diff --git a/docs/source/release_notes.rst b/docs/source/release_notes.rst
index 73b821d6..56c13949 100644
--- a/docs/source/release_notes.rst
+++ b/docs/source/release_notes.rst
@@ -14,6 +14,7 @@ Development - |version|
   adding a new network architecture and example heuristics.
 * Add a CI smoke test that builds and steps each benchmark environment. See issue #340.
 * Update files for compatibility with Ruff 0.16.0's new default lint rules, excluding C408.
+* Update ``np2EigenMatrix3d`` and ``np2EigenVectorXd`` import path to prevent deprecation warning while preserving compatibility with older versions of Basilisk.
 
 Version 1.3.0
 -------------
diff --git a/src/bsk_rl/sim/dyn/base.py b/src/bsk_rl/sim/dyn/base.py
index 96806644..3508c652 100644
--- a/src/bsk_rl/sim/dyn/base.py
+++ b/src/bsk_rl/sim/dyn/base.py
@@ -18,9 +18,13 @@
     RigidBodyKinematics,
     macros,
     orbitalMotion,
-    unitTestSupport,
 )
 
+try:
+    from Basilisk.utilities.simHelpers import np2EigenMatrix3d, np2EigenVectorXd
+except ImportError:
+    from Basilisk.utilities.unitTestSupport import np2EigenMatrix3d, np2EigenVectorXd
+
 from bsk_rl.sim import world
 from bsk_rl.utils import actuator_primitives as aP
 from bsk_rl.utils.attitude import random_tumble
@@ -327,13 +331,13 @@ def setup_spacecraft_hub(
         self.I_mat = [Ixx, 0.0, 0.0, 0.0, Iyy, 0.0, 0.0, 0.0, Izz]
 
         self.scObject.hub.mHub = mass  # kg
-        self.scObject.hub.IHubPntBc_B = unitTestSupport.np2EigenMatrix3d(self.I_mat)
+        self.scObject.hub.IHubPntBc_B = np2EigenMatrix3d(self.I_mat)
 
         # Set the initial attitude and position
         self.scObject.hub.sigma_BNInit = sigma_init
         self.scObject.hub.omega_BN_BInit = omega_init
-        self.scObject.hub.r_CN_NInit = unitTestSupport.np2EigenVectorXd(rN)
-        self.scObject.hub.v_CN_NInit = unitTestSupport.np2EigenVectorXd(vN)
+        self.scObject.hub.r_CN_NInit = np2EigenVectorXd(rN)
+        self.scObject.hub.v_CN_NInit = np2EigenVectorXd(vN)
 
         self.simulator.AddModelToTask(
             self.task_name, self.scObject, ModelPriority=priority
@@ -698,7 +702,7 @@ def setup_solar_panel(
             self.world.gravFactory.spiceObject.planetStateOutMsgs[self.world.sun_index]
         )
         self.solarPanel.setPanelParameters(
-            unitTestSupport.np2EigenVectorXd(nHat_B),
+            np2EigenVectorXd(nHat_B),
             panelArea,
             panelEfficiency,
         )