sierra-research 1.3.1__py3-none-any.whl → 1.3.6__py3-none-any.whl

{sierra_research-1.3.1.data → sierra_research-1.3.6.data}/data/share/man/man1/sierra-cli.1

@@ -1,8 +1,5 @@
 .\" Man page generated from reStructuredText.
 .
-.TH "SIERRA-CLI" "1" "Jan 25, 2023" "1.3.1" "SIERRA"
-.SH NAME
-sierra-cli \- The SIERRA Command Line Interface (CLI).
 .
 .nr rst2man-indent-level 0
 .
@@ -30,10 +27,13 @@ level margin: \\n[rst2man-indent\\n[rst2man-indent-level]]
 .\" new: \\n[rst2man-indent\\n[rst2man-indent-level]]
 .in \\n[rst2man-indent\\n[rst2man-indent-level]]u
 ..
+.TH "SIERRA-CLI" "1" "Apr 01, 2024" "1.3.6" "SIERRA"
+.SH NAME
+sierra-cli \- The SIERRA Command Line Interface (CLI).
 .sp
 Unless an option says otherwise, it is applicable to all batch criteria. That
 is, option batch criteria applicability is only documented for options which
-apply to a subset of the available Batch Criteria\&.
+apply to a subset of the available \fI\%Batch Criteria\fP\&.
 .sp
 If an option is given more than once, the last such occurrence is used.
 .sp
@@ -46,7 +46,7 @@ See also \fBsierra\-examples\fP\&.
 
 .SH SIERRA CORE
 .sp
-These options are for all Platforms\&.
+These options are for all \fI\%Platforms\fP\&.
 .SS Bootstrap+Multi\-stage Options
 .INDENT 0.0
 .INDENT 3.5
@@ -77,10 +77,10 @@ usage: sphinx\-build [\-h] [\-\-project PROJECT] [\-\-version]
 Bare\-bones options for bootstrapping SIERRA
 .INDENT 0.0
 .TP
-.B\-\-project
+.B \-\-project
 .INDENT 7.0
 .INDENT 3.5
-Specify which Project to load.
+Specify which \fI\%Project\fP to load.
 .UNINDENT
 .UNINDENT
 .sp
@@ -91,7 +91,7 @@ Used by stage {1,2,3,4,5}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .TP
-.B\-\-version, \-v
+.B \-\-version, \-v
 .INDENT 7.0
 .INDENT 3.5
 Display SIERRA version information on stdout and
@@ -101,7 +101,7 @@ then exit.
 .sp
 Default: False
 .TP
-.B\-\-log\-level
+.B \-\-log\-level
 Possible choices: ERROR, INFO, WARNING, DEBUG, TRACE
 .INDENT 7.0
 .INDENT 3.5
@@ -117,12 +117,12 @@ Used by stage {1,2,3,4,5}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .sp
-Default: "INFO"
+Default: \(dqINFO\(dq
 .TP
-.B\-\-platform
+.B \-\-platform
 .INDENT 7.0
 .INDENT 3.5
-This argument defines the Platform you
+This argument defines the \fI\%Platform\fP you
 want to run experiments on.
 .sp
 The value of this argument determines the
@@ -131,30 +131,30 @@ platforms (e.g., simulator, real robots) will
 have different configuration options.
 .sp
 Valid values can be any folder name inside a
-folder on the \fBSIERRA_PLUGIN_PATH\fP (with
+folder on the \fI\%SIERRA_PLUGIN_PATH\fP (with
 \fB/\fP replaced with \fB\&.\fP as you would expect for
 using path names to address python packages). The
 platforms which come with SIERRA are:
 .INDENT 0.0
 .IP \(bu 2
 \fBplatform.argos\fP \- This directs SIERRA to run
-experiments using the ARGoS
+experiments using the \fI\%ARGoS\fP
 simulator. Selecting this platform assumes your
 code has been developed and configured for
 ARGoS.
 .IP \(bu 2
 \fBplatform.ros1gazebo\fP \- This directs SIERRA to
-run experiments using the Gazebo
-simulator and ROS1\&. Selecting this
+run experiments using the \fI\%Gazebo\fP
+simulator and \fI\%ROS1\fP\&. Selecting this
 platform assumes your code has been developed
 and configured for Gazebo and ROS1.
 .UNINDENT
 .UNINDENT
 .UNINDENT
 .sp
-Default: "platform.argos"
+Default: \(dqplatform.argos\(dq
 .TP
-.B\-\-skip\-pkg\-checks
+.B \-\-skip\-pkg\-checks
 .INDENT 7.0
 .INDENT 3.5
 Skip the usual startup package checks. Only do
@@ -166,7 +166,7 @@ don\(aqt have installed/can\(aqt install.
 .sp
 Default: False
 .TP
-.B\-\-exec\-env
+.B \-\-exec\-env
 .INDENT 7.0
 .INDENT 3.5
 This argument defines \fIhow\fP experiments are going
@@ -174,7 +174,7 @@ to be run, using the \fB\-\-platform\fP you have
 selected.
 .sp
 Valid values can be any folder name inside a
-folder on the \fBSIERRA_PLUGIN_PATH\fP (with
+folder on the \fI\%SIERRA_PLUGIN_PATH\fP (with
 \fB/\fP replaced with \fB\&.\fP as you would expect for
 using path names to address python packages). The
 execution environments which come with SIERRA
@@ -183,26 +183,26 @@ are:
 .IP \(bu 2
 \fBhpc.local\fP \- This directs SIERRA to run
 experiments on the local machine. See
-ln\-sierra\-hpc\-plugins\-local for a detailed
+\fI\%Local HPC Plugin\fP for a detailed
 description.
 .IP \(bu 2
 \fBhpc.pbs\fP \- The directs SIERRA to run
 experiments spread across multiple allocated
 nodes in an HPC computing environment managed
-by TORQUE\-PBS. See ln\-sierra\-hpc\-plugins\-pbs
+by TORQUE\-PBS. See \fI\%PBS HPC Plugin\fP
 for a detailed description.
 .IP \(bu 2
 \fBhpc.slurm\fP \- The directs SIERRA to run
 experiments spread across multiple allocated
 nodes in an HPC computing environment managed
 by SLURM. See
-ln\-sierra\-hpc\-plugins\-slurm for a
+\fI\%SLURM HPC Plugin\fP for a
 detailed description.
 .IP \(bu 2
 \fBhpc.adhoc\fP \- This will direct SIERRA to run
 experiments on an ad\-hoc network of
 computers. See
-ln\-sierra\-hpc\-plugins\-adhoc for a
+\fI\%Adhoc HPC Plugin\fP for a
 detailed description.
 .IP \(bu 2
 \fBrobot.turtlebot3\fP \- This will direct SIERRA
@@ -221,14 +221,14 @@ Used by stage {1,2}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .sp
-Default: "hpc.local"
+Default: \(dqhpc.local\(dq
 .UNINDENT
 .SS Multi\-stage options
 .sp
 Options which are used in multiple pipeline stages
 .INDENT 0.0
 .TP
-.B\-\-template\-input\-file
+.B \-\-template\-input\-file
 .INDENT 7.0
 .INDENT 3.5
 The template \fB\&.xml\fP input file for the
@@ -248,7 +248,7 @@ Used by stage {1,2,3,4}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .TP
-.B\-\-exp\-overwrite
+.B \-\-exp\-overwrite
 .INDENT 7.0
 .INDENT 3.5
 When SIERRA calculates the batch experiment
@@ -274,7 +274,7 @@ Used by stage {1,2}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-sierra\-root
+.B \-\-sierra\-root
 .INDENT 7.0
 .INDENT 3.5
 Root directory for all SIERRA generated and
@@ -295,9 +295,9 @@ Used by stage {1,2,3,4,5}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .sp
-Default: "<home directory>/exp"
+Default: \(dq<home directory>/exp\(dq
 .TP
-.B\-\-batch\-criteria
+.B \-\-batch\-criteria
 .INDENT 7.0
 .INDENT 3.5
 Definition of criteria(s) to use to define
@@ -328,7 +328,7 @@ Used by stage {1,2,3,4,5}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: []
 .TP
-.B\-\-pipeline
+.B \-\-pipeline
 .INDENT 7.0
 .INDENT 3.5
 Define which stages of the experimental
@@ -365,7 +365,7 @@ run. Not part of default pipeline.
 .sp
 Default: [1, 2, 3, 4]
 .TP
-.B\-\-exp\-range
+.B \-\-exp\-range
 .INDENT 7.0
 .INDENT 3.5
 Set the experiment numbers from the batch to
@@ -395,7 +395,7 @@ Used by stage {2,3,4}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .TP
-.B\-\-platform\-vc
+.B \-\-platform\-vc
 .INDENT 7.0
 .INDENT 3.5
 For applicable \fB\-\-platforms\fP, enable
@@ -408,7 +408,7 @@ frames into videos during stage 4. If the
 selected \fB\-\-platform\fP does not support
 visual capture, then this option has no
 effect. See
-ln\-sierra\-usage\-rendering\-platform
+\fI\%Platform Visual Capture\fP
 for full details.
 .UNINDENT
 .UNINDENT
@@ -422,7 +422,7 @@ Used by stage {1,4}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-processing\-serial
+.B \-\-processing\-serial
 .INDENT 7.0
 .INDENT 3.5
 If TRUE, then results processing/graph
@@ -441,7 +441,7 @@ Used by stage {3,4}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-n\-runs
+.B \-\-n\-runs
 .INDENT 7.0
 .INDENT 3.5
 The # of experimental runs that will be
@@ -464,7 +464,7 @@ Used by stage {1,2}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .TP
-.B\-\-skip\-collate
+.B \-\-skip\-collate
 .INDENT 7.0
 .INDENT 3.5
 Specify that no collation of data across
@@ -487,7 +487,7 @@ Used by stage {3,4}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-plot\-log\-xscale
+.B \-\-plot\-log\-xscale
 .INDENT 7.0
 .INDENT 3.5
 Place the set of X values used to generate intra\- and
@@ -518,7 +518,7 @@ Used by stage {4,5}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-plot\-enumerated\-xscale
+.B \-\-plot\-enumerated\-xscale
 .INDENT 7.0
 .INDENT 3.5
 Instead of using the values generated by a
@@ -550,7 +550,7 @@ Used by stage {4,5}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-plot\-log\-yscale
+.B \-\-plot\-log\-yscale
 .INDENT 7.0
 .INDENT 3.5
 Place the set of Y values used to generate
@@ -583,7 +583,7 @@ Used by stage {4,5}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-plot\-regression\-lines
+.B \-\-plot\-regression\-lines
 .INDENT 7.0
 .INDENT 3.5
 For all 2D generated scatterplots, plot a
@@ -610,7 +610,7 @@ Used by stage {4,5}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .TP
-.B\-\-plot\-primary\-axis
+.B \-\-plot\-primary\-axis
 .INDENT 7.0
 .INDENT 3.5
 .INDENT 0.0
@@ -625,7 +625,7 @@ composed of
 .UNINDENT
 .INDENT 0.0
 .IP \(bu 2
-ln\-sierra\-platform\-argos\-bc\-population\-size
+\fI\%Population Size\fP
 on the X axis (rows)
 .IP \(bu 2
 Another batch criteria which does not
@@ -673,7 +673,7 @@ Used by stage {4,5}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .TP
-.B\-\-plot\-large\-text
+.B \-\-plot\-large\-text
 .INDENT 7.0
 .INDENT 3.5
 This option specifies that the title, X/Y
@@ -697,7 +697,7 @@ Used by stage {4,5}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-plot\-transpose\-graphs
+.B \-\-plot\-transpose\-graphs
 .INDENT 7.0
 .INDENT 3.5
 Transpose the X, Y axes in generated
@@ -754,13 +754,13 @@ usage: SIERRA [\-\-df\-skip\-verify] [\-\-storage\-medium {storage.csv}]
 .SS Stage3: General options for eprocessing experiment results
 .INDENT 0.0
 .TP
-.B\-\-df\-skip\-verify
+.B \-\-df\-skip\-verify
 .INDENT 7.0
 .INDENT 3.5
 SIERRA generally assumes/relies on all
 dataframes with the same name having the same #
 of columns which are of equivalent length
-across Experimental Runs (different columns within a dataframe can
+across \fI\%Experimental Runs\fP (different columns within a dataframe can
 of course have different lengths). This is
 strictly verified during stage 3 by default.
 .sp
@@ -786,12 +786,12 @@ Used by stage {3}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-storage\-medium
+.B \-\-storage\-medium
 Possible choices: storage.csv
 .INDENT 7.0
 .INDENT 3.5
 Specify the storage medium for
-Experimental Run outputs, so that
+\fI\%Experimental Run\fP outputs, so that
 SIERRA can select an appropriate plugin to read
 them. Any plugin under \fBplugins/storage\fP can
 be used, but the ones that come with SIERRA
@@ -816,9 +816,9 @@ Used by stage {3}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .sp
-Default: "storage.csv"
+Default: \(dqstorage.csv\(dq
 .TP
-.B\-\-dist\-stats
+.B \-\-dist\-stats
 Possible choices: none, all, conf95, bw
 .INDENT 7.0
 .INDENT 3.5
@@ -865,9 +865,9 @@ Used by stage {3,4}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .sp
-Default: "none"
+Default: \(dqnone\(dq
 .TP
-.B\-\-processing\-mem\-limit
+.B \-\-processing\-mem\-limit
 .INDENT 7.0
 .INDENT 3.5
 Specify, as a percent in [0, 100], how much
@@ -888,7 +888,7 @@ Used by stage {3,4}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: 90
 .TP
-.B\-\-df\-homogenize
+.B \-\-df\-homogenize
 .INDENT 7.0
 .INDENT 3.5
 SIERRA generally assumes/relies on all
@@ -934,7 +934,7 @@ experiment started.
 .UNINDENT
 .UNINDENT
 .sp
-Default: "none"
+Default: \(dqnone\(dq
 .UNINDENT
 .SS Stage4: Deliverable Generation
 .INDENT 0.0
@@ -953,7 +953,7 @@ usage: SIERRA [\-\-exp\-graphs {intra,inter,all,none}] [\-\-project\-no\-LN]
 .SS Stage4: General options for generating graphs
 .INDENT 0.0
 .TP
-.B\-\-exp\-graphs
+.B \-\-exp\-graphs
 Possible choices: intra, inter, all, none
 .INDENT 7.0
 .INDENT 3.5
@@ -993,9 +993,9 @@ Used by stage {4}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .sp
-Default: "all"
+Default: \(dqall\(dq
 .TP
-.B\-\-project\-no\-LN
+.B \-\-project\-no\-LN
 .INDENT 7.0
 .INDENT 3.5
 Specify that the intra\-experiment and
@@ -1014,7 +1014,7 @@ applicable.
 .sp
 Default: False
 .TP
-.B\-\-project\-no\-HM
+.B \-\-project\-no\-HM
 .INDENT 7.0
 .INDENT 3.5
 Specify that the intra\-experiment heatmaps
@@ -1046,7 +1046,7 @@ Default: False
 .SS Models
 .INDENT 0.0
 .TP
-.B\-\-models\-enable
+.B \-\-models\-enable
 .INDENT 7.0
 .INDENT 3.5
 Enable running of all models; otherwise, no models
@@ -1061,7 +1061,7 @@ Default: False
 .SS Stage4: Rendering (see also stage1 rendering options)
 .INDENT 0.0
 .TP
-.B\-\-render\-cmd\-opts
+.B \-\-render\-cmd\-opts
 .INDENT 7.0
 .INDENT 3.5
 Specify the: program: \fIffmpeg\fP options to appear
@@ -1080,15 +1080,15 @@ Used by stage {4}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .sp
-Default: "\-r 10 \-s:v 800x600 \-c:v libx264 \-crf 25 \-filter:v scale=\-2:956 \-pix_fmt yuv420p"
+Default: \(dq\-r 10 \-s:v 800x600 \-c:v libx264 \-crf 25 \-filter:v scale=\-2:956 \-pix_fmt yuv420p\(dq
 .TP
-.B\-\-project\-imagizing
+.B \-\-project\-imagizing
 .INDENT 7.0
 .INDENT 3.5
 Enable generation of image files from CSV files
 captured during stage 2 and averaged during stage
 3 for each experiment. See
-ln\-sierra\-usage\-rendering\-project for
+\fI\%Project Rendering\fP for
 details and restrictions.
 .UNINDENT
 .UNINDENT
@@ -1102,13 +1102,13 @@ Used by stage {3,4}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-project\-rendering
+.B \-\-project\-rendering
 .INDENT 7.0
 .INDENT 3.5
 Enable generation of videos from imagized CSV
 files created as a result of
 \fB\-\-project\-imagizing\fP\&. See
-ln\-sierra\-usage\-rendering\-project for
+\fI\%Project Rendering\fP for
 details.
 .UNINDENT
 .UNINDENT
@@ -1122,7 +1122,7 @@ Used by stage {4}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-bc\-rendering
+.B \-\-bc\-rendering
 .INDENT 7.0
 .INDENT 3.5
 Enable generation of videos from generated
@@ -1160,7 +1160,7 @@ usage: SIERRA [\-\-controllers\-list CONTROLLERS_LIST]
 .SS Stage5: General options for controller comparison
 .INDENT 0.0
 .TP
-.B\-\-controllers\-list
+.B \-\-controllers\-list
 .INDENT 7.0
 .INDENT 3.5
 Comma separated list of controllers to compare
@@ -1178,7 +1178,7 @@ Used by stage {5}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .TP
-.B\-\-controllers\-legend
+.B \-\-controllers\-legend
 .INDENT 7.0
 .INDENT 3.5
 Comma separated list of names to use on the
@@ -1195,7 +1195,7 @@ Used by stage {5}; can be omitted otherwise. If omitted: the raw controller name
 .UNINDENT
 .UNINDENT
 .TP
-.B\-\-scenarios\-list
+.B \-\-scenarios\-list
 .INDENT 7.0
 .INDENT 3.5
 Comma separated list of scenarios to compare
@@ -1211,7 +1211,7 @@ Used by stage {5}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .TP
-.B\-\-scenarios\-legend
+.B \-\-scenarios\-legend
 .INDENT 7.0
 .INDENT 3.5
 Comma separated list of names to use on the
@@ -1229,7 +1229,7 @@ Used by stage {5}; can be omitted otherwise. If omitted: the raw scenario names
 .UNINDENT
 .UNINDENT
 .TP
-.B\-\-scenario\-comparison
+.B \-\-scenario\-comparison
 .INDENT 7.0
 .INDENT 3.5
 Perform a comparison of \fB\-\-controller\fP across
@@ -1248,7 +1248,7 @@ passed.
 .sp
 Default: False
 .TP
-.B\-\-controller\-comparison
+.B \-\-controller\-comparison
 .INDENT 7.0
 .INDENT 3.5
 Perform a comparison of \fB\-\-controllers\-list\fP
@@ -1266,7 +1266,7 @@ Used by stage {5}; can be omitted otherwise. Either \fB\-\-scenario\-comparison\
 .sp
 Default: False
 .TP
-.B\-\-comparison\-type
+.B \-\-comparison\-type
 Possible choices: LNraw, HMraw, HMdiff, HMscale, SUraw, SUscale, SUdiff
 .INDENT 7.0
 .INDENT 3.5
@@ -1355,7 +1355,7 @@ Used by stage {5}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .TP
-.B\-\-bc\-univar
+.B \-\-bc\-univar
 .INDENT 7.0
 .INDENT 3.5
 Specify that the batch criteria is
@@ -1380,7 +1380,7 @@ Used by stage {5}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-bc\-bivar
+.B \-\-bc\-bivar
 .INDENT 7.0
 .INDENT 3.5
 Specify that the batch criteria is
@@ -1428,13 +1428,13 @@ usage: SIERRA [\-\-exp\-setup EXP_SETUP] [\-\-physics\-engine\-type2D {dynamics2
 .SS Stage1: Experiment generation
 .INDENT 0.0
 .TP
-.B\-\-exp\-setup
+.B \-\-exp\-setup
 .INDENT 7.0
 .INDENT 3.5
-Defines experiment run length, Ticks per second for the experiment
+Defines experiment run length, \fI\%Ticks\fP per second for the experiment
 (<experiment> tag), # of datapoints to
 capture/capture interval for each
-simulation. See ln\-sierra\-vars\-expsetup for
+simulation. See \fI\%Experiment Setup\fP for
 a full description.
 .UNINDENT
 .UNINDENT
@@ -1446,12 +1446,12 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .sp
-Default: "exp_setup.T5000.K5.N50"
+Default: \(dqexp_setup.T5000.K5.N50\(dq
 .UNINDENT
 .SS Stage1: Configuring ARGoS physics engines
 .INDENT 0.0
 .TP
-.B\-\-physics\-engine\-type2D
+.B \-\-physics\-engine\-type2D
 Possible choices: dynamics2d
 .INDENT 7.0
 .INDENT 3.5
@@ -1472,9 +1472,9 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .sp
-Default: "dynamics2d"
+Default: \(dqdynamics2d\(dq
 .TP
-.B\-\-physics\-engine\-type3D
+.B \-\-physics\-engine\-type3D
 Possible choices: dynamics3d
 .INDENT 7.0
 .INDENT 3.5
@@ -1496,9 +1496,9 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .sp
-Default: "dynamics3d"
+Default: \(dqdynamics3d\(dq
 .TP
-.B\-\-physics\-n\-engines
+.B \-\-physics\-n\-engines
 Possible choices: 1, 2, 4, 6, 8, 12, 16, 24
 .INDENT 7.0
 .INDENT 3.5
@@ -1510,7 +1510,7 @@ not be the same depending on dimensions
 and how many engines are chosen,
 however), extending upward in Z to the
 height specified by \fB\-\-scenario\fP
-(i.e., forming a set of "silos" rather
+(i.e., forming a set of \(dqsilos\(dq rather
 that equal volumetric extents).
 .sp
 If 2D and 3D physics engines are mixed,
@@ -1568,11 +1568,11 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .TP
-.B\-\-physics\-iter\-per\-tick
+.B \-\-physics\-iter\-per\-tick
 .INDENT 7.0
 .INDENT 3.5
 The # of iterations all physics engines
-should perform per Tick each
+should perform per \fI\%Tick\fP each
 time the controller loops are run (the
 # of ticks per second for controller
 control loops is set via
@@ -1589,7 +1589,7 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: 10
 .TP
-.B\-\-physics\-spatial\-hash2D
+.B \-\-physics\-spatial\-hash2D
 .INDENT 7.0
 .INDENT 3.5
 Specify that each 2D physics engine
@@ -1603,7 +1603,7 @@ Default: False
 .SS Stage1: Rendering (see also stage4 rendering options)
 .INDENT 0.0
 .TP
-.B\-\-camera\-config
+.B \-\-camera\-config
 Possible choices: overhead, sw, sw+interp
 .INDENT 7.0
 .INDENT 3.5
@@ -1638,12 +1638,12 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .sp
-Default: "overhead"
+Default: \(dqoverhead\(dq
 .UNINDENT
 .SS Stage1: Configuring robots
 .INDENT 0.0
 .TP
-.B\-\-with\-robot\-rab
+.B \-\-with\-robot\-rab
 .INDENT 7.0
 .INDENT 3.5
 If passed, do not remove the Range and
@@ -1673,7 +1673,7 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-with\-robot\-leds
+.B \-\-with\-robot\-leds
 .INDENT 7.0
 .INDENT 3.5
 If passed, do not remove the robot LED
@@ -1702,7 +1702,7 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-with\-robot\-battery
+.B \-\-with\-robot\-battery
 .INDENT 7.0
 .INDENT 3.5
 If passed, do not remove the robot
@@ -1729,7 +1729,7 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-n\-robots
+.B \-\-n\-robots
 .INDENT 7.0
 .INDENT 3.5
 The # robots that should be used in the
@@ -1765,7 +1765,7 @@ usage: SIERRA [\-\-exec\-jobs\-per\-node EXEC_JOBS_PER_NODE] [\-\-exec\-devnull]
 For platforms which are simulators (and can therefore be run in HPC environments).
 .INDENT 0.0
 .TP
-.B\-\-exec\-jobs\-per\-node
+.B \-\-exec\-jobs\-per\-node
 .INDENT 7.0
 .INDENT 3.5
 Specify the maximum number of parallel jobs to run
@@ -1785,7 +1785,7 @@ Used by stage {2}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .TP
-.B\-\-exec\-devnull
+.B \-\-exec\-devnull
 .INDENT 7.0
 .INDENT 3.5
 Redirect ALL output from simulations to
@@ -1806,7 +1806,7 @@ Used by stage {1,2}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: True
 .TP
-.B\-\-exec\-no\-devnull
+.B \-\-exec\-no\-devnull
 .INDENT 7.0
 .INDENT 3.5
 Don\(aqt redirect ALL output from simulations to
@@ -1827,7 +1827,7 @@ Used by stage {1,2}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: True
 .TP
-.B\-\-exec\-resume
+.B \-\-exec\-resume
 .INDENT 7.0
 .INDENT 3.5
 Resume a batch experiment that was
@@ -1844,7 +1844,7 @@ Used by stage {2}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-exec\-strict
+.B \-\-exec\-strict
 .INDENT 7.0
 .INDENT 3.5
 If passed, then if any experimental commands fail
@@ -1855,7 +1855,7 @@ experiments.
 Useful for:
 .INDENT 0.0
 .IP \(bu 2
-"Correctness by construction" experiments, where
+\(dqCorrectness by construction\(dq experiments, where
 you know if SIERRA doesn\(aqt crash and it makes it
 to the end of your batch experiment then none of
 the individual experiments crashed.
@@ -1889,13 +1889,13 @@ usage: SIERRA [\-\-exp\-setup EXP_SETUP] [\-\-robot ROBOT]
 .SS Stage1: Experiment generation
 .INDENT 0.0
 .TP
-.B\-\-exp\-setup
+.B \-\-exp\-setup
 .INDENT 7.0
 .INDENT 3.5
 Defines experiment run length, ticks per
 second for the experiment, # of datapoints
 to capture/capture interval for each
-simulation. See ln\-sierra\-vars\-expsetup for
+simulation. See \fI\%Experiment Setup\fP for
 a full description.
 .UNINDENT
 .UNINDENT
@@ -1907,14 +1907,14 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .sp
-Default: "exp_setup.T1000.K5.N50"
+Default: \(dqexp_setup.T1000.K5.N50\(dq
 .TP
-.B\-\-robot
+.B \-\-robot
 .INDENT 7.0
 .INDENT 3.5
 The key name of the robot model, which must
 be present in the appropriate section of
-\fBmain.yaml\fP for the Project\&. See
+\fBmain.yaml\fP for the \fI\%Project\fP\&. See
 ln\-sierra\-tutorials\-project\-main\-config
 for details.
 .UNINDENT
@@ -1930,10 +1930,10 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .SS Stage1: Experiment setup
 .INDENT 0.0
 .TP
-.B\-\-robot\-positions
+.B \-\-robot\-positions
 .INDENT 7.0
 .INDENT 3.5
-A list of space\-separated "X,Y,Z" tuples
+A list of space\-separated \(dqX,Y,Z\(dq tuples
 (no quotes) passed on the command line as
 valid starting positions for the robots
 within the world.
@@ -1952,14 +1952,14 @@ Default: []
 .SS Stage1: Configuring Gazebo physics engines
 .INDENT 0.0
 .TP
-.B\-\-physics\-engine\-type
+.B \-\-physics\-engine\-type
 Possible choices: ode, bullet, dart, simbody
 .INDENT 7.0
 .INDENT 3.5
 The type of 3D physics engine to use
 for managing spatial extents within the
 arena, choosing one of the types that
-Gazebo supports. A single
+\fI\%Gazebo\fP supports. A single
 engine instance is used to manage all
 physics in the arena.
 .UNINDENT
@@ -1972,9 +1972,9 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .sp
-Default: "ode"
+Default: \(dqode\(dq
 .TP
-.B\-\-physics\-iter\-per\-tick
+.B \-\-physics\-iter\-per\-tick
 .INDENT 7.0
 .INDENT 3.5
 The # of iterations all physics engines
@@ -1994,11 +1994,11 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: 1000
 .TP
-.B\-\-physics\-n\-threads
+.B \-\-physics\-n\-threads
 .INDENT 7.0
 .INDENT 3.5
 Gazebo can group non\-interacting
-entities into computational "islands"
+entities into computational \(dqislands\(dq
 and do the physics updates for those
 islands in parallel each timestep
 (islands) are recomputed after each
@@ -2007,7 +2007,7 @@ the computation of velocity/position
 updates with the computation of
 resolving collisions (i.e., the
 timestep impulse results in one entity
-"inside" another). You can assign
+\(dqinside\(dq another). You can assign
 multiple threads to a pool for
 cumulative use for these two
 parallelization methods (threads will
@@ -2044,14 +2044,14 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: 0
 .TP
-.B\-\-physics\-ec\-threadpool
+.B \-\-physics\-ec\-threadpool
 .INDENT 7.0
 .INDENT 3.5
 Gazebo can parallelize the computation
 of velocity/position updates with the
 computation of resolving collisions
 (i.e., the timestep impulse results in
-one entity "inside" another). You can
+one entity \(dqinside\(dq another). You can
 assign multiple threads to a pool for
 cumulative use for this purpose. The
 point at which adding more threads will
@@ -2102,7 +2102,7 @@ usage: SIERRA [\-\-exec\-jobs\-per\-node EXEC_JOBS_PER_NODE] [\-\-exec\-devnull]
 For platforms which are simulators (and can therefore be run in HPC environments).
 .INDENT 0.0
 .TP
-.B\-\-exec\-jobs\-per\-node
+.B \-\-exec\-jobs\-per\-node
 .INDENT 7.0
 .INDENT 3.5
 Specify the maximum number of parallel jobs to run
@@ -2122,7 +2122,7 @@ Used by stage {2}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .TP
-.B\-\-exec\-devnull
+.B \-\-exec\-devnull
 .INDENT 7.0
 .INDENT 3.5
 Redirect ALL output from simulations to
@@ -2143,7 +2143,7 @@ Used by stage {1,2}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: True
 .TP
-.B\-\-exec\-no\-devnull
+.B \-\-exec\-no\-devnull
 .INDENT 7.0
 .INDENT 3.5
 Don\(aqt redirect ALL output from simulations to
@@ -2164,7 +2164,7 @@ Used by stage {1,2}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: True
 .TP
-.B\-\-exec\-resume
+.B \-\-exec\-resume
 .INDENT 7.0
 .INDENT 3.5
 Resume a batch experiment that was
@@ -2181,7 +2181,7 @@ Used by stage {2}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: False
 .TP
-.B\-\-exec\-strict
+.B \-\-exec\-strict
 .INDENT 7.0
 .INDENT 3.5
 If passed, then if any experimental commands fail
@@ -2192,7 +2192,7 @@ experiments.
 Useful for:
 .INDENT 0.0
 .IP \(bu 2
-"Correctness by construction" experiments, where
+\(dqCorrectness by construction\(dq experiments, where
 you know if SIERRA doesn\(aqt crash and it makes it
 to the end of your batch experiment then none of
 the individual experiments crashed.
@@ -2221,13 +2221,13 @@ usage: SIERRA [\-\-exp\-setup EXP_SETUP] [\-\-robot ROBOT] [\-\-skip\-sync]
 .SS Stage1: Experiment generation
 .INDENT 0.0
 .TP
-.B\-\-exp\-setup
+.B \-\-exp\-setup
 .INDENT 7.0
 .INDENT 3.5
 Defines experiment run length, ticks per
 second for the experiment, # of datapoints
 to capture/capture interval for each
-simulation. See ln\-sierra\-vars\-expsetup for
+simulation. See \fI\%Experiment Setup\fP for
 a full description.
 .UNINDENT
 .UNINDENT
@@ -2239,14 +2239,14 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .UNINDENT
 .UNINDENT
 .sp
-Default: "exp_setup.T1000.K5.N50"
+Default: \(dqexp_setup.T1000.K5.N50\(dq
 .TP
-.B\-\-robot
+.B \-\-robot
 .INDENT 7.0
 .INDENT 3.5
 The key name of the robot model, which must
 be present in the appropriate section of
-\fBmain.yaml\fP for the Project\&. See
+\fBmain.yaml\fP for the \fI\%Project\fP\&. See
 ln\-sierra\-tutorials\-project\-main\-config
 for details.
 .UNINDENT
@@ -2262,14 +2262,14 @@ Used by stage {1}; can be omitted otherwise. If omitted: N/A.
 .SS Stage1: Experiment generation
 .INDENT 0.0
 .TP
-.B\-\-skip\-sync
+.B \-\-skip\-sync
 .INDENT 7.0
 .INDENT 3.5
 If passed, then the generated experiment will not
 be synced to robots. This is useful when:
 .INDENT 0.0
 .IP \(bu 2
-You are developing your Project and
+You are developing your \fI\%Project\fP and
 just want to check locally if the experiment
 is being generated properly.
 .IP \(bu 2
@@ -2305,11 +2305,11 @@ usage: SIERRA [\-\-exec\-inter\-run\-pause SECONDS] [\-\-exec\-resume]
 .SS Stage2: Experiment executionFor running real robot experiments
 .INDENT 0.0
 .TP
-.B\-\-exec\-inter\-run\-pause
+.B \-\-exec\-inter\-run\-pause
 .INDENT 7.0
 .INDENT 3.5
-How long to pause between Experimental
-Runs, giving you time to
+How long to pause between \fI\%Experimental
+Runs\fP, giving you time to
 reset the environment, move robots, etc.
 .UNINDENT
 .UNINDENT
@@ -2323,7 +2323,7 @@ Used by stage {2}; can be omitted otherwise. If omitted: N/A.
 .sp
 Default: 60
 .TP
-.B\-\-exec\-resume
+.B \-\-exec\-resume
 .INDENT 7.0
 .INDENT 3.5
 Resume a batch experiment that was