diff --git a/.vscode/settings.json b/.vscode/settings.json
index deed16155..7fa0c1ff8 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -48,8 +48,11 @@
         "Bigl",
         "Bigr",
         "bijective",
+        "Bivariate",
         "bmatrix",
         "boldsymbol",
+        "boxplot",
+        "boxplots",
         "brentq",
         "Bressan",
         "bysource",
@@ -276,6 +279,7 @@
         "savgol",
         "SBMT",
         "scilimits",
+        "scipy",
         "searchsorted",
         "seblm",
         "seealso",
@@ -295,6 +299,7 @@
         "statsmodels",
         "STFT",
         "subintervals",
+        "supremum",
         "suptitle",
         "supxlabel",
         "supylabel",
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6a2503d23..28586a1b7 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -39,7 +39,29 @@ Attention: The newest changes should be on top -->
 ### Fixed
 
 
-## v1.9.0 - 2025-03-24
+## [v1.10.0] - 2025-05-16
+
+### Added
+- ENH: Support for ND arithmetic in Function class. [#810] (https://github.com/RocketPy-Team/RocketPy/pull/810)
+- ENH: allow users to provide custom samplers [#803](https://github.com/RocketPy-Team/RocketPy/pull/803)
+- ENH: Implement Multivariate Rejection Sampling (MRS) [#738] (https://github.com/RocketPy-Team/RocketPy/pull/738) 
+- ENH: Create a rocketpy file to store flight simulations [#800](https://github.com/RocketPy-Team/RocketPy/pull/800)
+- ENH: Support for the RSE file format has been added to the library [#798](https://github.com/RocketPy-Team/RocketPy/pull/798)
+- ENH: Introduce Net Thrust with pressure corrections [#789](https://github.com/RocketPy-Team/RocketPy/pull/789)
+- ENH: Environment object from EnvironmentAnalysis [#813](https://github.com/RocketPy-Team/RocketPy/pull/813)
+
+### Changed
+
+
+### Fixed
+
+- BUG: Unecessary Gyroscope Rotation and Wrong Acceleremoter Rotation [#811](https://github.com/RocketPy-Team/RocketPy/pull/811)
+- BUG: Fix the handling of reference pressure for older rpy files. [#808](https://github.com/RocketPy-Team/RocketPy/pull/808)
+- BUG: Non-overshootable simulations error on time parsing. [#807](https://github.com/RocketPy-Team/RocketPy/pull/807)
+- BUG: Wrong Phi Initialization For nose_to_tail Rockets [#809](https://github.com/RocketPy-Team/RocketPy/pull/809)
+- BUG: Fix StochasticFlight time_overshoot None bug [#805](https://github.com/RocketPy-Team/RocketPy/pull/805)
+
+## [v1.9.0] - 2025-03-24
 
 ### Added
 
diff --git a/data/motors/rse_example/rse_motor_example_file.rse b/data/motors/rse_example/rse_motor_example_file.rse
new file mode 100644
index 000000000..f934b9f2e
--- /dev/null
+++ b/data/motors/rse_example/rse_motor_example_file.rse
@@ -0,0 +1,19 @@
+<engine-database>
+  <engine-list>
+    <engine FDiv="10" FFix="1" FStep="-1." Isp="195.96" Itot="39.78" Type="reloadable" auto-calc-cg="1" auto-calc-mass="1"
+    avgThrust="18.082" burn-time="2.2" cgDiv="10" cgFix="1" cgStep="-1." code="E18" delays="4,8" dia="24." exitDia="0." initWt="57." 
+    len="70." mDiv="10" mFix="1" mStep="-1." massFrac="36.32" mfg="Aerotech" peakThrust="31." propWt="20.7" tDiv="10" tFix="1" 
+    tStep="-1." throatDia="0.">
+      <data>
+        <eng-data cg="35." f="0." m="20.7" t="0."/>
+        <eng-data cg="35." f="31." m="20.3774" t="0.04"/>
+        <eng-data cg="35." f="30." m="14.6638" t="0.4"/>
+        <eng-data cg="35." f="26.7" m="8.7629" t="0.8"/>
+        <eng-data cg="35." f="19.1" m="3.99638" t="1.2"/>
+        <eng-data cg="35." f="8." m="1.17602" t="1.6"/>
+        <eng-data cg="35." f="2.2" m="0.11448" t="2."/>
+        <eng-data cg="35." f="0." m="0." t="2.2"/>
+      </data>
+    </engine>
+  </engine-list>
+</engine-database>
diff --git a/docs/conf.py b/docs/conf.py
index 209a9c810..c76d990da 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -27,7 +27,7 @@
 author = "RocketPy Team"
 
 # The full version, including alpha/beta/rc tags
-release = "1.9.0"
+release = "1.10.0"
 
 
 # -- General configuration ---------------------------------------------------
diff --git a/docs/notebooks/monte_carlo_analysis/monte_carlo_analysis_outputs/mrs.errors.txt b/docs/notebooks/monte_carlo_analysis/monte_carlo_analysis_outputs/mrs.errors.txt
new file mode 100644
index 000000000..e69de29bb
diff --git a/docs/notebooks/monte_carlo_analysis/monte_carlo_analysis_outputs/mrs.inputs.txt b/docs/notebooks/monte_carlo_analysis/monte_carlo_analysis_outputs/mrs.inputs.txt
new file mode 100644
index 000000000..0d68c2376
--- /dev/null
+++ b/docs/notebooks/monte_carlo_analysis/monte_carlo_analysis_outputs/mrs.inputs.txt
@@ -0,0 +1,116 @@
+{"elevation": 113, "gravity": "Function from R1 to R1 : (height (m)) \u2192 (gravity (m/s\u00b2))", "latitude": 39.3897, "longitude": -8.288964, "wind_velocity_x_factor": 1.0, "wind_velocity_y_factor": 1.0, "datum": "SIRGAS2000", "timezone": "UTC", "ensemble_member": 6, "radius": 0.06350803185536065, "mass": 15.321391102645253, "I_11_without_motor": 6.321, "I_22_without_motor": 6.318074651079169, "I_33_without_motor": 0.02231558279750141, "I_12_without_motor": 0, "I_13_without_motor": 0, "I_23_without_motor": 0, "power_off_drag": "Function from R1 to R1 : (Mach Number) \u2192 (Drag Coefficient with Power Off)", "power_on_drag": "Function from R1 to R1 : (Mach Number) \u2192 (Drag Coefficient with Power On)", "power_off_drag_factor": 1.0, "power_on_drag_factor": 1.0, "center_of_mass_without_motor": 0.0, "coordinate_system_orientation": "tail_to_nose", "parachutes": [{"cd_s": 9.796421153818757, "trigger": 800, "sampling_rate": 105, "lag": 1.2889273678634483, "noise": [0, 8.3, 0.5], "name": "Main"}, {"cd_s": 0.9394597068963542, "trigger": "apogee", "sampling_rate": 105, "lag": 1.4863408840421357, "noise": [0, 8.3, 0.5], "name": "Drogue"}], "motors": [{"thrust_source": [[0, 0], [0.055, 100.0], [0.092, 1500.0], [0.1, 2000.0], [0.15, 2200.0], [0.2, 1800.0], [0.5, 1950.0], [1.0, 2034.0], [1.5, 2000.0], [2.0, 1900.0], [2.5, 1760.0], [2.9, 1700.0], [3.0, 1650.0], [3.3, 530.0], [3.4, 350.0], [3.9, 0.0]], "total_impulse": 5051.334409023799, "burn_start_time": 0, "burn_out_time": 3.9, "dry_mass": 1.815, "dry_I_11": 0.125, "dry_I_22": 0.125, "dry_I_33": 0.002, "dry_I_12": 0, "dry_I_13": 0, "dry_I_23": 0, "nozzle_radius": 0.032456100097439426, "grain_number": 5, "grain_density": 1791.4919156464077, "grain_outer_radius": 0.03336766084887191, "grain_initial_inner_radius": 0.015859570445466348, "grain_initial_height": 0.11833708900926163, "grain_separation": 0.005520442830446927, "grains_center_of_mass_position": 0.39720688235605084, "center_of_dry_mass_position": 0.317, "nozzle_position": 0.00044613640497872, "throat_radius": 0.010531081211607219, "interpolate": "linear", "coordinate_system_orientation": "nozzle_to_combustion_chamber", "position": -1.255876687441445}], "aerodynamic_surfaces": [{"length": 0.5575481869662148, "kind": "vonKarman", "base_radius": 0.0635, "bluffness": 0, "rocket_radius": 0.0635, "name": "Nose Cone", "position": [0, 0, 1.133894177473017]}, {"n": 4, "root_chord": 0.11988155918352632, "tip_chord": 0.05955433102562337, "span": 0.11002328692729561, "rocket_radius": 0.0635, "cant_angle": 0.5, "sweep_length": 0.06, "sweep_angle": null, "airfoil": ["../../../data/airfoils/NACA0012-radians.txt", "radians"], "name": "Fins", "position": [0, 0, -1.049681091705158]}, {"top_radius": 0.06350056929758974, "bottom_radius": 0.0431795835697226, "length": 0.061288317308863575, "rocket_radius": 0.0635, "name": "Tail", "position": [0, 0, [0, 0, -1.194656]]}], "rail_buttons": [{"buttons_distance": 0.7011692212916728, "angular_position": 45, "name": "Rail Buttons", "lower_button_position": -0.6163152348259862, "upper_button_position": 0.08485398646568665}], "rail_length": 5, "inclination": 84.47045493851068, "heading": 53.19885912092882}
+{"elevation": 113, "gravity": "Function from R1 to R1 : (height (m)) \u2192 (gravity (m/s\u00b2))", "latitude": 39.3897, "longitude": -8.288964, "wind_velocity_x_factor": 1.0, "wind_velocity_y_factor": 1.0, "datum": "SIRGAS2000", "timezone": "UTC", "ensemble_member": 4, "radius": 0.0634923426395744, "mass": 15.186541205570112, "I_11_without_motor": 6.321, "I_22_without_motor": 6.32969439703265, "I_33_without_motor": 0.031044527733126107, "I_12_without_motor": 0, "I_13_without_motor": 0, "I_23_without_motor": 0, "power_off_drag": "Function from R1 to R1 : (Mach Number) \u2192 (Drag Coefficient with Power Off)", "power_on_drag": "Function from R1 to R1 : (Mach Number) \u2192 (Drag Coefficient with Power On)", "power_off_drag_factor": 1.0, "power_on_drag_factor": 1.0, "center_of_mass_without_motor": 0.0, "coordinate_system_orientation": "tail_to_nose", "parachutes": [{"cd_s": 10.101304635322004, "trigger": 800, "sampling_rate": 105, "lag": 1.449152162843732, "noise": [0, 8.3, 0.5], "name": "Main"}, {"cd_s": 1.0863326011878054, "trigger": "apogee", "sampling_rate": 105, "lag": 1.5807386414953863, "noise": [0, 8.3, 0.5], "name": "Drogue"}], "motors": [{"thrust_source": [[0, 0], [0.055, 100.0], [0.092, 1500.0], [0.1, 2000.0], [0.15, 2200.0], [0.2, 1800.0], [0.5, 1950.0], [1.0, 2034.0], [1.5, 2000.0], [2.0, 1900.0], [2.5, 1760.0], [2.9, 1700.0], [3.0, 1650.0], [3.3, 530.0], [3.4, 350.0], [3.9, 0.0]], "total_impulse": 6334.120250525818, "burn_start_time": 0, "burn_out_time": 3.9, "dry_mass": 1.815, "dry_I_11": 0.125, "dry_I_22": 0.125, "dry_I_33": 0.002, "dry_I_12": 0, "dry_I_13": 0, "dry_I_23": 0, "nozzle_radius": 0.03348962524847486, "grain_number": 5, "grain_density": 1767.1073179570512, "grain_outer_radius": 0.032394751101825256, "grain_initial_inner_radius": 0.01504361534472906, "grain_initial_height": 0.12012668656538848, "grain_separation": 0.00515318449366391, "grains_center_of_mass_position": 0.39673404428016396, "center_of_dry_mass_position": 0.317, "nozzle_position": 0.0016859023790911862, "throat_radius": 0.011074908888687778, "interpolate": "linear", "coordinate_system_orientation": "nozzle_to_combustion_chamber", "position": -1.254658376991242}], "aerodynamic_surfaces": [{"length": 0.5578223347296872, "kind": "vonKarman", "base_radius": 0.0635, "bluffness": 0, "rocket_radius": 0.0635, "name": "Nose Cone", "position": [0, 0, 1.1350307518657035]}, {"n": 4, "root_chord": 0.1203679293308533, "tip_chord": 0.059800875760536006, "span": 0.1091254204553351, "rocket_radius": 0.0635, "cant_angle": 0.5, "sweep_length": 0.06, "sweep_angle": null, "airfoil": ["../../../data/airfoils/NACA0012-radians.txt", "radians"], "name": "Fins", "position": [0, 0, -1.0488985452032389]}, {"top_radius": 0.06453827868465159, "bottom_radius": 0.0431198447535788, "length": 0.05964898322815028, "rocket_radius": 0.0635, "name": "Tail", "position": [0, 0, [0, 0, -1.194656]]}], "rail_buttons": [{"buttons_distance": 0.7012333719890909, "angular_position": 45, "name": "Rail Buttons", "lower_button_position": -0.6173871081166957, "upper_button_position": 0.08384626387239513}], "rail_length": 5, "inclination": 85.13902756092337, "heading": 52.08505981979775}
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diff --git a/docs/notebooks/monte_carlo_analysis/monte_carlo_analysis_outputs/mrs.outputs.txt b/docs/notebooks/monte_carlo_analysis/monte_carlo_analysis_outputs/mrs.outputs.txt
new file mode 100644
index 000000000..d299b6c68
--- /dev/null
+++ b/docs/notebooks/monte_carlo_analysis/monte_carlo_analysis_outputs/mrs.outputs.txt
@@ -0,0 +1,116 @@
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+{"apogee": 2038.232822006892, "frontal_surface_wind": -3.518942208238076, "apogee_y": 653.4773956688691, "lateral_surface_wind": -4.7184289047989205, "t_final": 234.04198139432364, "out_of_rail_velocity": 21.395978653746337, "initial_stability_margin": 2.5974872559023465, "out_of_rail_time": 0.4170688672216163, "y_impact": -792.1437009940422, "apogee_x": 256.48475189800723, "impact_velocity": -5.272409630249596, "max_mach_number": 0.6053200795814591, "x_impact": 145.7504936268748, "out_of_rail_stability_margin": 2.6834534434988973, "apogee_time": 20.53036215576582}
+{"apogee": 2004.1759361243974, "frontal_surface_wind": -4.598614889643675, "apogee_y": 766.4146526122627, "lateral_surface_wind": -5.648264872301437, "t_final": 228.10673553621373, "out_of_rail_velocity": 21.420056310920607, "initial_stability_margin": 2.6750748079769506, "out_of_rail_time": 0.4164701298009173, "y_impact": -979.5513569742493, "apogee_x": 327.51192584228306, "impact_velocity": -5.269417346199548, "max_mach_number": 0.6084108521236261, "x_impact": 229.9281584756828, "out_of_rail_stability_margin": 2.761931425056001, "apogee_time": 20.324653422718992}
+{"apogee": 2986.7143578265077, "frontal_surface_wind": -3.8623541989498578, "apogee_y": 714.5165001187027, "lateral_surface_wind": -5.082812142364545, "t_final": 290.0132182906828, "out_of_rail_velocity": 24.747527166310228, "initial_stability_margin": 2.5683261868585516, "out_of_rail_time": 0.3691044052253446, "y_impact": -1708.0792258414483, "apogee_x": 268.6673432795286, "impact_velocity": -5.129642037255641, "max_mach_number": 0.7999094808186158, "x_impact": 69.22777174581883, "out_of_rail_stability_margin": 2.643846215880008, "apogee_time": 24.15198991375388}
+{"apogee": 2937.3249550929563, "frontal_surface_wind": -4.275748574242886, "apogee_y": 803.3298894722698, "lateral_surface_wind": -4.992061451267228, "t_final": 300.46724144983125, "out_of_rail_velocity": 24.815877905768566, "initial_stability_margin": 2.5791803970041554, "out_of_rail_time": 0.36821693347761986, "y_impact": -2170.858784517776, "apogee_x": 429.7589058546031, "impact_velocity": -5.024386919930757, "max_mach_number": 0.8063328653054785, "x_impact": 322.9612393860442, "out_of_rail_stability_margin": 2.6571786342719514, "apogee_time": 23.859062802041187}
+{"apogee": 3996.9115249905276, "frontal_surface_wind": -3.7835828616212375, "apogee_y": 959.0151271232098, "lateral_surface_wind": -5.280518240233337, "t_final": 360.8638859636712, "out_of_rail_velocity": 29.023995426731023, "initial_stability_margin": 2.515485647984805, "out_of_rail_time": 0.3251211809426393, "y_impact": -2896.402672802543, "apogee_x": 467.9078637886909, "impact_velocity": -5.082453302124562, "max_mach_number": 1.0533945930329471, "x_impact": 316.90324183202944, "out_of_rail_stability_margin": 2.581325284010274, "apogee_time": 27.06275768916107}
+{"apogee": 3264.8564967002135, "frontal_surface_wind": -3.8810778817659237, "apogee_y": 965.4159411991188, "lateral_surface_wind": -6.72227861543539, "t_final": 307.0030451743203, "out_of_rail_velocity": 25.99596396029284, "initial_stability_margin": 2.6679205317439965, "out_of_rail_time": 0.35489892728200173, "y_impact": -2233.5224936504483, "apogee_x": 342.6420557007235, "impact_velocity": -5.0536322930466415, "max_mach_number": 0.8776095475993376, "x_impact": 543.254833778517, "out_of_rail_stability_margin": 2.7420404711926567, "apogee_time": 24.927219754664154}
+{"apogee": 3797.5685972755605, "frontal_surface_wind": -4.271281822636469, "apogee_y": 847.03730135533, "lateral_surface_wind": -4.995883805192391, "t_final": 332.6286050088647, "out_of_rail_velocity": 27.89720179659139, "initial_stability_margin": 2.510851371297206, "out_of_rail_time": 0.33523312132374716, "y_impact": -2655.046217522149, "apogee_x": 446.4895818474621, "impact_velocity": -5.043918650427335, "max_mach_number": 0.9951307131929221, "x_impact": 503.23943346387705, "out_of_rail_stability_margin": 2.583526365506102, "apogee_time": 26.54502604807747}
+{"apogee": 3931.8125014034595, "frontal_surface_wind": -4.338701763270172, "apogee_y": 995.9132686955533, "lateral_surface_wind": -5.401698254601444, "t_final": 342.1561385206134, "out_of_rail_velocity": 29.035956116422845, "initial_stability_margin": 2.4389750050322876, "out_of_rail_time": 0.32484117963911396, "y_impact": -2406.75427808376, "apogee_x": 575.337097612752, "impact_velocity": -4.987091825094103, "max_mach_number": 1.0612884839917596, "x_impact": 311.2096058484707, "out_of_rail_stability_margin": 2.51075512259, "apogee_time": 26.748632732169362}
+{"apogee": 3775.519117764259, "frontal_surface_wind": -4.2673310011136385, "apogee_y": 1012.1630087253565, "lateral_surface_wind": -4.686739641551506, "t_final": 329.76719462826645, "out_of_rail_velocity": 27.813068853184667, "initial_stability_margin": 2.6358526092723222, "out_of_rail_time": 0.3367177328106602, "y_impact": -2076.0543308050433, "apogee_x": 562.7430471902774, "impact_velocity": -5.1926133757981106, "max_mach_number": 0.984126098366045, "x_impact": 357.85582522464983, "out_of_rail_stability_margin": 2.701924050490265, "apogee_time": 26.554336876622784}
+{"apogee": 3680.2721850439743, "frontal_surface_wind": -3.677153100121104, "apogee_y": 880.8014996972406, "lateral_surface_wind": -5.355176676306832, "t_final": 327.6849456765257, "out_of_rail_velocity": 27.310385026108975, "initial_stability_margin": 2.6119715923106637, "out_of_rail_time": 0.34100761441326133, "y_impact": -2450.0143097047876, "apogee_x": 365.0274800258772, "impact_velocity": -5.204034122601761, "max_mach_number": 0.9585733084753566, "x_impact": 185.89141022126375, "out_of_rail_stability_margin": 2.68215369298615, "apogee_time": 26.275019429687855}
+{"apogee": 3431.650190011215, "frontal_surface_wind": -4.396499582018061, "apogee_y": 956.7441573583344, "lateral_surface_wind": -4.270194469349204, "t_final": 307.2456083272591, "out_of_rail_velocity": 26.318793569073883, "initial_stability_margin": 2.510923089103543, "out_of_rail_time": 0.35106022759252603, "y_impact": -1637.1021653899293, "apogee_x": 617.2623183698954, "impact_velocity": -5.296386806224455, "max_mach_number": 0.9002908675623732, "x_impact": 151.79827164553308, "out_of_rail_stability_margin": 2.584114299407272, "apogee_time": 25.58263955885719}
+{"apogee": 4048.414976487407, "frontal_surface_wind": -4.345265988631907, "apogee_y": 980.7802377662935, "lateral_surface_wind": -5.396419230601599, "t_final": 336.8046289600785, "out_of_rail_velocity": 28.896917789586105, "initial_stability_margin": 2.5787340512638015, "out_of_rail_time": 0.3260160774314721, "y_impact": -2409.6210051643197, "apogee_x": 513.199760638137, "impact_velocity": -5.244512661768816, "max_mach_number": 1.0513832163562005, "x_impact": 267.6088382839362, "out_of_rail_stability_margin": 2.6450942821085452, "apogee_time": 27.337191733480473}
+{"apogee": 3966.969352562571, "frontal_surface_wind": -4.158367086202538, "apogee_y": 924.5121992216217, "lateral_surface_wind": -4.843918200397008, "t_final": 339.20911020669985, "out_of_rail_velocity": 28.560796443914143, "initial_stability_margin": 2.6601006872937387, "out_of_rail_time": 0.3289462786117325, "y_impact": -2415.254283439537, "apogee_x": 516.122510910166, "impact_velocity": -5.2539984713720935, "max_mach_number": 1.0308784546640217, "x_impact": 375.91530427578294, "out_of_rail_stability_margin": 2.7279871054629226, "apogee_time": 27.070775305932848}
diff --git a/docs/reference/classes/MultivariateRejectionSampler.rst b/docs/reference/classes/MultivariateRejectionSampler.rst
new file mode 100644
index 000000000..8f70b8a2d
--- /dev/null
+++ b/docs/reference/classes/MultivariateRejectionSampler.rst
@@ -0,0 +1,5 @@
+MultivariateRejectionSampler Class
+----------------------------------
+
+.. autoclass:: rocketpy.MultivariateRejectionSampler
+   :members:
diff --git a/docs/reference/classes/monte_carlo/stochastic_models/custom_sampler.rst b/docs/reference/classes/monte_carlo/stochastic_models/custom_sampler.rst
new file mode 100644
index 000000000..54e612c3d
--- /dev/null
+++ b/docs/reference/classes/monte_carlo/stochastic_models/custom_sampler.rst
@@ -0,0 +1,5 @@
+Custom Sampler
+---------------------------
+
+.. autoclass:: rocketpy.stochastic.CustomSampler
+    :members:
\ No newline at end of file
diff --git a/docs/reference/classes/monte_carlo/stochastic_models/index.rst b/docs/reference/classes/monte_carlo/stochastic_models/index.rst
index 7bf705347..ca8b2b1e2 100644
--- a/docs/reference/classes/monte_carlo/stochastic_models/index.rst
+++ b/docs/reference/classes/monte_carlo/stochastic_models/index.rst
@@ -24,3 +24,4 @@ input parameters, enabling robust Monte Carlo simulations.
    stochastic_rocket
    stochastic_parachute
    stochastic_flight
+   custom_sampler
diff --git a/docs/reference/index.rst b/docs/reference/index.rst
index c0868c0c5..de3b36ac8 100644
--- a/docs/reference/index.rst
+++ b/docs/reference/index.rst
@@ -20,6 +20,7 @@ This reference manual details functions, modules, methods and attributes include
    classes/EnvironmentAnalysis
    Monte Carlo Analysis <classes/monte_carlo/index> 
    Sensitivity Analysis <classes/Sensitivity>
+   Multivariate Rejection Sampler <classes/MultivariateRejectionSampler>
 
 .. toctree::
    :maxdepth: 2
diff --git a/docs/user/custom_sampler.rst b/docs/user/custom_sampler.rst
new file mode 100644
index 000000000..8994c9573
--- /dev/null
+++ b/docs/user/custom_sampler.rst
@@ -0,0 +1,354 @@
+.. _custom_sampler:
+
+Implementing custom sampler for Stochastic objects
+==================================================
+
+The :ref:`stochastic_usage` documentation teaches how to work with stochastic
+objects, discussing the standard initializations, how to create objects and interpret
+outputs. Our goal here is to show how to build a custom sampler that gives complete 
+control of the distributions used.
+
+Custom Sampler
+--------------
+
+Rocketpy provides a ``CustomSampler`` abstract class which works as the backbone of 
+a custom sampler. We begin by first importing it and some other useful modules
+
+.. jupyter-execute::
+
+    from rocketpy import CustomSampler
+    from matplotlib import pyplot as plt
+    import numpy as np
+
+In order to use it, we must create a new class that inherits from 
+it and it **must** implement two methods: *sample* and *reset_seed*. The *sample* 
+method has one argument, *n_samples*, and must return a list with *n_samples* 
+entries, each of which is a sample of the desired variable. The *reset_seed* method 
+has one argument, *seed*, which is used to reset the pseudorandom generators in order 
+to avoid unwanted dependency across samples. This is especially important when the 
+``MonteCarlo`` class is used in parallel mode. 
+
+Below, we give an example of how to implement a mixture of two Gaussian 
+distributions. 
+
+.. jupyter-execute::
+
+    class TwoGaussianMixture(CustomSampler):
+        """Class to sample from a mixture of two Gaussian distributions
+        """
+
+        def __init__(self, means_tuple, sd_tuple, prob_tuple, seed = None):
+            """ Creates a sampler for a mixture of two Gaussian distributions
+
+            Parameters
+            ----------
+            means_tuple : 2-tuple
+                2-Tuple that contains the mean of each normal distribution of the
+                mixture
+            sd_tuple : 2-tuple
+                2-Tuple that contains the sd of each normal distribution of the
+                mixture
+            prob_tuple : 2-tuple
+                2-Tuple that contains the probability of each normal distribution 
+                of the mixture. Its entries should be non-negative and sum up to 1.
+            """
+            np.random.default_rng(seed)
+            self.means_tuple = means_tuple
+            self.sd_tuple = sd_tuple
+            self.prob_tuple = prob_tuple
+
+        def sample(self, n_samples = 1):
+            """Samples from a mixture of two Gaussian
+
+            Parameters
+            ----------
+            n_samples : int, optional
+                Number of samples, by default 1
+
+            Returns
+            -------
+            samples_list
+                List containing n_samples samples
+            """
+            samples_list = [0] * n_samples
+            mixture_id_list = np.random.binomial(1, self.prob_tuple[0], n_samples)
+            for i, mixture_id in enumerate(mixture_id_list):
+                if mixture_id:
+                    samples_list[i] = np.random.normal(self.means_tuple[0], self.sd_tuple[0])
+                else:
+                    samples_list[i] = np.random.normal(self.means_tuple[1], self.sd_tuple[1])
+
+            return samples_list
+
+        def reset_seed(self, seed=None):
+            """Resets all associated random number generators
+
+            Parameters
+            ----------
+            seed : int, optional
+                Seed for the random number generator.
+            """
+            np.random.default_rng(seed)
+
+This is an example of a distribution that is not implemented in numpy. Note that it is
+a general distribution, so we can use it for many different variables.
+
+.. note::
+    You can check more information about the mixture of Gaussian distributions 
+    `here <https://en.wikipedia.org/wiki/Mixture_model#Gaussian_mixture_model>`. 
+    Intuitively, if you think of a single Gaussian as a bell curve distribution, 
+    the mixture distribution resembles two bell curves superimposed, each with mode at their
+    respective mean.
+
+Example: Gaussian Mixture for Total Impulse
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+In order to use the new created sampler in a stochastic object, we first need
+to build an object. In this example, we will consider a case where the distribution of
+the total impulse is a mixture of two gaussian with mean parameters 
+:math:`(6000, 7000)`, standard deviations :math:`(300, 100)` and mixture probabilities
+:math:`(0.7, 0.3)`.
+
+.. jupyter-execute::
+
+    means_tuple = (6000, 7000)
+    sd_tuple = (300, 100)
+    prob_tuple = (0.7, 0.3)
+    total_impulse_sampler = TwoGaussianMixture(means_tuple, sd_tuple, prob_tuple)
+
+Finally, we can create ``StochasticSolidMotor`` object as we did in the example of
+:ref:`stochastic_usage`, but we pass the sampler object instead for the *total_impulse*
+argument
+
+.. jupyter-execute::
+
+    from rocketpy import SolidMotor, StochasticSolidMotor
+
+    motor = SolidMotor(
+        thrust_source="../data/motors/cesaroni/Cesaroni_M1670.eng",
+        dry_mass=1.815,
+        dry_inertia=(0.125, 0.125, 0.002),
+        nozzle_radius=33 / 1000,
+        grain_number=5,
+        grain_density=1815,
+        grain_outer_radius=33 / 1000,
+        grain_initial_inner_radius=15 / 1000,
+        grain_initial_height=120 / 1000,
+        grain_separation=5 / 1000,
+        grains_center_of_mass_position=0.397,
+        center_of_dry_mass_position=0.317,
+        nozzle_position=0,
+        burn_time=3.9,
+        throat_radius=11 / 1000,
+        coordinate_system_orientation="nozzle_to_combustion_chamber",
+    )
+
+    stochastic_motor = StochasticSolidMotor(
+        solid_motor=motor,
+        burn_start_time=(0, 0.1, "binomial"),
+        grains_center_of_mass_position=0.001,
+        grain_density=10,
+        grain_separation=1 / 1000,
+        grain_initial_height=1 / 1000,
+        grain_initial_inner_radius=0.375 / 1000,
+        grain_outer_radius=0.375 / 1000,
+        throat_radius=0.5 / 1000,
+        nozzle_radius=0.5 / 1000,
+        nozzle_position=0.001,
+        total_impulse=total_impulse_sampler, # total impulse using custom sampler! 
+    )
+
+    stochastic_motor.visualize_attributes()
+
+Let's generate some random motors and check the distribution of the total impulse
+
+.. jupyter-execute::
+
+    total_impulse_samples = [
+        stochastic_motor.create_object().total_impulse for _ in range(200)
+    ]
+    plt.hist(total_impulse_samples, density = True, bins = 30)
+
+Introducing dependency between parameters
+-----------------------------------------
+
+Although probabilistic **independency between samples**, i.e. different flight runs, 
+is desired for Monte Carlo simulations, it is often important to be able to introduce 
+**dependency between parameters**. A clear example of this is wind speed: if we know
+the wind speed in the x-axis, then our forecast model might tells us that the wind 
+speed y-axis is more likely to be positive than negative, or vice-versa. These 
+parameters are then correlated, and using samplers that model these correlations make
+the Monte Carlo analysis more robust. 
+
+When we use the default numpy samplers, the Monte Carlo analysis samples the 
+parameters independently from each other. However, using custom samplers, we can
+introduce dependency and correlation! It might be a bit tricky, but we will show how
+it can be done. First, let us import the modules required
+
+.. jupyter-execute::
+
+    from rocketpy import Environment, StochasticEnvironment
+    from datetime import datetime, timedelta
+
+Assume we want to model the x and y axis wind speed as a Bivariate Gaussian with
+parameters :math:`\mu = (1, 1)` and variance-covariance matrix 
+:math:`\Sigma = \begin{bmatrix} 0.2 & 0.17 \\ 0.17 & 0.3 \end{bmatrix}`. This will 
+make the correlation between the speeds be of :math:`0.7`. 
+
+Now, in order to correlate the parameters using different custom samplers, 
+**the key trick is to create a common generator that will be used by both.** The code 
+below implements an example of such a generator
+
+.. jupyter-execute::
+
+    class BivariateGaussianGenerator:
+        """Bivariate Gaussian generator used across custom samplers
+        """
+        def __init__(self, mean, cov, seed = None):
+            """Initializes the generator
+
+            Parameters
+            ----------
+            mean : tuple, list
+                Tuple or list with mean of bivariate Gaussian
+            cov : np.array
+                Variance-Covariance matrix
+            seed : int, optional
+                Number to seed random generator, by default None
+            """
+            np.random.default_rng(seed)
+            self.samples_list = []
+            self.samples_generated = 0
+            self.used_samples_x = 0
+            self.used_samples_y = 0
+            self.mean = mean
+            self.cov = cov
+            self.generate_samples(1000)
+
+        def generate_samples(self, n_samples = 1):
+            """Generate samples from bivariate Gaussian and append to sample list
+
+            Parameters
+            ----------
+            n_samples : int, optional
+                Number of samples to be generated, by default 1
+            """
+            samples_generated = np.random.multivariate_normal(self.mean, self.cov, n_samples)
+            self.samples_generated += n_samples
+            self.samples_list += list(samples_generated)
+
+        def reset_seed(self, seed=None):
+            np.random.default_rng(seed)
+
+        def get_samples(self, n_samples, axis):
+            if axis == "x":
+                if self.samples_generated < self.used_samples_x:
+                    self.generate_samples(n_samples)
+                samples_list = [
+                    sample[0] for sample in self.samples_list[self.used_samples_x:(self.used_samples_x + n_samples)]
+                ]
+            if axis == "y":
+                if self.samples_generated < self.used_samples_y:
+                    self.generate_samples(n_samples)
+                samples_list = [
+                    sample[1] for sample in self.samples_list[self.used_samples_y:(self.used_samples_y + n_samples)]
+                ]
+            self.update_info(n_samples, axis)
+            return samples_list
+
+        def update_info(self, n_samples, axis):
+            """Updates the information of the used samples
+
+            Parameters
+            ----------
+            n_samples : int
+                Number of samples used
+            axis : str
+                Which axis was sampled
+            """
+            if axis == "x":
+                self.used_samples_x += n_samples
+            if axis == "y":
+                self.used_samples_y += n_samples
+
+This generator samples from the bivariate Gaussian and stores then in a *samples_list*
+attribute. Then, the idea is to create two samplers for the wind speeds that will share 
+an object of this class and their sampling methods only get samples from the stored
+sample list.
+
+.. jupyter-execute::
+
+    class WindXSampler(CustomSampler):
+        """Samples from X"""
+
+        def __init__(self, bivariate_gaussian_generator):
+            self.generator = bivariate_gaussian_generator
+
+        def sample(self, n_samples=1):
+            samples_list = self.generator.get_samples(n_samples, "x")
+            return samples_list
+
+        def reset_seed(self, seed=None):
+            self.generator.reset_seed(seed)
+
+    class WindYSampler(CustomSampler):
+        """Samples from Y"""
+
+        def __init__(self, bivariate_gaussian_generator):
+            self.generator = bivariate_gaussian_generator
+
+        def sample(self, n_samples=1):
+            samples_list = self.generator.get_samples(n_samples, "y")
+            return samples_list
+
+        def reset_seed(self, seed=None):
+            self.generator.reset_seed(seed)
+
+Then, we create the objects
+
+.. jupyter-execute::
+
+    mean = [1, 2]
+    cov_mat = [[0.2, 0.171], [0.171, 0.3]]
+    bivariate_gaussian_generator = BivariateGaussianGenerator(mean, cov_mat)
+    wind_x_sampler = WindXSampler(bivariate_gaussian_generator)
+    wind_y_sampler = WindYSampler(bivariate_gaussian_generator)
+
+With the sample objects created, we only need to create the stochastic objects and
+pass them as argument
+
+.. jupyter-execute::
+
+    spaceport_env = Environment(
+        latitude=32.990254,
+        longitude=-106.974998,
+        elevation=1400,
+        datum="WGS84",
+    )
+    spaceport_env.set_atmospheric_model("custom_atmosphere", wind_u = 1, wind_v = 1)
+    spaceport_env.set_date(datetime.now() + timedelta(days=1))
+
+    stochastic_environment = StochasticEnvironment(
+        environment=spaceport_env,
+        elevation=(1400, 10, "normal"),
+        gravity=None,
+        latitude=None,
+        longitude=None,
+        ensemble_member=None,
+        wind_velocity_x_factor=wind_x_sampler,
+        wind_velocity_y_factor=wind_y_sampler
+    )
+
+Finally, let us check that if there is a correlation between the wind speed in the
+two axis
+
+.. jupyter-execute::
+
+    wind_velocity_x_samples = [0] * 200
+    wind_velocity_y_samples = [0] * 200
+    for i in range(200):
+         stochastic_environment.create_object()
+         wind_velocity_x_samples[i] = stochastic_environment.obj.wind_velocity_x(0)
+         wind_velocity_y_samples[i] = stochastic_environment.obj.wind_velocity_y(0)
+
+    np.corrcoef(wind_velocity_x_samples, wind_velocity_y_samples)
diff --git a/docs/user/index.rst b/docs/user/index.rst
index e734abe5d..a09872ad5 100644
--- a/docs/user/index.rst
+++ b/docs/user/index.rst
@@ -32,10 +32,12 @@ RocketPy's User Guide
    :caption: Monte Carlo Simulations
 
    Stochastic Classes <stochastic.rst>
+   Custom Sampler <custom_sampler.rst>
    ../notebooks/monte_carlo_analysis/monte_carlo_class_usage.ipynb
    ../notebooks/monte_carlo_analysis/monte_carlo_analysis.ipynb
    ../notebooks/monte_carlo_analysis/parachute_drop_from_helicopter.ipynb
-   sensitivity.rst
+   Sensitivity Analysis <sensitivity.rst>
+   Multivariate Rejection Sampler <mrs.rst>
 
 .. toctree::
    :maxdepth: 2
diff --git a/docs/user/installation.rst b/docs/user/installation.rst
index 844edd2b8..d19a42ff3 100644
--- a/docs/user/installation.rst
+++ b/docs/user/installation.rst
@@ -19,7 +19,7 @@ If you want to choose a specific version to guarantee compatibility, you may ins
 
 .. code-block:: shell
 
-    pip install rocketpy==1.9.0
+    pip install rocketpy==1.10.0
 
 
 Optional Installation Method: ``conda``
diff --git a/docs/user/mrs.rst b/docs/user/mrs.rst
new file mode 100644
index 000000000..ec598960e
--- /dev/null
+++ b/docs/user/mrs.rst
@@ -0,0 +1,278 @@
+.. _MRS:
+
+Multivariate Rejection Sampling
+===============================
+
+Multivariate Rejection Sampling allows you to quickly subsample the results of a 
+previous Monte Carlo simulation to obtain the results when one or more variables 
+have a different probability distribution without having to re-run the simulation.
+
+We will show you how to use the  :class:`rocketpy.MultivariateRejectionSampler` 
+class to possibly save time. It is highly recommended that you read about Monte 
+Carlo simulations.
+
+Motivation
+----------
+
+As discussed in :ref:`sensitivity-practical`, there are several sources of
+uncertainty that can affect the flight of a rocket, notably the weather and
+the measurements errors in design parameters. Still, it is desirable that the flight
+accomplishes its goal, for instance reaching a certain apogee, as well as staying under
+some safety restrictions, such as ensuring that the landing point is outside 
+of a given area.
+
+Monte Carlo simulation is a technique that allows us to quantify the uncertainty and
+give objective answers to those types of questions in terms of probabilities and 
+statistics. It relies on running several simulations under different conditions 
+specified by probability distributions provided by the user. Hence, depending on the
+inputs and number of samples, running these Monte Carlo simulations might take a while.
+
+Now, imagine that you ran and saved the Monte Carlo simulations. Later, you need new a 
+Monte Carlo simulation with different probability distributions that are somewhat close 
+to the original simulation. The first straightforward option is to just re-run the 
+monte carlo with the new arguments, but this might be time consuming. A second option
+is to use a sub-sampler that leverages the existing simulation to produce a new sample
+that conforms to the new probability distributions. The latter completely avoids
+the necessity of re-running the simulations and is, therefore, much faster.
+
+The Multivariate Rejection Sampler, or just MRS, is an algorithm that sub-samples the 
+original results based on weights proportional to the ratio of the new and old 
+probability distributions that have changed. The final result has a smaller sample size,
+but their distribution matches the one newly specified without having to re-run
+the simulation.
+
+The time efficiency of the MRS is especially interesting in two scenarios: quick testing
+and tight schedules. Imagine you have an initial design and ran a huge robust monte 
+carlo simulation but you are also interested in minor variations of the original 
+design. Instead of having to run an expensive monte carlo for each of these variations,
+you can just re-sample the original accordingly. For tight schedules, it is not
+unheard of cases where last minute changes have to be made to simulations. The MRS might
+then allow you to quickly have monte carlo results for the new configuration when a
+full simulation might just take more time than available.
+
+Importing and using the MRS
+---------------------------
+
+We now show how to actually use the :class:`rocketpy.MultivariateRejectionSampler` 
+class. We begin by importing it along with other utilities
+
+.. jupyter-execute::
+
+    from rocketpy import MultivariateRejectionSampler, MonteCarlo
+    import numpy as np
+    from scipy.stats import norm
+
+The reference monte carlo simulation used is the one from the 
+"monte_carlo_class_usage.ipynb" notebook with a 1000 samples. A
+MultivariateRejectionSampler object is initialized by giving two file paths, one
+for the prefix of the original monte carlo simulation, and one for the output of the
+sub-samples. The code below defines these strings and initializes the MRS object
+
+
+.. jupyter-execute::
+
+    monte_carlo_filepath = (
+        "notebooks/monte_carlo_analysis/monte_carlo_analysis_outputs/monte_carlo_class_example"
+    )
+    mrs_filepath = "notebooks/monte_carlo_analysis/monte_carlo_analysis_outputs/mrs"
+    mrs = MultivariateRejectionSampler(
+        monte_carlo_filepath=monte_carlo_filepath,
+        mrs_filepath=mrs_filepath,
+    )
+
+Running a monte carlo simulation requires you to specify the distribution of 
+all parameters that have uncertainty. The MRS, however, only needs the previous and new
+distributions of the parameters whose distribution changed. All other random parameters
+in the original monte carlo simulation retain their original distribution.
+
+In the original simulation, the mass of the rocket had a normal distribution with mean
+:math:`15.426` and standard deviation of :math:`0.5`. Assume that the mean of this
+distribution changed to :math:`15` and the standard deviation remained the same. To
+run the mrs, we create a dictionary whose keys are the name of the parameter and the 
+value is a 2-tuple: the first entry contains the pdf of the old distribution, and the
+second entry contains the pdf of the new distribution. The code below shows how to
+create these distributions and the dictionary
+
+.. jupyter-execute::
+
+    old_mass_pdf = norm(15.426, 0.5).pdf
+    new_mass_pdf = norm(15, 0.5).pdf
+    distribution_dict = {
+        "mass": (old_mass_pdf, new_mass_pdf),
+    }
+
+Finally, we execute the `sample` method, as shown below
+
+.. jupyter-execute::  
+  :hide-code:  
+  :hide-output:  
+
+  np.random.seed(seed=42)  
+
+.. jupyter-execute::
+
+    mrs.sample(distribution_dict=distribution_dict)
+
+And that is it! The MRS has saved a file that has the same structure as the results of
+a monte carlo simulation but now the mass has been sampled from the newly stated 
+distribution. To see that it is actually the case, let us import the results of the MRS
+and check the mean and standard deviation of the mass. First, we import in the same 
+way we import the results from a monte carlo simulation
+
+
+.. jupyter-execute::
+
+    mrs_results = MonteCarlo(mrs_filepath, None, None, None)
+    mrs_results.import_results()
+
+Notice that the sample size is now smaller than 1000 samples. Albeit the sample size is 
+now random, we can check the expected number of samples by printing the 
+`expected_sample_size` attribute
+
+.. jupyter-execute::
+
+    print(mrs.expected_sample_size)
+
+Now we check the mean and standard deviation of the mass.
+
+.. jupyter-execute::
+
+    mrs_mass_list = []
+    for single_input_dict in mrs_results.inputs_log:
+        mrs_mass_list.append(single_input_dict["mass"])
+    
+    print(f"MRS mass mean after resample: {np.mean(mrs_mass_list)}")
+    print(f"MRS mass std after resample: {np.std(mrs_mass_list)}")
+
+They are very close to the specified values.
+
+Comparing Monte Carlo Results
+-----------------------------
+
+Alright, now that we have the results for this new configuration, how does it compare
+to the original one? Our rocket has, on average, decreased its mass in about 400 grams
+while maintaining all other aspects. How do you think, for example, that the distribution 
+of the apogee has changed? Let us find out.
+
+First, we import the original results
+
+.. jupyter-execute::
+
+    original_results = MonteCarlo(monte_carlo_filepath, None, None, None)
+
+Prints
+^^^^^^
+
+We use the `compare_info` method from the `MonteCarlo` class, passing along
+the MRS monte carlo object as argument, to print a summary of the comparison
+
+.. jupyter-execute::
+
+    original_results.compare_info(mrs_results)
+
+This summary resemble closely the printed information from one monte carlo simulation
+alone, with the difference now that it has a new column, "Source", that alternates the
+results between the original and the other simulation. To answer the question proposed
+earlier, compare the mean and median of the apogee between both cases. Is it what you
+expected?
+
+
+Histogram and boxplots 
+^^^^^^^^^^^^^^^^^^^^^^
+
+Besides printed comparison, we can also provide a comparison for the distributions in
+the form of histograms and boxplots, using the `compare_plots` method
+
+
+.. jupyter-execute::
+
+    original_results.compare_plots(mrs_results)
+
+Note that the histograms displays three colors. Two are from the sources, as depicted
+in the legend, the third comes from the overlap of the two.
+
+Ellipses
+^^^^^^^^
+
+Finally, we can compare the ellipses for the apogees and landing points using the 
+`compare_ellipses` method
+
+.. jupyter-execute::
+
+    original_results.compare_ellipses(mrs_results, ylim=(-4000, 3000))
+
+Note we can pass along parameters used in the usual `ellipses` method of the 
+`MonteCarlo` class, in this case the `ylim` argument to expand the y-axis limits.
+
+Time Comparison
+---------------
+
+Is the MRS really much faster than just re-running a Monte Carlo simulation?
+Let us take a look at some numbers. All tests ran in a Dell G15 5530, with 16 
+13th Gen Intel® Core™ i5-13450HX CPUs, 16GB RAM, running Ubuntu 22.04. Each function
+ran 10 times, and no parallelization was used. 
+
+To run the original monte carlo simulation with 1000 samples it took,
+on average, about 644 seconds, that is, 10 minutes and 44 seconds. For the MRS described
+here, it took, on average, 0.15 seconds, with an expected sample size of 117. To re-run
+the monte carlo simulations with 117 samples it took, on average, 76.3 seconds. Hence,
+the MRS was, on average, (76.3 / 0.15) ~ 500 times faster than re-running the monte 
+carlo simulations with the same sample size provided by the MRS. 
+
+
+Sampling from nested parameters
+-------------------------------
+
+To sample from parameters that are nested in inner levels, use a key name
+formed by the name of the key of the outer level concatenated with a "_" and
+the key of the inner level. For instance, to change the distribution 
+from the "total_impulse" parameter, which is nested within the "motors" 
+parameter dictionary, we have to use the key name "motors_total_impulse". 
+
+
+.. jupyter-execute::
+
+    old_total_impulse_pdf = norm(6500, 1000).pdf
+    new_total_impulse_pdf = norm(5500, 1000).pdf
+    distribution_dict = {
+        "motors_total_impulse": (old_total_impulse_pdf, new_total_impulse_pdf),
+    }
+    mrs.sample(distribution_dict=distribution_dict)
+
+Finally, if there are multiple named nested structures, we need to use a key 
+name formed by outer level concatenated with "_", the structure name, "_" and the
+inner parameter name. For instance, if we want to change the distribution of
+the 'root_chord' of the 'Fins', we have to pass as key
+'aerodynamic_surfaces_Fins_root_chord'
+
+.. jupyter-execute::
+
+    old_root_chord_pdf = norm(0.12, 0.001).pdf
+    new_root_chord_pdf = norm(0.119, 0.002).pdf
+    distribution_dict = {
+        "aerodynamic_surfaces_Fins_root_chord": (
+            old_root_chord_pdf, new_root_chord_pdf
+        ),
+    }
+    mrs.sample(distribution_dict=distribution_dict)
+
+A word of caution
+-----------------
+
+Albeit the MRS provides results way faster than running the simulation again, it
+might reduce the sample size drastically. If several variables undergo
+changes in their distribution and the more discrepant these are from the original 
+ones, the more pronounced will be this sample size reduction. If you need the monte 
+carlo simulations to have the same sample size as before or if the expected sample size
+from the MRS is too low for you current application, then it might be better to
+re-run the simulations.
+
+References
+----------
+
+[1] CEOTTO, Giovani H., SCHMITT, Rodrigo N., ALVES, Guilherme F., et al. RocketPy: six 
+degree-of-freedom rocket trajectory simulator. Journal of Aerospace Engineering, 2021, 
+vol. 34, no 6, p. 04021093.
+
+[2] CASELLA, George, ROBERT, Christian P., et WELLS, Martin T. Generalized accept-reject 
+sampling schemes. Lecture notes-monograph series, 2004, p. 342-347.
\ No newline at end of file
diff --git a/docs/user/sensitivity.rst b/docs/user/sensitivity.rst
index 7cac7d980..624fe559e 100644
--- a/docs/user/sensitivity.rst
+++ b/docs/user/sensitivity.rst
@@ -85,8 +85,8 @@ value of that parameter, i.e. the measured value by the instrument, and the
         "motors_grain_initial_inner_radius": {"mean": 15 / 1000, "std": 0.375 / 1000},
         "motors_grain_outer_radius": {"mean": 33 / 1000, "std": 0.375 / 1000},
         # Parachutes
-        "parachutes_cd_s": {"mean": 10, "std": 0.1},
-        "parachutes_lag": {"mean": 1.5, "std": 0.1},
+        "parachutes_Main_cd_s": {"mean": 10, "std": 0.1},
+        "parachutes_Main_lag": {"mean": 1.5, "std": 0.1},
         # Flight
         "heading": {"mean": 53, "std": 2},
         "inclination": {"mean": 84.7, "std": 1},
diff --git a/docs/user/stochastic.rst b/docs/user/stochastic.rst
index 0985ca1da..062b034e2 100644
--- a/docs/user/stochastic.rst
+++ b/docs/user/stochastic.rst
@@ -88,6 +88,11 @@ passed in a few different ways:
     used as the parameter value during the simulation. You cannot assign standard \
     deviations when using lists, nor can you assign different distribution types.
 
+5. **A CustomSampler object**: \
+    An object from a class that inherits from ``CustomSampler``. This object \
+    gives you the full control of how the samples are generated. See 
+    :ref:`custom_sampler` for more details.
+
 .. note::
     In statistics, the terms "Normal" and "Gaussian" refer to the same type of \
     distribution. This distribution is commonly used and is the default for the \
diff --git a/pyproject.toml b/pyproject.toml
index e0f225efb..f471085ed 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "rocketpy"
-version = "1.9.0"
+version = "1.10.0"
 description="Advanced 6-DOF trajectory simulation for High-Power Rocketry."
 dynamic = ["dependencies"]
 readme = "README.md"
@@ -101,6 +101,7 @@ skip-magic-trailing-comma = false
 line-ending = "auto"
 docstring-code-format = false
 docstring-code-line-length = "dynamic"
+exclude = ["**/*.json", "**/*.rpy"]
 
 
 [tool.ruff.lint.pydocstyle]
diff --git a/rocketpy/__init__.py b/rocketpy/__init__.py
index e0436bf02..f99a70f28 100644
--- a/rocketpy/__init__.py
+++ b/rocketpy/__init__.py
@@ -42,8 +42,9 @@
 )
 from .sensitivity import SensitivityModel
 from .sensors import Accelerometer, Barometer, GnssReceiver, Gyroscope
-from .simulation import Flight, MonteCarlo
+from .simulation import Flight, MonteCarlo, MultivariateRejectionSampler
 from .stochastic import (
+    CustomSampler,
     StochasticAirBrakes,
     StochasticEllipticalFins,
     StochasticEnvironment,
diff --git a/rocketpy/_encoders.py b/rocketpy/_encoders.py
index 48c5d049e..141ff6baa 100644
--- a/rocketpy/_encoders.py
+++ b/rocketpy/_encoders.py
@@ -7,6 +7,8 @@
 import numpy as np
 
 from rocketpy.mathutils.function import Function
+from rocketpy.plots.flight_plots import _FlightPlots
+from rocketpy.prints.flight_prints import _FlightPrints
 
 
 class RocketPyEncoder(json.JSONEncoder):
@@ -75,6 +77,7 @@ class RocketPyDecoder(json.JSONDecoder):
     different types of objects from a JSON supported format."""
 
     def __init__(self, *args, **kwargs):
+        self.resimulate = kwargs.pop("resimulate", False)
         super().__init__(object_hook=self.object_hook, *args, **kwargs)
 
     def object_hook(self, obj):
@@ -84,7 +87,13 @@ def object_hook(self, obj):
             try:
                 class_ = get_class_from_signature(signature)
 
-                if hasattr(class_, "from_dict"):
+                if class_.__name__ == "Flight" and not self.resimulate:
+                    new_flight = class_.__new__(class_)
+                    new_flight.prints = _FlightPrints(new_flight)
+                    new_flight.plots = _FlightPlots(new_flight)
+                    set_minimal_flight_attributes(new_flight, obj)
+                    return new_flight
+                elif hasattr(class_, "from_dict"):
                     return class_.from_dict(obj)
                 else:
                     # Filter keyword arguments
@@ -101,6 +110,63 @@ def object_hook(self, obj):
             return obj
 
 
+def set_minimal_flight_attributes(flight, obj):
+    attributes = (
+        "rocket",
+        "env",
+        "rail_length",
+        "inclination",
+        "heading",
+        "initial_solution",
+        "terminate_on_apogee",
+        "max_time",
+        "max_time_step",
+        "min_time_step",
+        "rtol",
+        "atol",
+        "time_overshoot",
+        "name",
+        "solution",
+        "out_of_rail_time",
+        "apogee_time",
+        "apogee",
+        "parachute_events",
+        "impact_state",
+        "impact_velocity",
+        "x_impact",
+        "y_impact",
+        "t_final",
+        "flight_phases",
+        "ax",
+        "ay",
+        "az",
+        "out_of_rail_time_index",
+        "function_evaluations",
+        "speed",
+        "alpha1",
+        "alpha2",
+        "alpha3",
+        "R1",
+        "R2",
+        "R3",
+        "M1",
+        "M2",
+        "M3",
+        "net_thrust",
+    )
+
+    for attribute in attributes:
+        try:
+            setattr(flight, attribute, obj[attribute])
+        except KeyError:
+            # Manual resolution of new attributes
+            if attribute == "net_thrust":
+                flight.net_thrust = obj["rocket"].motor.thrust
+                flight.net_thrust.set_discrete_based_on_model(flight.speed)
+
+    flight.t_initial = flight.initial_solution[0]
+
+
 def get_class_signature(obj):
     """Returns the signature of a class so it can be identified on
     decoding. The signature is a dictionary with the module and
diff --git a/rocketpy/environment/environment_analysis.py b/rocketpy/environment/environment_analysis.py
index 53fb2b868..13589078e 100644
--- a/rocketpy/environment/environment_analysis.py
+++ b/rocketpy/environment/environment_analysis.py
@@ -2885,3 +2885,79 @@ def save(self, filename="env_analysis_dict"):
         file.write(encoded_class)
         file.close()
         print("Your Environment Analysis file was saved, check it out: " + filename)
+
+    def create_environment_object(
+        self, gravity=None, date=None, datum="SIRGAS2000", max_expected_height=80000.0
+    ):
+        """Creates an Environment object with the data from the Environment Analysis instance.
+        It uses the average values from the data.
+
+        Parameters
+        ----------
+        gravity : int, float, callable, string, array, optional
+            Surface gravitational acceleration. Positive values point the
+            acceleration down. If None, the Somigliana formula is used.
+            See :meth:`Environment.set_gravity_model` for more information.
+        date : list or tuple, optional
+            List or tuple of length 4, stating (year, month, day, hour) in the
+            time zone used in the Environment Analysis instance.
+            Alternatively, can be a ``datetime`` object specifying launch
+            date and time. The dates are stored as follows:
+
+            - :attr:`Environment.local_date`: Local time of launch in
+              the time zone specified in the Environment Analysis instance.
+
+            - :attr:`Environment.datetime_date`: UTC time of launch.
+
+            Default is None.
+            See :meth:`Environment.set_date` for more information.
+        datum : string, optional
+            The desired reference ellipsoidal model, the following options are
+            available: "SAD69", "WGS84", "NAD83", and "SIRGAS2000". The default
+            is "SIRGAS2000".
+        max_expected_height : float, optional
+            Maximum altitude in meters to keep weather data. The altitude must
+            be above sea level (ASL). Especially useful for visualization. Can
+            be altered as desired by running ``max_expected_height = number``.
+        """
+        elevation_si = convert_units(
+            self.converted_elevation, self.unit_system["length"], "m"
+        )
+        altitude_si = convert_units(self.altitude_list, self.unit_system["length"], "m")
+        # Recalculating pressure profile using numpy.percentile
+        pressures = [
+            day_dict[hour]["pressure"](self.altitude_list)
+            for day_dict in self.converted_pressure_level_data.values()
+            for hour in day_dict.keys()
+        ]
+        pressure_profile = np.percentile(pressures, 50, axis=0)
+        pressure_si = convert_units(
+            pressure_profile, self.unit_system["pressure"], "Pa"
+        )
+        temperature_si = convert_units(
+            self.average_temperature_profile, self.unit_system["temperature"], "K"
+        )
+        wind_velocity_x_si = convert_units(
+            self.average_wind_velocity_x_profile, self.unit_system["wind_speed"], "m/s"
+        )
+        wind_velocity_y_si = convert_units(
+            self.average_wind_velocity_y_profile, self.unit_system["wind_speed"], "m/s"
+        )
+        env = Environment(
+            gravity,
+            date,
+            self.latitude,
+            self.longitude,
+            elevation_si,
+            datum,
+            self.preferred_timezone,
+            max_expected_height,
+        )
+        env.set_atmospheric_model(
+            type="custom_atmosphere",
+            pressure=list(zip(altitude_si, pressure_si)),
+            temperature=list(zip(altitude_si, temperature_si)),
+            wind_u=list(zip(altitude_si, wind_velocity_x_si)),
+            wind_v=list(zip(altitude_si, wind_velocity_y_si)),
+        )
+        return env
diff --git a/rocketpy/mathutils/function.py b/rocketpy/mathutils/function.py
index a20aa9a03..e60b39286 100644
--- a/rocketpy/mathutils/function.py
+++ b/rocketpy/mathutils/function.py
@@ -5,6 +5,7 @@
 carefully as it may impact all the rest of the project.
 """
 
+import operator
 import warnings
 from bisect import bisect_left
 from collections.abc import Iterable
@@ -12,6 +13,7 @@
 from functools import cached_property
 from inspect import signature
 from pathlib import Path
+from enum import Enum
 
 import matplotlib.pyplot as plt
 import numpy as np
@@ -46,6 +48,15 @@
 EXTRAPOLATION_TYPES = {"zero": 0, "natural": 1, "constant": 2}
 
 
+class SourceType(Enum):
+    """Enumeration of the source types for the Function class.
+    The source can be either a callable or an array.
+    """
+
+    CALLABLE = 0
+    ARRAY = 1
+
+
 class Function:  # pylint: disable=too-many-public-methods
     """Class converts a python function or a data sequence into an object
     which can be handled more naturally, enabling easy interpolation,
@@ -226,6 +237,7 @@ def set_source(self, source):  # pylint: disable=too-many-statements
 
         # Handle callable source or number source
         if callable(source):
+            self._source_type = SourceType.CALLABLE
             self.get_value_opt = source
             self.__interpolation__ = None
             self.__extrapolation__ = None
@@ -238,6 +250,7 @@ def set_source(self, source):  # pylint: disable=too-many-statements
 
         # Handle ndarray source
         else:
+            self._source_type = SourceType.ARRAY
             # Evaluate dimension
             self.__dom_dim__ = source.shape[1] - 1
             self._domain = source[:, :-1]
@@ -304,7 +317,7 @@ def set_interpolation(self, method="spline"):
         -------
         self : Function
         """
-        if not callable(self.source):
+        if self._source_type is SourceType.ARRAY:
             self.__interpolation__ = self.__validate_interpolation(method)
             self.__update_interpolation_coefficients(self.__interpolation__)
             self.__set_interpolation_func()
@@ -347,7 +360,7 @@ def set_extrapolation(self, method="constant"):
         self : Function
             The Function object.
         """
-        if not callable(self.source):
+        if self._source_type is SourceType.ARRAY:
             self.__extrapolation__ = self.__validate_extrapolation(method)
             self.__set_extrapolation_func()
         return self
@@ -542,7 +555,7 @@ def set_get_value_opt(self):
         -------
         self : Function
         """
-        if callable(self.source):
+        if self._source_type is SourceType.CALLABLE:
             self.get_value_opt = self.source
         elif self.__dom_dim__ == 1:
             self.get_value_opt = self.__get_value_opt_1d
@@ -788,7 +801,7 @@ def set_discrete_based_on_model(
 
         3. Currently, this method only supports 1-D and 2-D Functions.
         """
-        if not isinstance(model_function.source, np.ndarray):
+        if model_function._source_type is SourceType.CALLABLE:
             raise TypeError("model_function must be a list based Function.")
         if model_function.__dom_dim__ != self.__dom_dim__:
             raise ValueError("model_function must have the same domain dimension.")
@@ -863,7 +876,7 @@ def reset(
         >>> v.get_inputs(), v.get_outputs()
         (['t'], ['v'])
         >>> kinetic_energy
-        'Function from R1 to R1 : (x) → (Scalar)'
+        'Function from R1 to R1 : (t) → (Scalar)'
         >>> kinetic_energy.reset(inputs='t', outputs='Kinetic Energy');
         'Function from R1 to R1 : (t) → (Kinetic Energy)'
 
@@ -993,7 +1006,7 @@ def get_value(self, *args):
             )
 
         # Return value for Function of function type
-        if callable(self.source):
+        if self._source_type is SourceType.CALLABLE:
             # if the function is 1-D:
             if self.__dom_dim__ == 1:
                 # if the args is a simple number (int or float)
@@ -1320,7 +1333,7 @@ def remove_outliers_iqr(self, threshold=1.5):
         [1] https://en.wikipedia.org/wiki/Outlier#Tukey's_fences
         """
 
-        if callable(self.source):
+        if self._source_type is SourceType.CALLABLE:
             raise TypeError(
                 "Cannot remove outliers if the source is a callable object."
                 + " The Function.source should be array-like."
@@ -1510,7 +1523,7 @@ def plot_1d(  # pylint: disable=too-many-statements
         # Define a mesh and y values at mesh nodes for plotting
         fig = plt.figure()
         ax = fig.axes
-        if callable(self.source):
+        if self._source_type is SourceType.CALLABLE:
             # Determine boundaries
             lower = 0 if lower is None else lower
             upper = 10 if upper is None else upper
@@ -1622,7 +1635,7 @@ def plot_2d(  # pylint: disable=too-many-statements
         figure = plt.figure()
         axes = figure.add_subplot(111, projection="3d")
         # Define a mesh and f values at mesh nodes for plotting
-        if callable(self.source):
+        if self._source_type is SourceType.CALLABLE:
             # Determine boundaries
             lower = [0, 0] if lower is None else lower
             lower = 2 * [lower] if isinstance(lower, NUMERICAL_TYPES) else lower
@@ -1917,8 +1930,9 @@ def __neg__(self):
         Function
             The negated Function object.
         """
-        if isinstance(self.source, np.ndarray):
-            neg_source = np.column_stack((self.x_array, -self.y_array))
+        if self._source_type is SourceType.ARRAY:
+            neg_source = self.source.copy()
+            neg_source[:, -1] = -neg_source[:, -1]
             return Function(
                 neg_source,
                 self.__inputs__,
@@ -1927,13 +1941,22 @@ def __neg__(self):
                 self.__extrapolation__,
             )
         else:
-            return Function(
-                lambda x: -self.source(x),
-                self.__inputs__,
-                self.__outputs__,
-                self.__interpolation__,
-                self.__extrapolation__,
-            )
+            if self.__dom_dim__ == 1:
+                return Function(
+                    lambda x: -self.source(x),
+                    self.__inputs__,
+                    self.__outputs__,
+                )
+            else:
+                param_names = [f"x{i}" for i in range(self.__dom_dim__)]
+                param_str = ", ".join(param_names)
+                func_str = f"lambda {param_str}: -func({param_str})"
+                return Function(
+                    # pylint: disable=eval-used
+                    eval(func_str, {"func": self.source}),
+                    self.__inputs__,
+                    self.__outputs__,
+                )
 
     def __ge__(self, other):
         """Greater than or equal to comparison operator. It can be used to
@@ -1957,7 +1980,7 @@ def __ge__(self, other):
         """
         other_is_function = isinstance(other, Function)
 
-        if isinstance(self.source, np.ndarray):
+        if self._source_type is SourceType.ARRAY:
             if other_is_function:
                 try:
                     return self.y_array >= other.y_array
@@ -2011,7 +2034,7 @@ def __le__(self, other):
         """
         other_is_function = isinstance(other, Function)
 
-        if isinstance(self.source, np.ndarray):
+        if self._source_type is SourceType.ARRAY:
             if other_is_function:
                 try:
                     return self.y_array <= other.y_array
@@ -2089,8 +2112,7 @@ def __lt__(self, other):
     # Define all possible algebraic operations
     def __add__(self, other):  # pylint: disable=too-many-statements
         """Sums a Function object and 'other', returns a new Function
-        object which gives the result of the sum. Only implemented for
-        1D domains.
+        object which gives the result of the sum.
 
         Parameters
         ----------
@@ -2108,61 +2130,62 @@ def __add__(self, other):  # pylint: disable=too-many-statements
         result : Function
             A Function object which gives the result of self(x)+other(x).
         """
-        # If other is Function try...
-        try:
-            # Check if Function objects source is array or callable
-            # Check if Function objects have the same domain discretization
-            if (
-                isinstance(other.source, np.ndarray)
-                and isinstance(self.source, np.ndarray)
-                and self.__dom_dim__ == other.__dom_dim__
-                and np.array_equal(self.x_array, other.x_array)
-            ):
-                # Operate on grid values
-                ys = self.y_array + other.y_array
-                xs = self.x_array
-                source = np.concatenate(([xs], [ys])).transpose()
-                # Retrieve inputs, outputs and interpolation
-                inputs = self.__inputs__[:]
-                outputs = self.__outputs__[0] + " + " + other.__outputs__[0]
-                outputs = "(" + outputs + ")"
-                interpolation = self.__interpolation__
-                extrapolation = self.__extrapolation__
-                # Create new Function object
-                return Function(source, inputs, outputs, interpolation, extrapolation)
+        other_is_func = isinstance(other, Function)
+        other_is_array = (
+            other._source_type is SourceType.ARRAY if other_is_func else False
+        )
+        inputs = self.__inputs__[:]
+        interp = self.__interpolation__
+        extrap = self.__extrapolation__
+        dom_dim = self.__dom_dim__
+
+        if (
+            self._source_type is SourceType.ARRAY
+            and other_is_array
+            and np.array_equal(self._domain, other._domain)
+        ):
+            source = np.column_stack((self._domain, self._image + other._image))
+            outputs = f"({self.__outputs__[0]}+{other.__outputs__[0]})"
+            return Function(source, inputs, outputs, interp, extrap)
+        elif isinstance(other, NUMERICAL_TYPES) or self.__is_single_element_array(
+            other
+        ):
+            if self._source_type is SourceType.ARRAY:
+                source = np.column_stack((self._domain, np.add(self._image, other)))
+                outputs = f"({self.__outputs__[0]}+{other})"
+                return Function(source, inputs, outputs, interp, extrap)
             else:
-                return Function(lambda x: (self.get_value_opt(x) + other(x)))
-        # If other is Float except...
-        except AttributeError:
-            if isinstance(other, NUMERICAL_TYPES) or self.__is_single_element_array(
-                other
-            ):
-                # Check if Function object source is array or callable
-                if isinstance(self.source, np.ndarray):
-                    # Operate on grid values
-                    ys = self.y_array + other
-                    xs = self.x_array
-                    source = np.concatenate(([xs], [ys])).transpose()
-                    # Retrieve inputs, outputs and interpolation
-                    inputs = self.__inputs__[:]
-                    outputs = self.__outputs__[0] + " + " + str(other)
-                    outputs = "(" + outputs + ")"
-                    interpolation = self.__interpolation__
-                    extrapolation = self.__extrapolation__
-                    # Create new Function object
-                    return Function(
-                        source, inputs, outputs, interpolation, extrapolation
+                return Function(
+                    self.__make_arith_lambda(
+                        operator.add, self.get_value_opt, other, dom_dim
+                    ),
+                    inputs,
+                )
+        elif callable(other):
+            if other_is_func:
+                other_dim = other.__dom_dim__
+                other = other.get_value_opt if other_is_array else other.source
+            else:
+                other_dim = len(signature(other).parameters)
+
+            if dom_dim == 1 or other_dim == 1 or dom_dim == other_dim:
+                return Function(
+                    self.__make_arith_lambda(
+                        operator.add, self.get_value_opt, other, dom_dim, other_dim
                     )
-                else:
-                    return Function(lambda x: (self.get_value_opt(x) + other))
-            # Or if it is just a callable
-            elif callable(other):
-                return Function(lambda x: (self.get_value_opt(x) + other(x)))
+                )
+            else:
+                # pragma: no cover
+                raise TypeError(
+                    f"The number of parameters in the function to be added ({other_dim}) "
+                    f"does not match the number of parameters of the Function ({dom_dim})."
+                )
+        # pragma: no cover
+        raise TypeError("Unsupported type for addition")
 
     def __radd__(self, other):
         """Sums 'other' and a Function object and returns a new Function
-        object which gives the result of the sum. Only implemented for
-        1D domains.
+        object which gives the result of the sum.
 
         Parameters
         ----------
@@ -2172,14 +2195,13 @@ def __radd__(self, other):
         Returns
         -------
         result : Function
-            A Function object which gives the result of other(x)/+self(x).
+            A Function object which gives the result of other(x)+self(x).
         """
         return self + other
 
-    def __sub__(self, other):
+    def __sub__(self, other):  # pylint: disable=too-many-statements
         """Subtracts from a Function object and returns a new Function object
-        which gives the result of the subtraction. Only implemented for 1D
-        domains.
+        which gives the result of the subtraction.
 
         Parameters
         ----------
@@ -2197,10 +2219,60 @@ def __sub__(self, other):
         result : Function
             A Function object which gives the result of self(x)-other(x).
         """
-        try:
-            return self + (-other)
-        except TypeError:
-            return Function(lambda x: (self.get_value_opt(x) - other(x)))
+        other_is_func = isinstance(other, Function)
+        other_is_array = (
+            other._source_type is SourceType.ARRAY if other_is_func else False
+        )
+        inputs = self.__inputs__[:]
+        interp = self.__interpolation__
+        extrap = self.__extrapolation__
+        dom_dim = self.__dom_dim__
+
+        if (
+            self._source_type is SourceType.ARRAY
+            and other_is_array
+            and np.array_equal(self._domain, other._domain)
+        ):
+            source = np.column_stack((self._domain, self._image - other._image))
+            outputs = f"({self.__outputs__[0]}-{other.__outputs__[0]})"
+            return Function(source, inputs, outputs, interp, extrap)
+        elif isinstance(other, NUMERICAL_TYPES) or self.__is_single_element_array(
+            other
+        ):
+            if self._source_type is SourceType.ARRAY:
+                source = np.column_stack(
+                    (self._domain, np.subtract(self._image, other))
+                )
+                outputs = f"({self.__outputs__[0]}-{other})"
+                return Function(source, inputs, outputs, interp, extrap)
+            else:
+                return Function(
+                    self.__make_arith_lambda(
+                        operator.sub, self.get_value_opt, other, dom_dim
+                    ),
+                    inputs,
+                )
+        elif callable(other):
+            if other_is_func:
+                other_dim = other.__dom_dim__
+                other = other.get_value_opt if other_is_array else other.source
+            else:
+                other_dim = len(signature(other).parameters)
+
+            if dom_dim == 1 or other_dim == 1 or dom_dim == other_dim:
+                return Function(
+                    self.__make_arith_lambda(
+                        operator.sub, self.get_value_opt, other, dom_dim, other_dim
+                    )
+                )
+            else:
+                # pragma: no cover
+                raise TypeError(
+                    f"The number of parameters in the function to be subtracted ({other_dim}) "
+                    f"does not match the number of parameters of the Function ({dom_dim})."
+                )
+        # pragma: no cover
+        raise TypeError("Unsupported type for subtraction")
 
     def __rsub__(self, other):
         """Subtracts a Function object from 'other' and returns a new Function
@@ -2221,8 +2293,7 @@ def __rsub__(self, other):
 
     def __mul__(self, other):  # pylint: disable=too-many-statements
         """Multiplies a Function object and returns a new Function object
-        which gives the result of the multiplication. Only implemented for 1D
-        and 2D domains.
+        which gives the result of the multiplication.
 
         Parameters
         ----------
@@ -2238,88 +2309,66 @@ def __mul__(self, other):  # pylint: disable=too-many-statements
         Returns
         -------
         result : Function
-            A Function object which gives the result of self(x)*other(x) or self(x,y)*other(x,y).
+            A Function object which gives the result of self(x)*other(x).
         """
-        self_source_is_array = isinstance(self.source, np.ndarray)
-        other_source_is_array = (
-            isinstance(other.source, np.ndarray)
-            if isinstance(other, Function)
-            else False
+        other_is_func = isinstance(other, Function)
+        other_is_array = (
+            other._source_type is SourceType.ARRAY if other_is_func else False
         )
         inputs = self.__inputs__[:]
         interp = self.__interpolation__
         extrap = self.__extrapolation__
-
-        if self.__dom_dim__ == 1:
-            if (
-                self_source_is_array
-                and other_source_is_array
-                and np.array_equal(self.x_array, other.x_array)
-            ):
-                source = np.column_stack((self.x_array, self.y_array * other.y_array))
-                outputs = f"({self.__outputs__[0]}*{other.__outputs__[0]})"
-                return Function(source, inputs, outputs, interp, extrap)
-            elif isinstance(other, NUMERICAL_TYPES) or self.__is_single_element_array(
-                other
-            ):
-                if not self_source_is_array:
-                    return Function(lambda x: (self.get_value_opt(x) * other), inputs)
+        dom_dim = self.__dom_dim__
+
+        if (
+            self._source_type is SourceType.ARRAY
+            and other_is_array
+            and np.array_equal(self._domain, other._domain)
+        ):
+            source = np.column_stack((self._domain, self._image * other._image))
+            outputs = f"({self.__outputs__[0]}*{other.__outputs__[0]})"
+            return Function(source, inputs, outputs, interp, extrap)
+        elif isinstance(other, NUMERICAL_TYPES) or self.__is_single_element_array(
+            other
+        ):
+            if self._source_type is SourceType.ARRAY:
                 source = np.column_stack(
-                    (self.x_array, np.multiply(self.y_array, other))
+                    (self._domain, np.multiply(self._image, other))
                 )
                 outputs = f"({self.__outputs__[0]}*{other})"
-                return Function(
-                    source,
-                    inputs,
-                    outputs,
-                    interp,
-                    extrap,
-                )
-            elif callable(other):
-                return Function(lambda x: (self.get_value_opt(x) * other(x)), inputs)
-            else:
-                raise TypeError("Unsupported type for multiplication")
-        elif self.__dom_dim__ == 2:
-            if (
-                self_source_is_array
-                and other_source_is_array
-                and np.array_equal(self.x_array, other.x_array)
-                and np.array_equal(self.y_array, other.y_array)
-            ):
-                source = np.column_stack(
-                    (self.x_array, self.y_array, self.z_array * other.z_array)
-                )
-                outputs = f"({self.__outputs__[0]}*{other.__outputs__[0]})"
                 return Function(source, inputs, outputs, interp, extrap)
-            elif isinstance(other, NUMERICAL_TYPES) or self.__is_single_element_array(
-                other
-            ):
-                if not self_source_is_array:
-                    return Function(
-                        lambda x, y: (self.get_value_opt(x, y) * other), inputs
-                    )
-                source = np.column_stack(
-                    (self.x_array, self.y_array, np.multiply(self.z_array, other))
-                )
-                outputs = f"({self.__outputs__[0]}*{other})"
+            else:
                 return Function(
-                    source,
+                    self.__make_arith_lambda(
+                        operator.mul, self.get_value_opt, other, dom_dim
+                    ),
                     inputs,
-                    outputs,
-                    interp,
-                    extrap,
                 )
-            elif callable(other):
+        elif callable(other):
+            if other_is_func:
+                other_dim = other.__dom_dim__
+                other = other.get_value_opt if other_is_array else other.source
+            else:
+                other_dim = len(signature(other).parameters)
+
+            if dom_dim == 1 or other_dim == 1 or dom_dim == other_dim:
                 return Function(
-                    lambda x, y: (self.get_value_opt(x, y) * other(x)), inputs
+                    self.__make_arith_lambda(
+                        operator.mul, self.get_value_opt, other, dom_dim, other_dim
+                    )
                 )
             else:
-                raise TypeError("Unsupported type for multiplication")
+                # pragma: no cover
+                raise TypeError(
+                    f"The number of parameters in the function to be multiplied ({other_dim}) "
+                    f"does not match the number of parameters of the Function ({dom_dim})."
+                )
+        # pragma: no cover
+        raise TypeError("Unsupported type for multiplication")
 
     def __rmul__(self, other):
         """Multiplies 'other' by a Function object and returns a new Function
-        object which gives the result of the multiplication. Only implemented for
-        1D and 2D domains.
+        object which gives the result of the multiplication.
 
         Parameters
         ----------
@@ -2329,14 +2378,13 @@ def __rmul__(self, other):
         Returns
         -------
         result : Function
-            A Function object which gives the result of other(x,y)*self(x,y).
+            A Function object which gives the result of other(x)*self(x).
         """
         return self * other
 
     def __truediv__(self, other):  # pylint: disable=too-many-statements
         """Divides a Function object and returns a new Function object
-        which gives the result of the division. Only implemented for 1D
-        domains.
+        which gives the result of the division.
 
         Parameters
         ----------
@@ -2354,63 +2402,68 @@ def __truediv__(self, other):  # pylint: disable=too-many-statements
         result : Function
             A Function object which gives the result of self(x)/other(x).
         """
-        # If other is Function try...
-        try:
-            # Check if Function objects source is array or callable
-            # Check if Function objects have the same domain discretization
-            if (
-                isinstance(other.source, np.ndarray)
-                and isinstance(self.source, np.ndarray)
-                and self.__dom_dim__ == other.__dom_dim__
-                and np.array_equal(self.x_array, other.x_array)
-            ):
-                # operate on grid values
+        other_is_func = isinstance(other, Function)
+        other_is_array = (
+            other._source_type is SourceType.ARRAY if other_is_func else False
+        )
+        inputs = self.__inputs__[:]
+        interp = self.__interpolation__
+        extrap = self.__extrapolation__
+        dom_dim = self.__dom_dim__
+
+        if (
+            self._source_type is SourceType.ARRAY
+            and other_is_array
+            and np.array_equal(self._domain, other._domain)
+        ):
+            with np.errstate(divide="ignore", invalid="ignore"):
+                ys = self._image / other._image
+                ys = np.nan_to_num(ys)
+            source = np.column_stack((self._domain, ys))
+            outputs = f"({self.__outputs__[0]}/{other.__outputs__[0]})"
+            return Function(source, inputs, outputs, interp, extrap)
+        elif isinstance(other, NUMERICAL_TYPES) or self.__is_single_element_array(
+            other
+        ):
+            if self._source_type is SourceType.ARRAY:
                 with np.errstate(divide="ignore", invalid="ignore"):
-                    ys = self.source[:, 1] / other.source[:, 1]
+                    ys = np.divide(self._image, other)
                     ys = np.nan_to_num(ys)
-                xs = self.source[:, 0]
-                source = np.concatenate(([xs], [ys])).transpose()
-                # retrieve inputs, outputs and interpolation
-                inputs = self.__inputs__[:]
-                outputs = self.__outputs__[0] + "/" + other.__outputs__[0]
-                outputs = "(" + outputs + ")"
-                interpolation = self.__interpolation__
-                extrapolation = self.__extrapolation__
-                # Create new Function object
-                return Function(source, inputs, outputs, interpolation, extrapolation)
+                source = np.column_stack((self._domain, ys))
+                outputs = f"({self.__outputs__[0]}/{other})"
+                return Function(source, inputs, outputs, interp, extrap)
             else:
-                return Function(lambda x: (self.get_value_opt(x) / other(x)))
-        # If other is Float except...
-        except AttributeError:
-            if isinstance(other, NUMERICAL_TYPES) or self.__is_single_element_array(
-                other
-            ):
-                # Check if Function object source is array or callable
-                if isinstance(self.source, np.ndarray):
-                    # Operate on grid values
-                    ys = self.y_array / other
-                    xs = self.x_array
-                    source = np.concatenate(([xs], [ys])).transpose()
-                    # Retrieve inputs, outputs and interpolation
-                    inputs = self.__inputs__[:]
-                    outputs = self.__outputs__[0] + "/" + str(other)
-                    outputs = "(" + outputs + ")"
-                    interpolation = self.__interpolation__
-                    extrapolation = self.__extrapolation__
-                    # Create new Function object
-                    return Function(
-                        source, inputs, outputs, interpolation, extrapolation
+                return Function(
+                    self.__make_arith_lambda(
+                        operator.truediv, self.get_value_opt, other, dom_dim
+                    ),
+                    inputs,
+                )
+        elif callable(other):
+            if other_is_func:
+                other_dim = other.__dom_dim__
+                other = other.get_value_opt if other_is_array else other.source
+            else:
+                other_dim = len(signature(other).parameters)
+
+            if dom_dim == 1 or other_dim == 1 or dom_dim == other_dim:
+                return Function(
+                    self.__make_arith_lambda(
+                        operator.truediv, self.get_value_opt, other, dom_dim, other_dim
                     )
-                else:
-                    return Function(lambda x: (self.get_value_opt(x) / other))
-            # Or if it is just a callable
-            elif callable(other):
-                return Function(lambda x: (self.get_value_opt(x) / other(x)))
+                )
+            else:
+                # pragma: no cover
+                raise TypeError(
+                    f"The number of parameters in the function to be divided ({other_dim}) "
+                    f"does not match the number of parameters of the Function ({dom_dim})."
+                )
+        # pragma: no cover
+        raise TypeError("Unsupported type for division")
 
     def __rtruediv__(self, other):
         """Divides 'other' by a Function object and returns a new Function
-        object which gives the result of the division. Only implemented for
-        1D domains.
+        object which gives the result of the division.
 
         Parameters
         ----------
@@ -2422,31 +2475,56 @@ def __rtruediv__(self, other):
         result : Function
             A Function object which gives the result of other(x)/self(x).
         """
-        # Check if Function object source is array and other is float
+        inputs = self.__inputs__[:]
+        interp = self.__interpolation__
+        extrap = self.__extrapolation__
+        dom_dim = self.__dom_dim__
+
         if isinstance(other, NUMERICAL_TYPES) or self.__is_single_element_array(other):
-            if isinstance(self.source, np.ndarray):
-                # Operate on grid values
-                ys = other / self.y_array
-                xs = self.x_array
-                source = np.concatenate(([xs], [ys])).transpose()
-                # Retrieve inputs, outputs and interpolation
-                inputs = self.__inputs__[:]
-                outputs = str(other) + "/" + self.__outputs__[0]
-                outputs = "(" + outputs + ")"
-                interpolation = self.__interpolation__
-                extrapolation = self.__extrapolation__
-                # Create new Function object
-                return Function(source, inputs, outputs, interpolation, extrapolation)
+            if self._source_type is SourceType.ARRAY:
+                with np.errstate(divide="ignore", invalid="ignore"):
+                    ys = np.divide(other, self._image)
+                    ys = np.nan_to_num(ys)
+                source = np.column_stack((self._domain, ys))
+                outputs = f"({other}/{self.__outputs__[0]})"
+                return Function(source, inputs, outputs, interp, extrap)
             else:
-                return Function(lambda x: (other / self.get_value_opt(x)))
-        # Or if it is just a callable
+                return Function(
+                    self.__make_arith_lambda(
+                        operator.truediv,
+                        self.get_value_opt,
+                        other,
+                        dom_dim,
+                        reverse=True,
+                    ),
+                    inputs,
+                )
         elif callable(other):
-            return Function(lambda x: (other(x) / self.get_value_opt(x)))
+            other_dim = len(signature(other).parameters)
+
+            if dom_dim == 1 or other_dim == 1 or dom_dim == other_dim:
+                return Function(
+                    self.__make_arith_lambda(
+                        operator.truediv,
+                        self.get_value_opt,
+                        other,
+                        dom_dim,
+                        other_dim,
+                        True,
+                    )
+                )
+            else:
+                # pragma: no cover
+                raise TypeError(
+                    f"The number of parameters in the function dividing by this Function ({other_dim}) "
+                    f"does not match the number of parameters of this Function ({dom_dim})."
+                )
+        # pragma: no cover
+        raise TypeError("Unsupported type for division")
 
     def __pow__(self, other):  # pylint: disable=too-many-statements
         """Raises a Function object to the power of 'other' and
-        returns a new Function object which gives the result. Only
-        implemented for 1D domains.
+        returns a new Function object which gives the result.
 
         Parameters
         ----------
@@ -2464,62 +2542,64 @@ def __pow__(self, other):  # pylint: disable=too-many-statements
         result : Function
             A Function object which gives the result of self(x)**other(x).
         """
-        # If other is Function try...
-        try:
-            # Check if Function objects source is array or callable
-            # Check if Function objects have the same domain discretization
-            if (
-                isinstance(other.source, np.ndarray)
-                and isinstance(self.source, np.ndarray)
-                and self.__dom_dim__ == other.__dom_dim__
-                and np.any(self.x_array - other.x_array) is False
-                and np.array_equal(self.x_array, other.x_array)
-            ):
-                # Operate on grid values
-                ys = self.y_array**other.y_array
-                xs = self.x_array
-                source = np.concatenate(([xs], [ys])).transpose()
-                # Retrieve inputs, outputs and interpolation
-                inputs = self.__inputs__[:]
-                outputs = self.__outputs__[0] + "**" + other.__outputs__[0]
-                outputs = "(" + outputs + ")"
-                interpolation = self.__interpolation__
-                extrapolation = self.__extrapolation__
-                # Create new Function object
-                return Function(source, inputs, outputs, interpolation, extrapolation)
+        other_is_func = isinstance(other, Function)
+        other_is_array = (
+            other._source_type is SourceType.ARRAY if other_is_func else False
+        )
+        inputs = self.__inputs__[:]
+        interp = self.__interpolation__
+        extrap = self.__extrapolation__
+        dom_dim = self.__dom_dim__
+
+        if (
+            self._source_type is SourceType.ARRAY
+            and other_is_array
+            and np.array_equal(self._domain, other._domain)
+        ):
+            source = np.column_stack(
+                (self._domain, np.power(self._image, other._image))
+            )
+            outputs = f"({self.__outputs__[0]}**{other.__outputs__[0]})"
+            return Function(source, inputs, outputs, interp, extrap)
+        elif isinstance(other, NUMERICAL_TYPES) or self.__is_single_element_array(
+            other
+        ):
+            if self._source_type is SourceType.ARRAY:
+                source = np.column_stack((self._domain, np.power(self._image, other)))
+                outputs = f"({self.__outputs__[0]}**{other})"
+                return Function(source, inputs, outputs, interp, extrap)
             else:
-                return Function(lambda x: (self.get_value_opt(x) ** other(x)))
-        # If other is Float except...
-        except AttributeError:
-            if isinstance(other, NUMERICAL_TYPES) or self.__is_single_element_array(
-                other
-            ):
-                # Check if Function object source is array or callable
-                if isinstance(self.source, np.ndarray):
-                    # Operate on grid values
-                    ys = self.y_array**other
-                    xs = self.x_array
-                    source = np.concatenate(([xs], [ys])).transpose()
-                    # Retrieve inputs, outputs and interpolation
-                    inputs = self.__inputs__[:]
-                    outputs = self.__outputs__[0] + "**" + str(other)
-                    outputs = "(" + outputs + ")"
-                    interpolation = self.__interpolation__
-                    extrapolation = self.__extrapolation__
-                    # Create new Function object
-                    return Function(
-                        source, inputs, outputs, interpolation, extrapolation
+                return Function(
+                    self.__make_arith_lambda(
+                        operator.pow, self.get_value_opt, other, dom_dim
+                    ),
+                    inputs,
+                )
+        elif callable(other):
+            if other_is_func:
+                other_dim = other.__dom_dim__
+                other = other.get_value_opt if other_is_array else other.source
+            else:
+                other_dim = len(signature(other).parameters)
+
+            if dom_dim == 1 or other_dim == 1 or dom_dim == other_dim:
+                return Function(
+                    self.__make_arith_lambda(
+                        operator.pow, self.get_value_opt, other, dom_dim, other_dim
                     )
-                else:
-                    return Function(lambda x: (self.get_value_opt(x) ** other))
-            # Or if it is just a callable
-            elif callable(other):
-                return Function(lambda x: (self.get_value_opt(x) ** other(x)))
+                )
+            else:
+                # pragma: no cover
+                raise TypeError(
+                    f"The number of parameters in the function to be exponentiated by ({other_dim}) "
+                    f"does not match the number of parameters of the Function ({dom_dim})."
+                )
+        # pragma: no cover
+        raise TypeError("Unsupported type for exponentiation")
 
     def __rpow__(self, other):
         """Raises 'other' to the power of a Function object and returns
-        a new Function object which gives the result. Only implemented
-        for 1D domains.
+        a new Function object which gives the result.
 
         Parameters
         ----------
@@ -2531,26 +2611,46 @@ def __rpow__(self, other):
         result : Function
             A Function object which gives the result of other(x)**self(x).
         """
-        # Check if Function object source is array and other is float
+        inputs = self.__inputs__[:]
+        interp = self.__interpolation__
+        extrap = self.__extrapolation__
+        dom_dim = self.__dom_dim__
+
         if isinstance(other, NUMERICAL_TYPES) or self.__is_single_element_array(other):
-            if isinstance(self.source, np.ndarray):
-                # Operate on grid values
-                ys = other**self.y_array
-                xs = self.x_array
-                source = np.concatenate(([xs], [ys])).transpose()
-                # Retrieve inputs, outputs and interpolation
-                inputs = self.__inputs__[:]
-                outputs = str(other) + "**" + self.__outputs__[0]
-                outputs = "(" + outputs + ")"
-                interpolation = self.__interpolation__
-                extrapolation = self.__extrapolation__
-                # Create new Function object
-                return Function(source, inputs, outputs, interpolation, extrapolation)
+            if self._source_type is SourceType.ARRAY:
+                source = np.column_stack((self._domain, np.power(other, self._image)))
+                outputs = f"({other}**{self.__outputs__[0]})"
+                return Function(source, inputs, outputs, interp, extrap)
             else:
-                return Function(lambda x: (other ** self.get_value_opt(x)))
-        # Or if it is just a callable
+                return Function(
+                    self.__make_arith_lambda(
+                        operator.pow, self.get_value_opt, other, dom_dim, reverse=True
+                    ),
+                    inputs,
+                )
         elif callable(other):
-            return Function(lambda x: (other(x) ** self.get_value_opt(x)))
+            other_dim = len(signature(other).parameters)
+
+            if dom_dim == 1 or other_dim == 1 or dom_dim == other_dim:
+                return Function(
+                    self.__make_arith_lambda(
+                        operator.pow,
+                        self.get_value_opt,
+                        other,
+                        dom_dim,
+                        other_dim,
+                        True,
+                    ),
+                    inputs,
+                )
+            else:
+                # pragma: no cover
+                raise TypeError(
+                    f"The number of parameters in the base function ({other_dim}) "
+                    f"does not match the number of parameters of the Function exponent ({dom_dim})."
+                )
+        # pragma: no cover
+        raise TypeError("Unsupported type for exponentiation")
 
     def __matmul__(self, other):
         """Operator @ as an alias for composition. Therefore, this
@@ -2572,22 +2672,60 @@ def __matmul__(self, other):
         """
         return self.compose(other)
 
-    def __mod__(self, other):
+    def __mod__(self, other):  # pylint: disable=too-many-statements
         """Operator % as an alias for modulo operation."""
-        if callable(self.source):
-            return Function(lambda x: self.source(x) % other)
-        elif isinstance(self.source, np.ndarray) and isinstance(other, NUMERICAL_TYPES):
-            return Function(
-                np.column_stack((self.x_array, self.y_array % other)),
-                self.__inputs__,
-                self.__outputs__,
-                self.__interpolation__,
-                self.__extrapolation__,
-            )
-        raise NotImplementedError(
-            "Modulo operation not implemented for operands of type "
-            f"'{type(self)}' and '{type(other)}'."
+        other_is_func = isinstance(other, Function)
+        other_is_array = (
+            other._source_type is SourceType.ARRAY if other_is_func else False
         )
+        inputs = self.__inputs__[:]
+        interp = self.__interpolation__
+        extrap = self.__extrapolation__
+        dom_dim = self.__dom_dim__
+
+        if (
+            self._source_type is SourceType.ARRAY
+            and other_is_array
+            and np.array_equal(self._domain, other._domain)
+        ):
+            source = np.column_stack((self._domain, np.mod(self._image, other._image)))
+            outputs = f"({self.__outputs__[0]}%{other.__outputs__[0]})"
+            return Function(source, inputs, outputs, interp, extrap)
+        elif isinstance(other, NUMERICAL_TYPES) or self.__is_single_element_array(
+            other
+        ):
+            if self._source_type is SourceType.ARRAY:
+                source = np.column_stack((self._domain, np.mod(self._image, other)))
+                outputs = f"({self.__outputs__[0]}%{other})"
+                return Function(source, inputs, outputs, interp, extrap)
+            else:
+                return Function(
+                    self.__make_arith_lambda(
+                        operator.mod, self.get_value_opt, other, dom_dim
+                    ),
+                    inputs,
+                )
+        elif callable(other):
+            if other_is_func:
+                other_dim = other.__dom_dim__
+                other = other.get_value_opt if other_is_array else other.source
+            else:
+                other_dim = len(signature(other).parameters)
+
+            if dom_dim == 1 or other_dim == 1 or dom_dim == other_dim:
+                return Function(
+                    self.__make_arith_lambda(
+                        operator.mod, self.get_value_opt, other, dom_dim, other_dim
+                    )
+                )
+            else:
+                # pragma: no cover
+                raise TypeError(
+                    f"The number of parameters in the function used as divisor ({other_dim}) "
+                    f"does not match the number of parameters of the Function ({dom_dim})."
+                )
+        # pragma: no cover
+        raise TypeError("Unsupported type for modulo operation")
 
     def integral(self, a, b, numerical=False):  # pylint: disable=too-many-statements
         """Evaluate a definite integral of a 1-D Function in the interval
@@ -2797,7 +2935,7 @@ def identity_function(self):
         """
 
         # Check if Function object source is array
-        if isinstance(self.source, np.ndarray):
+        if self._source_type is SourceType.ARRAY:
             return Function(
                 np.column_stack((self.x_array, self.x_array)),
                 inputs=self.__inputs__,
@@ -2821,7 +2959,7 @@ def derivative_function(self):
             A Function object which gives the derivative of self.
         """
         # Check if Function object source is array
-        if isinstance(self.source, np.ndarray):
+        if self._source_type is SourceType.ARRAY:
             # Operate on grid values
             ys = np.diff(self.y_array) / np.diff(self.x_array)
             xs = self.source[:-1, 0] + np.diff(self.x_array) / 2
@@ -2867,7 +3005,7 @@ def integral_function(self, lower=None, upper=None, datapoints=100):
         result : Function
             The integral of the Function object.
         """
-        if isinstance(self.source, np.ndarray):
+        if self._source_type is SourceType.ARRAY:
             lower = self.source[0, 0] if lower is None else lower
             upper = self.source[-1, 0] if upper is None else upper
             x_data = np.linspace(lower, upper, datapoints)
@@ -2896,7 +3034,7 @@ def isbijective(self):
         result : bool
             True if the Function is bijective, False otherwise.
         """
-        if isinstance(self.source, np.ndarray):
+        if self._source_type is SourceType.ARRAY:
             x_data_distinct = set(self.x_array)
             y_data_distinct = set(self.y_array)
             distinct_map = set(zip(x_data_distinct, y_data_distinct))
@@ -2948,7 +3086,7 @@ def is_strictly_bijective(self):
         >>> f.is_strictly_bijective()
         np.False_
         """
-        if isinstance(self.source, np.ndarray):
+        if self._source_type is SourceType.ARRAY:
             # Assuming domain is sorted, range must also be
             y_data = self.y_array
             # Both ascending and descending order means Function is bijective
@@ -2992,7 +3130,7 @@ def inverse_function(self, approx_func=None, tol=1e-4):
         result : Function
             A Function whose domain and range have been inverted.
         """
-        if isinstance(self.source, np.ndarray):
+        if self._source_type is SourceType.ARRAY:
             if self.is_strictly_bijective():
                 # Swap the columns
                 source = np.flip(self.source, axis=1)
@@ -3078,7 +3216,7 @@ def average_function(self, lower=None):
         result : Function
             The average of the Function object.
         """
-        if isinstance(self.source, np.ndarray):
+        if self._source_type is SourceType.ARRAY:
             if lower is None:
                 lower = self.source[0, 0]
             upper = self.source[-1, 0]
@@ -3126,7 +3264,10 @@ def compose(self, func, extrapolate=False):
         if not isinstance(func, Function):  # pragma: no cover
             raise TypeError("Input must be a Function object.")
 
-        if isinstance(self.source, np.ndarray) and isinstance(func.source, np.ndarray):
+        if (
+            self._source_type is SourceType.ARRAY
+            and func._source_type is SourceType.ARRAY
+        ):
             # Perform bounds check for composition
             if not extrapolate:  # pragma: no cover
                 if func.min < self.x_initial or func.max > self.x_final:
@@ -3200,7 +3341,7 @@ def savetxt(
         header_line = delimiter.join(self.__inputs__ + self.__outputs__)
 
         # create the datapoints
-        if callable(self.source):
+        if self._source_type is SourceType.CALLABLE:
             if lower is None or upper is None or samples is None:  # pragma: no cover
                 raise ValueError(
                     "If the source is a callable, lower, upper and samples"
@@ -3470,6 +3611,60 @@ def from_dict(cls, func_dict):
             title=func_dict["title"],
         )
 
+    @staticmethod
+    def __make_arith_lambda(
+        operator, func, other, func_dim, other_dim=0, reverse=False
+    ):
+        """Creates a lambda function for arithmetic operations
+        that can be used with the Function class. This is used to
+        operate between multidimensional sets of data.
+
+        Parameters
+        ----------
+        operator : function
+            The mathematical operation to be performed.
+        func : function
+            The first function to be operated on.
+        other : function
+            The second function to be operated on.
+        func_dim : int
+            The dimension of the first function (i.e. its number
+            of parameters).
+        other_dim : int, optional
+            The dimension of the second function (i.e. its number
+            of parameters). The default is 0, which is interpreted
+            as a scalar.
+        reverse : bool, optional
+            If True, the order of the functions is reversed in
+            the operation. The default is False.
+        """
+        if func_dim == 1 and other_dim == 1:
+            # Use of python lambda for speed
+            if reverse:
+                return lambda x: operator(other(x), func(x))
+            else:
+                return lambda x: operator(func(x), other(x))
+
+        max_dim = max(func_dim, other_dim)
+        params = [f"x{i}" for i in range(max_dim)]
+        param_str = ", ".join(params)
+
+        if other_dim == 0:
+            if reverse:
+                expr = f"lambda {param_str}: operator(other, func({param_str}))"
+            else:
+                expr = f"lambda {param_str}: operator(func({param_str}), other)"
+        else:
+            func_args = ", ".join(params[:func_dim])
+            other_args = ", ".join(params[:other_dim])
+            if reverse:
+                expr = f"lambda {param_str}: operator(other({other_args}), func({func_args}))"
+            else:
+                expr = f"lambda {param_str}: operator(func({func_args}), other({other_args}))"
+
+        # pylint: disable=eval-used
+        return eval(expr, {"func": func, "other": other, "operator": operator})
+
 
 def funcify_method(*args, **kwargs):  # pylint: disable=too-many-statements
     """Decorator factory to wrap methods as Function objects and save them as
diff --git a/rocketpy/motors/empty_motor.py b/rocketpy/motors/empty_motor.py
index 4e844472b..ff7128c11 100644
--- a/rocketpy/motors/empty_motor.py
+++ b/rocketpy/motors/empty_motor.py
@@ -19,6 +19,7 @@ def __init__(self):
             reshape_thrust_curve=False,
             interpolation_method="linear",
             coordinate_system_orientation="nozzle_to_combustion_chamber",
+            reference_pressure=0,
         )
 
         # Mass properties
diff --git a/rocketpy/motors/hybrid_motor.py b/rocketpy/motors/hybrid_motor.py
index ea01e686f..e227e4550 100644
--- a/rocketpy/motors/hybrid_motor.py
+++ b/rocketpy/motors/hybrid_motor.py
@@ -29,6 +29,8 @@ class HybridMotor(Motor):
         "combustion_chamber_to_nozzle".
     HybridMotor.nozzle_radius : float
         Radius of motor nozzle outlet in meters.
+    HybridMotor.nozzle_area : float
+        Area of motor nozzle outlet in square meters.
     HybridMotor.nozzle_position : float
         Motor's nozzle outlet position in meters, specified in the motor's
         coordinate system. See
@@ -147,7 +149,11 @@ class HybridMotor(Motor):
         HybridMotor.propellant_I_22 and HybridMotor.propellant_I_33 for
         more information.
     HybridMotor.thrust : Function
-        Motor thrust force, in Newtons, as a function of time.
+        Motor thrust force obtained from thrust source, in Newtons, as a
+        function of time.
+    HybridMotor.vacuum_thrust : Function
+        Motor thrust force when the rocket is in a vacuum. In Newtons, as a
+        function of time.
     HybridMotor.total_impulse : float
         Total impulse of the thrust curve in N*s.
     HybridMotor.max_thrust : float
@@ -167,7 +173,10 @@ class HybridMotor(Motor):
         Total motor burn duration, in seconds. It is the difference between the
         ``burn_out_time`` and the ``burn_start_time``.
     HybridMotor.exhaust_velocity : Function
-        Propulsion gases exhaust velocity, assumed constant, in m/s.
+        Effective exhaust velocity of the propulsion gases in m/s. Computed
+        as the thrust divided by the mass flow rate. This corresponds to the
+        actual exhaust velocity only when the nozzle exit pressure equals the
+        atmospheric pressure.
     HybridMotor.burn_area : Function
         Total burn area considering all grains, made out of inner
         cylindrical burn area and grain top and bottom faces. Expressed
@@ -181,6 +190,9 @@ class HybridMotor(Motor):
         Method of interpolation used in case thrust curve is given
         by data set in .csv or .eng, or as an array. Options are 'spline'
         'akima' and 'linear'. Default is "linear".
+    HybridMotor.reference_pressure : int, float
+        Atmospheric pressure in Pa at which the thrust data was recorded.
+        It will allow to obtain the net thrust in the Flight class.
     """
 
     def __init__(  # pylint: disable=too-many-arguments
@@ -203,6 +215,7 @@ def __init__(  # pylint: disable=too-many-arguments
         reshape_thrust_curve=False,
         interpolation_method="linear",
         coordinate_system_orientation="nozzle_to_combustion_chamber",
+        reference_pressure=None,
     ):
         """Initialize Motor class, process thrust curve and geometrical
         parameters and store results.
@@ -298,6 +311,8 @@ class Function. Thrust units are Newtons.
             positions specified. Options are "nozzle_to_combustion_chamber" and
             "combustion_chamber_to_nozzle". Default is
             "nozzle_to_combustion_chamber".
+        reference_pressure : int, float, optional
+            Atmospheric pressure in Pa at which the thrust data was recorded.
 
         Returns
         -------
@@ -314,6 +329,7 @@ class Function. Thrust units are Newtons.
             reshape_thrust_curve=reshape_thrust_curve,
             interpolation_method=interpolation_method,
             coordinate_system_orientation=coordinate_system_orientation,
+            reference_pressure=reference_pressure,
         )
         self.liquid = LiquidMotor(
             thrust_source,
@@ -326,6 +342,7 @@ class Function. Thrust units are Newtons.
             reshape_thrust_curve,
             interpolation_method,
             coordinate_system_orientation,
+            reference_pressure,
         )
         self.solid = SolidMotor(
             thrust_source,
@@ -346,6 +363,7 @@ class Function. Thrust units are Newtons.
             reshape_thrust_curve,
             interpolation_method,
             coordinate_system_orientation,
+            reference_pressure,
         )
 
         self.positioned_tanks = self.liquid.positioned_tanks
@@ -371,6 +389,11 @@ def exhaust_velocity(self):
         -------
         self.exhaust_velocity : Function
             Gas exhaust velocity of the motor.
+
+        Notes
+        -----
+        This corresponds to the actual exhaust velocity only when the nozzle
+        exit pressure equals the atmospheric pressure.
         """
         return Function(
             self.total_impulse / self.propellant_initial_mass
@@ -676,6 +699,7 @@ def from_dict(cls, data):
             grains_center_of_mass_position=data["grains_center_of_mass_position"],
             nozzle_position=data["nozzle_position"],
             throat_radius=data["throat_radius"],
+            reference_pressure=data.get("reference_pressure"),
         )
 
         for tank in data["positioned_tanks"]:
diff --git a/rocketpy/motors/liquid_motor.py b/rocketpy/motors/liquid_motor.py
index 7e763dd70..acce874af 100644
--- a/rocketpy/motors/liquid_motor.py
+++ b/rocketpy/motors/liquid_motor.py
@@ -29,6 +29,8 @@ class LiquidMotor(Motor):
         "combustion_chamber_to_nozzle".
     LiquidMotor.nozzle_radius : float
         Radius of motor nozzle outlet in meters.
+    LiquidMotor.nozzle_area : float
+        Area of motor nozzle outlet in square meters.
     LiquidMotor.nozzle_position : float
         Motor's nozzle outlet position in meters, specified in the motor's
         coordinate system. See
@@ -122,7 +124,11 @@ class LiquidMotor(Motor):
         LiquidMotor.propellant_I_22 and LiquidMotor.propellant_I_33 for
         more information.
     LiquidMotor.thrust : Function
-        Motor thrust force, in Newtons, as a function of time.
+        Motor thrust force obtained from thrust source, in Newtons, as a
+        function of time.
+    LiquidMotor.vacuum_thrust : Function
+        Motor thrust force when the rocket is in a vacuum. In Newtons, as a
+        function of time.
     LiquidMotor.total_impulse : float
         Total impulse of the thrust curve in N*s.
     LiquidMotor.max_thrust : float
@@ -142,7 +148,13 @@ class LiquidMotor(Motor):
         Total motor burn duration, in seconds. It is the difference between the
         burn_out_time and the burn_start_time.
     LiquidMotor.exhaust_velocity : Function
-        Propulsion gases exhaust velocity in m/s.
+        Effective exhaust velocity of the propulsion gases in m/s. Computed
+        as the thrust divided by the mass flow rate. This corresponds to the
+        actual exhaust velocity only when the nozzle exit pressure equals the
+        atmospheric pressure.
+    LiquidMotor.reference_pressure : int, float
+        Atmospheric pressure in Pa at which the thrust data was recorded.
+        It will allow to obtain the net thrust in the Flight class.
     """
 
     def __init__(
@@ -157,6 +169,7 @@ def __init__(
         reshape_thrust_curve=False,
         interpolation_method="linear",
         coordinate_system_orientation="nozzle_to_combustion_chamber",
+        reference_pressure=None,
     ):
         """Initialize LiquidMotor class, process thrust curve and geometrical
         parameters and store results.
@@ -230,6 +243,8 @@ class Function. Thrust units are Newtons.
             positions specified. Options are "nozzle_to_combustion_chamber"
             and "combustion_chamber_to_nozzle". Default is
             "nozzle_to_combustion_chamber".
+        reference_pressure : int, float, optional
+            Atmospheric pressure in Pa at which the thrust data was recorded.
         """
         super().__init__(
             thrust_source=thrust_source,
@@ -242,6 +257,7 @@ class Function. Thrust units are Newtons.
             reshape_thrust_curve=reshape_thrust_curve,
             interpolation_method=interpolation_method,
             coordinate_system_orientation=coordinate_system_orientation,
+            reference_pressure=reference_pressure,
         )
 
         self.positioned_tanks = []
@@ -264,7 +280,8 @@ def exhaust_velocity(self):
         -----
         The exhaust velocity is computed as the ratio of the thrust and the
         mass flow rate. Therefore, this will vary with time if the mass flow
-        rate varies with time.
+        rate varies with time. This corresponds to the actual exhaust velocity
+        only when the nozzle exit pressure equals the atmospheric pressure.
         """
         times, thrusts = self.thrust.source[:, 0], self.thrust.source[:, 1]
         mass_flow_rates = self.mass_flow_rate(times)
@@ -511,6 +528,7 @@ def from_dict(cls, data):
             nozzle_position=data["nozzle_position"],
             interpolation_method=data["interpolate"],
             coordinate_system_orientation=data["coordinate_system_orientation"],
+            reference_pressure=data.get("reference_pressure"),
         )
 
         for tank in data["positioned_tanks"]:
diff --git a/rocketpy/motors/motor.py b/rocketpy/motors/motor.py
index 5f4b0dc0b..7178cdcf5 100644
--- a/rocketpy/motors/motor.py
+++ b/rocketpy/motors/motor.py
@@ -1,5 +1,6 @@
 import re
 import warnings
+import xml.etree.ElementTree as ET
 from abc import ABC, abstractmethod
 from functools import cached_property
 from os import path
@@ -28,6 +29,8 @@ class Motor(ABC):
         "combustion_chamber_to_nozzle".
     Motor.nozzle_radius : float
         Radius of motor nozzle outlet in meters.
+    Motor.nozzle_area : float
+        Area of motor nozzle outlet in square meters.
     Motor.nozzle_position : float
         Motor's nozzle outlet position in meters, specified in the motor's
         coordinate system. See :ref:`positions` for more information.
@@ -121,7 +124,11 @@ class Motor(ABC):
         e_3 axes in kg*m^2, as a function of time. See Motor.propellant_I_22
         and Motor.propellant_I_33 for more information.
     Motor.thrust : Function
-        Motor thrust force, in Newtons, as a function of time.
+        Motor thrust force obtained from the thrust source, in Newtons, as a
+        function of time.
+    Motor.vacuum_thrust : Function
+        Motor thrust force when the rocket is in a vacuum. In Newtons, as a
+        function of time.
     Motor.total_impulse : float
         Total impulse of the thrust curve in N*s.
     Motor.max_thrust : float
@@ -141,11 +148,17 @@ class Motor(ABC):
         Total motor burn duration, in seconds. It is the difference between
         the burn_out_time and the burn_start_time.
     Motor.exhaust_velocity : Function
-        Propulsion gases exhaust velocity in m/s.
+        Effective exhaust velocity of the propulsion gases in m/s. Computed
+        as the thrust divided by the mass flow rate. This corresponds to the
+        actual exhaust velocity only when the nozzle exit pressure equals the
+        atmospheric pressure.
     Motor.interpolate : string
         Method of interpolation used in case thrust curve is given
         by data set in .csv or .eng, or as an array. Options are 'spline'
         'akima' and 'linear'. Default is "linear".
+    Motor.reference_pressure : int, float, None
+        Atmospheric pressure in Pa at which the thrust data was recorded.
+        It will allow to obtain the net thrust in the Flight class.
     """
 
     # pylint: disable=too-many-statements
@@ -161,6 +174,7 @@ def __init__(
         reshape_thrust_curve=False,
         interpolation_method="linear",
         coordinate_system_orientation="nozzle_to_combustion_chamber",
+        reference_pressure=None,
     ):
         """Initialize Motor class, process thrust curve and geometrical
         parameters and store results.
@@ -236,6 +250,8 @@ class Function. Thrust units are Newtons.
             positions specified. Options are "nozzle_to_combustion_chamber" and
             "combustion_chamber_to_nozzle". Default is
             "nozzle_to_combustion_chamber".
+        reference_pressure : int, float, optional
+            Atmospheric pressure in Pa at which the thrust data was recorded.
 
         Returns
         -------
@@ -257,7 +273,9 @@ class Function. Thrust units are Newtons.
         self.interpolate = interpolation_method
         self.nozzle_position = nozzle_position
         self.nozzle_radius = nozzle_radius
+        self.nozzle_area = np.pi * nozzle_radius**2
         self.center_of_dry_mass_position = center_of_dry_mass_position
+        self.reference_pressure = reference_pressure
 
         # Inertia tensor setup
         inertia = (*dry_inertia, 0, 0, 0) if len(dry_inertia) == 3 else dry_inertia
@@ -268,8 +286,9 @@ class Function. Thrust units are Newtons.
         self.dry_I_13 = inertia[4]
         self.dry_I_23 = inertia[5]
 
-        # Handle .eng file inputs
+        # Handle .eng or .rse file inputs
         self.description_eng_file = None
+        self.rse_motor_data = None
         if isinstance(thrust_source, str):
             if (
                 path.exists(thrust_source)
@@ -277,7 +296,12 @@ class Function. Thrust units are Newtons.
             ):
                 _, self.description_eng_file, points = Motor.import_eng(thrust_source)
                 thrust_source = points
-
+            elif (
+                path.exists(thrust_source)
+                and path.splitext(path.basename(thrust_source))[1] == ".rse"
+            ):
+                self.rse_motor_data, points = Motor.import_rse(thrust_source)
+                thrust_source = points
         # Evaluate raw thrust source
         self.thrust_source = thrust_source
         self.thrust = Function(
@@ -307,10 +331,6 @@ class Function. Thrust units are Newtons.
         self.burn_out_time = self.burn_time[1]
         self.burn_duration = self.burn_time[1] - self.burn_time[0]
 
-        # Define motor attributes
-        self.nozzle_radius = nozzle_radius
-        self.nozzle_position = nozzle_position
-
         # Compute thrust metrics
         self.max_thrust = np.amax(self.thrust.y_array)
         max_thrust_index = np.argmax(self.thrust.y_array)
@@ -381,6 +401,10 @@ def dry_mass(self, dry_mass):
             self._dry_mass = float(self.description_eng_file[-2]) - float(
                 self.description_eng_file[-3]
             )
+        elif self.rse_motor_data:
+            self._dry_mass = float(
+                self.rse_motor_data["description"]["total_mass"]
+            ) - float(self.rse_motor_data["description"]["propellant_mass"])
         else:
             raise ValueError("Dry mass must be specified.")
 
@@ -399,7 +423,7 @@ def total_impulse(self):
     @property
     @abstractmethod
     def exhaust_velocity(self):
-        """Exhaust velocity of the motor gases.
+        """Effective exhaust velocity of the motor gases.
 
         Returns
         -------
@@ -418,6 +442,9 @@ def exhaust_velocity(self):
         - The ``LiquidMotor`` class favors the more accurate data from the
           Tanks's mass flow rates. Therefore the exhaust velocity is generally
           variable, being the ratio of the motor thrust by the mass flow rate.
+
+        This corresponds to the actual exhaust velocity only when the nozzle
+        exit pressure equals the atmospheric pressure.
         """
 
     @funcify_method("Time (s)", "Total mass (kg)")
@@ -990,6 +1017,83 @@ def clip_thrust(thrust, new_burn_time):
             "zero",
         )
 
+    @staticmethod
+    def import_rse(file_name):
+        """
+        Reads motor data from a file and extracts comments, model, description, and data points.
+
+        Parameters
+        ----------
+        file_path : str
+            Path to the motor data file.
+
+        Returns
+        -------
+        dict
+            A dictionary containing the extracted data:
+            - comments: List of comments in the file.
+            - model: Dictionary with manufacturer, code, and type of the motor.
+            - description: Dictionary with performance data (dimensions, weights, thrust, etc.).
+            - data_points: List of temporal data points (time, thrust, mass, cg).
+        tuple
+            A tuple representing the thrust curve (time, thrust).
+        """
+
+        # Parse the XML file
+        tree = ET.parse(file_name)
+        root = tree.getroot()
+
+        # Extract comments
+        comments = []
+        for comment in root.iter():
+            if comment.tag.startswith("<!--"):
+                comments.append(comment.text.strip())
+
+        # Extract model data
+        engine = root.find(".//engine")
+        model = {
+            "manufacturer": engine.attrib.get("mfg"),
+            "code": engine.attrib.get("code"),
+            "type": engine.attrib.get("Type"),
+        }
+
+        # Extract description data
+        description = {
+            "diameter": float(engine.attrib.get("dia", 0)) / 1000,
+            "length": float(engine.attrib.get("len", 0)) / 1000,
+            "throat_diameter": float(engine.attrib.get("throatDia", 0)) / 1000,
+            "exit_diameter": float(engine.attrib.get("exitDia", 0)) / 1000,
+            "total_mass": float(engine.attrib.get("initWt", 0)) / 1000,
+            "propellant_mass": float(engine.attrib.get("propWt", 0)) / 1000,
+            "average_thrust": float(engine.attrib.get("avgThrust", 0)),
+            "peak_thrust": float(engine.attrib.get("peakThrust", 0)),
+            "total_impulse": float(engine.attrib.get("Itot", 0)),
+            "burn_time": float(engine.attrib.get("burn-time", 0)),
+            "isp": float(engine.attrib.get("Isp", 0)),
+            "mass_fraction": float(engine.attrib.get("massFrac", 0)) / 100,
+        }
+
+        # Extract data points
+        data_points = []
+        thrust_source = []
+        for eng_data in engine.find("data").findall("eng-data"):
+            time = float(eng_data.attrib.get("t", 0))
+            thrust = float(eng_data.attrib.get("f", 0))
+            mass = float(eng_data.attrib.get("m", 0))
+            cg = float(eng_data.attrib.get("cg", 0))
+            data_points.append({"time": time, "thrust": thrust, "mass": mass, "cg": cg})
+            thrust_source.append([time, thrust])
+
+        # Create the dictionary to return
+        rse_file_data = {
+            "comments": comments,
+            "model": model,
+            "description": description,
+            "data_points": data_points,
+        }
+
+        return rse_file_data, thrust_source
+
     @staticmethod
     def import_eng(file_name):
         """Read content from .eng file and process it, in order to return the
@@ -1039,6 +1143,45 @@ def import_eng(file_name):
         # Return all extract content
         return comments, description, data_points
 
+    @cached_property
+    def vacuum_thrust(self):
+        """Calculate the vacuum thrust from the raw thrust and the reference
+        pressure at which the thrust data was recorded.
+
+        Returns
+        -------
+        vacuum_thrust : Function
+            The rocket's thrust in a vaccum.
+        """
+        if self.reference_pressure is None:
+            warnings.warn(
+                "Reference pressure not set. Returning thrust instead.",
+                UserWarning,
+            )
+            return self.thrust
+
+        return self.thrust + self.reference_pressure * self.nozzle_area
+
+    def pressure_thrust(self, pressure):
+        """Computes the contribution to thrust due to the difference between
+        the atmospheric pressure and the reference pressure at which the
+        thrust data was recorded.
+
+        Parameters
+        ----------
+        pressure : float
+            Atmospheric pressure in Pa.
+
+        Returns
+        -------
+        pressure_thrust : float
+            Thrust component resulting from the pressure difference.
+        """
+        if self.reference_pressure is None:
+            return 0
+
+        return (self.reference_pressure - pressure) * self.nozzle_area
+
     def export_eng(self, file_name, motor_name):
         """Exports thrust curve data points and motor description to
         .eng file format. A description of the format can be found
@@ -1105,17 +1248,20 @@ def to_dict(self, include_outputs=False):
             "dry_I_13": self.dry_I_13,
             "dry_I_23": self.dry_I_23,
             "nozzle_radius": self.nozzle_radius,
+            "nozzle_area": self.nozzle_area,
             "center_of_dry_mass_position": self.center_of_dry_mass_position,
             "dry_mass": self.dry_mass,
             "nozzle_position": self.nozzle_position,
             "burn_time": self.burn_time,
             "interpolate": self.interpolate,
             "coordinate_system_orientation": self.coordinate_system_orientation,
+            "reference_pressure": self.reference_pressure,
         }
 
         if include_outputs:
             data.update(
                 {
+                    "vacuum_thrust": self.vacuum_thrust,
                     "total_mass": self.total_mass,
                     "propellant_mass": self.propellant_mass,
                     "mass_flow_rate": self.mass_flow_rate,
@@ -1176,6 +1322,7 @@ class GenericMotor(Motor):
     therefore for more accurate results, use the ``SolidMotor``, ``HybridMotor``
     or ``LiquidMotor`` classes."""
 
+    # pylint: disable=too-many-arguments
     def __init__(
         self,
         thrust_source,
@@ -1192,6 +1339,7 @@ def __init__(
         reshape_thrust_curve=False,
         interpolation_method="linear",
         coordinate_system_orientation="nozzle_to_combustion_chamber",
+        reference_pressure=None,
     ):
         """Initialize GenericMotor class, process thrust curve and geometrical
         parameters and store results.
@@ -1281,6 +1429,8 @@ def __init__(
             positions specified. Options are "nozzle_to_combustion_chamber" and
             "combustion_chamber_to_nozzle". Default is
             "nozzle_to_combustion_chamber".
+        reference_pressure : int, float, optional
+            Atmospheric pressure in Pa at which the thrust data was recorded.
         """
         super().__init__(
             thrust_source=thrust_source,
@@ -1293,6 +1443,7 @@ def __init__(
             reshape_thrust_curve=reshape_thrust_curve,
             interpolation_method=interpolation_method,
             coordinate_system_orientation=coordinate_system_orientation,
+            reference_pressure=reference_pressure,
         )
 
         self.chamber_radius = chamber_radius
@@ -1330,6 +1481,11 @@ def exhaust_velocity(self):
         -------
         self.exhaust_velocity : Function
             Gas exhaust velocity of the motor.
+
+        Notes
+        -----
+        This corresponds to the actual exhaust velocity only when the nozzle
+        exit pressure equals the atmospheric pressure.
         """
         return Function(
             self.total_impulse / self.propellant_initial_mass
@@ -1454,6 +1610,7 @@ def load_from_eng_file(
         reshape_thrust_curve=False,
         interpolation_method="linear",
         coordinate_system_orientation="nozzle_to_combustion_chamber",
+        reference_pressure=None,
     ):
         """Loads motor data from a .eng file and processes it.
 
@@ -1515,6 +1672,8 @@ def load_from_eng_file(
             positions specified. Options are "nozzle_to_combustion_chamber" and
             "combustion_chamber_to_nozzle". Default is
             "nozzle_to_combustion_chamber".
+        reference_pressure : int, float, optional
+            Atmospheric pressure in Pa at which the thrust data was recorded.
 
         Returns
         -------
@@ -1549,6 +1708,137 @@ def load_from_eng_file(
         if not nozzle_radius:
             nozzle_radius = 0.85 * chamber_radius
 
+        return GenericMotor(
+            thrust_source=thrust,
+            burn_time=burn_time,
+            chamber_radius=chamber_radius,
+            chamber_height=chamber_height,
+            chamber_position=chamber_position,
+            propellant_initial_mass=propellant_initial_mass,
+            nozzle_radius=nozzle_radius,
+            dry_mass=dry_mass,
+            center_of_dry_mass_position=center_of_dry_mass_position,
+            dry_inertia=dry_inertia,
+            nozzle_position=nozzle_position,
+            reshape_thrust_curve=reshape_thrust_curve,
+            interpolation_method=interpolation_method,
+            coordinate_system_orientation=coordinate_system_orientation,
+            reference_pressure=reference_pressure,
+        )
+
+    @staticmethod
+    def load_from_rse_file(
+        file_name,
+        nozzle_radius=None,
+        chamber_radius=None,
+        chamber_height=None,
+        chamber_position=0,
+        propellant_initial_mass=None,
+        dry_mass=None,
+        burn_time=None,
+        center_of_dry_mass_position=None,
+        dry_inertia=(0, 0, 0),
+        nozzle_position=0,
+        reshape_thrust_curve=False,
+        interpolation_method="linear",
+        coordinate_system_orientation="nozzle_to_combustion_chamber",
+    ):
+        """Loads motor data from a .rse file and processes it.
+
+        Parameters
+        ----------
+        file_name : string
+            Name of the .eng file. E.g. 'test.eng'.
+        nozzle_radius : int, float
+            Motor's nozzle outlet radius in meters.
+        chamber_radius : int, float, optional
+            The radius of a overall cylindrical chamber of propellant in meters.
+        chamber_height : int, float, optional
+            The height of a overall cylindrical chamber of propellant in meters.
+        chamber_position : int, float, optional
+            The position, in meters, of the centroid (half height) of the motor's
+            overall cylindrical chamber of propellant with respect to the motor's
+            coordinate system.
+        propellant_initial_mass : int, float, optional
+            The initial mass of the propellant in the motor.
+        dry_mass : int, float, optional
+            Same as in Motor class. See the :class:`Motor <rocketpy.Motor>` docs
+        burn_time: float, tuple of float, optional
+            Motor's burn time.
+            If a float is given, the burn time is assumed to be between 0 and
+            the given float, in seconds.
+            If a tuple of float is given, the burn time is assumed to be between
+            the first and second elements of the tuple, in seconds.
+            If not specified, automatically sourced as the range between the
+            first and last-time step of the motor's thrust curve. This can only
+            be used if the motor's thrust is defined by a list of points, such
+            as a .csv file, a .eng file or a Function instance whose source is a
+            list.
+        center_of_dry_mass_position : int, float, optional
+            The position, in meters, of the motor's center of mass with respect
+            to the motor's coordinate system when it is devoid of propellant.
+            If not specified, automatically sourced as the chamber position.
+        dry_inertia : tuple, list
+            Tuple or list containing the motor's dry mass inertia tensor
+        nozzle_position : int, float, optional
+            Motor's nozzle outlet position in meters, in the motor's coordinate
+            system. Default is 0, in which case the origin of the
+            coordinate system is placed at the motor's nozzle outlet.
+        reshape_thrust_curve : boolean, tuple, optional
+            If False, the original thrust curve supplied is not altered. If a
+            tuple is given, whose first parameter is a new burn out time and
+            whose second parameter is a new total impulse in Ns, the thrust
+            curve is reshaped to match the new specifications. May be useful
+            for motors whose thrust curve shape is expected to remain similar
+            in case the impulse and burn time varies slightly. Default is
+            False. Note that the Motor burn_time parameter must include the new
+            reshaped burn time.
+        interpolation_method : string, optional
+            Method of interpolation to be used in case thrust curve is given
+        coordinate_system_orientation : string, optional
+            Orientation of the motor's coordinate system. The coordinate system
+            is defined by the motor's axis of symmetry. The origin of the
+            coordinate system may be placed anywhere along such axis, such as
+            at the nozzle area, and must be kept the same for all other
+            positions specified. Options are "nozzle_to_combustion_chamber" and
+            "combustion_chamber_to_nozzle". Default is
+            "nozzle_to_combustion_chamber".
+
+        Returns
+        -------
+        Generic Motor object
+        """
+        if isinstance(file_name, str):
+            if path.splitext(path.basename(file_name))[1] == ".rse":
+                description, thrust_source = Motor.import_rse(file_name)
+            else:
+                raise ValueError("File must be a .rse file.")
+        else:
+            raise ValueError("File name must be a string.")
+
+        thrust = Function(thrust_source, "Time (s)", "Thrust (N)", "linear", "zero")
+
+        # handle eng parameters
+        if not chamber_radius:
+            chamber_radius = description["description"][
+                "diameter"
+            ]  # get motor diameter in meters
+
+        if not chamber_height:
+            chamber_height = description["description"][
+                "length"
+            ]  # get motor length in meters
+
+        if not propellant_initial_mass:
+            propellant_initial_mass = description["description"]["propellant_mass"]
+
+        if not dry_mass:
+            total_mass = description["description"]["total_mass"]
+            dry_mass = total_mass - propellant_initial_mass
+
+        if not nozzle_radius:
+            nozzle_radius = description["description"]["exit_diameter"]
+
         return GenericMotor(
             thrust_source=thrust,
             burn_time=burn_time,
@@ -1606,4 +1896,5 @@ def from_dict(cls, data):
             ),
             nozzle_position=data["nozzle_position"],
             interpolation_method=data["interpolate"],
+            reference_pressure=data.get("reference_pressure"),
         )
diff --git a/rocketpy/motors/solid_motor.py b/rocketpy/motors/solid_motor.py
index 37d89130e..a8d823966 100644
--- a/rocketpy/motors/solid_motor.py
+++ b/rocketpy/motors/solid_motor.py
@@ -29,6 +29,8 @@ class SolidMotor(Motor):
         "combustion_chamber_to_nozzle".
     SolidMotor.nozzle_radius : float
         Radius of motor nozzle outlet in meters.
+    SolidMotor.nozzle_area : float
+        Area of motor nozzle outlet in square meters.
     SolidMotor.nozzle_position : float
         Motor's nozzle outlet position in meters, specified in the motor's
         coordinate system. See
@@ -147,7 +149,11 @@ class SolidMotor(Motor):
         See SolidMotor.propellant_I_22 and SolidMotor.propellant_I_33 for more
         information.
     SolidMotor.thrust : Function
-        Motor thrust force, in Newtons, as a function of time.
+        Motor thrust force obtained from thrust source, in Newtons, as a
+        function of time.
+    SolidMotor.vacuum_thrust : Function
+        Motor thrust force when the rocket is in a vacuum. In Newtons, as a
+        function of time.
     SolidMotor.total_impulse : float
         Total impulse of the thrust curve in N*s.
     SolidMotor.max_thrust : float
@@ -167,7 +173,10 @@ class SolidMotor(Motor):
         Total motor burn duration, in seconds. It is the difference between the
         ``burn_out_time`` and the ``burn_start_time``.
     SolidMotor.exhaust_velocity : Function
-        Propulsion gases exhaust velocity, assumed constant, in m/s.
+        Effective exhaust velocity of the propulsion gases in m/s. Computed
+        as the thrust divided by the mass flow rate. This corresponds to the
+        actual exhaust velocity only when the nozzle exit pressure equals the
+        atmospheric pressure.
     SolidMotor.burn_area : Function
         Total burn area considering all grains, made out of inner
         cylindrical burn area and grain top and bottom faces. Expressed
@@ -181,6 +190,9 @@ class SolidMotor(Motor):
         Method of interpolation used in case thrust curve is given
         by data set in .csv or .eng, or as an array. Options are 'spline'
         'akima' and 'linear'. Default is "linear".
+    SolidMotor.reference_pressure : int, float
+        Atmospheric pressure in Pa at which the thrust data was recorded.
+        It will allow to obtain the net thrust in the Flight class.
     """
 
     # pylint: disable=too-many-arguments
@@ -204,6 +216,7 @@ def __init__(
         reshape_thrust_curve=False,
         interpolation_method="linear",
         coordinate_system_orientation="nozzle_to_combustion_chamber",
+        reference_pressure=None,
     ):
         """Initialize Motor class, process thrust curve and geometrical
         parameters and store results.
@@ -299,6 +312,8 @@ class Function. Thrust units are Newtons.
             positions specified. Options are "nozzle_to_combustion_chamber" and
             "combustion_chamber_to_nozzle". Default is
             "nozzle_to_combustion_chamber".
+        reference_pressure : int, float, optional
+            Atmospheric pressure in Pa at which the thrust data was recorded.
 
         Returns
         -------
@@ -315,6 +330,7 @@ class Function. Thrust units are Newtons.
             reshape_thrust_curve=reshape_thrust_curve,
             interpolation_method=interpolation_method,
             coordinate_system_orientation=coordinate_system_orientation,
+            reference_pressure=reference_pressure,
         )
         # Nozzle parameters
         self.throat_radius = throat_radius
@@ -379,6 +395,11 @@ def exhaust_velocity(self):
         -------
         self.exhaust_velocity : Function
             Gas exhaust velocity of the motor.
+
+        Notes
+        -----
+        This corresponds to the actual exhaust velocity only when the nozzle
+        exit pressure equals the atmospheric pressure.
         """
         return Function(
             self.total_impulse / self.propellant_initial_mass
@@ -800,4 +821,5 @@ def from_dict(cls, data):
             throat_radius=data["throat_radius"],
             interpolation_method=data["interpolate"],
             coordinate_system_orientation=data["coordinate_system_orientation"],
+            reference_pressure=data.get("reference_pressure"),
         )
diff --git a/rocketpy/plots/monte_carlo_plots.py b/rocketpy/plots/monte_carlo_plots.py
index e20474773..cfb865c5f 100644
--- a/rocketpy/plots/monte_carlo_plots.py
+++ b/rocketpy/plots/monte_carlo_plots.py
@@ -195,3 +195,240 @@ def all(self, keys=None):
 
             plt.tight_layout()
             plt.show()
+
+    def plot_comparison(self, other_monte_carlo):
+        """
+        Plot the histograms of the Monte Carlo simulation results.
+
+        Parameters
+        ----------
+        other_monte_carlo : MonteCarlo
+            MonteCarlo object which the current one will be compared to.
+
+        Returns
+        -------
+        None
+        """
+        original_parameters_set = set(self.monte_carlo.processed_results.keys())
+        other_parameters_set = set(other_monte_carlo.processed_results.keys())
+        intersection_set = original_parameters_set.intersection(other_parameters_set)
+
+        fill_colors = ["red", "blue"]
+        for key in intersection_set:
+            # Create figure with GridSpec
+            fig = plt.figure(figsize=(8, 8))
+            gs = fig.add_gridspec(2, 1, height_ratios=[1, 3])
+
+            # Create subplots using gridspec
+            ax1 = fig.add_subplot(gs[0])
+            ax2 = fig.add_subplot(gs[1])
+
+            # Plot boxplot
+            bp = ax1.boxplot(
+                [other_monte_carlo.results[key], self.monte_carlo.results[key]],
+                vert=False,
+                tick_labels=["Other", "Original"],
+                patch_artist=True,
+            )
+            for patch, color in zip(bp["boxes"], fill_colors):
+                patch.set_facecolor(color)
+            ax1.set_title(f"Box Plot of {key}")
+
+            # Plot histogram
+            ax2.hist(
+                self.monte_carlo.results[key],
+                alpha=0.5,
+                color="blue",
+                label="Original",
+                density=True,
+            )
+            ax2.hist(
+                other_monte_carlo.results[key],
+                alpha=0.5,
+                color="red",
+                label="Other",
+                density=True,
+            )
+            ax2.set_title(f"Histogram of {key}")
+            ax2.set_ylabel("Density")
+
+            plt.tight_layout()
+            plt.legend()
+            plt.show()
+
+    # pylint: disable=too-many-statements
+    def ellipses_comparison(
+        self,
+        other_monte_carlo,
+        image=None,
+        perimeter_size=3000,
+        xlim=(-3000, 3000),
+        ylim=(-3000, 3000),
+        save=False,
+    ):
+        """
+        Plot the error ellipses for the apogee and impact points of the rocket.
+
+        Parameters
+        ----------
+        other_monte_carlo : MonteCarlo
+            MonteCarlo object which the current one will be compared to.
+        image : str, optional
+            Path to the background image, usually a map of the launch site.
+        perimeter_size : int, optional
+            Size of the perimeter to be plotted. Default is 3000.
+        xlim : tuple, optional
+            Limits of the x-axis. Default is (-3000, 3000). Values in meters.
+        ylim : tuple, optional
+            Limits of the y-axis. Default is (-3000, 3000). Values in meters.
+        save : bool, optional
+            Whether to save the plot as a file. Default is False. If True, the
+            plot is saved and not displayed. If False, the plot is displayed.
+
+        Returns
+        -------
+        None
+        """
+        imageio = import_optional_dependency("imageio")
+
+        # Import background map
+        if image is not None:
+            try:
+                img = imageio.imread(image)
+            except FileNotFoundError as e:  # pragma no cover
+                raise FileNotFoundError(
+                    "The image file was not found. Please check the path."
+                ) from e
+
+        try:
+            original_apogee_x = np.array(self.monte_carlo.results["apogee_x"])
+            original_apogee_y = np.array(self.monte_carlo.results["apogee_y"])
+            other_apogee_x = np.array(other_monte_carlo.results["apogee_x"])
+            other_apogee_y = np.array(other_monte_carlo.results["apogee_y"])
+        except KeyError:
+            print("No apogee data found. Skipping apogee ellipses.")
+            original_apogee_x = np.array([])
+            original_apogee_y = np.array([])
+            other_apogee_x = np.array([])
+            other_apogee_y = np.array([])
+        try:
+            original_impact_x = np.array(self.monte_carlo.results["x_impact"])
+            original_impact_y = np.array(self.monte_carlo.results["y_impact"])
+            other_impact_x = np.array(other_monte_carlo.results["x_impact"])
+            other_impact_y = np.array(other_monte_carlo.results["y_impact"])
+        except KeyError:
+            print("No impact data found. Skipping impact ellipses.")
+            original_impact_x = np.array([])
+            original_impact_y = np.array([])
+            other_impact_x = np.array([])
+            other_impact_y = np.array([])
+
+        if (
+            len(original_apogee_x) == 0 and len(original_impact_x) == 0
+        ):  # pragma no cover
+            raise ValueError("No apogee or impact data found. Cannot plot ellipses.")
+
+        original_impact_ellipses, original_apogee_ellipses = (
+            generate_monte_carlo_ellipses(
+                original_apogee_x,
+                original_apogee_y,
+                original_impact_x,
+                original_impact_y,
+                apogee_rgb=(0.0117647, 0.1490196, 0.9882352),
+                impact_rgb=(0.9882352, 0.0117647, 0.6392156),
+            )
+        )
+
+        other_impact_ellipses, other_apogee_ellipses = generate_monte_carlo_ellipses(
+            other_apogee_x,
+            other_apogee_y,
+            other_impact_x,
+            other_impact_y,
+            apogee_rgb=(0.9882352, 0.8509803, 0.0117647),
+            impact_rgb=(0.0117647, 0.9882352, 0.3607843),
+        )
+
+        # Create plot figure
+        plt.figure(figsize=(8, 6), dpi=150)
+        ax = plt.subplot(111)
+
+        # Draw ellipses and points for original monte carlo
+        for ell in original_impact_ellipses:
+            ax.add_artist(ell)
+        for ell in original_apogee_ellipses:
+            ax.add_artist(ell)
+
+        plt.scatter(0, 0, s=30, marker="*", color="black", label="Launch Point")
+        plt.scatter(
+            original_apogee_x,
+            original_apogee_y,
+            s=5,
+            marker="^",
+            color="#0326FC",
+            label="Original Apogee",
+        )
+        plt.scatter(
+            original_impact_x,
+            original_impact_y,
+            s=5,
+            marker="v",
+            color="#FC03A3",
+            label="Original Landing Point",
+        )
+
+        # Draw ellipses and points for other monte carlo
+        for ell in other_impact_ellipses:
+            ax.add_artist(ell)
+        for ell in other_apogee_ellipses:
+            ax.add_artist(ell)
+
+        plt.scatter(
+            other_apogee_x,
+            other_apogee_y,
+            s=5,
+            marker="^",
+            color="#FCD903",
+            label="Other Apogee",
+        )
+        plt.scatter(
+            other_impact_x,
+            other_impact_y,
+            s=5,
+            marker="v",
+            color="#03FC5C",
+            label="Other Landing Point",
+        )
+
+        plt.legend()
+        ax.set_title("1$\\sigma$, 2$\\sigma$ and 3$\\sigma$ Monte Carlo Ellipses")
+        ax.set_ylabel("North (m)")
+        ax.set_xlabel("East (m)")
+
+        # Add background image to plot
+        # TODO: In the future, integrate with other libraries to plot the map (e.g. cartopy, ee, etc.)
+        # You can translate the basemap by changing dx and dy (in meters)
+        dx = 0
+        dy = 0
+        if image is not None:
+            plt.imshow(
+                img,
+                zorder=0,
+                extent=[
+                    -perimeter_size - dx,
+                    perimeter_size - dx,
+                    -perimeter_size - dy,
+                    perimeter_size - dy,
+                ],
+            )
+
+        plt.axhline(0, color="black", linewidth=0.5)
+        plt.axvline(0, color="black", linewidth=0.5)
+        plt.xlim(*xlim)
+        plt.ylim(*ylim)
+
+        if save:
+            plt.savefig(
+                f"{self.monte_carlo.filename}.png", bbox_inches="tight", pad_inches=0
+            )
+        else:
+            plt.show()
diff --git a/rocketpy/prints/monte_carlo_prints.py b/rocketpy/prints/monte_carlo_prints.py
index ad2c5c402..0f99a401f 100644
--- a/rocketpy/prints/monte_carlo_prints.py
+++ b/rocketpy/prints/monte_carlo_prints.py
@@ -34,3 +34,65 @@ def all(self):
                 print(
                     f"{key:>25} {'N/A':>15} {'N/A':>15} {'N/A':>15} {'N/A':>15} {'N/A':>15}"
                 )
+
+    def print_comparison(self, other_monte_carlo):
+        """Print the mean and standard deviation of each parameter in the results
+        dictionary or of the variables passed as argument.
+
+        Parameters
+        ----------
+        other_monte_carlo : MonteCarlo
+            MonteCarlo object which the current one will be compared to.
+
+        Returns
+        -------
+        None
+
+        """
+        # TODO: understand why this validation is failing
+        # if not isinstance(other_monte_carlo, MonteCarlo):
+        #     raise TypeError(
+        #         "Argument 'other_monte_carlo' must be an MonteCarlo object!"
+        #     )
+        original_parameters_set = set(self.monte_carlo.processed_results.keys())
+        other_parameters_set = set(other_monte_carlo.processed_results.keys())
+        intersection_set = original_parameters_set.intersection(other_parameters_set)
+        symmetric_diff_set = original_parameters_set.symmetric_difference(
+            other_parameters_set
+        )
+        print("Comparison of Monte Carlo Simulation by RocketPy")
+        print("Original data Source: ", self.monte_carlo.filename)
+        print("Comparison data Source: ", other_monte_carlo.filename)
+        print("Original number of simulations: ", self.monte_carlo.num_of_loaded_sims)
+        print(
+            "Comparison number of simulations: ", other_monte_carlo.num_of_loaded_sims
+        )
+        if len(symmetric_diff_set) > 0:
+            print(
+                f"The following parameters were not in both simulations: {symmetric_diff_set}\n"
+            )
+        print("Results: \n")
+        print(
+            f"{'Parameter':>35} {'Source':>15} {'Mean':>15} {'Median':>15} {'Std. Dev.':>15} {'95% PI Lower':>15} {'95% PI Upper':>15}"
+        )
+        print("-" * 140)
+        for parameter in intersection_set:
+            original_value = self.monte_carlo.processed_results[parameter]
+            try:
+                print(
+                    f"{parameter:>35} {'Original':>15} {original_value[0]:>15.3f} {original_value[1]:>15.3f} {original_value[2]:>15.3f} {original_value[3]:>15.3f} {original_value[4]:>15.3f}"
+                )
+            except TypeError:
+                print(
+                    f"{parameter:>35} {'Original':>15} {'N/A':>15} {'N/A':>15} {'N/A':>15} {'N/A':>15} {'N/A':>15}"
+                )
+
+            other_value = other_monte_carlo.processed_results[parameter]
+            try:
+                print(
+                    f"{parameter:>35} {'Other':>15} {other_value[0]:>15.3f} {other_value[1]:>15.3f} {other_value[2]:>15.3f} {other_value[3]:>15.3f} {other_value[4]:>15.3f}"
+                )
+            except TypeError:
+                print(
+                    f"{parameter:>35} {'Other':>15} {'N/A':>15} {'N/A':>15} {'N/A':>15} {'N/A':>15} {'N/A':>15}"
+                )
diff --git a/rocketpy/prints/sensors_prints.py b/rocketpy/prints/sensors_prints.py
index 4bf844c5a..4e65651df 100644
--- a/rocketpy/prints/sensors_prints.py
+++ b/rocketpy/prints/sensors_prints.py
@@ -74,7 +74,7 @@ def orientation(self):
         self._print_aligned("Orientation:", self.sensor.orientation)
         self._print_aligned("Normal Vector:", self.sensor.normal_vector)
         print("Rotation Matrix:")
-        for row in self.sensor.rotation_matrix:
+        for row in self.sensor.rotation_sensor_to_body:
             value = " ".join(f"{val:.2f}" for val in row)
             value = [float(val) for val in value.split()]
             self._print_aligned("", value)
diff --git a/rocketpy/sensors/accelerometer.py b/rocketpy/sensors/accelerometer.py
index 935f4e3cf..de249c173 100644
--- a/rocketpy/sensors/accelerometer.py
+++ b/rocketpy/sensors/accelerometer.py
@@ -44,7 +44,7 @@ class Accelerometer(InertialSensor):
         The cross axis sensitivity of the sensor in percentage.
     name : str
         The name of the sensor.
-    rotation_matrix : Matrix
+    rotation_sensor_to_body : Matrix
         The rotation matrix of the sensor from the sensor frame to the rocket
         frame of reference.
     normal_vector : Vector
@@ -241,8 +241,9 @@ def measure(self, time, **kwargs):
             + Vector.cross(omega, Vector.cross(omega, r))
         )
         # Transform to sensor frame
-        inertial_to_sensor = self._total_rotation_matrix @ Matrix.transformation(
-            u[6:10]
+        inertial_to_sensor = (
+            self._total_rotation_sensor_to_body
+            @ Matrix.transformation(u[6:10]).transpose
         )
         A = inertial_to_sensor @ A
 
diff --git a/rocketpy/sensors/gyroscope.py b/rocketpy/sensors/gyroscope.py
index cafac1cdc..5acbb6f50 100644
--- a/rocketpy/sensors/gyroscope.py
+++ b/rocketpy/sensors/gyroscope.py
@@ -1,6 +1,6 @@
 import numpy as np
 
-from ..mathutils.vector_matrix import Matrix, Vector
+from ..mathutils.vector_matrix import Vector
 from ..prints.sensors_prints import _GyroscopePrints
 from ..sensors.sensor import InertialSensor
 
@@ -44,7 +44,7 @@ class Gyroscope(InertialSensor):
         The cross axis sensitivity of the sensor in percentage.
     name : str
         The name of the sensor.
-    rotation_matrix : Matrix
+    rotation_sensor_to_body : Matrix
         The rotation matrix of the sensor from the sensor frame to the rocket
         frame of reference.
     normal_vector : Vector
@@ -222,14 +222,11 @@ def measure(self, time, **kwargs):
         u_dot = kwargs["u_dot"]
         relative_position = kwargs["relative_position"]
 
-        # Angular velocity of the rocket in the rocket frame
+        # Angular velocity of the rocket in the body frame
         omega = Vector(u[10:13])
 
         # Transform to sensor frame
-        inertial_to_sensor = self._total_rotation_matrix @ Matrix.transformation(
-            u[6:10]
-        )
-        W = inertial_to_sensor @ omega
+        W = self._total_rotation_sensor_to_body @ omega
 
         # Apply noise + bias and quantize
         W = self.apply_noise(W)
@@ -237,18 +234,14 @@ def measure(self, time, **kwargs):
 
         # Apply acceleration sensitivity
         if self.acceleration_sensitivity != Vector.zeros():
-            W += self.apply_acceleration_sensitivity(
-                omega, u_dot, relative_position, inertial_to_sensor
-            )
+            W += self.apply_acceleration_sensitivity(omega, u_dot, relative_position)
 
         W = self.quantize(W)
 
         self.measurement = tuple([*W])
         self._save_data((time, *W))
 
-    def apply_acceleration_sensitivity(
-        self, omega, u_dot, relative_position, rotation_matrix
-    ):
+    def apply_acceleration_sensitivity(self, omega, u_dot, relative_position):
         """
         Apply acceleration sensitivity to the sensor measurement
 
@@ -260,8 +253,6 @@ def apply_acceleration_sensitivity(
             The time derivative of the state vector
         relative_position : Vector
             The vector from the rocket's center of mass to the sensor
-        rotation_matrix : Matrix
-            The rotation matrix from the rocket frame to the sensor frame
 
         Returns
         -------
@@ -271,7 +262,7 @@ def apply_acceleration_sensitivity(
         # Linear acceleration of rocket cdm in inertial frame
         inertial_acceleration = Vector(u_dot[3:6])
 
-        # Angular velocity and accel of rocket
+        # Angular accel of rocket in body frame
         omega_dot = Vector(u_dot[10:13])
 
         # Acceleration felt in sensor
@@ -281,7 +272,7 @@ def apply_acceleration_sensitivity(
             + Vector.cross(omega, Vector.cross(omega, relative_position))
         )
         # Transform to sensor frame
-        A = rotation_matrix @ A
+        A = self._total_rotation_sensor_to_body @ A
 
         return self.acceleration_sensitivity & A
 
diff --git a/rocketpy/sensors/sensor.py b/rocketpy/sensors/sensor.py
index 91dab8e45..416201019 100644
--- a/rocketpy/sensors/sensor.py
+++ b/rocketpy/sensors/sensor.py
@@ -460,23 +460,23 @@ def __init__(
 
         # rotation matrix and normal vector
         if any(isinstance(row, (tuple, list)) for row in orientation):  # matrix
-            self.rotation_matrix = Matrix(orientation)
+            self.rotation_sensor_to_body = Matrix(orientation)
         elif len(orientation) == 3:  # euler angles
-            self.rotation_matrix = Matrix.transformation_euler_angles(
+            self.rotation_sensor_to_body = Matrix.transformation_euler_angles(
                 *np.deg2rad(orientation)
             ).round(12)
         else:
             raise ValueError("Invalid orientation format")
         self.normal_vector = Vector(
             [
-                self.rotation_matrix[0][2],
-                self.rotation_matrix[1][2],
-                self.rotation_matrix[2][2],
+                self.rotation_sensor_to_body[0][2],
+                self.rotation_sensor_to_body[1][2],
+                self.rotation_sensor_to_body[2][2],
             ]
         ).unit_vector
 
         # cross axis sensitivity matrix
-        _cross_axis_matrix = 0.01 * Matrix(
+        cross_axis_matrix = 0.01 * Matrix(
             [
                 [100, self.cross_axis_sensitivity, self.cross_axis_sensitivity],
                 [self.cross_axis_sensitivity, 100, self.cross_axis_sensitivity],
@@ -485,7 +485,9 @@ def __init__(
         )
 
         # compute total rotation matrix given cross axis sensitivity
-        self._total_rotation_matrix = self.rotation_matrix @ _cross_axis_matrix
+        self._total_rotation_sensor_to_body = (
+            self.rotation_sensor_to_body @ cross_axis_matrix
+        )
 
     def _vectorize_input(self, value, name):
         if isinstance(value, (int, float)):
diff --git a/rocketpy/simulation/__init__.py b/rocketpy/simulation/__init__.py
index b1aecdd99..6b98fdcf4 100644
--- a/rocketpy/simulation/__init__.py
+++ b/rocketpy/simulation/__init__.py
@@ -1,3 +1,4 @@
 from .flight import Flight
 from .flight_data_importer import FlightDataImporter
 from .monte_carlo import MonteCarlo
+from .multivariate_rejection_sampler import MultivariateRejectionSampler
diff --git a/rocketpy/simulation/flight.py b/rocketpy/simulation/flight.py
index 6c0e14312..ce728dafe 100644
--- a/rocketpy/simulation/flight.py
+++ b/rocketpy/simulation/flight.py
@@ -104,11 +104,14 @@ class Flight:
     Flight.z : Function
         Rocket's z coordinate (positive up) as a function of time.
     Flight.vx : Function
-        Rocket's X velocity as a function of time.
+        Velocity of the rocket's center of dry mass in the X (East) direction of
+        the inertial frame as a function of time.
     Flight.vy : Function
-        Rocket's Y velocity as a function of time.
+        Velocity of the rocket's center of dry mass in the Y (North) direction of
+        the inertial frame as a function of time.
     Flight.vz : Function
-        Rocket's Z velocity as a function of time.
+        Velocity of the rocket's center of dry mass in the Z (Up) direction of
+        the inertial frame as a function of time.
     Flight.e0 : Function
         Rocket's Euler parameter 0 as a function of time.
     Flight.e1 : Function
@@ -118,17 +121,17 @@ class Flight:
     Flight.e3 : Function
         Rocket's Euler parameter 3 as a function of time.
     Flight.w1 : Function
-        Rocket's angular velocity Omega 1 as a function of time.
-        Direction 1 is in the rocket's body axis and points perpendicular
-        to the rocket's axis of cylindrical symmetry.
+        Angular velocity of the rocket in the x direction of the rocket's
+        body frame as a function of time, in rad/s. Sometimes referred to as
+        pitch rate (q).
     Flight.w2 : Function
-        Rocket's angular velocity Omega 2 as a function of time.
-        Direction 2 is in the rocket's body axis and points perpendicular
-        to the rocket's axis of cylindrical symmetry and direction 1.
+        Angular velocity of the rocket in the y direction of the rocket's
+        body frame as a function of time, in rad/s. Sometimes referred to as
+        yaw rate (r).
     Flight.w3 : Function
-        Rocket's angular velocity Omega 3 as a function of time.
-        Direction 3 is in the rocket's body axis and points in the
-        direction of cylindrical symmetry.
+        Angular velocity of the rocket in the z direction of the rocket's
+        body frame as a function of time, in rad/s. Sometimes referred to as
+        roll rate (p).
     Flight.latitude: Function
         Rocket's latitude coordinates (positive North) as a function of time.
         The Equator has a latitude equal to 0, by convention.
@@ -209,49 +212,46 @@ class Flight:
         Stores and manages flight phases.
     Flight.wind_velocity_x : Function
         Wind velocity X (East) experienced by the rocket as a
-        function of time. Can be called or accessed as array.
+        function of time.
     Flight.wind_velocity_y : Function
         Wind velocity Y (North) experienced by the rocket as a
-        function of time. Can be called or accessed as array.
+        function of time.
     Flight.density : Function
         Air density experienced by the rocket as a function of
-        time. Can be called or accessed as array.
+        time.
     Flight.pressure : Function
         Air pressure experienced by the rocket as a function of
-        time. Can be called or accessed as array.
+        time.
     Flight.dynamic_viscosity : Function
         Air dynamic viscosity experienced by the rocket as a function of
-        time. Can be called or accessed as array.
+        time.
     Flight.speed_of_sound : Function
         Speed of Sound in air experienced by the rocket as a
-        function of time. Can be called or accessed as array.
+        function of time.
     Flight.ax : Function
-        Rocket's X (East) acceleration as a function of time, in m/s².
-        Can be called or accessed as array.
+        Acceleration of the rocket's center of dry mass along the X (East)
+        axis in the inertial frame as a function of time.
     Flight.ay : Function
-        Rocket's Y (North) acceleration as a function of time, in m/s².
-        Can be called or accessed as array.
+        Acceleration of the rocket's center of dry mass along the Y (North)
+        axis in the inertial frame as a function of time.
     Flight.az : Function
-        Rocket's Z (Up) acceleration as a function of time, in m/s².
-        Can be called or accessed as array.
+        Acceleration of the rocket's center of dry mass along the Z (Up)
+        axis in the inertial frame as a function of time.
     Flight.alpha1 : Function
-        Rocket's angular acceleration Alpha 1 as a function of time.
-        Direction 1 is in the rocket's body axis and points perpendicular
-        to the rocket's axis of cylindrical symmetry.
-        Units of rad/s². Can be called or accessed as array.
+        Angular acceleration of the rocket in the x direction of the rocket's
+        body frame as a function of time, in rad/s. Sometimes referred to as
+        yaw acceleration.
     Flight.alpha2 : Function
-        Rocket's angular acceleration Alpha 2 as a function of time.
-        Direction 2 is in the rocket's body axis and points perpendicular
-        to the rocket's axis of cylindrical symmetry and direction 1.
-        Units of rad/s². Can be called or accessed as array.
+        Angular acceleration of the rocket in the y direction of the rocket's
+        body frame as a function of time, in rad/s. Sometimes referred to as
+        yaw acceleration.
     Flight.alpha3 : Function
-        Rocket's angular acceleration Alpha 3 as a function of time.
-        Direction 3 is in the rocket's body axis and points in the
-        direction of cylindrical symmetry.
-        Units of rad/s². Can be called or accessed as array.
+        Angular acceleration of the rocket in the z direction of the rocket's
+        body frame as a function of time, in rad/s. Sometimes referred to as
+        roll acceleration.
     Flight.speed : Function
         Rocket velocity magnitude in m/s relative to ground as a
-        function of time. Can be called or accessed as array.
+        function of time.
     Flight.max_speed : float
         Maximum velocity magnitude in m/s reached by the rocket
         relative to ground during flight.
@@ -260,11 +260,10 @@ class Flight:
         magnitude relative to ground.
     Flight.horizontal_speed : Function
         Rocket's velocity magnitude in the horizontal (North-East)
-        plane in m/s as a function of time. Can be called or
-        accessed as array.
+        plane in m/s as a function of time.
     Flight.acceleration : Function
         Rocket acceleration magnitude in m/s² relative to ground as a
-        function of time. Can be called or accessed as array.
+        function of time.
     Flight.max_acceleration : float
         Maximum acceleration magnitude in m/s² reached by the rocket
         relative to ground during flight.
@@ -275,89 +274,65 @@ class Flight:
         Rocket's flight path angle, or the angle that the
         rocket's velocity makes with the horizontal (North-East)
         plane. Measured in degrees and expressed as a function
-        of time. Can be called or accessed as array.
+        of time.
     Flight.attitude_vector_x : Function
         Rocket's attitude vector, or the vector that points
         in the rocket's axis of symmetry, component in the X
         direction (East) as a function of time.
-        Can be called or accessed as array.
     Flight.attitude_vector_y : Function
         Rocket's attitude vector, or the vector that points
         in the rocket's axis of symmetry, component in the Y
         direction (East) as a function of time.
-        Can be called or accessed as array.
     Flight.attitude_vector_z : Function
         Rocket's attitude vector, or the vector that points
         in the rocket's axis of symmetry, component in the Z
         direction (East) as a function of time.
-        Can be called or accessed as array.
     Flight.attitude_angle : Function
         Rocket's attitude angle, or the angle that the
         rocket's axis of symmetry makes with the horizontal (North-East)
         plane. Measured in degrees and expressed as a function
-        of time. Can be called or accessed as array.
+        of time.
     Flight.lateral_attitude_angle : Function
         Rocket's lateral attitude angle, or the angle that the
         rocket's axis of symmetry makes with plane defined by
         the launch rail direction and the Z (up) axis.
         Measured in degrees and expressed as a function
-        of time. Can be called or accessed as array.
+        of time.
     Flight.phi : Function
         Rocket's Spin Euler Angle, φ, according to the 3-2-3 rotation
         system nomenclature (NASA Standard Aerospace). Measured in degrees and
-        expressed as a function of time. Can be called or accessed as array.
+        expressed as a function of time.
     Flight.theta : Function
         Rocket's Nutation Euler Angle, θ, according to the 3-2-3 rotation
         system nomenclature (NASA Standard Aerospace). Measured in degrees and
-        expressed as a function of time. Can be called or accessed as array.
+        expressed as a function of time.
     Flight.psi : Function
         Rocket's Precession Euler Angle, ψ, according to the 3-2-3 rotation
         system nomenclature (NASA Standard Aerospace). Measured in degrees and
-        expressed as a function of time. Can be called or accessed as array.
+        expressed as a function of time.
     Flight.R1 : Function
-        Resultant force perpendicular to rockets axis due to
-        aerodynamic forces as a function of time. Units in N.
-        Expressed as a function of time. Can be called or accessed
-        as array.
-        Direction 1 is in the rocket's body axis and points perpendicular
-        to the rocket's axis of cylindrical symmetry.
+        Aerodynamic force acting along the x-axis of the rocket's body frame
+        as a function of time. Expressed in Newtons (N).
     Flight.R2 : Function
-        Resultant force perpendicular to rockets axis due to
-        aerodynamic forces as a function of time. Units in N.
-        Expressed as a function of time. Can be called or accessed
-        as array.
-        Direction 2 is in the rocket's body axis and points perpendicular
-        to the rocket's axis of cylindrical symmetry and direction 1.
+        Aerodynamic force acting along the y-axis of the rocket's body frame
+        as a function of time. Expressed in Newtons (N).
     Flight.R3 : Function
-        Resultant force in rockets axis due to aerodynamic forces
-        as a function of time. Units in N. Usually just drag.
-        Expressed as a function of time. Can be called or accessed
-        as array.
-        Direction 3 is in the rocket's body axis and points in the
-        direction of cylindrical symmetry.
+        Aerodynamic force acting along the z-axis of the rocket's body frame
+        as a function of time. Expressed in Newtons (N).
     Flight.M1 : Function
-        Resultant moment (torque) perpendicular to rockets axis due to
-        aerodynamic forces and eccentricity as a function of time.
-        Units in N*m.
-        Expressed as a function of time. Can be called or accessed
-        as array.
-        Direction 1 is in the rocket's body axis and points perpendicular
-        to the rocket's axis of cylindrical symmetry.
+        Aerodynamic moment acting along the x-axis of the rocket's body
+        frame as a function of time. Expressed in Newtons (N).
     Flight.M2 : Function
-        Resultant moment (torque) perpendicular to rockets axis due to
-        aerodynamic forces and eccentricity as a function of time.
-        Units in N*m.
-        Expressed as a function of time. Can be called or accessed
-        as array.
-        Direction 2 is in the rocket's body axis and points perpendicular
-        to the rocket's axis of cylindrical symmetry and direction 1.
+        Aerodynamic moment acting along the y-axis of the rocket's body
+        frame as a function of time. Expressed in Newtons (N).
     Flight.M3 : Function
-        Resultant moment (torque) in rockets axis due to aerodynamic
-        forces and eccentricity as a function of time. Units in N*m.
-        Expressed as a function of time. Can be called or accessed
-        as array.
-        Direction 3 is in the rocket's body axis and points in the
-        direction of cylindrical symmetry.
+        Aerodynamic moment acting along the z-axis of the rocket's body
+        frame as a function of time. Expressed in Newtons (N).
+    Flight.net_thrust : Function
+        Rocket's engine net thrust as a function of time in Newton.
+        This is the actual thrust force experienced by the rocket.
+        It may be corrected with the atmospheric pressure if a reference
+        pressure is defined.
     Flight.aerodynamic_lift : Function
         Resultant force perpendicular to rockets axis due to
         aerodynamic effects as a function of time. Units in N.
@@ -380,25 +355,25 @@ class Flight:
         as array.
     Flight.rail_button1_normal_force : Function
         Upper rail button normal force in N as a function
-        of time. Can be called or accessed as array.
+        of time.
     Flight.max_rail_button1_normal_force : float
         Maximum upper rail button normal force experienced
         during rail flight phase in N.
     Flight.rail_button1_shear_force : Function
         Upper rail button shear force in N as a function
-        of time. Can be called or accessed as array.
+        of time.
     Flight.max_rail_button1_shear_force : float
         Maximum upper rail button shear force experienced
         during rail flight phase in N.
     Flight.rail_button2_normal_force : Function
         Lower rail button normal force in N as a function
-        of time. Can be called or accessed as array.
+        of time.
     Flight.max_rail_button2_normal_force : float
         Maximum lower rail button normal force experienced
         during rail flight phase in N.
     Flight.rail_button2_shear_force : Function
         Lower rail button shear force in N as a function
-        of time. Can be called or accessed as array.
+        of time.
     Flight.max_rail_button2_shear_force : float
         Maximum lower rail button shear force experienced
         during rail flight phase in N.
@@ -419,26 +394,26 @@ class Flight:
         Units in J.
     Flight.thrust_power : Function
         Rocket's engine thrust power output as a function
-        of time in Watts. Can be called or accessed as array.
+        of time in Watts.
     Flight.drag_power : Function
         Aerodynamic drag power output as a function
-        of time in Watts. Can be called or accessed as array.
+        of time in Watts.
     Flight.attitude_frequency_response : Function
         Fourier Frequency Analysis of the rocket's attitude angle.
-        Expressed as the absolute vale of the magnitude as a function
-        of frequency in Hz. Can be called or accessed as array.
+        Expressed as the absolute value of the magnitude as a function
+        of frequency in Hz.
     Flight.omega1_frequency_response : Function
         Fourier Frequency Analysis of the rocket's angular velocity omega 1.
-        Expressed as the absolute vale of the magnitude as a function
-        of frequency in Hz. Can be called or accessed as array.
+        Expressed as the absolute value of the magnitude as a function
+        of frequency in Hz.
     Flight.omega2_frequency_response : Function
         Fourier Frequency Analysis of the rocket's angular velocity omega 2.
-        Expressed as the absolute vale of the magnitude as a function
-        of frequency in Hz. Can be called or accessed as array.
+        Expressed as the absolute value of the magnitude as a function
+        of frequency in Hz.
     Flight.omega3_frequency_response : Function
         Fourier Frequency Analysis of the rocket's angular velocity omega 3.
-        Expressed as the absolute vale of the magnitude as a function
-        of frequency in Hz. Can be called or accessed as array.
+        Expressed as the absolute value of the magnitude as a function
+        of frequency in Hz.
     Flight.static_margin : Function
         Rocket's static margin during flight in calibers.
     Flight.stability_margin : Function
@@ -449,22 +424,21 @@ class Flight:
         Rocket's stability margin in calibers when it leaves the rail.
     Flight.stream_velocity_x : Function
         Freestream velocity x (East) component, in m/s, as a function of
-        time. Can be called or accessed as array.
+        time.
     Flight.stream_velocity_y : Function
         Freestream velocity y (North) component, in m/s, as a function of
-        time. Can be called or accessed as array.
+        time.
     Flight.stream_velocity_z : Function
         Freestream velocity z (up) component, in m/s, as a function of
-        time. Can be called or accessed as array.
+        time.
     Flight.free_stream_speed : Function
         Freestream velocity magnitude, in m/s, as a function of time.
-        Can be called or accessed as array.
     Flight.apogee_freestream_speed : float
         Freestream speed of the rocket at apogee in m/s.
     Flight.mach_number : Function
         Rocket's Mach number defined as its freestream speed
         divided by the speed of sound at its altitude. Expressed
-        as a function of time. Can be called or accessed as array.
+        as a function of time.
     Flight.max_mach_number : float
         Rocket's maximum Mach number experienced during flight.
     Flight.max_mach_number_time : float
@@ -472,7 +446,7 @@ class Flight:
     Flight.reynolds_number : Function
         Rocket's Reynolds number, using its diameter as reference
         length and free_stream_speed as reference velocity. Expressed
-        as a function of time. Can be called or accessed as array.
+        as a function of time.
     Flight.max_reynolds_number : float
         Rocket's maximum Reynolds number experienced during flight.
     Flight.max_reynolds_number_time : float
@@ -480,14 +454,14 @@ class Flight:
     Flight.dynamic_pressure : Function
         Dynamic pressure experienced by the rocket in Pa as a function
         of time, defined by 0.5*rho*V^2, where rho is air density and V
-        is the freestream speed. Can be called or accessed as array.
+        is the freestream speed.
     Flight.max_dynamic_pressure : float
         Maximum dynamic pressure, in Pa, experienced by the rocket.
     Flight.max_dynamic_pressure_time : float
         Time at which the rocket experiences maximum dynamic pressure.
     Flight.total_pressure : Function
         Total pressure experienced by the rocket in Pa as a function
-        of time. Can be called or accessed as array.
+        of time.
     Flight.max_total_pressure : float
         Maximum total pressure, in Pa, experienced by the rocket.
     Flight.max_total_pressure_time : float
@@ -1151,7 +1125,9 @@ def __init_flight_state(self):
             try:
                 self.phi_init += (
                     self.rocket.rail_buttons[0].component.angular_position_rad
-                    * self.rocket._csys
+                    if self.rocket._csys == 1
+                    else 2 * np.pi
+                    - self.rocket.rail_buttons[0].component.angular_position_rad
                 )
             except IndexError:
                 pass
@@ -1273,7 +1249,7 @@ def __set_ode_solver(self, solver):
                     f"Available options are: {', '.join(ODE_SOLVER_MAP.keys())}"
                 ) from e
 
-        self.__is_lsoda = hasattr(self._solver, "_lsoda_solver")
+        self.__is_lsoda = issubclass(self._solver, LSODA)
 
     @cached_property
     def effective_1rl(self):
@@ -1376,12 +1352,17 @@ def udot_rail1(self, t, u, post_processing=False):
         drag_coeff = self.rocket.power_on_drag.get_value_opt(free_stream_mach)
 
         # Calculate Forces
-        thrust = self.rocket.motor.thrust.get_value_opt(t)
+        pressure = self.env.pressure.get_value_opt(z)
+        net_thrust = max(
+            self.rocket.motor.thrust.get_value_opt(t)
+            + self.rocket.motor.pressure_thrust(pressure),
+            0,
+        )
         rho = self.env.density.get_value_opt(z)
         R3 = -0.5 * rho * (free_stream_speed**2) * self.rocket.area * (drag_coeff)
 
         # Calculate Linear acceleration
-        a3 = (R3 + thrust) / total_mass_at_t - (
+        a3 = (R3 + net_thrust) / total_mass_at_t - (
             e0**2 - e1**2 - e2**2 + e3**2
         ) * self.env.gravity.get_value_opt(z)
         if a3 > 0:
@@ -1450,6 +1431,8 @@ def u_dot(self, t, u, post_processing=False):  # pylint: disable=too-many-locals
         _, _, z, vx, vy, vz, e0, e1, e2, e3, omega1, omega2, omega3 = u
         # Determine lift force and moment
         R1, R2, M1, M2, M3 = 0, 0, 0, 0, 0
+        # Thrust correction parameters
+        pressure = self.env.pressure.get_value_opt(z)
         # Determine current behavior
         if self.rocket.motor.burn_start_time < t < self.rocket.motor.burn_out_time:
             # Motor burning
@@ -1467,10 +1450,14 @@ def u_dot(self, t, u, post_processing=False):  # pylint: disable=too-many-locals
             mass_flow_rate_at_t = self.rocket.motor.mass_flow_rate.get_value_opt(t)
             propellant_mass_at_t = self.rocket.motor.propellant_mass.get_value_opt(t)
             # Thrust
-            thrust = self.rocket.motor.thrust.get_value_opt(t)
+            net_thrust = max(
+                self.rocket.motor.thrust.get_value_opt(t)
+                + self.rocket.motor.pressure_thrust(pressure),
+                0,
+            )
             # Off center moment
-            M1 += self.rocket.thrust_eccentricity_y * thrust
-            M2 -= self.rocket.thrust_eccentricity_x * thrust
+            M1 += self.rocket.thrust_eccentricity_y * net_thrust
+            M2 -= self.rocket.thrust_eccentricity_x * net_thrust
         else:
             # Motor stopped
             # Inertias
@@ -1483,7 +1470,7 @@ def u_dot(self, t, u, post_processing=False):  # pylint: disable=too-many-locals
             # Mass
             mass_flow_rate_at_t, propellant_mass_at_t = 0, 0
             # thrust
-            thrust = 0
+            net_thrust = 0
 
         # Retrieve important quantities
         # Inertias
@@ -1686,7 +1673,7 @@ def u_dot(self, t, u, post_processing=False):  # pylint: disable=too-many-locals
                 + 2 * c * mass_flow_rate_at_t * omega1
             )
             / total_mass_at_t,
-            (R3 - b * propellant_mass_at_t * (alpha2 - omega1 * omega3) + thrust)
+            (R3 - b * propellant_mass_at_t * (alpha2 - omega1 * omega3) + net_thrust)
             / total_mass_at_t,
         ]
         ax, ay, az = K @ Vector(L)
@@ -1711,7 +1698,22 @@ def u_dot(self, t, u, post_processing=False):  # pylint: disable=too-many-locals
 
         if post_processing:
             self.__post_processed_variables.append(
-                [t, ax, ay, az, alpha1, alpha2, alpha3, R1, R2, R3, M1, M2, M3]
+                [
+                    t,
+                    ax,
+                    ay,
+                    az,
+                    alpha1,
+                    alpha2,
+                    alpha3,
+                    R1,
+                    R2,
+                    R3,
+                    M1,
+                    M2,
+                    M3,
+                    net_thrust,
+                ]
             )
 
         return u_dot
@@ -1789,8 +1791,15 @@ def u_dot_generalized(self, t, u, post_processing=False):  # pylint: disable=too
         free_stream_mach = free_stream_speed / speed_of_sound
 
         if self.rocket.motor.burn_start_time < t < self.rocket.motor.burn_out_time:
+            pressure = self.env.pressure.get_value_opt(z)
+            net_thrust = max(
+                self.rocket.motor.thrust.get_value_opt(t)
+                + self.rocket.motor.pressure_thrust(pressure),
+                0,
+            )
             drag_coeff = self.rocket.power_on_drag.get_value_opt(free_stream_mach)
         else:
+            net_thrust = 0
             drag_coeff = self.rocket.power_off_drag.get_value_opt(free_stream_mach)
         R3 += -0.5 * rho * (free_stream_speed**2) * self.rocket.area * drag_coeff
         for air_brakes in self.rocket.air_brakes:
@@ -1853,14 +1862,13 @@ def u_dot_generalized(self, t, u, post_processing=False):  # pylint: disable=too
             M3 += L
 
         # Off center moment
-        thrust = self.rocket.motor.thrust.get_value_opt(t)
         M1 += (
             self.rocket.cp_eccentricity_y * R3
-            + self.rocket.thrust_eccentricity_y * thrust
+            + self.rocket.thrust_eccentricity_y * net_thrust
         )
         M2 -= (
             self.rocket.cp_eccentricity_x * R3
-            + self.rocket.thrust_eccentricity_x * thrust
+            + self.rocket.thrust_eccentricity_x * net_thrust
         )
         M3 += self.rocket.cp_eccentricity_x * R2 - self.rocket.cp_eccentricity_y * R1
 
@@ -1871,7 +1879,7 @@ def u_dot_generalized(self, t, u, post_processing=False):  # pylint: disable=too
         T00 = total_mass * r_CM
         T03 = 2 * total_mass_dot * (r_NOZ - r_CM) - 2 * total_mass * r_CM_dot
         T04 = (
-            Vector([0, 0, thrust])
+            Vector([0, 0, net_thrust])
             - total_mass * r_CM_ddot
             - 2 * total_mass_dot * r_CM_dot
             + total_mass_ddot * (r_NOZ - r_CM)
@@ -1915,7 +1923,7 @@ def u_dot_generalized(self, t, u, post_processing=False):  # pylint: disable=too
 
         if post_processing:
             self.__post_processed_variables.append(
-                [t, *v_dot, *w_dot, R1, R2, R3, M1, M2, M3]
+                [t, *v_dot, *w_dot, R1, R2, R3, M1, M2, M3, net_thrust]
             )
 
         return u_dot
@@ -1988,7 +1996,7 @@ def u_dot_parachute(self, t, u, post_processing=False):
 
         if post_processing:
             self.__post_processed_variables.append(
-                [t, ax, ay, az, 0, 0, 0, Dx, Dy, Dz, 0, 0, 0]
+                [t, ax, ay, az, 0, 0, 0, Dx, Dy, Dz, 0, 0, 0, 0]
             )
 
         return [vx, vy, vz, ax, ay, az, 0, 0, 0, 0, 0, 0, 0]
@@ -2080,20 +2088,20 @@ def altitude(self):
 
     @funcify_method("Time (s)", "Vx (m/s)", "spline", "zero")
     def vx(self):
-        """Velocity of the rocket center of dry mass in the direction of
-        the rocket x-axis as a Function of time."""
+        """Velocity of the rocket's center of dry mass in the X (East) direction
+        of the inertial frame as a function of time."""
         return self.solution_array[:, [0, 4]]
 
     @funcify_method("Time (s)", "Vy (m/s)", "spline", "zero")
     def vy(self):
-        """Velocity of the rocket center of dry mass in the direction of
-        the rocket y-axis as a Function of time."""
+        """Velocity of the rocket's center of dry mass in the Y (North)
+        direction of the inertial frame as a function of time."""
         return self.solution_array[:, [0, 5]]
 
     @funcify_method("Time (s)", "Vz (m/s)", "spline", "zero")
     def vz(self):
-        """Velocity of the rocket center of dry mass in the direction of
-        the rocket z-axis as a Function of time."""
+        """Velocity of the rocket's center of dry mass in the Z (Up) direction of
+        the inertial frame as a function of time."""
         return self.solution_array[:, [0, 6]]
 
     @funcify_method("Time (s)", "e0", "spline", "constant")
@@ -2118,96 +2126,109 @@ def e3(self):
 
     @funcify_method("Time (s)", "ω1 (rad/s)", "spline", "zero")
     def w1(self):
-        """Angular velocity of the rocket in the x-axis as a Function of time.
-        Sometimes referred to as pitch rate (q)."""
+        """Angular velocity of the rocket in the x direction of the rocket's
+        body frame as a function of time, in rad/s. Sometimes referred to as
+        pitch rate (q)."""
         return self.solution_array[:, [0, 11]]
 
     @funcify_method("Time (s)", "ω2 (rad/s)", "spline", "zero")
     def w2(self):
-        """Angular velocity of the rocket in the y-axis as a Function of time.
-        Sometimes referred to as yaw rate (r)."""
+        """Angular velocity of the rocket in the y direction of the rocket's
+        body frame as a function of time, in rad/s. Sometimes referred to as
+        yaw rate (r)."""
         return self.solution_array[:, [0, 12]]
 
     @funcify_method("Time (s)", "ω3 (rad/s)", "spline", "zero")
     def w3(self):
-        """Angular velocity of the rocket in the z-axis as a Function of time.
-        Sometimes referred to as roll rate (p)."""
+        """Angular velocity of the rocket in the z direction of the rocket's
+        body frame as a function of time, in rad/s. Sometimes referred to as
+        roll rate (p)."""
         return self.solution_array[:, [0, 13]]
 
     # Process second type of outputs - accelerations components
     @funcify_method("Time (s)", "Ax (m/s²)", "spline", "zero")
     def ax(self):
-        """Acceleration of the rocket center of dry mass in the direction of
-        the rocket x-axis as a Function of time."""
+        """Acceleration of the rocket's center of dry mass along the X (East)
+        axis in the inertial frame as a function of time."""
         return self.__evaluate_post_process[:, [0, 1]]
 
     @funcify_method("Time (s)", "Ay (m/s²)", "spline", "zero")
     def ay(self):
-        """Acceleration of the rocket center of dry mass in the direction of
-        the rocket y-axis as a Function of time."""
+        """Acceleration of the rocket's center of dry mass along the Y (North)
+        axis in the inertial frame as a function of time."""
         return self.__evaluate_post_process[:, [0, 2]]
 
     @funcify_method("Time (s)", "Az (m/s²)", "spline", "zero")
     def az(self):
-        """Acceleration of the rocket center of dry mass in the direction of
-        the rocket z-axis as a Function of time."""
+        """Acceleration of the rocket's center of dry mass along the Z (Up)
+        axis in the inertial frame as a function of time."""
         return self.__evaluate_post_process[:, [0, 3]]
 
     @funcify_method("Time (s)", "α1 (rad/s²)", "spline", "zero")
     def alpha1(self):
-        """Angular acceleration of the rocket in the x-axis as a Function of
-        time. Sometimes referred to as pitch acceleration."""
+        """Angular acceleration of the rocket in the x direction of the rocket's
+        body frame as a function of time, in rad/s. Sometimes referred to as
+        pitch acceleration."""
         return self.__evaluate_post_process[:, [0, 4]]
 
     @funcify_method("Time (s)", "α2 (rad/s²)", "spline", "zero")
     def alpha2(self):
-        """Angular acceleration of the rocket in the y-axis as a Function of
-        time. Sometimes referred to as yaw acceleration."""
+        """Angular acceleration of the rocket in the y direction of the rocket's
+        body frame as a function of time, in rad/s. Sometimes referred to as
+        yaw acceleration."""
         return self.__evaluate_post_process[:, [0, 5]]
 
     @funcify_method("Time (s)", "α3 (rad/s²)", "spline", "zero")
     def alpha3(self):
-        """Angular acceleration of the rocket in the z-axis as a Function of
-        time. Sometimes referred to as roll acceleration."""
+        """Angular acceleration of the rocket in the z direction of the rocket's
+        body frame as a function of time, in rad/s. Sometimes referred to as
+        roll acceleration."""
         return self.__evaluate_post_process[:, [0, 6]]
 
     # Process third type of outputs - Temporary values
     @funcify_method("Time (s)", "R1 (N)", "spline", "zero")
     def R1(self):
-        """Aerodynamic force along the x-axis of the rocket as a Function of
-        time."""
+        """Aerodynamic force acting along the x-axis of the rocket's body frame
+        as a function of time. Expressed in Newtons (N)."""
         return self.__evaluate_post_process[:, [0, 7]]
 
     @funcify_method("Time (s)", "R2 (N)", "spline", "zero")
     def R2(self):
-        """Aerodynamic force along the y-axis of the rocket as a Function of
-        time."""
+        """Aerodynamic force acting along the y-axis of the rocket's body frame
+        as a function of time. Expressed in Newtons (N)."""
         return self.__evaluate_post_process[:, [0, 8]]
 
     @funcify_method("Time (s)", "R3 (N)", "spline", "zero")
     def R3(self):
-        """Aerodynamic force along the z-axis (rocket's axis of symmetry) as a
-        Function of time."""
+        """Aerodynamic force acting along the z-axis of the rocket's body frame
+        as a function of time. Expressed in Newtons (N)."""
         return self.__evaluate_post_process[:, [0, 9]]
 
     @funcify_method("Time (s)", "M1 (Nm)", "linear", "zero")
     def M1(self):
-        """Aerodynamic moment in the rocket x-axis as a Function of time.
-        Sometimes referred to as pitch moment."""
+        """Aerodynamic moment acting along the x-axis of the rocket's body
+        frame as a function of time. Expressed in Newtons (N)."""
         return self.__evaluate_post_process[:, [0, 10]]
 
     @funcify_method("Time (s)", "M2 (Nm)", "linear", "zero")
     def M2(self):
-        """Aerodynamic moment in the rocket y-axis as a Function of time.
-        Sometimes referred to as yaw moment."""
+        """Aerodynamic moment acting along the y-axis of the rocket's body
+        frame as a function of time. Expressed in Newtons (N)."""
         return self.__evaluate_post_process[:, [0, 11]]
 
     @funcify_method("Time (s)", "M3 (Nm)", "linear", "zero")
     def M3(self):
-        """Aerodynamic moment in the rocket z-axis as a Function of time.
-        Sometimes referred to as roll moment."""
+        """Aerodynamic moment acting along the z-axis of the rocket's body
+        frame as a function of time. Expressed in Newtons (N)."""
         return self.__evaluate_post_process[:, [0, 12]]
 
+    @funcify_method("Time (s)", "Net Thrust (N)", "linear", "zero")
+    def net_thrust(self):
+        """Net thrust of the rocket as a Function of time. This is the
+        actual thrust force experienced by the rocket. It may be corrected
+        with the atmospheric pressure if a reference pressure is defined."""
+        return self.__evaluate_post_process[:, [0, 13]]
+
     @funcify_method("Time (s)", "Pressure (Pa)", "spline", "constant")
     def pressure(self):
         """Air pressure felt by the rocket as a Function of time."""
@@ -2241,6 +2262,86 @@ def wind_velocity_y(self):
 
     # Process fourth type of output - values calculated from previous outputs
 
+    # Frame conversions
+
+    @cached_property
+    def _stacked_velocity_body_frame(self):
+        """Stacked velocity array at the center of dry mass in the body frame
+        at each time step."""
+        Kt = self.direction_cosine_matrixes
+        v = np.array(
+            [
+                self.vx.y_array,
+                self.vy.y_array,
+                self.vz.y_array,
+            ]
+        ).transpose()
+        stacked_velocity_body_frame = np.squeeze(np.matmul(Kt, v[:, :, np.newaxis]))
+        return stacked_velocity_body_frame
+
+    @funcify_method("Time (s)", "Vx Body Frame (m/s)", "spline", "zero")
+    def vx_body_frame(self):
+        """Velocity of the rocket's center of dry mass along the x axis of the
+        body frame as a function of time."""
+        return np.array(
+            [self.time, self._stacked_velocity_body_frame[:, 0]]
+        ).transpose()
+
+    @funcify_method("Time (s)", "Vy Body Frame (m/s)", "spline", "zero")
+    def vy_body_frame(self):
+        """Velocity of the rocket's center of dry mass along the y axis of the
+        body frame as a function of time."""
+        return np.array(
+            [self.time, self._stacked_velocity_body_frame[:, 1]]
+        ).transpose()
+
+    @funcify_method("Time (s)", "Vz Body Frame (m/s)", "spline", "zero")
+    def vz_body_frame(self):
+        """Velocity of the rocket's center of dry mass along the z axis of the
+        body frame as a function of time."""
+        return np.array(
+            [self.time, self._stacked_velocity_body_frame[:, 2]]
+        ).transpose()
+
+    @cached_property
+    def _stacked_acceleration_body_frame(self):
+        """Stacked acceleration array at the center of dry mass in the body
+        frame at each time step."""
+        Kt = self.direction_cosine_matrixes
+        a = np.array(
+            [
+                self.ax.y_array,
+                self.ay.y_array,
+                self.az.y_array,
+            ]
+        ).transpose()
+        stacked_acceleration_body_frame = np.squeeze(np.matmul(Kt, a[:, :, np.newaxis]))
+        return stacked_acceleration_body_frame
+
+    @funcify_method("Time (s)", "Ax Body Frame (m/s²)", "spline", "zero")
+    def ax_body_frame(self):
+        """Acceleration of the rocket's center of dry mass along the x axis of the
+        body frame as a function of time."""
+        return np.array(
+            [self.time, self._stacked_acceleration_body_frame[:, 0]]
+        ).transpose()
+
+    @funcify_method("Time (s)", "Ay Body Frame (m/s²)", "spline", "zero")
+    def ay_body_frame(self):
+        """Acceleration of the rocket's center of dry mass along the y axis of the
+        body frame as a function of time."""
+        return np.array(
+            [self.time, self._stacked_acceleration_body_frame[:, 1]]
+        ).transpose()
+
+    @funcify_method("Time (s)", "Az Body Frame (m/s²)", "spline", "zero")
+    def az_body_frame(self):
+        """Acceleration of the rocket's center of dry mass along the z axis of the
+        body frame as a function of time."""
+        return np.array(
+            [self.time, self._stacked_acceleration_body_frame[:, 2]]
+        ).transpose()
+
     # Kinematics functions and values
     # Velocity Magnitude
     @funcify_method("Time (s)", "Speed - Velocity Magnitude (m/s)")
@@ -2647,13 +2748,10 @@ def total_energy(self):
         return self.kinetic_energy + self.potential_energy
 
     # thrust Power
-    @funcify_method("Time (s)", "thrust Power (W)", "spline", "zero")
+    @funcify_method("Time (s)", "Thrust Power (W)", "spline", "zero")
     def thrust_power(self):
         """Thrust power as a Function of time."""
-        thrust = deepcopy(self.rocket.motor.thrust)
-        thrust = thrust.set_discrete_based_on_model(self.speed)
-        thrust_power = thrust * self.speed
-        return thrust_power
+        return self.net_thrust * self.speed
 
     # Drag Power
     @funcify_method("Time (s)", "Drag Power (W)", "spline", "zero")
@@ -3059,7 +3157,7 @@ def __evaluate_post_process(self):
         np.array
             An array containing all post-processed variables evaluated at each
             time step. Each element of the array is a list containing:
-            [t, ax, ay, az, alpha1, alpha2, alpha3, R1, R2, R3, M1, M2, M3]
+            [t, ax, ay, az, alpha1, alpha2, alpha3, R1, R2, R3, M1, M2, M3, net_thrust]
         """
         self.__post_processed_variables = []
         for phase_index, phase in self.time_iterator(self.flight_phases):
@@ -3434,24 +3532,43 @@ def to_dict(self, include_outputs=False):
             "time_overshoot": self.time_overshoot,
             "name": self.name,
             "equations_of_motion": self.equations_of_motion,
+            # The following outputs are essential to run all_info method
+            "solution": self.solution,
+            "out_of_rail_time": self.out_of_rail_time,
+            "out_of_rail_time_index": self.out_of_rail_time_index,
+            "apogee_time": self.apogee_time,
+            "apogee": self.apogee,
+            "parachute_events": self.parachute_events,
+            "impact_state": self.impact_state,
+            "impact_velocity": self.impact_velocity,
+            "x_impact": self.x_impact,
+            "y_impact": self.y_impact,
+            "t_final": self.t_final,
+            "flight_phases": self.flight_phases,
+            "function_evaluations": self.function_evaluations,
+            "ax": self.ax,
+            "ay": self.ay,
+            "az": self.az,
+            "alpha1": self.alpha1,
+            "alpha2": self.alpha2,
+            "alpha3": self.alpha3,
+            "R1": self.R1,
+            "R2": self.R2,
+            "R3": self.R3,
+            "M1": self.M1,
+            "M2": self.M2,
+            "M3": self.M3,
         }
 
         if include_outputs:
             data.update(
                 {
                     "time": self.time,
-                    "out_of_rail_time": self.out_of_rail_time,
                     "out_of_rail_velocity": self.out_of_rail_velocity,
                     "out_of_rail_state": self.out_of_rail_state,
-                    "apogee": self.apogee,
-                    "apogee_time": self.apogee_time,
                     "apogee_x": self.apogee_x,
                     "apogee_y": self.apogee_y,
                     "apogee_state": self.apogee_state,
-                    "x_impact": self.x_impact,
-                    "y_impact": self.y_impact,
-                    "impact_velocity": self.impact_velocity,
-                    "impact_state": self.impact_state,
                     "x": self.x,
                     "y": self.y,
                     "z": self.z,
@@ -3465,12 +3582,6 @@ def to_dict(self, include_outputs=False):
                     "w1": self.w1,
                     "w2": self.w2,
                     "w3": self.w3,
-                    "ax": self.ax,
-                    "ay": self.ay,
-                    "az": self.az,
-                    "alpha1": self.alpha1,
-                    "alpha2": self.alpha2,
-                    "alpha3": self.alpha3,
                     "altitude": self.altitude,
                     "mach_number": self.mach_number,
                     "stream_velocity_x": self.stream_velocity_x,
diff --git a/rocketpy/simulation/monte_carlo.py b/rocketpy/simulation/monte_carlo.py
index ff86db7b3..25531fc9a 100644
--- a/rocketpy/simulation/monte_carlo.py
+++ b/rocketpy/simulation/monte_carlo.py
@@ -281,6 +281,7 @@ def __run_in_serial(self):
         try:
             while sim_monitor.keep_simulating():
                 sim_monitor.increment()
+                inputs_json, outputs_json = "", ""
 
                 flight = self.__run_single_simulation()
                 inputs_json = self.__evaluate_flight_inputs(sim_monitor.count)
@@ -406,6 +407,7 @@ def __sim_producer(self, seed, sim_monitor, mutex, error_event):  # pylint: disa
 
             while sim_monitor.keep_simulating():
                 sim_idx = sim_monitor.increment() - 1
+                inputs_json, outputs_json = "", ""
 
                 flight = self.__run_single_simulation()
                 inputs_json = self.__evaluate_flight_inputs(sim_idx)
@@ -484,7 +486,9 @@ def __evaluate_flight_inputs(self, sim_idx):
             for item in d.items()
         )
         inputs_dict["index"] = sim_idx
-        return json.dumps(inputs_dict, cls=RocketPyEncoder) + "\n"
+        return (
+            json.dumps(inputs_dict, cls=RocketPyEncoder, **self._export_config) + "\n"
+        )
 
     def __evaluate_flight_outputs(self, flight, sim_idx):
         """Evaluates the outputs of a single flight simulation.
@@ -518,7 +522,9 @@ def __evaluate_flight_outputs(self, flight, sim_idx):
                     ) from e
             outputs_dict = outputs_dict | additional_exports
 
-        return json.dumps(outputs_dict, cls=RocketPyEncoder) + "\n"
+        return (
+            json.dumps(outputs_dict, cls=RocketPyEncoder, **self._export_config) + "\n"
+        )
 
     def __terminate_simulation(self):
         """
@@ -1104,6 +1110,48 @@ def all_info(self):
         self.plots.ellipses()
         self.plots.all()
 
+    def compare_info(self, other_monte_carlo):
+        """
+        Prints the comparison of the information  of the Monte Carlo simulation
+        against the information of another Monte Carlo simulation.
+        Parameters
+        ----------
+        other_monte_carlo : MonteCarlo
+            MonteCarlo object which the current one will be compared to.
+        Returns
+        -------
+        None
+        """
+        self.prints.print_comparison(other_monte_carlo)
+
+    def compare_plots(self, other_monte_carlo):
+        """
+        Plots the comparison of the information of the Monte Carlo simulation
+        against the information of another Monte Carlo simulation.
+        Parameters
+        ----------
+        other_monte_carlo : MonteCarlo
+            MonteCarlo object which the current one will be compared to.
+        Returns
+        -------
+        None
+        """
+        self.plots.plot_comparison(other_monte_carlo)
+
+    def compare_ellipses(self, other_monte_carlo, **kwargs):
+        """
+        Plots the comparison of the ellipses of the Monte Carlo simulation
+        against the ellipses of another Monte Carlo simulation.
+        Parameters
+        ----------
+        other_monte_carlo : MonteCarlo
+            MonteCarlo object which the current one will be compared to.
+        Returns
+        -------
+        None
+        """
+        self.plots.ellipses_comparison(other_monte_carlo, **kwargs)
+
 
 def _import_multiprocess():
     """Import the necessary modules and submodules for the
@@ -1182,6 +1230,7 @@ def print_update_status(self, sim_idx):
         -------
         None
         """
+
         average_time = (time() - self.start_time) / (self.count - self.initial_count)
         estimated_time = int((self.n_simulations - self.count) * average_time)
 
@@ -1220,6 +1269,7 @@ def reprint(msg, end="\n", flush=True):
         -------
         None
         """
+
         padding = ""
 
         if len(msg) < _SimMonitor._last_print_len:
diff --git a/rocketpy/simulation/multivariate_rejection_sampler.py b/rocketpy/simulation/multivariate_rejection_sampler.py
new file mode 100644
index 000000000..605e79714
--- /dev/null
+++ b/rocketpy/simulation/multivariate_rejection_sampler.py
@@ -0,0 +1,290 @@
+"""
+Multivariate Rejection Sampling Module for RocketPy
+
+Notes
+-----
+This module is still under active development, and some features or attributes may
+change in future versions. Users are encouraged to check for updates and read the
+latest documentation.
+"""
+
+import json
+from dataclasses import dataclass
+from pathlib import Path
+from random import random
+from typing import Union
+
+from rocketpy._encoders import RocketPyEncoder
+from rocketpy.tools import flatten_dict
+
+
+@dataclass
+class SampleInformation:
+    """Sample information used in the MRS
+
+    Attributes
+    ----------
+    inputs_json : dict or None
+        Dictionary containing the original information of the inputs file.
+    flatted_inputs_json : dict or None
+        Dictionary containing the information of the inputs file in a
+        flat format to allow re-sampling based on nested data.
+    outputs_json : dict or None
+        Dictionary containing the original information of the outputs file.
+    probability_ratio : float or None
+        Probability ratio of the new proposed distribution and the previous
+        distribution evaluated at the unit sample data.
+    acceptance_probability : float or None
+        The final acceptance probability that the given sample will be
+        re-sampled. It is given by the ratio of the probability ratio
+        and the supremum of all probability ratios.
+    """
+
+    inputs_json: Union[dict, None] = None
+    flatted_inputs_json: Union[dict, None] = None
+    outputs_json: Union[dict, None] = None
+    probability_ratio: Union[float, None] = None
+    acceptance_probability: Union[float, None] = None
+
+
+class MultivariateRejectionSampler:
+    """Class that performs Multivariate Rejection Sampling (MRS) from MonteCarlo
+    results.
+
+    The class currently assumes that all input variables are sampled independently
+    when performing the Monte Carlo Simulation.
+
+    Attributes
+    ----------
+    """
+
+    def __init__(
+        self,
+        monte_carlo_filepath,
+        mrs_filepath,
+    ):
+        """Initializes Multivariate Rejection Sampler (MRS) class
+
+        Parameters
+        ----------
+        monte_carlo_filepath : str
+            Filepath prefixes to the files created from a MonteCarlo simulation
+            results and used as input for resampling.
+        mrs_filepath : str
+            Filepath prefix to MRS obtained samples. The files created follow the same
+            structure as those created by the MonteCarlo class but now containing the
+            selected sub-samples.
+
+        Returns
+        -------
+        None
+        """
+        self.monte_carlo_filepath = Path(monte_carlo_filepath)
+        self.mrs_filepath = Path(mrs_filepath)
+        self.distribution_dict = None
+        self.original_sample_size = 0
+        self.sup_ratio = 1
+        self.expected_sample_size = None
+        self.final_sample_size = None
+        self.input_variables_names = set()
+        self.output_variables_names = set()
+        self.all_sample_list = []
+        self.accepted_sample_list = []
+        self.__setup_input()
+        self.__load_output()
+
+    # pylint: disable=consider-using-with
+    def __setup_input(self):
+        """Loads input information from monte carlo in a SampleInformation
+        object
+        """
+        input_filename = self.monte_carlo_filepath.with_suffix(".inputs.txt")
+
+        try:
+            input_file = open(input_filename, "r+", encoding="utf-8")
+        except FileNotFoundError as e:
+            raise FileNotFoundError(
+                f"Input file from monte carlo {input_filename} not found!"
+            ) from e
+
+        try:
+            for line in input_file.readlines():
+                sample_info = SampleInformation()
+                line_json = json.loads(line)
+                flatted_line_json = flatten_dict(line_json)
+                sample_info.inputs_json = line_json
+                sample_info.flatted_inputs_json = flatted_line_json
+                self.all_sample_list.append(sample_info)
+
+                # sets and validates input variables names
+                if not self.input_variables_names:
+                    self.input_variables_names = set(flatted_line_json.keys())
+                self.original_sample_size += 1
+        except Exception as e:
+            raise ValueError(
+                "An error occurred while reading "
+                f"the monte carlo input file {input_filename}!"
+            ) from e
+
+        finally:
+            input_file.close()
+
+    # pylint: disable=consider-using-with
+    def __load_output(self):
+        """Loads output information from monte carlo in a SampleInformation
+        object.
+        """
+        output_filename = self.monte_carlo_filepath.with_suffix(".outputs.txt")
+        sample_size_output = 0  # sanity check
+
+        try:
+            output_file = open(output_filename, "r+", encoding="utf-8")
+        except FileNotFoundError as e:
+            raise FileNotFoundError(
+                f"Output file from monte carlo {output_filename} not found!"
+            ) from e
+
+        try:
+            for line in output_file.readlines():
+                if sample_size_output > self.original_sample_size:
+                    raise ValueError(
+                        "Monte carlo output has more lines than the input file!"
+                    )
+                line_json = json.loads(line)
+                self.all_sample_list[sample_size_output].outputs_json = line_json
+                sample_size_output += 1
+        except Exception as e:
+            raise ValueError(
+                "An error occurred while reading "
+                f"the monte carlo output file {output_filename}!"
+            ) from e
+
+        finally:
+            output_file.close()
+
+        if self.original_sample_size > sample_size_output:
+            raise ValueError(
+                "Monte carlo output file has fewer lines than the input file!"
+            )
+
+    def __validate_distribution_dict(self, distribution_dict):
+        """Checks that the variables passed in the distribution dictionary were
+        in the input file.
+
+        """
+        input_variables_names = set(distribution_dict.keys())
+        for variable in input_variables_names:
+            if variable not in self.input_variables_names:
+                raise ValueError(
+                    f"Variable key {variable} from 'distribution_dict' "
+                    "not found in input file!"
+                )
+
+    # pylint: disable=consider-using-with
+    def sample(self, distribution_dict):
+        """Performs rejection sampling and saves data
+
+        Parameters
+        ----------
+        distribution : dict
+            Dictionary whose keys contain the name whose distribution changed.
+            The values are tuples or lists with two entries. The first entry is
+            a probability density (mass) function for the old distribution,
+            while the second entry is the probability density function for the
+            new distribution.
+
+        Returns
+        -------
+        None
+        """
+
+        self.__validate_distribution_dict(distribution_dict)
+
+        mrs_input_file = open(
+            self.mrs_filepath.with_suffix(".inputs.txt"), "w+", encoding="utf-8"
+        )
+        mrs_output_file = open(
+            self.mrs_filepath.with_suffix(".outputs.txt"), "w+", encoding="utf-8"
+        )
+        mrs_error_file = open(
+            self.mrs_filepath.with_suffix(".errors.txt"), "w+", encoding="utf-8"
+        )
+
+        self.__setup_probabilities(distribution_dict)
+
+        try:
+            for sample in self.all_sample_list:
+                if random() < sample.acceptance_probability:
+                    mrs_input_file.write(
+                        json.dumps(sample.inputs_json, cls=RocketPyEncoder) + "\n"
+                    )
+                    mrs_output_file.write(
+                        json.dumps(sample.outputs_json, cls=RocketPyEncoder) + "\n"
+                    )
+        except Exception as e:
+            raise ValueError(
+                "An error occurred while writing the selected sample to the "
+                "output files"
+            ) from e
+
+        finally:
+            mrs_input_file.close()
+            mrs_output_file.close()
+            mrs_error_file.close()
+
+    def __setup_probabilities(self, distribution_dict):
+        """Computes the probability ratio, probability ratio supremum and acceptance
+        probability for each sample.
+
+        Parameters
+        ----------
+        distribution : dict
+            Dictionary whose keys contain the name whose distribution changed. The values
+            are tuples or lists with two entries. The first entry is a probability
+            density (mass) function for the old distribution, while the second entry
+            is the probability density function for the new distribution.
+        """
+        self.sup_ratio = 1
+        for sample in self.all_sample_list:
+            sample.probability_ratio = self.__compute_probability_ratio(
+                sample, distribution_dict
+            )
+            self.sup_ratio = max(self.sup_ratio, sample.probability_ratio)
+
+        for sample in self.all_sample_list:
+            sample.acceptance_probability = sample.probability_ratio / self.sup_ratio
+        self.expected_sample_size = self.original_sample_size // self.sup_ratio
+
+    def __compute_probability_ratio(self, sample, distribution_dict):
+        """Computes the ratio of the new probability to the old probability
+        for the given sample
+
+        Parameters
+        ----------
+        sample: SampleInformation
+            Sample information used to extract the values to evaluate the
+            distributions pdf.
+        distribution : dict
+            Dictionary whose keys contain the name whose distribution changed. The values
+            are tuples or lists with two entries. The first entry is a probability
+            density (mass) function for the old distribution, while the second entry
+            is the probability density function for the new distribution.
+
+        Raises
+        ------
+        ValueError
+            Raises exception if an error occurs when computing the ratio.
+        """
+        probability_ratio = 1
+        try:
+            for variable in distribution_dict.keys():
+                value = sample.flatted_inputs_json[variable]
+                old_pdf = distribution_dict[variable][0]
+                new_pdf = distribution_dict[variable][1]
+                probability_ratio *= new_pdf(value) / old_pdf(value)
+        except Exception as e:
+            raise ValueError(
+                "An error occurred while evaluating the probability ratio"
+            ) from e
+
+        return probability_ratio
diff --git a/rocketpy/stochastic/__init__.py b/rocketpy/stochastic/__init__.py
index b1e146246..ffadfaaaf 100644
--- a/rocketpy/stochastic/__init__.py
+++ b/rocketpy/stochastic/__init__.py
@@ -5,6 +5,7 @@
 associated with each input parameter.
 """
 
+from .custom_sampler import CustomSampler
 from .stochastic_aero_surfaces import (
     StochasticAirBrakes,
     StochasticEllipticalFins,
diff --git a/rocketpy/stochastic/custom_sampler.py b/rocketpy/stochastic/custom_sampler.py
new file mode 100644
index 000000000..82a06dd9f
--- /dev/null
+++ b/rocketpy/stochastic/custom_sampler.py
@@ -0,0 +1,38 @@
+"""
+Provides an abstract class so that users can build custom samplers upon
+"""
+
+from abc import ABC, abstractmethod
+
+
+class CustomSampler(ABC):
+    """Abstract subclass for user defined samplers"""
+
+    @abstractmethod
+    def sample(self, n_samples=1):
+        """Generates samples from the custom distribution
+
+        Parameters
+        ----------
+        n_samples : int, optional
+            Numbers of samples to be generated
+
+        Returns
+        -------
+        samples_list : list
+            A list with n_samples elements, each of which is a valid sample
+        """
+
+    @abstractmethod
+    def reset_seed(self, seed=None):
+        """Resets the seeds of all associated stochastic generators
+
+        Parameters
+        ----------
+        seed : int, optional
+            Seed for the random number generator. The default is None
+
+        Returns
+        -------
+        None
+        """
diff --git a/rocketpy/stochastic/stochastic_aero_surfaces.py b/rocketpy/stochastic/stochastic_aero_surfaces.py
index 5dda716bb..5e3750f48 100644
--- a/rocketpy/stochastic/stochastic_aero_surfaces.py
+++ b/rocketpy/stochastic/stochastic_aero_surfaces.py
@@ -4,12 +4,12 @@
 """
 
 from rocketpy.rocket.aero_surface import (
+    AirBrakes,
     EllipticalFins,
     NoseCone,
     RailButtons,
     Tail,
     TrapezoidalFins,
-    AirBrakes,
 )
 
 from .stochastic_model import StochasticModel
diff --git a/rocketpy/stochastic/stochastic_flight.py b/rocketpy/stochastic/stochastic_flight.py
index 729313736..0fde38c3a 100644
--- a/rocketpy/stochastic/stochastic_flight.py
+++ b/rocketpy/stochastic/stochastic_flight.py
@@ -87,7 +87,10 @@ def __init__(
 
         self.initial_solution = initial_solution
         self.terminate_on_apogee = terminate_on_apogee
-        self.time_overshoot = time_overshoot
+        if time_overshoot is None:
+            self.time_overshoot = flight.time_overshoot
+        else:
+            self.time_overshoot = time_overshoot
 
     def _validate_initial_solution(self, initial_solution):
         if initial_solution is not None:
diff --git a/rocketpy/stochastic/stochastic_model.py b/rocketpy/stochastic/stochastic_model.py
index fe47a252a..879b61e70 100644
--- a/rocketpy/stochastic/stochastic_model.py
+++ b/rocketpy/stochastic/stochastic_model.py
@@ -8,6 +8,7 @@
 import numpy as np
 
 from rocketpy.mathutils.function import Function
+from rocketpy.stochastic.custom_sampler import CustomSampler
 
 from ..tools import get_distribution
 
@@ -88,7 +89,9 @@ def _set_stochastic(self, seed=None):
                 attr_value = None
                 if input_value is not None:
                     if "factor" in input_name:
-                        attr_value = self._validate_factors(input_name, input_value)
+                        attr_value = self._validate_factors(
+                            input_name, input_value, seed
+                        )
                     elif input_name not in self.exception_list:
                         if isinstance(input_value, tuple):
                             attr_value = self._validate_tuple(input_name, input_value)
@@ -96,9 +99,14 @@ def _set_stochastic(self, seed=None):
                             attr_value = self._validate_list(input_name, input_value)
                         elif isinstance(input_value, (int, float)):
                             attr_value = self._validate_scalar(input_name, input_value)
+                        elif isinstance(input_value, CustomSampler):
+                            attr_value = self._validate_custom_sampler(
+                                input_name, input_value, seed
+                            )
                         else:
                             raise AssertionError(
                                 f"'{input_name}' must be a tuple, list, int, or float"
+                                "or a custom sampler"
                             )
                 else:
                     attr_value = [getattr(self.obj, input_name)]
@@ -280,7 +288,7 @@ def _validate_scalar(self, input_name, input_value, getattr=getattr):  # pylint:
             get_distribution("normal", self.__random_number_generator),
         )
 
-    def _validate_factors(self, input_name, input_value):
+    def _validate_factors(self, input_name, input_value, seed):
         """
         Validate factor arguments.
 
@@ -308,8 +316,12 @@ def _validate_factors(self, input_name, input_value):
             return self._validate_tuple_factor(input_name, input_value)
         elif isinstance(input_value, list):
             return self._validate_list_factor(input_name, input_value)
+        elif isinstance(input_value, CustomSampler):
+            return self._validate_custom_sampler(input_name, input_value, seed)
         else:
-            raise AssertionError(f"`{input_name}`: must be either a tuple or list")
+            raise AssertionError(
+                f"`{input_name}`: must be either a tuple or listor a custom sampler"
+            )
 
     def _validate_tuple_factor(self, input_name, factor_tuple):
         """
@@ -436,6 +448,33 @@ def _validate_positive_int_list(self, input_name, input_value):
                 isinstance(member, int) and member >= 0 for member in input_value
             ), f"`{input_name}` must be a list of positive integers"
 
+    def _validate_custom_sampler(self, input_name, sampler, seed=None):
+        """
+        Validate a custom sampler.
+
+        Parameters
+        ----------
+        input_name : str
+            Name of the input argument.
+        sampler : CustomSampler object
+            Custom sampler provided by the user
+        seed : int, optional
+            Seed for the random number generator. The default is None
+
+        Raises
+        ------
+        AssertionError
+            If the input is not in a valid format.
+        """
+        try:
+            sampler.reset_seed(seed)
+        except RuntimeError as e:
+            raise RuntimeError(
+                f"An error occurred in the 'reset_seed' method of {input_name} CustomSampler"
+            ) from e
+
+        return sampler
+
     def _validate_airfoil(self, airfoil):
         """
         Validate airfoil input.
@@ -490,9 +529,17 @@ def dict_generator(self):
         generated_dict = {}
         for arg, value in self.__dict__.items():
             if isinstance(value, tuple):
-                generated_dict[arg] = value[-1](value[0], value[1])
+                dist_sampler = value[-1]
+                generated_dict[arg] = dist_sampler(value[0], value[1])
             elif isinstance(value, list):
                 generated_dict[arg] = choice(value) if value else value
+            elif isinstance(value, CustomSampler):
+                try:
+                    generated_dict[arg] = value.sample(n_samples=1)[0]
+                except RuntimeError as e:
+                    raise RuntimeError(
+                        f"An error occurred in the 'sample' method of {arg} CustomSampler"
+                    ) from e
         self.last_rnd_dict = generated_dict
         yield generated_dict
 
@@ -527,6 +574,12 @@ def format_attribute(attr, value):
                         f"{nominal_value:.5f} ± "
                         f"{std_dev:.5f} ({dist_func.__name__})"
                     )
+            elif isinstance(value, CustomSampler):
+                sampler_name = type(value).__name__
+                return (
+                    f"\t{attr.ljust(max_str_length)} "
+                    f"\t{sampler_name.ljust(max_str_length)} "
+                )
             return None
 
         attributes = {k: v for k, v in self.__dict__.items() if not k.startswith("_")}
@@ -550,6 +603,9 @@ def format_attribute(attr, value):
         list_attributes = [
             attr for attr, val in items if isinstance(val, list) and len(val) > 1
         ]
+        custom_attributes = [
+            attr for attr, val in items if isinstance(val, CustomSampler)
+        ]
 
         if constant_attributes:
             report.append("\nConstant Attributes:")
@@ -568,5 +624,10 @@ def format_attribute(attr, value):
             report.extend(
                 format_attribute(attr, attributes[attr]) for attr in list_attributes
             )
+        if custom_attributes:
+            report.append("\nStochastic Attributes with Custom user samplers:")
+            report.extend(
+                format_attribute(attr, attributes[attr]) for attr in custom_attributes
+            )
 
         print("\n".join(filter(None, report)))
diff --git a/rocketpy/tools.py b/rocketpy/tools.py
index 91428d50b..692d5e224 100644
--- a/rocketpy/tools.py
+++ b/rocketpy/tools.py
@@ -569,26 +569,48 @@ def __generate_ellipse_points(ellipse, resolution: int):
     return np.array(points)
 
 
-def flatten_dict(x):
-    # Auxiliary function that flattens dictionary
-    # this is used mainly in the load_monte_carlo_data function
-    new_dict = {}
-    for key, value in x.items():
+def flatten_dict(original_dict):
+    """Flatten a dictionary for easy handling of nested variables
+
+    This function is mainly used for handling data in sensitivity analysis
+    and in the MRS.
+
+    Parameters
+    ----------
+    original_dict : dict
+        A dictionary possibly containing nested variables. This means that
+        a key might contain another dictionary inside of it.
+
+    Returns
+    -------
+    flatted_dict : dict
+        The flatted dictionary which, ideally, should not contain nested
+        variables. All nested information should be available directly in
+        the first level (access by key). Variables that were available
+        inside the first level retain their original key name. Variables
+        that were nested are created by appending the name of the outer
+        key used to access it concatenated with a '_' and the key name
+        of the variable.
+    """
+    flatted_dict = {}
+    for key, value in original_dict.items():
         # the nested dictionary is inside a list
-        if isinstance(x[key], list):
-            # sometimes the object inside the list is another list
-            # we must skip these cases
-            if isinstance(value[0], dict):
-                inner_dict = flatten_dict(value[0])
-                inner_dict = {
-                    key + "_" + inner_key: inner_value
-                    for inner_key, inner_value in inner_dict.items()
-                }
-                new_dict.update(inner_dict)
+        if isinstance(original_dict[key], list):
+            for inner_item in value:
+                if isinstance(inner_item, dict):
+                    inner_dict = flatten_dict(inner_item)
+                    sep_str = "_"
+                    if "name" in inner_dict:
+                        sep_str = "_" + inner_dict["name"] + "_"
+                    inner_dict = {
+                        key + sep_str + inner_key: inner_value
+                        for inner_key, inner_value in inner_dict.items()
+                    }
+                    flatted_dict.update(inner_dict)
         else:
-            new_dict.update({key: value})
+            flatted_dict.update({key: value})
 
-    return new_dict
+    return flatted_dict
 
 
 def load_monte_carlo_data(
diff --git a/rocketpy/utilities.py b/rocketpy/utilities.py
index b3a1d7f8d..3ed81df41 100644
--- a/rocketpy/utilities.py
+++ b/rocketpy/utilities.py
@@ -1,12 +1,19 @@
 import ast
 import inspect
+import json
+import os
 import traceback
 import warnings
+from datetime import date
+from importlib.metadata import version
+from pathlib import Path
 
 import matplotlib.pyplot as plt
 import numpy as np
+from packaging import version as packaging_version
 from scipy.integrate import solve_ivp
 
+from ._encoders import RocketPyDecoder, RocketPyEncoder
 from .environment.environment import Environment
 from .mathutils.function import Function
 from .plots.plot_helpers import show_or_save_plot
@@ -688,3 +695,70 @@ def get_instance_attributes(instance):
         if not inspect.ismethod(member[1]) and not member[0].startswith("__"):
             attributes_dict[member[0]] = member[1]
     return attributes_dict
+
+
+def save_to_rpy(flight: Flight, filename: str, include_outputs=False):
+    """Saves a .rpy file into the given path, containing key simulation
+    informations to reproduce the results.
+
+    Parameters
+    ----------
+    flight : rocketpy.Flight
+        Flight object containing the rocket's flight data
+    filename : str
+        Path where the file will be saved in
+    include_outputs : bool, optional
+        If True, the function will include extra outputs into the file,
+        by default False
+
+    Returns
+    -------
+    None
+    """
+    file = Path(filename).with_suffix(".rpy")
+
+    with open(file, "w") as f:
+        data = {"date": str(date.today()), "version": version("rocketpy")}
+        data["simulation"] = flight
+        json.dump(
+            data,
+            f,
+            cls=RocketPyEncoder,
+            indent=2,
+            include_outputs=include_outputs,
+        )
+
+
+def load_from_rpy(filename: str, resimulate=False):
+    """Loads the saved data from a .rpy file into a Flight object.
+
+    Parameters
+    ----------
+    filename : str
+        Path where the file to be loaded is
+    resimulate : bool, optional
+        If True, the function will resimulate the Flight object,
+        by default False
+
+    Returns
+    -------
+    rocketpy.Flight
+        Flight object containing simulation information from the .rpy file
+    """
+    ext = os.path.splitext(os.path.basename(filename))[1]
+    if ext != ".rpy":  # pragma: no cover
+        raise ValueError(f"Invalid file extension: {ext}. Allowed: .rpy")
+
+    with open(filename, "r") as f:
+        data = json.load(f)
+        if packaging_version.parse(data["version"]) > packaging_version.parse(
+            version("rocketpy")
+        ):
+            warnings.warn(
+                "The file was saved in an updated version of",
+                f"RocketPy (v{data['version']}), the current",
+                f"imported module is v{version('rocketpy')}",
+            )
+        simulation = json.dumps(data["simulation"])
+        flight = json.loads(simulation, cls=RocketPyDecoder, resimulate=resimulate)
+    return flight
diff --git a/tests/conftest.py b/tests/conftest.py
index 370721cf8..980e0b6ac 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -18,6 +18,7 @@
     "tests.fixtures.units.numerical_fixtures",
     "tests.fixtures.monte_carlo.monte_carlo_fixtures",
     "tests.fixtures.monte_carlo.stochastic_fixtures",
+    "tests.fixtures.monte_carlo.custom_sampler_fixtures",
     "tests.fixtures.monte_carlo.stochastic_motors_fixtures",
     "tests.fixtures.sensors.sensors_fixtures",
     "tests.fixtures.generic_surfaces.generic_surfaces_fixtures",
diff --git a/tests/fixtures/flight/flight_fixtures.py b/tests/fixtures/flight/flight_fixtures.py
index 44f8b7c09..da47e6cdb 100644
--- a/tests/fixtures/flight/flight_fixtures.py
+++ b/tests/fixtures/flight/flight_fixtures.py
@@ -93,6 +93,20 @@ def flight_calisto_robust(calisto_robust, example_spaceport_env):
     )
 
 
+@pytest.fixture
+def flight_calisto_nose_to_tail_robust(
+    calisto_nose_to_tail_robust, example_spaceport_env
+):
+    return Flight(
+        environment=example_spaceport_env,
+        rocket=calisto_nose_to_tail_robust,
+        rail_length=5.2,
+        inclination=85,
+        heading=0,
+        terminate_on_apogee=False,
+    )
+
+
 @pytest.fixture
 def flight_calisto_robust_solid_eom(calisto_robust, example_spaceport_env):
     """Similar to flight_calisto_robust, but with the equations of motion set to
diff --git a/tests/fixtures/monte_carlo/custom_sampler_fixtures.py b/tests/fixtures/monte_carlo/custom_sampler_fixtures.py
new file mode 100644
index 000000000..8a4ff497d
--- /dev/null
+++ b/tests/fixtures/monte_carlo/custom_sampler_fixtures.py
@@ -0,0 +1,76 @@
+"""This file contains fixtures of CustomSampler used in stochastic classes."""
+
+import numpy as np
+import pytest
+
+from rocketpy import CustomSampler
+
+
+@pytest.fixture
+def elevation_sampler():
+    """Fixture to create mixture of two gaussian sampler"""
+    means_tuple = [1400, 1500]
+    sd_tuple = [40, 50]
+    prob_tuple = [0.4, 0.6]
+    return TwoGaussianMixture(means_tuple, sd_tuple, prob_tuple)
+
+
+class TwoGaussianMixture(CustomSampler):
+    """Class to sample from a mixture of two Gaussian distributions"""
+
+    def __init__(self, means_tuple, sd_tuple, prob_tuple, seed=None):
+        """Creates a sampler for a mixture of two Gaussian distributions
+
+        Parameters
+        ----------
+        means_tuple : 2-tuple
+            2-Tuple that contains the mean of each normal distribution of the
+            mixture
+        sd_tuple : 2-tuple
+            2-Tuple that contains the sd of each normal distribution of the
+            mixture
+        prob_tuple : 2-tuple
+            2-Tuple that contains the probability of each normal distribution of the
+            mixture. Its entries should be non-negative and sum up to 1.
+        """
+        np.random.default_rng(seed)
+        self.means_tuple = means_tuple
+        self.sd_tuple = sd_tuple
+        self.prob_tuple = prob_tuple
+
+    def sample(self, n_samples=1):
+        """Samples from a mixture of two Gaussian
+
+        Parameters
+        ----------
+        n_samples : int, optional
+            Number of samples, by default 1
+
+        Returns
+        -------
+        samples_list
+            List containing n_samples samples
+        """
+        samples_list = [0] * n_samples
+        mixture_id_list = np.random.binomial(1, self.prob_tuple[0], n_samples)
+        for i, mixture_id in enumerate(mixture_id_list):
+            if mixture_id:
+                samples_list[i] = np.random.normal(
+                    self.means_tuple[0], self.sd_tuple[0]
+                )
+            else:
+                samples_list[i] = np.random.normal(
+                    self.means_tuple[1], self.sd_tuple[1]
+                )
+
+        return samples_list
+
+    def reset_seed(self, seed=None):
+        """Resets all associated random number generators
+
+        Parameters
+        ----------
+        seed : int, optional
+            Seed for the random number generator.
+        """
+        np.random.default_rng(seed)
diff --git a/tests/fixtures/monte_carlo/stochastic_fixtures.py b/tests/fixtures/monte_carlo/stochastic_fixtures.py
index bf576e5ed..6610666cf 100644
--- a/tests/fixtures/monte_carlo/stochastic_fixtures.py
+++ b/tests/fixtures/monte_carlo/stochastic_fixtures.py
@@ -43,6 +43,36 @@ def stochastic_environment(example_spaceport_env):
     )
 
 
+@pytest.fixture
+def stochastic_environment_custom_sampler(example_spaceport_env, elevation_sampler):
+    """This fixture is used to create a stochastic environment object for the
+    Calisto flight using a custom sampler for the elevation.
+
+    Parameters
+    ----------
+    example_spaceport_env : Environment
+        This is another fixture.
+
+    elevation_sampler: CustomSampler
+        This is another fixture.
+
+    Returns
+    -------
+    StochasticEnvironment
+        The stochastic environment object
+    """
+    return StochasticEnvironment(
+        environment=example_spaceport_env,
+        elevation=elevation_sampler,
+        gravity=None,
+        latitude=None,
+        longitude=None,
+        ensemble_member=None,
+        wind_velocity_x_factor=(1.0, 0.033, "normal"),
+        wind_velocity_y_factor=(1.0, 0.033, "normal"),
+    )
+
+
 @pytest.fixture
 def stochastic_nose_cone(calisto_nose_cone):
     """This fixture is used to create a StochasticNoseCone object for the
diff --git a/tests/fixtures/rockets/rocket_fixtures.py b/tests/fixtures/rockets/rocket_fixtures.py
index 8d26bbc22..9cb3caa3c 100644
--- a/tests/fixtures/rockets/rocket_fixtures.py
+++ b/tests/fixtures/rockets/rocket_fixtures.py
@@ -184,6 +184,33 @@ def calisto_robust(
     return calisto
 
 
+@pytest.fixture
+def calisto_nose_to_tail_robust(
+    calisto_nose_to_tail,
+    calisto_nose_cone,
+    calisto_tail,
+    calisto_trapezoidal_fins,
+    calisto_main_chute,
+    calisto_drogue_chute,
+):
+    """Calisto with nose to tail coordinate system orientation. This is the same
+    as calisto_robust, but with the coordinate system orientation set to
+    "nose_to_tail"."""
+    csys = -1
+    # we follow this format: calisto.add_surfaces(surface, position)
+    calisto_nose_to_tail.add_surfaces(calisto_nose_cone, 1.160 * csys)
+    calisto_nose_to_tail.add_surfaces(calisto_tail, -1.313 * csys)
+    calisto_nose_to_tail.add_surfaces(calisto_trapezoidal_fins, -1.168 * csys)
+    calisto_nose_to_tail.set_rail_buttons(
+        upper_button_position=0.082 * csys,
+        lower_button_position=-0.618 * csys,
+        angular_position=360 - 0,
+    )
+    calisto_nose_to_tail.parachutes.append(calisto_main_chute)
+    calisto_nose_to_tail.parachutes.append(calisto_drogue_chute)
+    return calisto_nose_to_tail
+
+
 @pytest.fixture
 def calisto_air_brakes_clamp_on(calisto_robust, controller_function):
     """Create an object class of the Rocket class to be used in the tests. This
diff --git a/tests/fixtures/utilities/flight_calisto_robust.rpy b/tests/fixtures/utilities/flight_calisto_robust.rpy
new file mode 100644
index 000000000..74da896cb
--- /dev/null
+++ b/tests/fixtures/utilities/flight_calisto_robust.rpy
@@ -0,0 +1,43419 @@
+{
+  "date": "2025-03-28",
+  "version": "1.8.0",
+  "simulation": {
+    "rocket": {
+      "radius": 0.0635,
+      "mass": 14.426,
+      "I_11_without_motor": 6.321,
+      "I_22_without_motor": 6.321,
+      "I_33_without_motor": 0.034,
+      "I_12_without_motor": 0,
+      "I_13_without_motor": 0,
+      "I_23_without_motor": 0,
+      "power_off_drag": {
+        "source": [
+          [
+            0.01,
+            0.333865758
+          ],
+          [
+            0.02,
+            0.394981721
+          ],
+          [
+            0.03,
+            0.407756063
+          ],
+          [
+            0.04,
+            0.410692705
+          ],
+          [
+            0.05,
+            0.410540353
+          ],
+          [
+            0.06,
+            0.409240293
+          ],
+          [
+            0.07,
+            0.407500874
+          ],
+          [
+            0.08,
+            0.405617853
+          ],
+          [
+            0.09,
+            0.403724114
+          ],
+          [
+            0.1,
+            0.401881596
+          ],
+          [
+            0.11,
+            0.400118527
+          ],
+          [
+            0.12,
+            0.398446442
+          ],
+          [
+            0.13,
+            0.396868616
+          ],
+          [
+            0.14,
+            0.395383943
+          ],
+          [
+            0.15,
+            0.393989178
+          ],
+          [
+            0.16,
+            0.392680199
+          ],
+          [
+            0.17,
+            0.391452432
+          ],
+          [
+            0.18,
+            0.390301526
+          ],
+          [
+            0.19,
+            0.389222867
+          ],
+          [
+            0.2,
+            0.388212693
+          ],
+          [
+            0.21,
+            0.3872672
+          ],
+          [
+            0.22,
+            0.386382809
+          ],
+          [
+            0.23,
+            0.385556609
+          ],
+          [
+            0.24,
+            0.384785814
+          ],
+          [
+            0.25,
+            0.3840677
+          ],
+          [
+            0.26,
+            0.383461808
+          ],
+          [
+            0.27,
+            0.382904488
+          ],
+          [
+            0.28,
+            0.38239367
+          ],
+          [
+            0.29,
+            0.381927906
+          ],
+          [
+            0.3,
+            0.381505764
+          ],
+          [
+            0.31,
+            0.38112576
+          ],
+          [
+            0.32,
+            0.380786983
+          ],
+          [
+            0.33,
+            0.380488401
+          ],
+          [
+            0.34,
+            0.380229069
+          ],
+          [
+            0.35,
+            0.380008442
+          ],
+          [
+            0.36,
+            0.379825864
+          ],
+          [
+            0.37,
+            0.379680781
+          ],
+          [
+            0.38,
+            0.379572948
+          ],
+          [
+            0.39,
+            0.379502053
+          ],
+          [
+            0.4,
+            0.379467845
+          ],
+          [
+            0.41,
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+        "title": "Drag Coefficient With Power Off x Mach Number",
+        "inputs": [
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+        "outputs": [
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+        "interpolation": "linear",
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+        "title": "Pressure (Pa) x Height Above Sea Level (M)",
+        "inputs": [
+          "Height Above Sea Level (m)"
+        ],
+        "outputs": [
+          "Pressure (Pa)"
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+        "interpolation": "spline",
+        "extrapolation": "natural",
+        "signature": {
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+        "title": "Temperature (K) x Height Above Sea Level (M)",
+        "inputs": [
+          "Height Above Sea Level (m)"
+        ],
+        "outputs": [
+          "Temperature (K)"
+        ],
+        "interpolation": "linear",
+        "extrapolation": "constant",
+        "signature": {
+          "module": "rocketpy.mathutils.function",
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+        "title": "Wind Velocity X (M/S) x Height Above Sea Level (M)",
+        "inputs": [
+          "Height Above Sea Level (m)"
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+        "outputs": [
+          "Wind Velocity X (m/s)"
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+        "title": "Wind Velocity Y (M/S) x Height Above Sea Level (M)",
+        "inputs": [
+          "Height Above Sea Level (m)"
+        ],
+        "outputs": [
+          "Wind Velocity Y (m/s)"
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+        "interpolation": null,
+        "extrapolation": null,
+        "signature": {
+          "module": "rocketpy.mathutils.function",
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+        "title": "Wind Heading (Deg True) x Height Above Sea Level (M)",
+        "inputs": [
+          "Height Above Sea Level (m)"
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+        "outputs": [
+          "Wind Heading (Deg True)"
+        ],
+        "interpolation": null,
+        "extrapolation": null,
+        "signature": {
+          "module": "rocketpy.mathutils.function",
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+        "title": "Wind Direction (Deg True) x Height Above Sea Level (M)",
+        "inputs": [
+          "Height Above Sea Level (m)"
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+      "title": "Ay (M/S\u00b2) x Time (S)",
+      "inputs": [
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+        ],
+        [
+          77.55922108606723,
+          0.0
+        ],
+        [
+          83.74360774187622,
+          0.0
+        ],
+        [
+          89.92799439768521,
+          0.0
+        ],
+        [
+          91.47409106163745,
+          0.0
+        ],
+        [
+          93.0201877255897,
+          0.0
+        ],
+        [
+          94.56628438954193,
+          0.0
+        ],
+        [
+          95.55174469780209,
+          0.0
+        ],
+        [
+          96.53720500606225,
+          0.0
+        ],
+        [
+          97.52266531432241,
+          0.0
+        ],
+        [
+          98.50866761324593,
+          0.0
+        ],
+        [
+          104.229915181177,
+          0.0
+        ],
+        [
+          109.95116274910808,
+          0.0
+        ],
+        [
+          115.67241031703915,
+          0.0
+        ],
+        [
+          123.80427445904986,
+          0.0
+        ],
+        [
+          131.93613860106058,
+          0.0
+        ],
+        [
+          140.0680027430713,
+          0.0
+        ],
+        [
+          148.19986688508203,
+          0.0
+        ],
+        [
+          158.3904761904762,
+          0.0
+        ],
+        [
+          158.5093989588007,
+          0.0
+        ],
+        [
+          158.62832172712518,
+          0.0
+        ],
+        [
+          159.8904761904762,
+          0.0
+        ],
+        [
+          159.89288732694692,
+          0.0
+        ],
+        [
+          159.89529846341765,
+          0.0
+        ],
+        [
+          159.90012073635913,
+          0.0
+        ],
+        [
+          159.9049430093006,
+          0.0
+        ],
+        [
+          159.9097652822421,
+          0.0
+        ],
+        [
+          159.93243780659526,
+          0.0
+        ],
+        [
+          159.95511033094843,
+          0.0
+        ],
+        [
+          159.9777828553016,
+          0.0
+        ],
+        [
+          160.00045537965477,
+          0.0
+        ],
+        [
+          160.0346633693688,
+          0.0
+        ],
+        [
+          160.0688713590828,
+          0.0
+        ],
+        [
+          160.10307934879683,
+          0.0
+        ],
+        [
+          160.13728733851084,
+          0.0
+        ],
+        [
+          160.17149532822486,
+          0.0
+        ],
+        [
+          160.23106728260558,
+          0.0
+        ],
+        [
+          160.2906392369863,
+          0.0
+        ],
+        [
+          160.350211191367,
+          0.0
+        ],
+        [
+          160.40978314574772,
+          0.0
+        ],
+        [
+          160.46935510012844,
+          0.0
+        ],
+        [
+          160.52892705450915,
+          0.0
+        ],
+        [
+          160.6259323588013,
+          0.0
+        ],
+        [
+          160.72293766309343,
+          0.0
+        ],
+        [
+          160.81994296738557,
+          0.0
+        ],
+        [
+          160.9169482716777,
+          0.0
+        ],
+        [
+          161.01395357596985,
+          0.0
+        ],
+        [
+          161.110958880262,
+          0.0
+        ],
+        [
+          161.26736304673776,
+          0.0
+        ],
+        [
+          161.42376721321352,
+          0.0
+        ],
+        [
+          161.5801713796893,
+          0.0
+        ],
+        [
+          161.73657554616506,
+          0.0
+        ],
+        [
+          161.89297971264082,
+          0.0
+        ],
+        [
+          162.11653214894974,
+          0.0
+        ],
+        [
+          162.34008458525867,
+          0.0
+        ],
+        [
+          162.5636370215676,
+          0.0
+        ],
+        [
+          162.7871894578765,
+          0.0
+        ],
+        [
+          163.01074189418543,
+          0.0
+        ],
+        [
+          163.3020518484637,
+          0.0
+        ],
+        [
+          163.59336180274195,
+          0.0
+        ],
+        [
+          163.88467175702021,
+          0.0
+        ],
+        [
+          164.17598171129848,
+          0.0
+        ],
+        [
+          164.4850936705858,
+          0.0
+        ],
+        [
+          164.79420562987312,
+          0.0
+        ],
+        [
+          165.10331758916044,
+          0.0
+        ],
+        [
+          165.4129391221861,
+          0.0
+        ],
+        [
+          165.72256065521174,
+          0.0
+        ],
+        [
+          166.03218218823739,
+          0.0
+        ],
+        [
+          166.34184757413777,
+          0.0
+        ],
+        [
+          167.93141144685217,
+          0.0
+        ],
+        [
+          169.52097531956656,
+          0.0
+        ],
+        [
+          171.11053919228095,
+          0.0
+        ],
+        [
+          175.76088994831585,
+          0.0
+        ],
+        [
+          180.41124070435075,
+          0.0
+        ],
+        [
+          185.06159146038564,
+          0.0
+        ],
+        [
+          202.12571753179242,
+          0.0
+        ],
+        [
+          219.1898436031992,
+          0.0
+        ],
+        [
+          236.25396967460597,
+          0.0
+        ],
+        [
+          261.9195710352043,
+          0.0
+        ],
+        [
+          287.5851723958026,
+          0.0
+        ],
+        [
+          298.2290954115797,
+          0.0
+        ]
+      ],
+      "title": "M3 (Nm) x Time (S)",
+      "inputs": [
+        "Time (s)"
+      ],
+      "outputs": [
+        "M3 (Nm)"
+      ],
+      "interpolation": "linear",
+      "extrapolation": "zero",
+      "signature": {
+        "module": "rocketpy.mathutils.function",
+        "name": "Function"
+      }
+    },
+    "signature": {
+      "module": "rocketpy.simulation.flight",
+      "name": "Flight"
+    }
+  }
+}
\ No newline at end of file
diff --git a/tests/integration/test_encoding.py b/tests/integration/test_encoding.py
index 996fc533e..3ef71252c 100644
--- a/tests/integration/test_encoding.py
+++ b/tests/integration/test_encoding.py
@@ -7,6 +7,50 @@
 from rocketpy._encoders import RocketPyDecoder, RocketPyEncoder
 
 
+@pytest.mark.parametrize(
+    ["flight_name", "include_outputs"],
+    [
+        ("flight_calisto", False),
+        ("flight_calisto", True),
+        ("flight_calisto_robust", True),
+        ("flight_calisto_liquid_modded", False),
+        ("flight_calisto_hybrid_modded", False),
+    ],
+)
+def test_flight_save_load_no_resimulate(flight_name, include_outputs, request):
+    """Test encoding a ``rocketpy.Flight``.
+
+    Parameters
+    ----------
+    flight_name : str
+        Name flight fixture to encode.
+    request : pytest.FixtureRequest
+        Pytest request object.
+    """
+    flight_to_save = request.getfixturevalue(flight_name)
+
+    with open("flight.json", "w") as f:
+        json.dump(
+            flight_to_save,
+            f,
+            cls=RocketPyEncoder,
+            indent=2,
+            include_outputs=include_outputs,
+        )
+
+    with open("flight.json", "r") as f:
+        flight_loaded = json.load(f, cls=RocketPyDecoder, resimulate=False)
+
+    assert np.isclose(flight_to_save.t_initial, flight_loaded.t_initial)
+    assert np.isclose(flight_to_save.out_of_rail_time, flight_loaded.out_of_rail_time)
+    assert np.isclose(flight_to_save.apogee_time, flight_loaded.apogee_time)
+
+    # Higher tolerance due to random parachute trigger
+    assert np.isclose(flight_to_save.t_final, flight_loaded.t_final, rtol=1e-3)
+
+    os.remove("flight.json")
+
+
 @pytest.mark.slow
 @pytest.mark.parametrize(
     ["flight_name", "include_outputs"],
@@ -18,7 +62,7 @@
         ("flight_calisto_hybrid_modded", False),
     ],
 )
-def test_flight_save_load(flight_name, include_outputs, request):
+def test_flight_save_load_resimulate(flight_name, include_outputs, request):
     """Test encoding a ``rocketpy.Flight``.
 
     Parameters
@@ -40,7 +84,7 @@ def test_flight_save_load(flight_name, include_outputs, request):
         )
 
     with open("flight.json", "r") as f:
-        flight_loaded = json.load(f, cls=RocketPyDecoder)
+        flight_loaded = json.load(f, cls=RocketPyDecoder, resimulate=True)
 
     assert np.isclose(flight_to_save.t_initial, flight_loaded.t_initial)
     assert np.isclose(flight_to_save.out_of_rail_time, flight_loaded.out_of_rail_time)
diff --git a/tests/integration/test_environment_analysis.py b/tests/integration/test_environment_analysis.py
index 1be33fe96..e6043c85a 100644
--- a/tests/integration/test_environment_analysis.py
+++ b/tests/integration/test_environment_analysis.py
@@ -4,6 +4,7 @@
 
 import matplotlib as plt
 import pytest
+from rocketpy import Environment
 
 plt.rcParams.update({"figure.max_open_warning": 0})
 
@@ -55,3 +56,9 @@ def test_exports(mock_show, env_analysis):  # pylint: disable=unused-argument
     os.remove("env_analysis_dict")
     os.remove("wind_rose.gif")
     os.remove("export_env_analysis.json")
+
+
+@pytest.mark.slow
+@patch("matplotlib.pyplot.show")
+def test_create_environment_object(mock_show, env_analysis):  # pylint: disable=unused-argument
+    assert isinstance(env_analysis.create_environment_object(), Environment)
diff --git a/tests/integration/test_flight.py b/tests/integration/test_flight.py
index e1606ce75..8fddb6486 100644
--- a/tests/integration/test_flight.py
+++ b/tests/integration/test_flight.py
@@ -521,3 +521,37 @@ def test_freestream_speed_at_apogee(example_plain_env, calisto):
         test_flight.free_stream_speed(test_flight.apogee_time), 0.0, atol=soft_atol
     )
     assert np.isclose(test_flight.apogee_freestream_speed, 0.0, atol=soft_atol)
+
+
+def test_rocket_csys_equivalence(
+    flight_calisto_robust, flight_calisto_nose_to_tail_robust
+):
+    """Test the equivalence of the rocket coordinate systems between two
+    different flight simulations.
+
+    Parameters
+    ----------
+    flight_calisto_robust : rocketpy.Flight
+        Flight object to be tested. See the conftest.py file for more info.
+    flight_calisto_nose_to_tail_robust : rocketpy.Flight
+        Flight object to be tested. See the conftest.py file for more info.
+    """
+    assert np.isclose(
+        flight_calisto_robust.apogee, flight_calisto_nose_to_tail_robust.apogee
+    )
+    assert np.isclose(
+        flight_calisto_robust.apogee_time,
+        flight_calisto_nose_to_tail_robust.apogee_time,
+    )
+    assert np.isclose(
+        flight_calisto_robust.x_impact,
+        flight_calisto_nose_to_tail_robust.x_impact,
+    )
+    assert np.isclose(
+        flight_calisto_robust.y_impact,
+        flight_calisto_nose_to_tail_robust.y_impact,
+    )
+    assert np.allclose(
+        flight_calisto_robust.initial_solution,
+        flight_calisto_nose_to_tail_robust.initial_solution,
+    )
diff --git a/tests/integration/test_monte_carlo.py b/tests/integration/test_monte_carlo.py
index 48e47a6e2..5da5066a2 100644
--- a/tests/integration/test_monte_carlo.py
+++ b/tests/integration/test_monte_carlo.py
@@ -87,12 +87,21 @@ def test_monte_carlo_set_outputs_log(monte_carlo_calisto):
 def test_monte_carlo_prints(monte_carlo_calisto):
     """Tests the prints methods of the MonteCarlo class."""
     monte_carlo_calisto.info()
+    monte_carlo_calisto.compare_info(monte_carlo_calisto)
 
 
 @patch("matplotlib.pyplot.show")  # pylint: disable=unused-argument
 def test_monte_carlo_plots(mock_show, monte_carlo_calisto_pre_loaded):
     """Tests the plots methods of the MonteCarlo class."""
     assert monte_carlo_calisto_pre_loaded.all_info() is None
+    assert (
+        monte_carlo_calisto_pre_loaded.compare_plots(monte_carlo_calisto_pre_loaded)
+        is None
+    )
+    assert (
+        monte_carlo_calisto_pre_loaded.compare_ellipses(monte_carlo_calisto_pre_loaded)
+        is None
+    )
 
 
 def test_monte_carlo_export_ellipses_to_kml(monte_carlo_calisto_pre_loaded):
diff --git a/tests/integration/test_multivariate_rejection_sampler.py b/tests/integration/test_multivariate_rejection_sampler.py
new file mode 100644
index 000000000..ddbe3eb2e
--- /dev/null
+++ b/tests/integration/test_multivariate_rejection_sampler.py
@@ -0,0 +1,45 @@
+import os
+
+import pytest
+from scipy.stats import norm
+
+from rocketpy import MultivariateRejectionSampler
+
+
+@pytest.mark.parametrize(
+    "monte_carlo_filepath, distribution_dict",
+    [
+        (
+            "tests/fixtures/monte_carlo/example",
+            {"mass": (norm(15.5, 1).pdf, norm(15.2, 1).pdf)},
+        ),
+        (
+            "tests/fixtures/monte_carlo/example",
+            {"motors_total_impulse": (norm(6000, 1000).pdf, norm(6500, 1000).pdf)},
+        ),
+        (
+            "tests/fixtures/monte_carlo/example",
+            {
+                "parachutes_calisto_drogue_chute_lag": (
+                    norm(1.5, 0.25).pdf,
+                    norm(1.2, 0.25).pdf,
+                )
+            },
+        ),
+    ],
+)
+def test_mrs_sample_integration(monte_carlo_filepath, distribution_dict):
+    """Tests the set_inputs_log method of the MonteCarlo class.
+
+    Parameters
+    ----------
+    monte_carlo_calisto : MonteCarlo
+        The MonteCarlo object, this is a pytest fixture.
+    """
+    mrs_filepath = "mrs"
+    mrs = MultivariateRejectionSampler(monte_carlo_filepath, mrs_filepath)
+    mrs.sample(distribution_dict)
+
+    os.remove("mrs.inputs.txt")
+    os.remove("mrs.outputs.txt")
+    os.remove("mrs.errors.txt")
diff --git a/tests/integration/test_sensor.py b/tests/integration/test_sensor.py
index 2d98326b3..07b57b61b 100644
--- a/tests/integration/test_sensor.py
+++ b/tests/integration/test_sensor.py
@@ -45,11 +45,14 @@ def test_accelerometer(self):
         """Test an ideal accelerometer."""
         accelerometer = self.flight.rocket.sensors[0].component
         time, ax, ay, az = zip(*accelerometer.measured_data[0])
-        a = np.sqrt(np.array(ax) ** 2 + np.array(ay) ** 2 + np.array(az) ** 2)
-        sim_accel = self.flight.acceleration(time)
+        sim_ax = self.flight.ax_body_frame(time)
+        sim_ay = self.flight.ay_body_frame(time)
+        sim_az = self.flight.az_body_frame(time)
+
+        assert np.allclose(ax, sim_ax, atol=1e-12)
+        assert np.allclose(ay, sim_ay, atol=1e-12)
+        assert np.allclose(az, sim_az, atol=1e-12)
 
-        # tolerance is bounded to numerical errors in the transformation matrixes
-        assert np.allclose(a, sim_accel, atol=1e-12)
         # check if both added accelerometer instances saved the same data
         assert (
             self.flight.sensors[0].measured_data[0]
@@ -60,12 +63,13 @@ def test_gyroscope(self):
         """Test an ideal gyroscope."""
         gyroscope = self.flight.rocket.sensors[2].component
         time, wx, wy, wz = zip(*gyroscope.measured_data)
-        w = np.sqrt(np.array(wx) ** 2 + np.array(wy) ** 2 + np.array(wz) ** 2)
-        flight_wx = np.array(self.flight.w1(time))
-        flight_wy = np.array(self.flight.w2(time))
-        flight_wz = np.array(self.flight.w3(time))
-        sim_w = np.sqrt(flight_wx**2 + flight_wy**2 + flight_wz**2)
-        assert np.allclose(w, sim_w, atol=1e-12)
+        sim_wx = self.flight.w1(time)
+        sim_wy = self.flight.w2(time)
+        sim_wz = self.flight.w3(time)
+
+        assert np.allclose(wx, sim_wx, atol=1e-12)
+        assert np.allclose(wy, sim_wy, atol=1e-12)
+        assert np.allclose(wz, sim_wz, atol=1e-12)
 
     def test_barometer(self):
         """Test an ideal barometer."""
diff --git a/tests/unit/stochastic/test_custom_sampler.py b/tests/unit/stochastic/test_custom_sampler.py
new file mode 100644
index 000000000..90774ac50
--- /dev/null
+++ b/tests/unit/stochastic/test_custom_sampler.py
@@ -0,0 +1,21 @@
+from rocketpy.environment.environment import Environment
+
+
+def test_create_object(stochastic_environment_custom_sampler):
+    """Test create object method of StochasticEnvironment class.
+
+    This test checks if the create_object method of the StochasticEnvironment
+    class creates a StochasticEnvironment object from the randomly generated
+    input arguments.
+
+    Parameters
+    ----------
+    stochastic_environment : StochasticEnvironment
+        StochasticEnvironment object to be tested.
+
+    Returns
+    -------
+    None
+    """
+    obj = stochastic_environment_custom_sampler.create_object()
+    assert isinstance(obj, Environment)
diff --git a/tests/unit/test_function.py b/tests/unit/test_function.py
index dafbfdf12..77f5916f4 100644
--- a/tests/unit/test_function.py
+++ b/tests/unit/test_function.py
@@ -283,11 +283,7 @@ def test_remove_outliers_iqr(x, y, expected_x, expected_y):
 def test_set_get_value_opt():
     """Test the set_value_opt and get_value_opt methods of the Function class."""
     func = Function(lambda x: x**2)
-    func.source = np.array([[1, 1], [2, 4], [3, 9], [4, 16], [5, 25]])
-    func.x_array = np.array([1, 2, 3, 4, 5])
-    func.y_array = np.array([1, 4, 9, 16, 25])
-    func.x_initial = 1
-    func.x_final = 5
+    func.set_source(np.array([[1, 1], [2, 4], [3, 9], [4, 16], [5, 25]]))
     func.set_interpolation("linear")
     func.set_get_value_opt()
     assert func.get_value_opt(2.5) == 6.5
@@ -749,6 +745,320 @@ def test_pow_arithmetic_priority(other):
     assert isinstance(other**func_array, Function)
 
 
+@pytest.mark.parametrize(
+    "other",
+    [
+        3.0,
+        np.float64(3.0),
+        np.array(3),
+        np.array([3]),
+        lambda _: 3,
+        Function(3.0),
+        Function([(0, 3), (1, 3), (2, 3)], interpolation="linear"),
+    ],
+)
+def test_2d_function_arithmetic_add(other):
+    """Test the add operation of the Function class with 2D functions."""
+    func_lambda = Function(lambda x: x**2)
+    func_array = Function([(0, 0), (1, 1), (2, 4)], interpolation="linear")
+
+    assert np.isclose((func_lambda + other)(2), 7)
+    assert np.isclose((func_array + other)(2), 7)
+    assert np.isclose((other + func_lambda)(2), 7)
+    assert np.isclose((other + func_array)(2), 7)
+
+
+@pytest.mark.parametrize(
+    "other",
+    [
+        3.0,
+        np.float64(3.0),
+        np.array(3),
+        np.array([3]),
+        lambda _: 3,
+        Function(3.0),
+        Function([(0, 3), (1, 3), (2, 3)], interpolation="linear"),
+    ],
+)
+def test_2d_function_arithmetic_sub(other):
+    """Test the sub operation of the Function class with 2D functions."""
+    func_lambda = Function(lambda x: x**2)
+    func_array = Function([(0, 0), (1, 1), (2, 4)], interpolation="linear")
+
+    assert np.isclose((func_lambda - other)(2), 1)
+    assert np.isclose((func_array - other)(2), 1)
+    assert np.isclose((other - func_lambda)(2), -1)
+    assert np.isclose((other - func_array)(2), -1)
+
+
+@pytest.mark.parametrize(
+    "other",
+    [
+        3.0,
+        np.float64(3.0),
+        np.array(3),
+        np.array([3]),
+        lambda _: 3,
+        Function(3.0),
+        Function([(0, 3), (1, 3), (2, 3)], interpolation="linear"),
+    ],
+)
+def test_2d_function_arithmetic_mul(other):
+    """Test the mul operation of the Function class with 2D functions."""
+    func_lambda = Function(lambda x: x**2)
+    func_array = Function([(0, 0), (1, 1), (2, 4)], interpolation="linear")
+
+    assert np.isclose((func_lambda * other)(2), 12)
+    assert np.isclose((func_array * other)(2), 12)
+    assert np.isclose((other * func_lambda)(2), 12)
+    assert np.isclose((other * func_array)(2), 12)
+
+
+@pytest.mark.parametrize(
+    "other",
+    [
+        3.0,
+        np.float64(3.0),
+        np.array(3),
+        np.array([3]),
+        lambda _: 3,
+        Function(3.0),
+        Function([(0, 3), (1, 3), (2, 3)], interpolation="linear"),
+    ],
+)
+def test_2d_function_arithmetic_div(other):
+    """Test the div operation of the Function class with 2D functions."""
+    func_lambda = Function(lambda x: x**2)
+    func_array = Function([(0, 0), (1, 1), (2, 4)], interpolation="linear")
+
+    assert np.isclose((func_lambda / other)(2), 4 / 3)
+    assert np.isclose((func_array / other)(2), 4 / 3)
+    assert np.isclose((other / func_lambda)(2), 0.75)
+    assert np.isclose((other / func_array)(2), 0.75)
+
+
+@pytest.mark.parametrize(
+    "other",
+    [
+        3.0,
+        np.float64(3.0),
+        np.array(3),
+        np.array([3]),
+        lambda _: 3,
+        Function(3.0),
+        Function([(0, 3), (1, 3), (2, 3)], interpolation="linear"),
+    ],
+)
+def test_2d_function_arithmetic_pow(other):
+    """Test the pow operation of the Function class with 2D functions."""
+    func_lambda = Function(lambda x: x**2)
+    func_array = Function([(0, 0), (1, 1), (2, 4)], interpolation="linear")
+
+    assert np.isclose((func_lambda**other)(2), 64)
+    assert np.isclose((func_array**other)(2), 64)
+    assert np.isclose((other**func_lambda)(2), 3**4)
+    assert np.isclose((other**func_array)(2), 3**4)
+
+
+@pytest.mark.parametrize(
+    "other",
+    [
+        3.0,
+        np.float64(3.0),
+        np.array(3),
+        np.array([3]),
+        lambda _: 3,
+        Function(3.0),
+        Function([(0, 3), (1, 3), (2, 3)], interpolation="linear"),
+    ],
+)
+def test_2d_function_arithmetic_mod(other):
+    """Test the mod operation of the Function class with 2D functions."""
+    func_lambda = Function(lambda x: x**2)
+    func_array = Function([(0, 0), (1, 1), (2, 4)], interpolation="linear")
+
+    assert np.isclose((func_lambda % other)(2), 1)
+    assert np.isclose((func_array % other)(2), 1)
+
+
+@pytest.mark.parametrize(
+    "other",
+    [
+        3.0,
+        np.float64(3.0),
+        np.array(3),
+        np.array([3]),
+        lambda _: 3,
+        Function(3.0),
+        Function([(0, 3), (1, 3), (2, 3)], interpolation="linear"),
+        Function(
+            [(0, 0, 0, 3), (1, 0, 0, 3), (0, 1, 0, 3), (0, 0, 1, 3), (1, 1, 1, 3)]
+        ),
+        lambda x, y, z: 3,
+        Function(lambda x, y, z: 3),
+    ],
+)
+def test_nd_function_arithmetic_add(other):
+    """Test the add operation of the Function class with ND functions."""
+    func_lambda = Function(lambda x, y, z: x + y + z)
+    func_array = Function(
+        [(0, 0, 0, 0), (1, 0, 0, 1), (0, 1, 0, 1), (0, 0, 1, 1), (1, 1, 1, 3)]
+    )
+
+    assert np.isclose((func_lambda + other)(1, 0, 0), 4)
+    assert np.isclose((func_array + other)(1, 0, 0), 4)
+    assert np.isclose((other + func_lambda)(1, 0, 0), 4)
+    assert np.isclose((other + func_array)(1, 0, 0), 4)
+
+
+@pytest.mark.parametrize(
+    "other",
+    [
+        3.0,
+        np.float64(3.0),
+        np.array(3),
+        np.array([3]),
+        lambda _: 3,
+        Function(3.0),
+        Function([(0, 3), (1, 3), (2, 3)], interpolation="linear"),
+        Function(
+            [(0, 0, 0, 3), (1, 0, 0, 3), (0, 1, 0, 3), (0, 0, 1, 3), (1, 1, 1, 3)]
+        ),
+        lambda x, y, z: 3,
+        Function(lambda x, y, z: 3),
+    ],
+)
+def test_nd_function_arithmetic_sub(other):
+    """Test the sub operation of the Function class with ND functions."""
+    func_lambda = Function(lambda x, y, z: x + y + z)
+    func_array = Function(
+        [(0, 0, 0, 0), (1, 0, 0, 1), (0, 1, 0, 1), (0, 0, 1, 1), (1, 1, 1, 3)]
+    )
+
+    assert np.isclose((func_lambda - other)(1, 0, 0), -2)
+    assert np.isclose((func_array - other)(1, 0, 0), -2)
+    assert np.isclose((other - func_lambda)(1, 0, 0), 2)
+    assert np.isclose((other - func_array)(1, 0, 0), 2)
+
+
+@pytest.mark.parametrize(
+    "other",
+    [
+        3.0,
+        np.float64(3.0),
+        np.array(3),
+        np.array([3]),
+        lambda _: 3,
+        Function(3.0),
+        Function([(0, 3), (1, 3), (2, 3)], interpolation="linear"),
+        Function(
+            [(0, 0, 0, 3), (1, 0, 0, 3), (0, 1, 0, 3), (0, 0, 1, 3), (1, 1, 1, 3)]
+        ),
+        lambda x, y, z: 3,
+        Function(lambda x, y, z: 3),
+    ],
+)
+def test_nd_function_arithmetic_mul(other):
+    """Test the mul operation of the Function class with ND functions."""
+    func_lambda = Function(lambda x, y, z: x + y + z)
+    func_array = Function(
+        [(0, 0, 0, 0), (1, 0, 0, 1), (0, 1, 0, 1), (0, 0, 1, 1), (1, 1, 1, 3)]
+    )
+
+    assert np.isclose((func_lambda * other)(1, 0, 0), 3)
+    assert np.isclose((func_array * other)(1, 0, 0), 3)
+    assert np.isclose((other * func_lambda)(1, 0, 0), 3)
+    assert np.isclose((other * func_array)(1, 0, 0), 3)
+
+
+@pytest.mark.parametrize(
+    "other",
+    [
+        3.0,
+        np.float64(3.0),
+        np.array(3),
+        np.array([3]),
+        lambda _: 3,
+        Function(3.0),
+        Function([(0, 3), (1, 3), (2, 3)], interpolation="linear"),
+        Function(
+            [(0, 0, 0, 3), (1, 0, 0, 3), (0, 1, 0, 3), (0, 0, 1, 3), (1, 1, 1, 3)]
+        ),
+        lambda x, y, z: 3,
+        Function(lambda x, y, z: 3),
+    ],
+)
+def test_nd_function_arithmetic_div(other):
+    """Test the div operation of the Function class with ND functions."""
+    func_lambda = Function(lambda x, y, z: x + y + z)
+    func_array = Function(
+        [(0, 0, 0, 0), (1, 0, 0, 1), (0, 1, 0, 1), (0, 0, 1, 1), (1, 1, 1, 3)]
+    )
+
+    assert np.isclose((func_lambda / other)(1, 0, 0), 1 / 3)
+    assert np.isclose((func_array / other)(1, 0, 0), 1 / 3)
+    assert np.isclose((other / func_lambda)(1, 0, 0), 3)
+    assert np.isclose((other / func_array)(1, 0, 0), 3)
+
+
+@pytest.mark.parametrize(
+    "other",
+    [
+        3.0,
+        np.float64(3.0),
+        np.array(3),
+        np.array([3]),
+        lambda _: 3,
+        Function(3.0),
+        Function([(0, 3), (1, 3), (2, 3)], interpolation="linear"),
+        Function(
+            [(0, 0, 0, 3), (1, 0, 0, 3), (0, 1, 0, 3), (0, 0, 1, 3), (1, 1, 1, 3)]
+        ),
+        lambda x, y, z: 3,
+        Function(lambda x, y, z: 3),
+    ],
+)
+def test_nd_function_arithmetic_pow(other):
+    """Test the pow operation of the Function class with ND functions."""
+    func_lambda = Function(lambda x, y, z: x + y + z)
+    func_array = Function(
+        [(0, 0, 0, 0), (1, 0, 0, 1), (0, 1, 0, 1), (0, 0, 1, 1), (1, 1, 1, 3)]
+    )
+
+    assert np.isclose((func_lambda**other)(1, 0, 0), 1)
+    assert np.isclose((func_array**other)(1, 0, 0), 1)
+    assert np.isclose((other**func_lambda)(1, 0, 0), 3)
+    assert np.isclose((other**func_array)(1, 0, 0), 3)
+
+
+@pytest.mark.parametrize(
+    "other",
+    [
+        3.0,
+        np.float64(3.0),
+        np.array(3),
+        np.array([3]),
+        lambda _: 3,
+        Function(3.0),
+        Function([(0, 3), (1, 3), (2, 3)], interpolation="linear"),
+        Function(
+            [(0, 0, 0, 3), (1, 0, 0, 3), (0, 1, 0, 3), (0, 0, 1, 3), (1, 1, 1, 3)]
+        ),
+        lambda x, y, z: 3,
+        Function(lambda x, y, z: 3),
+    ],
+)
+def test_nd_function_arithmetic_mod(other):
+    """Test the mod operation of the Function class with ND functions."""
+    func_lambda = Function(lambda x, y, z: x + y + z)
+    func_array = Function(
+        [(0, 0, 0, 0), (1, 0, 0, 1), (0, 1, 0, 1), (0, 0, 1, 1), (1, 1, 1, 3)]
+    )
+
+    assert np.isclose((func_lambda % other)(1, 0, 0), 1)
+    assert np.isclose((func_array % other)(1, 0, 0), 1)
+
+
 @pytest.mark.parametrize("alpha", [0.1, 0.5, 0.9])
 def test_low_pass_filter(alpha):
     """Test the low_pass_filter method of the Function class.
diff --git a/tests/unit/test_genericmotor.py b/tests/unit/test_genericmotor.py
index 40315d88d..776d7b691 100644
--- a/tests/unit/test_genericmotor.py
+++ b/tests/unit/test_genericmotor.py
@@ -180,3 +180,34 @@ def test_load_from_eng_file(generic_motor):
     assert generic_motor.thrust.y_array == pytest.approx(
         Function(points, "Time (s)", "Thrust (N)", "linear", "zero").y_array
     )
+
+
+def test_load_from_rse_file(generic_motor):
+    """Tests the GenericMotor.load_from_rse_file method.
+
+    Parameters
+    ----------
+    generic_motor : rocketpy.GenericMotor
+        The GenericMotor object to be used in the tests.
+    """
+
+    # Test the load_from_rse_file method
+    generic_motor = generic_motor.load_from_rse_file(
+        "data/motors/rse_example/rse_motor_example_file.rse"
+    )
+
+    # Check if the engine has been loaded correctly
+    assert generic_motor.thrust is not None
+    assert generic_motor.dry_mass == 0.0363  # Total mass - propellant mass
+    assert generic_motor.propellant_initial_mass == 0.0207
+    assert generic_motor.burn_time == (0.0, 2.2)
+    assert generic_motor.nozzle_radius == 0.00
+    assert generic_motor.chamber_radius == 0.024
+    assert generic_motor.chamber_height == 0.07
+
+    # Check the thrust curve values
+    thrust_curve = generic_motor.thrust.source
+    assert thrust_curve[0][0] == 0.0  # First time point
+    assert thrust_curve[0][1] == 0.0  # First thrust point
+    assert thrust_curve[-1][0] == 2.2  # Last point of time
+    assert thrust_curve[-1][1] == 0.0  # Last thrust point
diff --git a/tests/unit/test_multivariate_rejection_sampler.py b/tests/unit/test_multivariate_rejection_sampler.py
new file mode 100644
index 000000000..af58b8fef
--- /dev/null
+++ b/tests/unit/test_multivariate_rejection_sampler.py
@@ -0,0 +1,113 @@
+import json
+import os
+
+import pytest
+from scipy.stats import norm
+
+from rocketpy import MultivariateRejectionSampler
+from rocketpy._encoders import RocketPyEncoder
+
+
+# pylint: disable=too-many-statements
+def test_mrs_initialization():
+    """Tests if the MultivariateRejectionSampler initialization opens input and output
+    files correctly, and if it raises errors correctly when the files are problematic.
+    """
+    mrs_prefix = "mrs"
+
+    # Tests if the input and output files opens correctly when the input is valid
+    valid_mc_filepath_prefix = "valid_mc"
+    valid_inputs = [
+        {"a": 1, "b": 2, "c": [{"d": 1}]},
+        {"a": 3, "b": 4, "c": [{"d": 1}]},
+    ]
+    valid_outputs = [
+        {"e": 10, "f": 20},
+        {"e": 30, "f": 40},
+    ]
+    with open(valid_mc_filepath_prefix + ".inputs.txt", "w+") as file:
+        for json_input in valid_inputs:
+            file.write(json.dumps(json_input, cls=RocketPyEncoder) + "\n")
+    with open(valid_mc_filepath_prefix + ".outputs.txt", "w+") as file:
+        for json_output in valid_outputs:
+            file.write(json.dumps(json_output, cls=RocketPyEncoder) + "\n")
+    MultivariateRejectionSampler(valid_mc_filepath_prefix, mrs_prefix)
+
+    # tests if it raises an error when the file does not exist
+    with pytest.raises(FileNotFoundError):
+        MultivariateRejectionSampler("non_existent_mc_prefix", mrs_prefix)
+
+    # tests if it raises an error when the input and output file contains
+    # different number of samples
+    invalid_mc_filepath_prefix = "invalid_mc"
+    invalid_inputs = [
+        {"a": 1, "b": 2},
+        {"a": 3, "b": 4},
+    ]
+    invalid_outputs = [{"c": 10, "d": 40}]
+    with open(invalid_mc_filepath_prefix + ".inputs.txt", "w+") as file:
+        for json_input in invalid_inputs:
+            file.write(json.dumps(json_input, cls=RocketPyEncoder) + "\n")
+    with open(invalid_mc_filepath_prefix + ".outputs.txt", "w+") as file:
+        for json_output in invalid_outputs:
+            file.write(json.dumps(json_output, cls=RocketPyEncoder) + "\n")
+    with pytest.raises(ValueError):
+        MultivariateRejectionSampler(invalid_mc_filepath_prefix, mrs_prefix)
+
+    os.remove(valid_mc_filepath_prefix + ".inputs.txt")
+    os.remove(valid_mc_filepath_prefix + ".outputs.txt")
+    os.remove(invalid_mc_filepath_prefix + ".inputs.txt")
+    os.remove(invalid_mc_filepath_prefix + ".outputs.txt")
+
+
+def test_mrs_sample():
+    """Tests if the MultivariateRejectionSampler samples correctly and raises errors
+    when a non-existing variable is used in the distribution dict.
+    """
+    mrs_prefix = "mrs"
+
+    # Tests if the input and output files opens correctly when the input is valid
+    mc_filepath_prefix = "valid_mc"
+    mc_inputs = [
+        {"a": 0},
+        {"a": 0.1},
+        {"a": -0.1},
+        {"a": 0.2},
+        {"a": -0.2},
+        {"a": 1},
+        {"a": 1.1},
+        {"a": -1.1},
+        {"a": 1.2},
+        {"a": -1.2},
+    ]
+    mc_outputs = [
+        {"b": 10},
+        {"b": 10},
+        {"b": 10},
+        {"b": 10},
+        {"b": 10},
+        {"b": 10},
+        {"b": 10},
+        {"b": 10},
+        {"b": 10},
+        {"b": 10},
+    ]
+    with open(mc_filepath_prefix + ".inputs.txt", "w+") as file:
+        for json_input in mc_inputs:
+            file.write(json.dumps(json_input, cls=RocketPyEncoder) + "\n")
+    with open(mc_filepath_prefix + ".outputs.txt", "w+") as file:
+        for json_output in mc_outputs:
+            file.write(json.dumps(json_output, cls=RocketPyEncoder) + "\n")
+    mrs = MultivariateRejectionSampler(mc_filepath_prefix, mrs_prefix)
+
+    invalid_distribution_dict = {"invalid_name": (norm(0, 1).pdf, norm(0, 1).pdf)}
+    with pytest.raises(ValueError):
+        mrs.sample(invalid_distribution_dict)
+    valid_distribution_dict = {"a": (norm(0, 1).pdf, norm(0, 1).pdf)}
+    mrs.sample(valid_distribution_dict)
+
+    os.remove(mc_filepath_prefix + ".inputs.txt")
+    os.remove(mc_filepath_prefix + ".outputs.txt")
+    os.remove(mrs_prefix + ".inputs.txt")
+    os.remove(mrs_prefix + ".outputs.txt")
+    os.remove(mrs_prefix + ".errors.txt")
diff --git a/tests/unit/test_sensor.py b/tests/unit/test_sensor.py
index eb3d194b4..0813a3638 100644
--- a/tests/unit/test_sensor.py
+++ b/tests/unit/test_sensor.py
@@ -76,7 +76,9 @@ def test_rotation_matrix(noisy_rotated_accelerometer):
             [0.7499999999999999, 0.43301270189221946, 0.5000000000000001],
         ]
     )
-    rotation_matrix = np.array(noisy_rotated_accelerometer.rotation_matrix.components)
+    rotation_matrix = np.array(
+        noisy_rotated_accelerometer.rotation_sensor_to_body.components
+    )
     assert np.allclose(expected_matrix, rotation_matrix, atol=1e-8)
 
 
@@ -291,7 +293,7 @@ def test_noisy_rotated_accelerometer(noisy_rotated_accelerometer, example_plain_
         euler313_to_quaternions(*np.deg2rad([60, 60, 60]))
     )
     total_rotation = sensor_rotation @ cross_axis_sensitivity
-    rocket_rotation = Matrix.transformation(U[6:10])
+    rocket_rotation = Matrix.transformation(U[6:10]).transpose
     # expected measurement without noise
     ax, ay, az = total_rotation @ (rocket_rotation @ acceleration)
     # expected measurement with constant bias
@@ -334,9 +336,8 @@ def test_noisy_rotated_gyroscope(noisy_rotated_gyroscope, example_plain_env):
         euler313_to_quaternions(*np.deg2rad([-60, -60, -60]))
     )
     total_rotation = sensor_rotation @ cross_axis_sensitivity
-    rocket_rotation = Matrix.transformation(U[6:10])
     # expected measurement without noise
-    wx, wy, wz = total_rotation @ (rocket_rotation @ omega)
+    wx, wy, wz = total_rotation @ omega
     # expected measurement with constant bias
     wx += 0.5
     wy += 0.5
diff --git a/tests/unit/test_stochastic_model.py b/tests/unit/test_stochastic_model.py
index 77c94fb40..0d0a13311 100644
--- a/tests/unit/test_stochastic_model.py
+++ b/tests/unit/test_stochastic_model.py
@@ -7,6 +7,7 @@
         "stochastic_rail_buttons",
         "stochastic_main_parachute",
         "stochastic_environment",
+        "stochastic_environment_custom_sampler",
         "stochastic_tail",
         "stochastic_calisto",
     ],
diff --git a/tests/unit/test_utilities.py b/tests/unit/test_utilities.py
index 91044624f..55d45de95 100644
--- a/tests/unit/test_utilities.py
+++ b/tests/unit/test_utilities.py
@@ -1,3 +1,4 @@
+import os
 from unittest.mock import patch
 
 import numpy as np
@@ -220,3 +221,40 @@ def test_check_constant(f, eps, expected):
     """
     result = utilities.check_constant(f, eps)
     assert result == expected
+
+
+def test_save_to_rpy(flight_calisto_robust):
+    """Tests if the save_to_rpy function correctly saves the data to the
+    correct file.
+
+    Parameters
+    ----------
+    flight_calisto_custom_wind : Flight
+        A Flight object with a rocket with fins. This flight object was created
+        in the conftest.py file.
+    """
+    utilities.save_to_rpy(flight_calisto_robust, "flight_calisto_robust.rpy")
+    assert os.path.splitext(os.path.basename("flight_calisto_robust.rpy")) == (
+        "flight_calisto_robust",
+        ".rpy",
+    )
+    assert os.path.getsize("flight_calisto_robust.rpy") > 0
+    os.remove("flight_calisto_robust.rpy")
+
+
+@patch("matplotlib.pyplot.show")
+def test_load_from_rpy(mock_show):  # pylint: disable=unused-argument
+    """Tests if the load_from_rpy function correctly loads the data into a
+    flight object.
+
+    Parameters
+    ----------
+    mock_show : mock
+        Mock of the matplotlib.pyplot.show function. This is here so the plots
+        are not shown during the tests.
+    """
+    loaded_flight = utilities.load_from_rpy(
+        "tests/fixtures/utilities/flight_calisto_robust.rpy"
+    )
+    assert loaded_flight.info() is None
+    assert loaded_flight.all_info() is None