples/multiagent_envs.ipynb b/docs/build/doctrees/nbsphinx/Examples/multiagent_envs.ipynb
index d022bd9c..144e2050 100644
--- a/docs/build/doctrees/nbsphinx/Examples/multiagent_envs.ipynb
+++ b/docs/build/doctrees/nbsphinx/Examples/multiagent_envs.ipynb
@@ -4,24 +4,25 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "# Multi-Agent Environments"
+    "# Multi-Agent Environments\n",
+    "\n",
+    "big change"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": 1,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "True\n"
-     ]
+   "metadata": {
+    "execution": {
+     "iopub.execute_input": "2024-05-29T23:28:21.710130Z",
+     "iopub.status.busy": "2024-05-29T23:28:21.710028Z",
+     "iopub.status.idle": "2024-05-29T23:28:21.714229Z",
+     "shell.execute_reply": "2024-05-29T23:28:21.713932Z"
     }
-   ],
+   },
+   "outputs": [],
    "source": [
-    "if 1 > 0:\n",
+    "if 1 > 3:\n",
     "    print(\"True\")"
    ]
   }
diff --git a/docs/build/doctrees/nbsphinx/Examples/rllib_training.ipynb b/docs/build/doctrees/nbsphinx/Examples/rllib_training.ipynb
index 7c2592bc..1e36c679 100644
--- a/docs/build/doctrees/nbsphinx/Examples/rllib_training.ipynb
+++ b/docs/build/doctrees/nbsphinx/Examples/rllib_training.ipynb
@@ -10,7 +10,14 @@
   {
    "cell_type": "code",
    "execution_count": 1,
-   "metadata": {},
+   "metadata": {
+    "execution": {
+     "iopub.execute_input": "2024-05-29T23:28:22.823987Z",
+     "iopub.status.busy": "2024-05-29T23:28:22.823580Z",
+     "iopub.status.idle": "2024-05-29T23:28:22.831857Z",
+     "shell.execute_reply": "2024-05-29T23:28:22.831451Z"
+    }
+   },
    "outputs": [
     {
      "name": "stdout",
diff --git a/docs/build/doctrees/nbsphinx/Examples/satellite_configuration.ipynb b/docs/build/doctrees/nbsphinx/Examples/satellite_configuration.ipynb
index 875e6d3f..b29326b0 100644
--- a/docs/build/doctrees/nbsphinx/Examples/satellite_configuration.ipynb
+++ b/docs/build/doctrees/nbsphinx/Examples/satellite_configuration.ipynb
@@ -10,7 +10,14 @@
   {
    "cell_type": "code",
    "execution_count": 1,
-   "metadata": {},
+   "metadata": {
+    "execution": {
+     "iopub.execute_input": "2024-05-29T23:28:24.073082Z",
+     "iopub.status.busy": "2024-05-29T23:28:24.072990Z",
+     "iopub.status.idle": "2024-05-29T23:28:24.078640Z",
+     "shell.execute_reply": "2024-05-29T23:28:24.078343Z"
+    }
+   },
    "outputs": [
     {
      "name": "stdout",
diff --git a/docs/build/doctrees/nbsphinx/Examples/simple_environment.ipynb b/docs/build/doctrees/nbsphinx/Examples/simple_environment.ipynb
index 9e5c9d8f..01bd15f1 100644
--- a/docs/build/doctrees/nbsphinx/Examples/simple_environment.ipynb
+++ b/docs/build/doctrees/nbsphinx/Examples/simple_environment.ipynb
@@ -19,10 +19,10 @@
    "execution_count": 1,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2024-05-29T22:28:10.447229Z",
-     "iopub.status.busy": "2024-05-29T22:28:10.446836Z",
-     "iopub.status.idle": "2024-05-29T22:28:11.239280Z",
-     "shell.execute_reply": "2024-05-29T22:28:11.238867Z"
+     "iopub.execute_input": "2024-05-29T23:28:25.149853Z",
+     "iopub.status.busy": "2024-05-29T23:28:25.149716Z",
+     "iopub.status.idle": "2024-05-29T23:28:26.055372Z",
+     "shell.execute_reply": "2024-05-29T23:28:26.055068Z"
     }
    },
    "outputs": [],
@@ -55,10 +55,10 @@
    "execution_count": 2,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2024-05-29T22:28:11.241269Z",
-     "iopub.status.busy": "2024-05-29T22:28:11.241094Z",
-     "iopub.status.idle": "2024-05-29T22:28:11.243274Z",
-     "shell.execute_reply": "2024-05-29T22:28:11.243012Z"
+     "iopub.execute_input": "2024-05-29T23:28:26.057188Z",
+     "iopub.status.busy": "2024-05-29T23:28:26.057046Z",
+     "iopub.status.idle": "2024-05-29T23:28:26.059344Z",
+     "shell.execute_reply": "2024-05-29T23:28:26.059145Z"
     }
    },
    "outputs": [],
@@ -92,10 +92,10 @@
    "execution_count": 3,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2024-05-29T22:28:11.244786Z",
-     "iopub.status.busy": "2024-05-29T22:28:11.244685Z",
-     "iopub.status.idle": "2024-05-29T22:28:11.248606Z",
-     "shell.execute_reply": "2024-05-29T22:28:11.248361Z"
+     "iopub.execute_input": "2024-05-29T23:28:26.060811Z",
+     "iopub.status.busy": "2024-05-29T23:28:26.060644Z",
+     "iopub.status.idle": "2024-05-29T23:28:26.064482Z",
+     "shell.execute_reply": "2024-05-29T23:28:26.064229Z"
     }
    },
    "outputs": [
@@ -172,10 +172,10 @@
    "execution_count": 4,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2024-05-29T22:28:11.265615Z",
-     "iopub.status.busy": "2024-05-29T22:28:11.265500Z",
-     "iopub.status.idle": "2024-05-29T22:28:11.268017Z",
-     "shell.execute_reply": "2024-05-29T22:28:11.267758Z"
+     "iopub.execute_input": "2024-05-29T23:28:26.065720Z",
+     "iopub.status.busy": "2024-05-29T23:28:26.065624Z",
+     "iopub.status.idle": "2024-05-29T23:28:26.067922Z",
+     "shell.execute_reply": "2024-05-29T23:28:26.067660Z"
     }
    },
    "outputs": [],
@@ -201,9 +201,10 @@
    "source": [
     "## Making the Environment\n",
     "For this example, we will be using the single-agent [SatelliteTasking](../api_reference/index.rst) \n",
-    "environment.\n",
-    "\n",
-    "TODO add more"
+    "environment. Along with passing the satellite that we configured, the environment takes\n",
+    "a [scenario](../api_reference/scene/index.rst), which defines the environment the\n",
+    "satellite is acting in, and a [rewarder](../api_reference/data/index.rst), which defines\n",
+    "how data collected from the scenario is rewarded."
    ]
   },
   {
@@ -211,10 +212,10 @@
    "execution_count": 5,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2024-05-29T22:28:11.269572Z",
-     "iopub.status.busy": "2024-05-29T22:28:11.269465Z",
-     "iopub.status.idle": "2024-05-29T22:28:11.373697Z",
-     "shell.execute_reply": "2024-05-29T22:28:11.373377Z"
+     "iopub.execute_input": "2024-05-29T23:28:26.069178Z",
+     "iopub.status.busy": "2024-05-29T23:28:26.069098Z",
+     "iopub.status.idle": "2024-05-29T23:28:26.170419Z",
+     "shell.execute_reply": "2024-05-29T23:28:26.170131Z"
     }
    },
    "outputs": [
@@ -222,28 +223,28 @@
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,270 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[mCalling env.reset() to get observation space\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,069 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[mCalling env.reset() to get observation space\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,270 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[mResetting environment with seed=2345897560\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,070 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[mResetting environment with seed=782898328\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,370 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[mSatellites requiring retasking: ['EO1_11923516688']\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,167 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[mSatellites requiring retasking: ['EO1_4619424416']\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,371 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[mEnvironment reset\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,168 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[mEnvironment reset\u001b[0m\n"
      ]
     }
    ],
@@ -269,10 +270,10 @@
    "execution_count": 6,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2024-05-29T22:28:11.375353Z",
-     "iopub.status.busy": "2024-05-29T22:28:11.375226Z",
-     "iopub.status.idle": "2024-05-29T22:28:11.624402Z",
-     "shell.execute_reply": "2024-05-29T22:28:11.624144Z"
+     "iopub.execute_input": "2024-05-29T23:28:26.171885Z",
+     "iopub.status.busy": "2024-05-29T23:28:26.171763Z",
+     "iopub.status.idle": "2024-05-29T23:28:26.458215Z",
+     "shell.execute_reply": "2024-05-29T23:28:26.457919Z"
     }
    },
    "outputs": [
@@ -280,21 +281,21 @@
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,458 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[mResetting environment with seed=0\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,272 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[mResetting environment with seed=0\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,622 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[mSatellites requiring retasking: ['EO1_11923516688']\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,456 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[mSatellites requiring retasking: ['EO1_4619424416']\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,622 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[mEnvironment reset\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,456 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[mEnvironment reset\u001b[0m\n"
      ]
     }
    ],
@@ -307,10 +308,10 @@
    "execution_count": 7,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2024-05-29T22:28:11.625947Z",
-     "iopub.status.busy": "2024-05-29T22:28:11.625842Z",
-     "iopub.status.idle": "2024-05-29T22:28:11.645303Z",
-     "shell.execute_reply": "2024-05-29T22:28:11.645045Z"
+     "iopub.execute_input": "2024-05-29T23:28:26.459667Z",
+     "iopub.status.busy": "2024-05-29T23:28:26.459562Z",
+     "iopub.status.idle": "2024-05-29T23:28:26.478462Z",
+     "shell.execute_reply": "2024-05-29T23:28:26.478249Z"
     }
    },
    "outputs": [
@@ -318,168 +319,168 @@
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,626 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[93;1m=== STARTING STEP ===\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,460 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[93;1m=== STARTING STEP ===\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,626 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[maction_nadir_scan tasked for 60.0 seconds\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,460 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[maction_nadir_scan tasked for 60.0 seconds\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,627 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[msetting timed terminal event at 60.0\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,460 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[msetting timed terminal event at 60.0\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,627 \u001b[0m\u001b[msim.simulator                  \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[mRunning simulation at most to 600.00 seconds\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,461 \u001b[0m\u001b[msim.simulator                  \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<0.00> \u001b[0m\u001b[mRunning simulation at most to 600.00 seconds\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,631 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[mtimed termination at 60.0 for action_nadir_scan\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,464 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[mtimed termination at 60.0 for action_nadir_scan\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,631 \u001b[0m\u001b[mdata.base                      \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[mData reward: {'EO1_11923516688': 0.0}\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,465 \u001b[0m\u001b[mdata.base                      \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[mData reward: {'EO1_4619424416': 0.0}\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,632 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[mSatellites requiring retasking: ['EO1_11923516688']\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,465 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[mSatellites requiring retasking: ['EO1_4619424416']\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,632 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[mStep reward: 0.0\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,466 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[mStep reward: 0.0\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,632 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[93;1m=== STARTING STEP ===\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,466 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[93;1m=== STARTING STEP ===\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,633 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[maction_nadir_scan tasked for 60.0 seconds\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,466 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[maction_nadir_scan tasked for 60.0 seconds\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,633 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[msetting timed terminal event at 120.0\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,466 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[msetting timed terminal event at 120.0\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,633 \u001b[0m\u001b[msim.simulator                  \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[mRunning simulation at most to 660.00 seconds\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,467 \u001b[0m\u001b[msim.simulator                  \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<60.00> \u001b[0m\u001b[mRunning simulation at most to 660.00 seconds\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,637 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[mtimed termination at 120.0 for action_nadir_scan\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,470 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[mtimed termination at 120.0 for action_nadir_scan\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,637 \u001b[0m\u001b[mdata.base                      \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[mData reward: {'EO1_11923516688': 20.0}\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,470 \u001b[0m\u001b[mdata.base                      \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[mData reward: {'EO1_4619424416': 20.0}\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,638 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[mSatellites requiring retasking: ['EO1_11923516688']\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,471 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[mSatellites requiring retasking: ['EO1_4619424416']\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,638 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[mStep reward: 20.0\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,471 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[mStep reward: 20.0\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,638 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[93;1m=== STARTING STEP ===\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,471 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[93;1m=== STARTING STEP ===\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,638 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[maction_nadir_scan tasked for 60.0 seconds\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,472 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[maction_nadir_scan tasked for 60.0 seconds\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,638 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[msetting timed terminal event at 180.0\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,472 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[msetting timed terminal event at 180.0\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,639 \u001b[0m\u001b[msim.simulator                  \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[mRunning simulation at most to 720.00 seconds\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,472 \u001b[0m\u001b[msim.simulator                  \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<120.00> \u001b[0m\u001b[mRunning simulation at most to 720.00 seconds\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,642 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[mtimed termination at 180.0 for action_nadir_scan\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,476 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[mtimed termination at 180.0 for action_nadir_scan\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,642 \u001b[0m\u001b[mdata.base                      \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[mData reward: {'EO1_11923516688': 60.0}\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,476 \u001b[0m\u001b[mdata.base                      \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[mData reward: {'EO1_4619424416': 60.0}\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,643 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[mSatellites requiring retasking: ['EO1_11923516688']\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,476 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[mSatellites requiring retasking: ['EO1_4619424416']\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,643 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[mStep reward: 60.0\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,477 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[mStep reward: 60.0\u001b[0m\n"
      ]
     },
     {
@@ -503,10 +504,10 @@
    "execution_count": 8,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2024-05-29T22:28:11.646834Z",
-     "iopub.status.busy": "2024-05-29T22:28:11.646727Z",
-     "iopub.status.idle": "2024-05-29T22:28:11.657637Z",
-     "shell.execute_reply": "2024-05-29T22:28:11.657381Z"
+     "iopub.execute_input": "2024-05-29T23:28:26.479891Z",
+     "iopub.status.busy": "2024-05-29T23:28:26.479779Z",
+     "iopub.status.idle": "2024-05-29T23:28:26.489693Z",
+     "shell.execute_reply": "2024-05-29T23:28:26.489492Z"
     }
    },
    "outputs": [
@@ -514,56 +515,56 @@
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,647 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[93;1m=== STARTING STEP ===\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,480 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[93;1m=== STARTING STEP ===\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,647 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[maction_charge tasked for 120.0 seconds\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,480 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[maction_charge tasked for 120.0 seconds\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,647 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[msetting timed terminal event at 300.0\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,480 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[msetting timed terminal event at 300.0\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,647 \u001b[0m\u001b[msim.simulator                  \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[mRunning simulation at most to 780.00 seconds\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,480 \u001b[0m\u001b[msim.simulator                  \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<180.00> \u001b[0m\u001b[mRunning simulation at most to 780.00 seconds\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,655 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<300.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[mtimed termination at 300.0 for action_charge\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,487 \u001b[0m\u001b[36msats.satellite.EO1             \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<300.00> \u001b[0m\u001b[36mEO1: \u001b[0m\u001b[mtimed termination at 300.0 for action_charge\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,655 \u001b[0m\u001b[mdata.base                      \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<300.00> \u001b[0m\u001b[mData reward: {'EO1_11923516688': 0.0}\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,487 \u001b[0m\u001b[mdata.base                      \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<300.00> \u001b[0m\u001b[mData reward: {'EO1_4619424416': 0.0}\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,656 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<300.00> \u001b[0m\u001b[mSatellites requiring retasking: ['EO1_11923516688']\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,488 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<300.00> \u001b[0m\u001b[mSatellites requiring retasking: ['EO1_4619424416']\u001b[0m\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[90;3m2024-05-29 15:28:11,656 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<300.00> \u001b[0m\u001b[mStep reward: 0.0\u001b[0m\n"
+      "\u001b[90;3m2024-05-29 16:28:26,488 \u001b[0m\u001b[mgym                            \u001b[0m\u001b[mINFO       \u001b[0m\u001b[33m<300.00> \u001b[0m\u001b[mStep reward: 0.0\u001b[0m\n"
      ]
     }
    ],
diff --git a/docs/source/conf.py b/docs/source/conf.py
index bbae07dd..32bf22d9 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -12,6 +12,7 @@
 import os
 import re
 import shutil
+import subprocess
 import sys
 from importlib import metadata
 from pathlib import Path
@@ -49,6 +50,7 @@
     "undoc-members": None,
 }
 autodoc_typehints = "both"
+# nbsphinx_execute = "never"  # conf.py executes them and caches them
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
@@ -278,8 +280,18 @@ def run(self, source_dir=None):
                 file,
             )
 
+        nb_cache_dir = Path("../build/doctrees/nbsphinx")  # relative to build
         for notebook in nb_paths:
-            shutil.copy(notebook, self.base_doc_dir / index_path / notebook.name)
+            nb_cache = nb_cache_dir / self.base_doc_dir / index_path / notebook.name
+            if (nb_cache).is_file() and subprocess.check_output(
+                f"nbdiff --sources {notebook} {nb_cache}", shell=True
+            ) == b"":
+                shutil.copy(
+                    nb_cache,
+                    self.base_doc_dir / index_path / notebook.name,
+                )
+            else:
+                shutil.copy(notebook, self.base_doc_dir / index_path / notebook.name)
 
         # Recursively go through all directories in source, documenting what is available.
         for dir_path in sorted(dir_paths):
diff --git a/examples/multiagent_envs.ipynb b/examples/multiagent_envs.ipynb
index d022bd9c..1f30d2da 100644
--- a/examples/multiagent_envs.ipynb
+++ b/examples/multiagent_envs.ipynb
@@ -4,24 +4,18 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "# Multi-Agent Environments"
+    "# Multi-Agent Environments\n",
+    "\n",
+    "big change"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "True\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
-    "if 1 > 0:\n",
+    "if 1 > 3:\n",
     "    print(\"True\")"
    ]
   }
diff --git a/examples/rllib_training.ipynb b/examples/rllib_training.ipynb
index 7c2592bc..4c520dae 100644
--- a/examples/rllib_training.ipynb
+++ b/examples/rllib_training.ipynb
@@ -9,17 +9,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "True\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "if 1 > 0:\n",
     "    print(\"True\")"
diff --git a/examples/satellite_configuration.ipynb b/examples/satellite_configuration.ipynb
index 875e6d3f..ee351626 100644
--- a/examples/satellite_configuration.ipynb
+++ b/examples/satellite_configuration.ipynb
@@ -9,17 +9,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "True\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "if 1 > 0:\n",
     "    print(\"True\")"
diff --git a/examples/simple_environment.ipynb b/examples/simple_environment.ipynb
index e9911fa7..3bbee513 100644
--- a/examples/simple_environment.ipynb
+++ b/examples/simple_environment.ipynb
@@ -117,9 +117,10 @@
    "source": [
     "## Making the Environment\n",
     "For this example, we will be using the single-agent [SatelliteTasking](../api_reference/index.rst) \n",
-    "environment.\n",
-    "\n",
-    "TODO add more"
+    "environment. Along with passing the satellite that we configured, the environment takes\n",
+    "a [scenario](../api_reference/scene/index.rst), which defines the environment the\n",
+    "satellite is acting in, and a [rewarder](../api_reference/data/index.rst), which defines\n",
+    "how data collected from the scenario is rewarded."
    ]
   },
   {
diff --git a/pyproject.toml b/pyproject.toml
index 6f820de3..04f6fc5a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -20,6 +20,7 @@ dependencies = [
     "ipykernel",
     "matplotlib",
     "nbsphinx",
+    "nbdime",
     "numpy",
     "pandas",
     "pettingzoo",