From 3e2d5d2b04ed70cbb296291e0ff8eb165adc8117 Mon Sep 17 00:00:00 2001
From: John Harwell <john.r.harwell@gmail.com>
Date: Wed, 21 Aug 2024 11:21:23 -0500
Subject: [PATCH] feature(#315): Support python 3.10

- Preliminary
---
 .../actions/sample-project-setup/action.yml   |  79 +++++--
 .github/actions/sierra-setup/action.yml       |  13 +-
 .github/workflows/analysis.yml                |  33 +++
 .github/workflows/analyze-nox.yml             |  43 ++++
 .github/workflows/argos.yml                   | 177 ----------------
 .github/workflows/coverage.yml                |  60 +-----
 .github/workflows/exec-env-plugins.yml        |  81 -------
 .github/workflows/integration-all.yml         |  43 ++--
 .github/workflows/plugin.yml                  | 190 +++++++++++++++++
 .github/workflows/ros1gazebo.yml              |  68 ------
 .github/workflows/ros1robot.yml               |  66 ------
 .github/workflows/sierra-core.yml             | 200 ++++++++++++------
 .github/workflows/static-analysis.yml         |  38 ----
 .github/workflows/unit-tests.yml              |  41 +++-
 docs/conf.py                                  |   6 +-
 docs/requirements.txt                         |   4 +-
 docs/src/getting_started.rst                  |   1 +
 docs/src/requirements.rst                     |   4 +-
 docs/src/trial.rst                            |   3 +-
 docs/src/usage/subprograms.rst                |   4 +
 noxfile.py                                    |  19 +-
 setup.py                                      |   1 +
 sierra/core/config.py                         |   2 +-
 sierra/core/graphs/heatmap.py                 |   2 +-
 sierra/core/startup.py                        |   4 +-
 sierra/core/utils.py                          |   2 +-
 sierra/version.py                             |   2 +-
 27 files changed, 561 insertions(+), 625 deletions(-)
 create mode 100644 .github/workflows/analysis.yml
 create mode 100644 .github/workflows/analyze-nox.yml
 delete mode 100644 .github/workflows/argos.yml
 delete mode 100644 .github/workflows/exec-env-plugins.yml
 create mode 100644 .github/workflows/plugin.yml
 delete mode 100644 .github/workflows/ros1gazebo.yml
 delete mode 100644 .github/workflows/ros1robot.yml
 delete mode 100644 .github/workflows/static-analysis.yml

diff --git a/.github/actions/sample-project-setup/action.yml b/.github/actions/sample-project-setup/action.yml
index 02dbaeef..49e07c22 100644
--- a/.github/actions/sample-project-setup/action.yml
+++ b/.github/actions/sample-project-setup/action.yml
@@ -18,7 +18,7 @@ runs:
       working-directory: ../../
       run: |
         if [ ! -d sierra-sample-project ]; then
-        git clone https://github.com/swarm-robotics/sierra-sample-project.git
+        git clone https://github.com/jharwell/sierra-sample-project.git
         cd sierra-sample-project
         else
         cd sierra-sample-project
@@ -41,13 +41,34 @@ runs:
         # dependencies these packages requires manual intervention to fix, and I
         # don't have a mac.
         if [ "${{ runner.os }}" == "macOS" ]; then
-          brew install pkg-config cmake libpng freeimage lua qt \
-          docbook asciidoc graphviz doxygen|| true
+          brew install \
+               pkg-config \
+               cmake \
+               libpng \
+               freeimage \
+               lua \
+               qt \
+               docbook \
+               asciidoc \
+               graphviz \
+               doxygen \
+               || true
         elif [ "${{ runner.os }}" == "Linux" ]; then
           sudo apt-get update
-          sudo apt-get install cmake libfreeimage-dev libfreeimageplus-dev \
-          qt5-default freeglut3-dev libxi-dev libxmu-dev liblua5.3-dev \
-          lua5.3 doxygen graphviz libgraphviz-dev asciidoc
+          sudo apt-get install -y \
+                       cmake \
+                       libfreeimage-dev \
+                       libfreeimageplus-dev \
+                       qtbase5-dev \
+                       freeglut3-dev \
+                       libxi-dev \
+                       libxmu-dev \
+                       liblua5.3-dev \
+                       lua5.3 \
+                       doxygen \
+                       graphviz \
+                       libgraphviz-dev \
+                       asciidoc
         fi
 
     - name: Install ARGoS
@@ -86,24 +107,42 @@ runs:
       working-directory: ../..
       shell: bash
       run: |
-        sudo apt-get install ros-${{ inputs.rosdistro }}-desktop-full
-        sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-description
-        sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-msgs
-        sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-gazebo
-        sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-bringup
-        sudo apt-get install python${{ matrix.python-version }} python${{ matrix.python-version }}-dev
-        sudo apt-get install python${{ matrix.python-version }}-venv python3-apt
-        sudo apt-get install python3-pip python3-cairo intltool python3-wheel python3-rospkg python3-empy
+        sudo apt-get install -y \
+        ros-${{ inputs.rosdistro }}-desktop-full \
+        ros-${{ inputs.rosdistro }}-turtlebot3-description \
+        ros-${{ inputs.rosdistro }}-turtlebot3-msgs \
+        ros-${{ inputs.rosdistro }}-turtlebot3-gazebo \
+        ros-${{ inputs.rosdistro }}-turtlebot3-bringup \
+        python${{ matrix.python-version }} \
+        python${{ matrix.python-version }}-dev \
+        python${{ matrix.python-version }}-venv \
+        python3-apt \
+        python3-pip \
+        python3-cairo \
+        intltool \
+        python3-wheel \
+        python3-rospkg \
+        python3-empy
+
 
         # 2023/1/18: You still need install these even after installing stuff
         # with apt AND if the sysem python matches your current python. I don't
         # know why.
-        pip3 install empy
-        pip3 install rospkg wheel pyparsing pyqt5
-        pip3 install  pyqt5 pysip numpy rospkg
-        pip3 install  matplotlib pyyaml psutil
-        pip3 install  pysip defusedxml pyparsing pydev
-        pip3 install  pyopengl opencv-python
+        pip3 install empy \
+                     rospkg \
+                     wheel \
+                     pyparsing \
+                     pyqt5 \
+                     pysip \
+                     numpy \
+                     matplotlib \
+                     pyyaml \
+                     psutil \
+                     defusedxml \
+                     pyparsing \
+                     pydev \
+                     pyopengl \
+                     opencv-python
 
     - name: Install SIERRA ROSBridge dependency (ubuntu)
       if: inputs.platform == 'ros1gazebo'
diff --git a/.github/actions/sierra-setup/action.yml b/.github/actions/sierra-setup/action.yml
index d5c7abca..71f01049 100644
--- a/.github/actions/sierra-setup/action.yml
+++ b/.github/actions/sierra-setup/action.yml
@@ -16,7 +16,7 @@ runs:
     # Ubuntu setup
     ############################################################################
     - name: Setup python (ubuntu)
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       if: runner.os == 'Linux'
       with:
         python-version: ${{ matrix.python-version }}
@@ -26,8 +26,9 @@ runs:
       shell: bash
       run: |
         sudo apt-get update
-        sudo apt-get install parallel cm-super texlive-fonts-recommended
-        sudo apt-get install texlive-latex-extra dvipng pssh ffmpeg xvfb
+        sudo apt-get install parallel cm-super texlive-fonts-recommended -y
+        sudo apt-get install texlive-latex-extra dvipng pssh ffmpeg xvfb -y
+
         python3 -m pip install --upgrade pip
         python3 -m pip install wheel
 
@@ -36,7 +37,7 @@ runs:
     ############################################################################
 
     - name: Setup python (OSX)
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       if: runner.os == 'macOS'
       with:
         python-version: ${{ matrix.python-version }}
@@ -55,8 +56,8 @@ runs:
           brew update && brew install parallel pssh ffmpeg
           brew update && brew install --cask mactex
           brew update && brew install --cask xquartz
-          python -m pip install --upgrade pip
-          python -m pip install wheel
+          python3 -m pip install --upgrade pip
+          python3 -m pip install wheel
 
     ############################################################################
     # SIERRA install
diff --git a/.github/workflows/analysis.yml b/.github/workflows/analysis.yml
new file mode 100644
index 00000000..de70d7c1
--- /dev/null
+++ b/.github/workflows/analysis.yml
@@ -0,0 +1,33 @@
+name: Static Analysis Top-level
+
+# Run:
+#
+# - Every month. Scheduling helps keep drift/issues with updates
+#   to runners at bay.
+# - On pushes.
+on:
+  push:
+    paths:
+      - 'sierra/**'
+
+  schedule:
+    - cron: '0 0 1 * *'
+
+jobs:
+  analyze-ci-ubuntu-2004:
+    uses: ./.github/workflows/analyze-nox.yml
+    secrets: inherit
+    with:
+      os: ubuntu-20.04
+
+  analyze-ci-ubuntu-2204:
+    uses: ./.github/workflows/analyze-nox.yml
+    secrets: inherit
+    with:
+      os: ubuntu-22.04
+
+  analyze-ci-osx:
+    uses: ./.github/workflows/analyze-nox.yml
+    secrets: inherit
+    with:
+      os: macos-12
diff --git a/.github/workflows/analyze-nox.yml b/.github/workflows/analyze-nox.yml
new file mode 100644
index 00000000..110ea0c5
--- /dev/null
+++ b/.github/workflows/analyze-nox.yml
@@ -0,0 +1,43 @@
+name: OS Static Analysis
+
+on:
+  workflow_call:
+    inputs:
+      os:
+        required: True
+        type: string
+
+jobs:
+  nox:
+    runs-on: ${{ inputs.os }}
+    strategy:
+      matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
+        python-version:
+          - 3.8
+          - '3.10'
+
+        session:
+          - lint
+          - docs
+          - analyze_pytype
+          - analyze_mypy
+
+        exclude:
+          - python-version: '3.10'
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/actions/sierra-setup
+
+      - name: Run nox
+        run: |
+          nox --pythons ${{ matrix.python-version }} --sessions ${{ matrix.session }}
diff --git a/.github/workflows/argos.yml b/.github/workflows/argos.yml
deleted file mode 100644
index 0366ab59..00000000
--- a/.github/workflows/argos.yml
+++ /dev/null
@@ -1,177 +0,0 @@
-# Only stuff that actually tests the platform should be here: stage 1 and 2.
-name: ARGoS CI Tests
-
-on:
-  workflow_call:
-    inputs:
-      os:
-        required: True
-        type: string
-
-jobs:
-  bc-univar-sanity:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: nick-fields/retry@v2
-        name: Integration tests
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/argos-integration-tests.sh -f bc_univar_sanity_test
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-argos-bc-univar-sanity-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-  physics-engines:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: nick-fields/retry@v2
-        name: Integration tests
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/argos-integration-tests.sh -f physics_engines_test
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-argos-physics-engines-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-  stage1-univar:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: nick-fields/retry@v2
-        name: Integration tests
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/argos-integration-tests.sh -f stage1_univar_test
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-argos-stage1-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-  stage2-univar:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: nick-fields/retry@v2
-        name: Integration tests
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/argos-integration-tests.sh -f stage2_univar_test -e hpc.local
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-argos-stage2-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-
-  visual-capture:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: nick-fields/retry@v2
-        name: Integration tests
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/argos-integration-tests.sh -f vc_test
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-argos-vc-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-  cmdline:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: nick-fields/retry@v2
-        name: Integration tests
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/argos-integration-tests.sh -f cmdline_test
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-argos-cmdline-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
diff --git a/.github/workflows/coverage.yml b/.github/workflows/coverage.yml
index 1cc0fe35..3b6f01ed 100644
--- a/.github/workflows/coverage.yml
+++ b/.github/workflows/coverage.yml
@@ -1,58 +1,26 @@
-name: Coverage CI
+name: Coverage Top-level
 
 # Run:
 #
 # - Every month.  Scheduling helps keep drift/issues with updates
 #   to runners at bay.
 # - On pushes.
+#
+# This is a dependent workflow that collects the results of other workflows to
+# avoid duplicating things and speed up CI.
 on:
-  push:
-    paths:
-      - 'sierra/**'
-  schedule:
-    - cron: '0 0 1 * *'
+  worflow_run:
+    workflows:
+      - "Unit Tests Top-level"
+      - "Integration Top-level"
+    types:
+      - completed
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
-  argos-ci:
-    uses: ./.github/workflows/argos.yml
-    secrets: inherit
-    with:
-      os: ubuntu-20.04
-
-  ros1gazebo-ci:
-    uses: ./.github/workflows/ros1gazebo.yml
-    secrets: inherit
-    with:
-      os: ubuntu-20.04
-
-  sierra-core-ci:
-    uses: ./.github/workflows/sierra-core.yml
-    secrets: inherit
-    with:
-      os: ubuntu-20.04
-
-  ros1robot-ci:
-    uses: ./.github/workflows/ros1robot.yml
-    secrets: inherit
-    with:
-      os: ubuntu-20.04
-
-  exec-env-ci:
-    uses: ./.github/workflows/exec-env-plugins.yml
-    secrets: inherit
-    with:
-      os: ubuntu-20.04
-
-  unit-tests:
-    uses: ./.github/workflows/unit-tests.yml
-    secrets: inherit
-    with:
-      os: ubuntu-20.04
-
   coverage:
     runs-on: ubuntu-latest
     strategy:
@@ -60,14 +28,6 @@ jobs:
         python-version:
           - 3.8
 
-    needs:
-      - unit-tests
-      - argos-ci
-      - ros1gazebo-ci
-      - ros1robot-ci
-      - exec-env-ci
-      - sierra-core-ci
-
     steps:
       - uses: actions/checkout@v3
       - uses: ./.github/actions/sierra-setup
diff --git a/.github/workflows/exec-env-plugins.yml b/.github/workflows/exec-env-plugins.yml
deleted file mode 100644
index f0367572..00000000
--- a/.github/workflows/exec-env-plugins.yml
+++ /dev/null
@@ -1,81 +0,0 @@
-name: --exec-env plugin CI
-
-on:
-  workflow_call:
-    inputs:
-      os:
-        required: True
-        type: string
-
-  # push:
-  #   branches:
-  #     # - master
-  #     # - devel
-  #   paths:
-  #     - 'sierra/**'
-jobs:
-  adhoc:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        # You CANNOT use python 3.9 with ubuntu 20.04 with ROS, because 3.8 is
-        # the system python and things just don't work otherwise...
-        python-version:
-          - 3.8
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: ros1gazebo
-          rosdistro: noetic
-
-      - name: Adhoc
-        run: |
-          ./scripts/argos-integration-tests.sh -f stage2_univar_test -e hpc.adhoc
-          ./scripts/ros1gazebo-integration-tests.sh -f stage2_univar_test -e hpc.adhoc
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-exec-env-adhoc-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-  slurm:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        # You CANNOT use python 3.9 with ubuntu 20.04 with ROS, because 3.8 is
-        # the system python and things just don't work otherwise...
-        python-version:
-          - 3.8
-
-    steps:
-      - uses: actions/checkout@v3
-
-      - uses: ./.github/actions/sierra-setup
-
-      - uses: ./.github/actions/slurm-setup
-
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: ros1gazebo
-          rosdistro: noetic
-
-      - name: SLURM
-        run: |
-          ./scripts/argos-integration-tests.sh -f stage2_univar_test -e hpc.slurm
-          ./scripts/ros1gazebo-integration-tests.sh -f stage2_univar_test -e hpc.slurm
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-exec-env-slurm-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
diff --git a/.github/workflows/integration-all.yml b/.github/workflows/integration-all.yml
index 1eff0f23..415e15ae 100644
--- a/.github/workflows/integration-all.yml
+++ b/.github/workflows/integration-all.yml
@@ -1,4 +1,4 @@
-name: Integration Tests
+name: Integration Top-level
 
 # Run:
 #
@@ -14,23 +14,17 @@ on:
     - cron: '0 0 1 * *'
 
 jobs:
-  argos-ci-ubuntu:
-    uses: ./.github/workflows/argos.yml
+  sierra-core-ci-ubuntu-2004:
+    uses: ./.github/workflows/sierra-core.yml
     secrets: inherit
     with:
       os: ubuntu-20.04
 
-  argos-ci-osx:
-    uses: ./.github/workflows/argos.yml
-    secrets: inherit
-    with:
-      os: macos-12
-
-  sierra-core-ci-ubuntu:
+  sierra-core-ci-ubuntu-2204:
     uses: ./.github/workflows/sierra-core.yml
     secrets: inherit
     with:
-      os: ubuntu-20.04
+      os: ubuntu-22.04
 
   sierra-core-ci-osx:
     uses: ./.github/workflows/sierra-core.yml
@@ -38,23 +32,23 @@ jobs:
     with:
       os: macos-12
 
-  ros1gazebo-ci-ubuntu:
-    uses: ./.github/workflows/ros1gazebo.yml
+  plugin-ci-ubuntu-2004:
+    uses: ./.github/workflows/plugin.yml
     secrets: inherit
     with:
       os: ubuntu-20.04
 
-  ros1robot-ci-ubuntu:
-    uses: ./.github/workflows/ros1robot.yml
+  plugin-ci-ubuntu-2204:
+    uses: ./.github/workflows/plugin.yml
     secrets: inherit
     with:
-      os: ubuntu-20.04
+      os: ubuntu-22.04
 
-  exec-env-ci-ubuntu:
-    uses: ./.github/workflows/exec-env-plugins.yml
+  plugin-ci-osx:
+    uses: ./.github/workflows/plugin.yml
     secrets: inherit
     with:
-      os: ubuntu-20.04
+      os: macos-12
 
   publish:
     runs-on: ubuntu-latest
@@ -63,13 +57,12 @@ jobs:
         python-version:
           - 3.8
     needs:
-      - argos-ci-ubuntu
-      - argos-ci-osx
-      - sierra-core-ci-ubuntu
+      - plugin-ci-ubuntu-2004
+      - plugin-ci-ubuntu-2204
+      - plugin-ci-osx
+      - sierra-core-ci-ubuntu-2004
+      - sierra-core-ci-ubuntu-2204
       - sierra-core-ci-osx
-      - ros1gazebo-ci-ubuntu
-      - ros1robot-ci-ubuntu
-      - exec-env-ci-ubuntu
 
     steps:
       - uses: actions/checkout@v3
diff --git a/.github/workflows/plugin.yml b/.github/workflows/plugin.yml
new file mode 100644
index 00000000..fb3350ff
--- /dev/null
+++ b/.github/workflows/plugin.yml
@@ -0,0 +1,190 @@
+# Only stuff that actually tests the platform should be here: stage 1 and 2.
+name: ARGoS Plugin CI
+
+on:
+  workflow_call:
+    inputs:
+      os:
+        required: True
+        type: string
+
+jobs:
+  plugin-argos:
+    runs-on: ${{ inputs.os }}
+    strategy:
+      matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
+        python-version:
+          - 3.8
+          - '3.10'
+
+        function:
+          - bc_univar_sanity_test
+          - physics_engines_test
+          - stage1_univar_test
+          - stage2_univar_test
+          - vc_test
+          - cmdline_test
+
+        exclude:
+          - python-version: '3.10'
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/actions/sierra-setup
+      - uses: ./.github/actions/sample-project-setup
+        with:
+          platform: argos
+
+      - uses: nick-fields/retry@v2
+        name: Integration tests
+        with:
+          timeout_minutes: 3600
+          max_attempts: 3
+          shell: bash
+          command: ./scripts/argos-integration-tests.sh -f ${{ matrix.function }}
+
+      - uses: actions/upload-artifact@v3
+        with:
+          name: ci-platform-argos-${{ matrix.function }}-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          path: .coverage.*
+
+  plugin-ros1robot:
+    runs-on: ${{ inputs.os }}
+    strategy:
+      matrix:
+        python-version:
+          - 3.8
+          - 3.9
+
+        function:
+          - bc_univar_sanity_test
+          - stage1_test
+
+        os:
+          - ${{ inputs.os }}
+
+        exclude:
+          os:
+            - ubuntu-22.04
+            - macos-12
+
+    steps:
+      - uses: actions/checkout@v3
+
+      - uses: ./.github/actions/sierra-setup
+
+      - uses: ./.github/actions/sample-project-setup
+        with:
+          platform: ros1robot
+          rosdistro: noetic
+
+      - name: Integration tests
+        shell: bash
+        run: |
+          ./scripts/ros1robot-integration-tests.sh -f ${{ matrix.function }}
+
+      - uses: actions/upload-artifact@v3
+        with:
+          name: ci-platform-ros1robot-${{ matrix.function }}-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          path: .coverage.*
+
+  plugin-ros1gazebo:
+    runs-on: ${{ inputs.os }}
+    strategy:
+      matrix:
+        # You CANNOT use python 3.9 with ubuntu 20.04 with ROS, because 3.8 is
+        # the system python and things just don't work otherwise...
+        python-version:
+          - 3.8
+
+        function:
+          - bc_univar_sanity_test
+          - stage2_univar_test
+
+        os:
+          - ${{ inputs.os }}
+
+        exclude:
+          os:
+            - ubuntu-22.04
+            - macos-12
+
+    steps:
+      - uses: actions/checkout@v3
+
+      - uses: ./.github/actions/sierra-setup
+
+      - uses: ./.github/actions/sample-project-setup
+        with:
+          platform: ros1gazebo
+          rosdistro: noetic
+
+      - name: Integration tests
+        shell: bash
+        run: |
+          ./scripts/ros1gazebo-integration-tests.sh -f ${{ matrix.function }}
+
+      - uses: actions/upload-artifact@v3
+        with:
+          name: ci-platform-ros1gazebo-${{ matrix.function }}-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          path: .coverage.*
+
+  plugin-exec-env:
+    runs-on: ${{ inputs.os }}
+    strategy:
+      matrix:
+        # You CANNOT use python 3.9 with ubuntu 20.04 with ROS, because 3.8 is
+        # the system python and things just don't work otherwise...
+        python-version:
+          - 3.8
+
+        platform:
+          - argos
+          - ros1gazebo
+
+        exec-env:
+          - hpc.adhoc
+          - hpc.slurm
+
+        os:
+          - ${{ inputs.os }}
+
+        exclude:
+          os:
+            - ubuntu-22.04
+            - macos-12
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/actions/sierra-setup
+      - uses: ./.github/actions/sample-project-setup
+        if: matrix.platform == 'argos'
+        with:
+          platform: argos
+
+      - uses: ./.github/actions/sample-project-setup
+        if: matrix.platform == 'ros1gazebo'
+        with:
+          platform: ros1gazebo
+          rosdistro: noetic
+
+      - uses: ./.github/actions/slurm-setup
+        if: matrix.exec-env == 'hpc.slurm'
+
+      - name: Integration Tests
+        run: |
+          ./scripts/${{ matrix.platform }}-integration-tests.sh -f stage2_univar_test -e ${{ matrix.exec-env }}
+
+      - uses: actions/upload-artifact@v3
+        with:
+          name: ci-${{ matrix.platform }}-${{ matrix.exec-env }}-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          path: .coverage.*
diff --git a/.github/workflows/ros1gazebo.yml b/.github/workflows/ros1gazebo.yml
deleted file mode 100644
index 57b27d3a..00000000
--- a/.github/workflows/ros1gazebo.yml
+++ /dev/null
@@ -1,68 +0,0 @@
-# Only stuff that actually tests the platform should be here: stage 1 and 2.
-name: ROS1+Gazebo CI Tests
-
-on:
-  workflow_call:
-    inputs:
-      os:
-        required: True
-        type: string
-
-jobs:
-  bc-univar-sanity:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        # You CANNOT use python 3.9 with ubuntu 20.04 with ROS, because 3.8 is
-        # the system python and things just don't work otherwise...
-        python-version:
-          - 3.8
-
-    steps:
-      - uses: actions/checkout@v3
-
-      - uses: ./.github/actions/sierra-setup
-
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: ros1gazebo
-          rosdistro: noetic
-
-      - name: Integration tests
-        shell: bash
-        run: |
-          ./scripts/ros1gazebo-integration-tests.sh -f bc_univar_sanity_test
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-ros1gazebo-bc-univar-sanity-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-  stage2-univar:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        # You CANNOT use python 3.9 with ubuntu 20.04 with ROS, because 3.8 is
-        # the system python and things just don't work otherwise...
-        python-version:
-          - 3.8
-
-    steps:
-      - uses: actions/checkout@v3
-
-      - uses: ./.github/actions/sierra-setup
-
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: ros1gazebo
-          rosdistro: noetic
-
-      - name: Integration tests
-        shell: bash
-        run: |
-          ./scripts/ros1gazebo-integration-tests.sh -f stage2_univar_test -e hpc.local
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-ros1gazebo-stage2-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
diff --git a/.github/workflows/ros1robot.yml b/.github/workflows/ros1robot.yml
deleted file mode 100644
index 3cde7a14..00000000
--- a/.github/workflows/ros1robot.yml
+++ /dev/null
@@ -1,66 +0,0 @@
-# Only stuff that actually tests the platform should be here: stage 1 and 2.
-name: ROS1+Robot CI Tests
-
-on:
-  workflow_call:
-    inputs:
-      os:
-        required: True
-        type: string
-
-jobs:
-  bc-univar-sanity:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-
-      - uses: ./.github/actions/sierra-setup
-
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: ros1robot
-          rosdistro: noetic
-
-      - name: Integration tests
-        shell: bash
-        run: |
-          ./scripts/ros1robot-integration-tests.sh -f bc_univar_sanity_test
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-ros1robot-bc-sanity-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-  stage1:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-
-      - uses: ./.github/actions/sierra-setup
-
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: ros1robot
-          rosdistro: noetic
-
-      - name: Integration tests
-        shell: bash
-        run: |
-          ./scripts/ros1robot-integration-tests.sh -f stage1_test -e hpc.local
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-ros1robot-stage1-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
diff --git a/.github/workflows/sierra-core.yml b/.github/workflows/sierra-core.yml
index 041cdebc..38ae3125 100644
--- a/.github/workflows/sierra-core.yml
+++ b/.github/workflows/sierra-core.yml
@@ -8,41 +8,29 @@ on:
         type: string
 
 jobs:
-  cmdline-opts:
+  argos:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
+          - '3.10'
 
-      - uses: nick-fields/retry@v2
-        name: Cmdline options
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/core-integration-tests.sh -f cmdline_opts_test
+        function:
+          - cmdline_opts_test
+          - env_vars_test
 
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-core-cmdline-opts-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
+        exclude:
+          - python-version: '3.10'
+            os: ubuntu-20.04
 
-  env-vars:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
+          - python-version: 3.8
+            os: ubuntu-22.04
 
     steps:
       - uses: actions/checkout@v3
@@ -52,111 +40,138 @@ jobs:
           platform: argos
 
       - uses: nick-fields/retry@v2
-        name: Environment variables
         with:
           timeout_minutes: 3600
           max_attempts: 3
           shell: bash
-          command: ./scripts/core-integration-tests.sh -f env_vars_test
+          command: ./scripts/core-integration-tests.sh -f ${{ matrix.function }}
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-env-vars-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-${{ matrix.function }}-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
 
+
+
   bc-bivar-sanity:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+        os:
+          - ${{ inputs.os }}
+
+        platform:
+          - argos
+          - ros1gazebo
+
         python-version:
           - 3.8
           - 3.9
 
+        exclude:
+          os: macos12
+
     steps:
       - uses: actions/checkout@v3
       - uses: ./.github/actions/sierra-setup
       - uses: ./.github/actions/sample-project-setup
+        if: matrix.platform == 'argos'
         with:
           platform: argos
 
       - uses: ./.github/actions/sample-project-setup
-        if: runner.os == 'Linux'
+        if: matrix.platform == 'ros1gazebo'
         with:
           platform: ros1gazebo
           rosdistro: noetic
 
       - uses: nick-fields/retry@v2
-        name: Bivariate batch criteria sanity (ARGoS)
+        name: Bivariate batch criteria sanity (${{ matrix.platform }})
         with:
           timeout_minutes: 3600
           max_attempts: 3
           shell: bash
-          command: ./scripts/argos-integration-tests.sh -f bc_bivar_sanity_test
+          command: ./scripts/${{ matrix.platform }}-integration-tests.sh -f bc_bivar_sanity_test
 
-      - uses: nick-fields/retry@v2
-        if: runner.os == 'Linux'
-        name: Bivariate batch criteria sanity (ROS1+Gazebo)
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/ros1gazebo-integration-tests.sh -f bc_bivar_sanity_test
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-bc-bivar-sanity-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-${{ matrix.platform }}-bc-bivar-sanity-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
 
   stage1-bivar:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
+          - '3.10'
+
+        platform:
+          - argos
+          - ros1gazebo
+
+        exclude:
+          - python-version: '3.10'
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
+          - os: macos12
 
     steps:
       - uses: actions/checkout@v3
       - uses: ./.github/actions/sierra-setup
       - uses: ./.github/actions/sample-project-setup
+        if: matrix.platform == 'argos'
         with:
           platform: argos
 
       - uses: ./.github/actions/sample-project-setup
-        if: runner.os == 'Linux'
+        if: matrix.platform == 'ros1gazebo'
         with:
           platform: ros1gazebo
           rosdistro: noetic
 
       - uses: nick-fields/retry@v2
-        name: Bivariate batch criteria stage 1 (ARGoS)
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/argos-integration-tests.sh -f stage1_bivar_test
-
-      - uses: nick-fields/retry@v2
-        if: runner.os == 'Linux'
-        name: Bivariate batch criteria stage 1 (ROS1+Gazebo)
+        name: Bivariate batch criteria stage 1 (${{ matrix.platform }}
         with:
           timeout_minutes: 3600
           max_attempts: 3
           shell: bash
-          command: ./scripts/ros1gazebo-integration-tests.sh -f stage1_bivar_test
+          command: ./scripts/${{ matrix.platform }}-integration-tests.sh -f stage1_bivar_test
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-stage1-bivar-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-${{ matrix.platform }}-stage1-bivar-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
 
   stage3-univar:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
+          - '3.10'
+
+        exclude:
+          - python-version: '3.10'
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
     steps:
       - uses: actions/checkout@v3
       - uses: ./.github/actions/sierra-setup
@@ -174,16 +189,29 @@ jobs:
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-stage3-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-argos-stage3-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
 
   stage3-bivar:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
+          - '3.10'
+
+        exclude:
+          - python-version: '3.10'
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
     steps:
       - uses: actions/checkout@v3
       - uses: ./.github/actions/sierra-setup
@@ -201,16 +229,29 @@ jobs:
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-stage3-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-argos-stage3-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
 
   stage4-univar:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
+          - '3.10'
+
+        exclude:
+          - python-version: '3.10'
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
     steps:
       - uses: actions/checkout@v3
       - uses: ./.github/actions/sierra-setup
@@ -228,16 +269,29 @@ jobs:
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-stage4-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-argos-stage4-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
 
   stage5-univar:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
+          - '3.10'
+
+        exclude:
+          - python-version: '3.10'
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
     steps:
       - uses: actions/checkout@v3
       - uses: ./.github/actions/sierra-setup
@@ -255,16 +309,30 @@ jobs:
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-stage5-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-argos-stage5-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
 
   stage5-bivar:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
+          - '3.10'
+
+        exclude:
+          - python-version: '3.10'
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
     steps:
       - uses: actions/checkout@v3
       - uses: ./.github/actions/sierra-setup
@@ -282,5 +350,5 @@ jobs:
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-stage5-bivar-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-argos-stage5-bivar-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
diff --git a/.github/workflows/static-analysis.yml b/.github/workflows/static-analysis.yml
deleted file mode 100644
index 884ef641..00000000
--- a/.github/workflows/static-analysis.yml
+++ /dev/null
@@ -1,38 +0,0 @@
-name: Static Analysis
-
-# Run:
-#
-# - Every month.  Scheduling helps keep drift/issues with updates
-#   to runners at bay.
-# - On pushes.
-on:
-  push:
-    paths:
-      - 'sierra/**'
-  schedule:
-    - cron: '0 0 1 * *'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  analyze:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os:
-          - ubuntu-20.04 # ubuntu-latest, as of 8/22
-          - macos-12
-
-        python-version:
-          - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-
-      - name: Run nox
-        run: |
-          nox --pythons ${{ matrix.python-version }} --sessions lint analysis docs
diff --git a/.github/workflows/unit-tests.yml b/.github/workflows/unit-tests.yml
index f9537b80..54b6a0bd 100644
--- a/.github/workflows/unit-tests.yml
+++ b/.github/workflows/unit-tests.yml
@@ -1,20 +1,43 @@
-name: Unit Tests
+name: Unit Tests Top-level
 
+# Run:
+#
+# - Every month.  Scheduling helps keep drift/issues with updates
+#   to runners at bay.
+# - On pushes.
 on:
-  workflow_call:
-    inputs:
-      os:
-        required: True
-        type: string
+  push:
+    paths:
+      - 'sierra/**'
+  schedule:
+    - cron: '0 0 1 * *'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
-  unit-tests:
-    runs-on: ${{ inputs.os }}
+  ci-unit-tests:
+    runs-on: ${{ matrix.os }}
     strategy:
       matrix:
+        os:
+          - ubuntu-20.04
+          - ubuntu-22.04
+          - macos-12
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
+          - '3.10'
+
+        exclude:
+          - python-version: '3.10'
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
 
     steps:
       - uses: actions/checkout@v3
diff --git a/docs/conf.py b/docs/conf.py
index 8662810f..bd90beec 100755
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -160,8 +160,8 @@
                    "https://www.cs.unm.edu/~wjust/CS523/S2018/Readings/Hecker_Beyond_Pheromones_Swarm_Intelligence.pdf"),
     "Rosenfeld2006": ("Rosenfeld2006",
                       "http://users.umiacs.umd.edu/~sarit/data/articles/rosenfeldetalbook06.pdf"),
-    "SIERRA_GITHUB": ("https://github.com:jharwell/sierra.git",
-                      "https://github.com:jharwell/sierra.git"),
+    "SIERRA_GITHUB": ("https://github.com/jharwell/sierra.git",
+                      "https://github.com/jharwell/sierra.git"),
     "SIERRA_SAMPLE_PROJECT": ("https://github.com:jharwell/sierra-sample-project.git",
                               "https://github.com:jharwell/sierra-sample-project.git"),
     "SIERRA_DOCS": ("https://sierra.readthedocs.io/en/master",
@@ -310,7 +310,7 @@
     'sphinx': ('https://www.sphinx-doc.org/en/stable/', None),
     'pandas': ('https://pandas.pydata.org/pandas-docs/dev', None),
     'implements': ('https://implements.readthedocs.io/en/latest/', None),
-    'libra': ('https://libra2.readthedocs.io/en/master', None)
+    'libra': ('https://jharwell.github.io/libra', None)
 }
 
 # This is the expected signature of the handler for this event, cf doc
diff --git a/docs/requirements.txt b/docs/requirements.txt
index 64c9b616..72106916 100755
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -1,7 +1,7 @@
 -e .
 
-sphinx==4.4.0
-docutils==0.16
+sphinx==6.0.0
+docutils==0.19
 sphinx-rtd-theme
 sphinx-argparse
 sphinx-tabs
diff --git a/docs/src/getting_started.rst b/docs/src/getting_started.rst
index 9c434bf9..25d5361c 100755
--- a/docs/src/getting_started.rst
+++ b/docs/src/getting_started.rst
@@ -48,6 +48,7 @@ Basic Setup
               - ``pssh``
               - ``ffmpeg``
               - ``xvfb``
+              - ``psmisc``
 
            .. group-tab:: OSX
 
diff --git a/docs/src/requirements.rst b/docs/src/requirements.rst
index 602328bb..68f44cd2 100644
--- a/docs/src/requirements.rst
+++ b/docs/src/requirements.rst
@@ -34,8 +34,8 @@ One of the following:
 Python Requirements
 ===================
 
-Python 3.8+. Tested with 3.8-3.9. It may work for newer versions, probably won't
-for older.
+Python 3.8+. Tested with 3.8-3.10. It may work for newer versions, probably
+won't for older.
 
 .. _ln-sierra-req-exp:
 
diff --git a/docs/src/trial.rst b/docs/src/trial.rst
index 8d81019a..f925bfe1 100755
--- a/docs/src/trial.rst
+++ b/docs/src/trial.rst
@@ -30,6 +30,7 @@ you clone things somewhere else.
               - ``pssh``
               - ``ffmpeg``
               - ``xvfb``
+              - ``psmisc``
 
            .. group-tab:: OSX
 
@@ -92,7 +93,7 @@ you clone things somewhere else.
 
             Where ``<distro>`` is replaced by your ROS distro.
 
-         #.  Install the `SIERRA ROSBridge <https:github.com/jharwell/sierra_rosbridge.git>`_::
+         #.  Install the `SIERRA ROSBridge <https//:github.com/jharwell/sierra_rosbridge.git>`_::
 
                pip3 install catkin_tools
                git clone https://github.com/jharwell/sierra_rosbridge.git
diff --git a/docs/src/usage/subprograms.rst b/docs/src/usage/subprograms.rst
index fc70700a..ffdedb87 100755
--- a/docs/src/usage/subprograms.rst
+++ b/docs/src/usage/subprograms.rst
@@ -20,3 +20,7 @@ depending on what you are doing.
 
 - :program:`parallel-rsync` - Used during stage 1 when generating experiments
   experiments (:term:`ROS1+Robot` platform).
+
+- :program:`killall` - Used during stage 2 when running :term:
+  :term:`ARGoS`, :term:`ROS1+Gazebo` experiments to cleanup after each
+  experimental run.
diff --git a/noxfile.py b/noxfile.py
index 03ce9735..12f5fbcb 100644
--- a/noxfile.py
+++ b/noxfile.py
@@ -23,7 +23,7 @@
 # Project packages
 
 
-@nox.session(python=['3.8', '3.9'])
+@nox.session(python=['3.8', '3.9', '3.10'])
 def lint(session):
     session.install('.')  # same as 'pip3 install .'
     session.install('.[devel]')  # same as 'pip3 install .[devel]'
@@ -52,8 +52,8 @@ def lint(session):
 
 
 # venv argument needed so the apt module can be found in the nox venv on linux
-@nox.session(python=['3.8', '3.9'])
-def analysis(session):
+@nox.session(python=['3.8', '3.9', '3.10'])
+def analyze_pytype(session):
     session.install('.')  # same as 'pip3 install .'
     session.install('.[devel]')  # same as 'pip3 install .[devel]'
 
@@ -65,6 +65,15 @@ def analysis(session):
                 'sierra',
                 external=True)
 
+
+# venv argument needed so the apt module can be found in the nox venv on linux
+@nox.session(python=['3.8', '3.9', '3.10'])
+def analyze_mypy(session):
+    session.install('.')  # same as 'pip3 install .'
+    session.install('.[devel]')  # same as 'pip3 install .[devel]'
+
+    cores = psutil.cpu_count()
+
     session.run('mypyrun',
                 '--select',
                 # No syntax errors
@@ -126,7 +135,7 @@ def analysis(session):
                 'sierra')
 
 
-@nox.session(python=['3.8', '3.9'])
+@nox.session(python=['3.8', '3.9', '3.10'])
 def docs(session):
     session.install('.')  # same as 'pip3 install .'
     session.install('.[devel]')  # same as 'pip3 install .[devel]'
@@ -147,7 +156,7 @@ def docs(session):
                 'sierra')
 
 
-@nox.session(python=['3.8', '3.9'])
+@nox.session(python=['3.8', '3.9', '3.10'])
 def unit_tests(session):
     session.install('.')  # same as 'pip3 install .'
     session.install('.[devel]')  # same as 'pip3 install .[devel]'
diff --git a/setup.py b/setup.py
index fc151c29..30d92571 100644
--- a/setup.py
+++ b/setup.py
@@ -56,6 +56,7 @@
         # "Programming Language :: Python :: 3",
         "Programming Language :: Python :: 3.8",
         "Programming Language :: Python :: 3.9",
+        "Programming Language :: Python :: 3.10",
         "License :: OSI Approved :: MIT License",
         "Environment :: Console",
         "Operating System :: MacOS :: MacOS X",
diff --git a/sierra/core/config.py b/sierra/core/config.py
index 9f760c0a..7b6d1956 100755
--- a/sierra/core/config.py
+++ b/sierra/core/config.py
@@ -45,7 +45,7 @@ def mpl_init():
     import matplotlib.pyplot as plt
 
     # Set MPL style
-    plt.style.use('seaborn-colorblind')
+    plt.style.use('seaborn-v0_8-colorblind')
 
 
 # Actually initialize matplotlib
diff --git a/sierra/core/graphs/heatmap.py b/sierra/core/graphs/heatmap.py
index 5559a558..0fbf5c09 100755
--- a/sierra/core/graphs/heatmap.py
+++ b/sierra/core/graphs/heatmap.py
@@ -211,7 +211,7 @@ def generate(self) -> None:
         # Scaffold graph. We can use either dataframe for setting the graph
         # size; we assume they have the same dimensions.
         #
-        fig, axes = plt.subplots(ncols=2)
+        fig, axes = plt.subplots(nrows=1, ncols=2)
         Heatmap.set_graph_size(dfs[0], fig)
 
         y = np.arange(len(dfs[0].columns))
diff --git a/sierra/core/startup.py b/sierra/core/startup.py
index 977d84c9..ecb7fb58 100644
--- a/sierra/core/startup.py
+++ b/sierra/core/startup.py
@@ -74,8 +74,8 @@ def _linux_pkg_checks() -> None:
 
     dist = distro.id()
     os_info = distro.os_release_info()
-    if any(candidate in os_info['id_like'] for candidate in ['debian',
-                                                             'ubuntu']):
+    if any(candidate in os_info['id'] for candidate in ['debian',
+                                                        'ubuntu']):
         _apt_pkg_checks(dist)
     else:
         logging.warning(("Unknown Linux distro '%s' detected: skipping package "
diff --git a/sierra/core/utils.py b/sierra/core/utils.py
index c2708bb0..156a200f 100755
--- a/sierra/core/utils.py
+++ b/sierra/core/utils.py
@@ -365,7 +365,7 @@ def df_fill(df: pd.DataFrame, policy: str) -> pd.DataFrame:
 
 
 @retry(OSError, tries=10, delay=0.100, backoff=1.1)  # type:ignore
-def pickle_dump(obj: object, f: tp.IO) -> None:
+def pickle_dump(obj: object, f) -> None:
     pickle.dump(obj, f)
 
 
diff --git a/sierra/version.py b/sierra/version.py
index 80604bc8..d4be2b36 100644
--- a/sierra/version.py
+++ b/sierra/version.py
@@ -9,4 +9,4 @@
 
 # Project packages
 
-__version__ = "1.3.5"
+__version__ = "1.3.6"