From b5b7724f2c0a929dd4894f3921878178c626366a Mon Sep 17 00:00:00 2001
From: John Harwell <john.r.harwell@gmail.com>
Date: Wed, 23 Oct 2024 13:18:42 -0500
Subject: [PATCH] refactor(#317): Better design

- Get all ARgoS integration tests to pass again, and then cleanup static analysis
---
 noxfile.py                                    |   9 +-
 scripts/argos-integration-tests.sh            | 109 ++++++++++++++++--
 scripts/core-integration-tests.sh             |  10 +-
 scripts/ros1gazebo-integration-tests.sh       |  42 ++++++-
 scripts/ros1robot-integration-tests.sh        |  11 +-
 sierra/core/batchroot.py                      |  39 +++++--
 sierra/core/exproot.py                        |  14 +--
 sierra/core/pipeline/pipeline.py              |  18 ++-
 sierra/core/pipeline/stage2/exp_runner.py     |   9 +-
 sierra/core/pipeline/stage4/graphs/collate.py |   1 +
 .../pipeline/stage4/graphs/inter/generate.py  |   2 +-
 .../pipeline/stage4/graphs/inter/heatmap.py   |   2 +-
 .../core/pipeline/stage4/graphs/inter/line.py |   9 +-
 .../pipeline/stage4/graphs/intra/generate.py  |   6 +-
 .../pipeline/stage4/graphs/intra/heatmap.py   |  25 ++--
 .../core/pipeline/stage4/graphs/intra/line.py |  14 +--
 .../core/pipeline/stage4/pipeline_stage4.py   |   9 +-
 .../stage5/inter_scenario_comparator.py       |   2 +-
 .../stage5/intra_scenario_comparator.py       |  67 +++++++----
 sierra/core/pipeline/stage5/outputroot.py     |   2 +-
 .../core/pipeline/stage5/pipeline_stage5.py   |  21 ++--
 sierra/core/variables/batch_criteria.py       |  58 +++++++++-
 sierra/core/variables/population_size.py      |   3 +
 sierra/core/variables/variable_density.py     |   2 +-
 sierra/main.py                                |   1 +
 sierra/plugins/platform/argos/cmdline.py      |  20 ++--
 .../variables/population_constant_density.py  |   2 +
 .../variables/population_variable_density.py  |   4 +-
 .../ros1gazebo/variables/population_size.py   |   4 +-
 29 files changed, 379 insertions(+), 136 deletions(-)

diff --git a/noxfile.py b/noxfile.py
index 364660c1..3d687a28 100644
--- a/noxfile.py
+++ b/noxfile.py
@@ -63,7 +63,7 @@ def analyze_pytype(session):
     session.run('pytype',
                 f'-j {cores}',
                 '-k',
-                '-d name-error,attribute-error,invalid-annotation,pyi-error',
+                '-d name-error,attribute-error,pyi-error',
                 'sierra',
                 external=True)
 
@@ -74,8 +74,6 @@ 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
@@ -109,7 +107,10 @@ def analyze_mypy(session):
                 'name-match',
                 'no-untype-def',
                 'redundant-cast',
-                'no-untyped-call'
+                'disallow-untyped-calls',
+                'check-untyped-defs',
+                'disallow-untyped-defs',
+                'disallow-incomplete-defs'
 
                 # List types
                 'list-item',
diff --git a/scripts/argos-integration-tests.sh b/scripts/argos-integration-tests.sh
index 0de49ecc..9f55cd5a 100755
--- a/scripts/argos-integration-tests.sh
+++ b/scripts/argos-integration-tests.sh
@@ -27,7 +27,7 @@ setup_env() {
     # between jobs in a workflow  on OSX, and doing this the way
     # github says to do doesn't work.
     export PATH=$pythonLocation/bin:$PATH
-    
+
     # Required to get coverage.py to work with the installed version
     # of SIERRA. Omitting this results in either nothing getting
     # measured because the local site-packages is omitted, or if that
@@ -186,7 +186,15 @@ bc_bivar_sanity_test() {
 # Check that stage 1 outputs what it is supposed to
 ################################################################################
 stage1_univar_test() {
-    batch_root=$(python3 -c"from sierra.core.batchroot import batchroot;print(batchroot.ExpRoot(\"$SIERRA_ROOT\",\"argos_project\",[\"population_size.Linear3.C3\"],\"LowBlockCount.10x10x2\",\"foraging.footbot_foraging\", \"template\").to_path())")
+    batch_root_cmd="from sierra.core import batchroot;
+bc=[\"population_size.Linear3.C3\"];
+template_stem=\"template\";
+scenario=\"LowBlockCount.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"argos_project\",controller=\"foraging.footbot_foraging\",leaf=leaf).to_path();
+print(path)
+"
+    batch_root=$(python3 -c "${batch_root_cmd}")
 
     input_root=$batch_root/exp-inputs/
     rm -rf $SIERRA_ROOT
@@ -219,11 +227,28 @@ stage1_univar_test() {
 }
 
 stage1_bivar_test() {
-    batch_root=$(python3 -c"from sierra.core.batchroot import batchroot;print(batchroot.ExpRoot(\"$SIERRA_ROOT\",\"argos_project\",[\"population_size.Linear3.C3\",\"max_speed.1.9.C5\"],\"LowBlockCount.10x10x2\",\"foraging.footbot_foraging\", \"template\").to_path())")
+    batch_root_cmd1="from sierra.core import batchroot;
+bc=[\"population_size.Linear3.C3\",\"max_speed.1.9.C5\"];
+template_stem=\"template\";
+scenario=\"LowBlockCount.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"argos_project\",controller=\"foraging.footbot_foraging\",leaf=leaf).to_path();
+print(path)
+"
+    batch_root_cmd2="from sierra.core import batchroot;
+bc=[\"max_speed.1.9.C5\",\"population_size.Linear3.C3\"];
+template_stem=\"template\";
+scenario=\"LowBlockCount.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"argos_project\",controller=\"foraging.footbot_foraging\",leaf=leaf).to_path();
+print(path)
+"
+
+    batch_root1=$(python3 -c "${batch_root_cmd1}")
 
     input_root1=$batch_root1/exp-inputs/
 
-    batch_root=$(python3 -c"from sierra.core.batchroot import batchroot;print(batchroot.ExpRoot(\"$SIERRA_ROOT\",\"argos_project\",[\"max_speed.1.9.C5\",\"population_size.Linear3.C3\"],\"LowBlockCount.10x10x2\",\"foraging.footbot_foraging\", \"template\").to_path())")
+    batch_root2=$(python3 -c"${batch_root_cmd2}")
 
     input_root2=$batch_root2/exp-inputs/
 
@@ -298,7 +323,16 @@ stage1_bivar_test() {
 # Check that stage 2 outputs what it is supposed to
 ################################################################################
 stage2_univar_test() {
-    batch_root=$(python3 -c"from sierra.core.batchroot import batchroot;print(batchroot.ExpRoot(\"$SIERRA_ROOT\",\"argos_project\",[\"population_size.Linear3.C3\"],\"LowBlockCount.10x10x2\",\"foraging.footbot_foraging\", \"template\").to_path())")
+        batch_root_cmd="from sierra.core import batchroot;
+bc=[\"population_size.Linear3.C3\"];
+template_stem=\"template\";
+scenario=\"LowBlockCount.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"argos_project\",controller=\"foraging.footbot_foraging\",leaf=leaf).to_path();
+print(path)
+"
+
+    batch_root=$(python3 -c"${batch_root_cmd}")
 
     output_root=$batch_root/exp-outputs/
     scratch_root=$batch_root/scratch/
@@ -375,7 +409,15 @@ stage2_univar_check_outputs() {
 }
 
 stage2_bivar_test() {
-    batch_root1=$(python3 -c"from sierra.core.batchroot import batchroot;print(batchroot.ExpRoot(\"$SIERRA_ROOT\",\"argos_project\",[\"population_size.Linear3.C3\",\"max_speed.1.9.C5\"],\"LowBlockCount.10x10x2\",\"foraging.footbot_foraging\", \"template\").to_path())")
+    batch_root_cmd1="from sierra.core import batchroot;
+bc=[\"population_size.Linear3.C3\", \"max_speed.1.9.C5\"];
+template_stem=\"template\";
+scenario=\"LowBlockCount.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"argos_project\",controller=\"foraging.footbot_foraging\",leaf=leaf).to_path();
+print(path)
+"
+    batch_root1=$(python3 -c"${batch_root_cmd1}")
 
     output_root1=$batch_root1/exp-outputs/
 
@@ -410,7 +452,15 @@ stage2_bivar_test() {
 # Check that stage 3 outputs what it is supposed to
 ################################################################################
 stage3_univar_test() {
-    batch_root=$(python3 -c"from sierra.core.batchroot import batchroot;print(batchroot.ExpRoot(\"$SIERRA_ROOT\",\"argos_project\",[\"population_size.Linear3.C3\"],\"LowBlockCount.10x10x2\",\"foraging.footbot_foraging\", \"template\").to_path())")
+    batch_root_cmd="from sierra.core import batchroot;
+bc=[\"population_size.Linear3.C3\"];
+template_stem=\"template\";
+scenario=\"LowBlockCount.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"argos_project\",controller=\"foraging.footbot_foraging\",leaf=leaf).to_path();
+print(path)
+"
+    batch_root=$(python3 -c"${batch_root_cmd}")
 
     stat_root=$batch_root/statistics
     rm -rf $SIERRA_ROOT
@@ -460,7 +510,16 @@ stage3_univar_check_outputs() {
 }
 
 stage3_bivar_test() {
-    batch_root=$(python3 -c"from sierra.core.batchroot import batchroot;print(batchroot.ExpRoot(\"$SIERRA_ROOT\",\"argos_project\",[\"population_size.Linear3.C3\",\"max_speed.1.9.C5\"],\"LowBlockCount.10x10x2\",\"foraging.footbot_foraging\", \"template\").to_path())")
+    batch_root_cmd1="from sierra.core import batchroot;
+bc=[\"population_size.Linear3.C3\", \"max_speed.1.9.C5\"];
+template_stem=\"template\";
+scenario=\"LowBlockCount.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"argos_project\",controller=\"foraging.footbot_foraging\",leaf=leaf).to_path();
+print(path)
+"
+
+    batch_root=$(python3 -c"${batch_root_cmd1}")
 
     output_root=$batch_root1/exp-outputs/
 
@@ -533,7 +592,15 @@ stage4_univar_test() {
         --physics-n-engines=1 \
         --batch-criteria ${bc}\
         --pipeline 1 2 3 4"
-        batch_root=$(python3 -c"from sierra.core.batchroot import batchroot;print(batchroot.ExpRoot(\"$SIERRA_ROOT\",\"argos_project\",[\"${bc}\"],\"LowBlockCount.10x10x2\",\"foraging.footbot_foraging\", \"template\").to_path())")
+        batch_root_cmd="from sierra.core import batchroot;
+bc=[\"${bc}\"];
+template_stem=\"template\";
+scenario=\"LowBlockCount.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"argos_project\",controller=\"foraging.footbot_foraging\",leaf=leaf).to_path();
+print(path)
+"
+        batch_root=$(python3 -c"${batch_root_cmd}")
 
         graph_root=$batch_root/graphs
 
@@ -755,7 +822,16 @@ stage5_bivar_check_cc_outputs() {
 # Visual capture test
 ################################################################################
 vc_test() {
-    batch_root=$(python3 -c"from sierra.core.batchroot import batchroot;print(batchroot.ExpRoot(\"$SIERRA_ROOT\",\"argos_project\",[\"population_size.Linear3.C3\"],\"LowBlockCount.10x10x2\",\"foraging.footbot_foraging\", \"template\").to_path())")
+        batch_root_cmd="from sierra.core import batchroot;
+bc=[\"population_size.Linear3.C3\"];
+template_stem=\"template\";
+scenario=\"LowBlockCount.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"argos_project\",controller=\"foraging.footbot_foraging\",leaf=leaf).to_path();
+print(path)
+"
+
+    batch_root=$(python3 -c"${batch_root_cmd}")
 
     output_root=$batch_root/exp-outputs
     video_root=$batch_root/videos
@@ -798,7 +874,16 @@ vc_test() {
 # Cmdline test
 ################################################################################
 cmdline_test() {
-    batch_root=$(python3 -c"from sierra.core.batchroot import batchroot;print(batchroot.ExpRoot(\"$SIERRA_ROOT\",\"argos_project\",[\"population_size.Linear3.C3\"],\"LowBlockCount.10x10x2\",\"foraging.footbot_foraging\",\"template\").to_path())")
+    batch_root_cmd="from sierra.core import batchroot;
+bc=[\"population_size.Linear3.C3\"];
+template_stem=\"template\";
+scenario=\"LowBlockCount.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"argos_project\",controller=\"foraging.footbot_foraging\",leaf=leaf).to_path();
+print(path)
+"
+
+    batch_root=$(python3 -c"${batch_root_cmd}")
 
     input_root=$batch_root/exp-inputs
     rm -rf $SIERRA_ROOT
@@ -810,7 +895,7 @@ cmdline_test() {
     --exp-setup=exp_setup.T50"
 
 
-    $SIERRA_CMD --n-robots=10 --pipeline 1
+    $SIERRA_CMD --n-agents=10 --pipeline 1
 
     for exp in {0..2}; do
         for run in {0..3}; do
diff --git a/scripts/core-integration-tests.sh b/scripts/core-integration-tests.sh
index 9aa68a31..a5c6e09b 100755
--- a/scripts/core-integration-tests.sh
+++ b/scripts/core-integration-tests.sh
@@ -84,7 +84,15 @@ setup_env() {
 # Check usage of environment variables
 ################################################################################
 env_vars_test() {
-    batch_root=$(python3 -c"from sierra.core.batchroot import batchroot;print(batchroot.ExpRoot(\"$SIERRA_ROOT\",\"ros1robot_project\",[\"population_size.Linear3.C3\"],\"OutdoorWorld.10x10x2\",\"turtlebot3.wander\", \"turtlebot3\").to_path())")
+    batch_root_cmd="from sierra.core import batchroot;
+bc=[\"population_size.Linear3.C3\"];
+template_stem=\"turtlebot3\";
+scenario=\"OutdoorWorld.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"ros1robot_project\",controller=\"turtlebot3.wander\",leaf=leaf).to_path();
+print(path)
+"
+    batch_root=$(python3 -c"${batch_root_cmd}")
 
     input_root=$batch_root/exp-inputs/
     rm -rf $SIERRA_ROOT
diff --git a/scripts/ros1gazebo-integration-tests.sh b/scripts/ros1gazebo-integration-tests.sh
index 46eb85fc..3779b9f8 100755
--- a/scripts/ros1gazebo-integration-tests.sh
+++ b/scripts/ros1gazebo-integration-tests.sh
@@ -93,7 +93,16 @@ bc_bivar_sanity_test() {
 # Check that stage 1 outputs what it is supposed to
 ################################################################################
 stage1_univar_test() {
-    batch_root=$(python3 -c"from sierra.core.batchroot import batchroot;print(batchroot.ExpRoot(\"$SIERRA_ROOT\",\"ros1gazebo_project\",[\"population_size.Linear3.C3\"],\"HouseWorld.10x10x2\",\"turtlebot3.wander\", \"turtlebot3_house\").to_path())")
+    batch_root_cmd="from sierra.core import batchroot;
+bc=[\"population_size.Linear3.C3\"];
+template_stem=\"turtlebot3_house\";
+scenario=\"HouseWorld.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"ros1gazebo_project\",controller=\"turtlebot3.wander\",leaf=leaf).to_path();
+print(path)
+"
+
+    batch_root=$(python3 -c"${batch_root_cmd}")
 
     input_root=$batch_root/exp-inputs/
     rm -rf $SIERRA_ROOT
@@ -125,11 +134,27 @@ stage1_univar_test() {
 }
 
 stage1_bivar_test() {
-    batch_root1=$(python3 -c"from sierra.core.batchroot import batchroot;print(batchroot.ExpRoot(\"$SIERRA_ROOT\",\"ros1gazebo_project\",[\"population_size.Linear3.C3\",\"max_speed.1.9.C5\"],\"HouseWorld.10x10x2\",\"turtlebot3.wander\", \"turtlebot3_house\").to_path())")
+    batch_root_cmd1="from sierra.core import batchroot;
+bc=[\"population_size.Linear3.C3\",\"max_speed.1.9.C5\"];
+template_stem=\"turtlebot3_house\";
+scenario=\"HouseWorld.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"ros1gazebo_project\",controller=\"turtlebot3.wander\",leaf=leaf).to_path();
+print(path)
+"
+    batch_root_cmd2="from sierra.core import batchroot;
+bc=[\"max_speed.1.9.C5\",\"population_size.Linear3.C3\"];
+template_stem=\"turtlebot3_house\";
+scenario=\"HouseWorld.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"ros1gazebo_project\",controller=\"turtlebot3.wander\",leaf=leaf).to_path();
+print(path)
+"
+    batch_root1=$(python3 -c"${batch_root_cmd1}")
 
     input_root1=$batch_root1/exp-inputs/
 
-    batch_root1=$(python3 -c"from sierra.core.batchroot import batchroot;print(batchroot.ExpRoot(\"$SIERRA_ROOT\",\"ros1gazebo_project\",[\"max_speed.1.9.C5\",\"population_size.Linear3.C3\"],\"HouseWorld.10x10x2\",\"turtlebot3.wander\", \"turtlebot3_house\").to_path())")
+    batch_root2=$(python3 -c"${batch_root_cmd2}")
 
     input_root2=$batch_root2/exp-inputs/
 
@@ -197,7 +222,16 @@ stage1_bivar_test() {
 # Check that stage 2 works for all exec envs
 ################################################################################
 stage2_univar_test() {
-    batch_root=$(python3 -c"import sierra.core.root_dirpath_generator as rdg;print(rdg.gen_batch_root(\"$SIERRA_ROOT\",\"ros1gazebo_project\",[\"population_size.Linear3.C3\"],\"HouseWorld.10x10x2\",\"turtlebot3.wander\", \"turtlebot3_house\"))")
+    batch_root_cmd="from sierra.core import batchroot;
+bc=[\"population_size.Linear3.C3\"];
+template_stem=\"turtlebot3_house\";
+scenario=\"HouseWorld.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"ros1gazebo_project\",controller=\"turtlebot3.wander\",leaf=leaf).to_path();
+print(path)
+"
+
+    batch_root=$(python3 -c"${batch_root_cmd}")
 
     scratch_root=$batch_root/scratch/
 
diff --git a/scripts/ros1robot-integration-tests.sh b/scripts/ros1robot-integration-tests.sh
index 3d2c4af7..eddba21a 100755
--- a/scripts/ros1robot-integration-tests.sh
+++ b/scripts/ros1robot-integration-tests.sh
@@ -77,7 +77,16 @@ bc_univar_sanity_test() {
 # Check that stage 1 outputs what it is supposed to
 ################################################################################
 stage1_test() {
-    batch_root=$(python3 -c"from sierra.core.batchroot import batchroot;print(batchroot.ExpRoot(\"$SIERRA_ROOT\",\"ros1gazebo_project\",[\"population_size.Linear3.C3\"],\"OutdoorWorld.10x10x2\",\"turtlebot3.wander\", \"turtlebot3\").to_path())")
+    batch_root_cmd="from sierra.core import batchroot;
+bc=[\"population_size.Linear3.C3\"];
+template_stem=\"turtlebot3\";
+scenario=\"OutdoorWorld.10x10x2\";
+leaf=batchroot.ExpRootLeaf(bc=bc,template_stem=template_stem,scenario=scenario);
+path=batchroot.ExpRoot(sierra_root=\"$SIERRA_ROOT\",project=\"ros1robot_project\",controller=\"turtlebot3.wander\",leaf=leaf).to_path();
+print(path)
+"
+
+    batch_root=$(python3 -c"${batch_root_cmd}")
 
     input_root=$batch_root/exp-inputs/
     rm -rf $SIERRA_ROOT
diff --git a/sierra/core/batchroot.py b/sierra/core/batchroot.py
index d5640904..1a6102a7 100644
--- a/sierra/core/batchroot.py
+++ b/sierra/core/batchroot.py
@@ -39,7 +39,8 @@ def from_components(bc: tp.List[str],
                         scenario: str) -> 'ExpRootLeaf':
         return ExpRootLeaf(bc, template_stem, scenario)
 
-    def __init__(self, bc: tp.List[str],
+    def __init__(self,
+                 bc: tp.List[str],
                  template_stem: str,
                  scenario: str) -> None:
         self.bc = bc
@@ -47,12 +48,16 @@ def __init__(self, bc: tp.List[str],
         self.scenario = scenario
 
     def to_path(self) -> pathlib.Path:
-        root = pathlib.Path(f"{0}-{1}+{2}" % (self.template_stem,
-                                              self.scenario,
-                                              '+'.join(self.bc)))
-        logging.debug("Generated batch leaf %s", root)
+        root = pathlib.Path("{0}-{1}+{2}".format(
+                            self.template_stem,
+                            self.scenario,
+                            '+'.join(self.bc)))
+        logging.trace("Generated batch leaf %s", root.as_posix())
         return root
 
+    def to_str(self) -> str:
+        return str(self.to_path())
+
 
 class ExpRoot():
     def __init__(self,
@@ -91,6 +96,9 @@ def __init__(self,
     def to_path(self) -> pathlib.Path:
         return self.sierra_root / self.project / self.controller / self.leaf.to_path()
 
+    def to_str(self) -> str:
+        return str(self.to_path())
+
 
 class PathSet():
     def __init__(self, root: ExpRoot) -> None:
@@ -99,14 +107,27 @@ def __init__(self, root: ExpRoot) -> None:
         self.graph_root = root.to_path() / "graphs"
         self.model_root = root.to_path() / "models"
         self.stat_root = root.to_path() / "statistics"
-        self.stat_exec_root = self.stat_root.to_path() / "exec"
+        self.stat_exec_root = self.stat_root / "exec"
         self.imagize_root = root.to_path() / "imagize"
         self.video_root = root.to_path() / "videos"
-        self.stat_collate_root = self.stat_root.to_path() / "collated"
-        self.graph_collate_root = self.graph_root.to_path() / "collated"
+        self.stat_collate_root = self.stat_root / "collated"
+        self.graph_collate_root = self.graph_root / "collated"
         self.scratch_root = root.to_path() / "scratch"
         self.root = root.to_path()
 
+    def __str__(self) -> str:
+        return (f"Batch root: {self.root}\n" +
+                f"Input root: <batch root>/{self.input_root.name}\n" +
+                f"Output root: <batch root>/{self.output_root.name}\n" +
+                f"Graph root: <batch root>/{self.graph_root.name}\n" +
+                f"Model root: <batch root>/{self.model_root.name}\n" +
+                f"Statistics root: <batch root>/{self.stat_root.name}\n" +
+                f"Execution statistics root: <batch root>/{self.stat_exec_root.name}\n" +
+                f"Imagizing root: <batch root>/{self.imagize_root.name}\n" +
+                f"Video root: <batch root>/{self.video_root.name}\n" +
+                f"Statistics collate root: <batch root>/{self.stat_collate_root.name}\n" +
+                f"Experiment scratch root: <batch root>/{self.scratch_root.name}")
+
 
 def from_cmdline(args: argparse.Namespace) -> PathSet:
     """Generate directory paths directly from cmdline arguments.
@@ -154,5 +175,5 @@ def from_exp(sierra_root: str,
                    project,
                    controller,
                    batch_leaf)
-    logging.info('Generated batch root %s', root)
+    logging.info('Generated batch root %s', root.to_path())
     return PathSet(root)
diff --git a/sierra/core/exproot.py b/sierra/core/exproot.py
index 305f724b..a04a911c 100644
--- a/sierra/core/exproot.py
+++ b/sierra/core/exproot.py
@@ -18,12 +18,12 @@ def __init__(self,
                  batch: batchroot.PathSet,
                  exp_name: str,
                  exp0_name: tp.Optional[str] = None) -> None:
-        self.input_root = batch.input_root.to_path() / exp_name
-        self.output_root = batch.output_root.to_path() / exp_name
-        self.graph_root = batch.graph_root.to_path() / exp_name
-        self.model_root = batch.model_root.to_path() / exp_name
-        self.stat_root = batch.state_root.to_path() / exp_name
+        self.input_root = batch.input_root / exp_name
+        self.output_root = batch.output_root / exp_name
+        self.graph_root = batch.graph_root / exp_name
+        self.model_root = batch.model_root / exp_name
+        self.stat_root = batch.stat_root / exp_name
 
         if exp0_name:
-            self.exp0_output_root = batch.output_root.to_path() / exp0_name
-            self.exp0_stat_root = batch.stat_root.to_path() / exp0_name
+            self.exp0_output_root = batch.output_root / exp0_name
+            self.exp0_stat_root = batch.stat_root / exp0_name
diff --git a/sierra/core/pipeline/pipeline.py b/sierra/core/pipeline/pipeline.py
index 3aa5cc73..e93c0167 100755
--- a/sierra/core/pipeline/pipeline.py
+++ b/sierra/core/pipeline/pipeline.py
@@ -18,7 +18,7 @@
 
 # Project packages
 import sierra.core.plugin_manager as pm
-from sierra.core import types, config, utils, batchroot
+from sierra.core import config, utils, batchroot
 
 from sierra.core.pipeline.stage1.pipeline_stage1 import PipelineStage1
 from sierra.core.pipeline.stage2.pipeline_stage2 import PipelineStage2
@@ -36,6 +36,9 @@ def __init__(self,
                  pathset: tp.Optional[batchroot.PathSet] = None) -> None:
         self.args = args
         self.logger = logging.getLogger(__name__)
+        self.pathset = pathset
+
+        self.logger.trace("%s", self.pathset)
 
         assert all(stage in [1, 2, 3, 4, 5] for stage in args.pipeline), \
             f"Invalid pipeline stage in {args.pipeline}: Only 1-5 valid"
@@ -106,7 +109,7 @@ def __init__(self,
                                        platform=self.cmdopts['platform'])
         module.PlatformCmdline.cmdopts_update(self.args, self.cmdopts)
 
-        if pathset is not None:
+        if self.pathset is not None:
             # Load additional cmdline options from project. This is mandatory,
             # because all projects have to define --controller and --scenario
             # at a minimum.
@@ -131,6 +134,7 @@ def __init__(self,
                                        path='variables.batch_criteria')
             self.batch_criteria = bc.factory(self.main_config,
                                              self.cmdopts,
+                                             self.pathset.input_root,
                                              self.args)
 
         self.controller = controller
@@ -141,19 +145,23 @@ def run(self) -> None:
         """
         if 1 in self.args.pipeline:
             PipelineStage1(self.cmdopts,
+                           self.pathset,
                            self.controller,  # type: ignore
                            self.batch_criteria).run()
 
         if 2 in self.args.pipeline:
-            PipelineStage2(self.cmdopts, self.pathset).run(self.batch_criteria)
+            PipelineStage2(self.cmdopts,
+                           self.pathset).run(self.batch_criteria)
 
         if 3 in self.args.pipeline:
             PipelineStage3(self.main_config,
-                           self.cmdopts, self.pathset).run(self.batch_criteria)
+                           self.cmdopts,
+                           self.pathset).run(self.batch_criteria)
 
         if 4 in self.args.pipeline:
             PipelineStage4(self.main_config,
-                           self.cmdopts).run(self.batch_criteria)
+                           self.cmdopts,
+                           self.pathset).run(self.batch_criteria)
 
         # not part of default pipeline
         if 5 in self.args.pipeline:
diff --git a/sierra/core/pipeline/stage2/exp_runner.py b/sierra/core/pipeline/stage2/exp_runner.py
index 733bb663..0eb18b4b 100755
--- a/sierra/core/pipeline/stage2/exp_runner.py
+++ b/sierra/core/pipeline/stage2/exp_runner.py
@@ -13,6 +13,7 @@
 import datetime
 import logging
 import pathlib
+import typing as tp
 
 # 3rd party packages
 
@@ -162,13 +163,15 @@ def __call__(self) -> None:
 
         # Output some useful information before running
         if hasattr(module, 'pre_exp_diagnostics'):
-            module.pre_exp_diagnostics(self.cmdopts, self.logger)
+            module.pre_exp_diagnostics(self.cmdopts,
+                                       self.pathset,
+                                       self.logger)
 
-        exp_all = [self.batch_exp_root / d
+        exp_all = [self.pathset.input_root / d
                    for d in self.criteria.gen_exp_names()]
 
         exp_to_run = utils.exp_range_calc(self.cmdopts["exp_range"],
-                                          self.batch_exp_root,
+                                          self.pathset.input_root,
                                           self.criteria)
 
         # Verify environment is OK before running anything
diff --git a/sierra/core/pipeline/stage4/graphs/collate.py b/sierra/core/pipeline/stage4/graphs/collate.py
index 839d3d11..c235a3f3 100755
--- a/sierra/core/pipeline/stage4/graphs/collate.py
+++ b/sierra/core/pipeline/stage4/graphs/collate.py
@@ -261,6 +261,7 @@ def __init__(self,
                  pathset: batchroot.PathSet) -> None:
         self.main_config = main_config
         self.cmdopts = cmdopts
+        self.pathset = pathset
 
         utils.dir_create_checked(pathset.stat_collate_root, exist_ok=True)
 
diff --git a/sierra/core/pipeline/stage4/graphs/inter/generate.py b/sierra/core/pipeline/stage4/graphs/inter/generate.py
index 89938a11..12e161a5 100755
--- a/sierra/core/pipeline/stage4/graphs/inter/generate.py
+++ b/sierra/core/pipeline/stage4/graphs/inter/generate.py
@@ -20,8 +20,8 @@
 
 
 def generate(main_config: types.YAMLDict,
-             pathset: batchroot.PathSet,
              cmdopts: types.Cmdopts,
+             pathset: batchroot.PathSet,
              LN_targets: tp.List[types.YAMLDict],
              HM_targets: tp.List[types.YAMLDict],
              criteria: bc.IConcreteBatchCriteria) -> None:
diff --git a/sierra/core/pipeline/stage4/graphs/inter/heatmap.py b/sierra/core/pipeline/stage4/graphs/inter/heatmap.py
index 3b99083b..d0acacd6 100644
--- a/sierra/core/pipeline/stage4/graphs/inter/heatmap.py
+++ b/sierra/core/pipeline/stage4/graphs/inter/heatmap.py
@@ -66,7 +66,7 @@ def _generate_hm(graph: types.YAMLDict,
                  interval: int,
                  ipath: pathlib.Path) -> None:
 
-    odir = graph_root / ("HM-" + graph['dest_stem'])
+    odir = graph_collate_root / ("HM-" + graph['dest_stem'])
     odir.mkdir(parents=True, exist_ok=True)
     opath = odir / ('HM-{0}_{1}{2}'.format(graph['dest_stem'],
                                            interval,
diff --git a/sierra/core/pipeline/stage4/graphs/inter/line.py b/sierra/core/pipeline/stage4/graphs/inter/line.py
index 9fbb29e9..c6fcd49f 100644
--- a/sierra/core/pipeline/stage4/graphs/inter/line.py
+++ b/sierra/core/pipeline/stage4/graphs/inter/line.py
@@ -56,8 +56,8 @@ def _gen_summary_linegraph(graph: types.YAMLDict,
                            pathset: batchroot.PathSet,
                            cmdopts: types.Cmdopts,
                            criteria: bc.IConcreteBatchCriteria) -> None:
-    opath = pathset.graph_root / ('SM-' + graph['dest_stem'] + config.kImageExt)
-
+    opath = pathset.graph_collate_root / \
+        ('SM-' + graph['dest_stem'] + config.kImageExt)
     ln = SummaryLineGraph(stats_root=pathset.stat_collate_root,
                           input_stem=graph['dest_stem'],
                           output_fpath=opath,
@@ -79,9 +79,8 @@ def _gen_stacked_linegraph(graph: types.YAMLDict,
                            pathset: batchroot.PathSet,
                            cmdopts: types.Cmdopts,
                            criteria: bc.IConcreteBatchCriteria) -> None:
-    opath = pathset.graph_root / ('SLN-' + graph['dest_stem'] +
-                                  config.kImageExt)
-
+    opath = pathset.graph_collate_root / ('SLN-' + graph['dest_stem'] +
+                                          config.kImageExt)
     ln = StackedLineGraph(stats_root=pathset.stat_collate_root,
                           input_stem=graph['dest_stem'],
                           output_fpath=opath,
diff --git a/sierra/core/pipeline/stage4/graphs/intra/generate.py b/sierra/core/pipeline/stage4/graphs/intra/generate.py
index 783c7b70..75e8c816 100755
--- a/sierra/core/pipeline/stage4/graphs/intra/generate.py
+++ b/sierra/core/pipeline/stage4/graphs/intra/generate.py
@@ -142,15 +142,15 @@ def __call__(self,
         #. :func:`~sierra.core.pipeline.stage4.graphs.intra.heatmap.generate()`
             to generate heatmaps for each experiment in the batch.
         """
-        utils.dir_create_checked(self.pathset.graph_root, exist_ok=True)
+        utils.dir_create_checked(pathset.graph_root, exist_ok=True)
 
         LN_targets, HM_targets = self.calc_targets()
 
         if not self.cmdopts['project_no_LN']:
-            line.generate(self.cmdopts, LN_targets)
+            line.generate(self.cmdopts, pathset, LN_targets)
 
         if not self.cmdopts['project_no_HM']:
-            heatmap.generate(self.cmdopts, HM_targets)
+            heatmap.generate(self.cmdopts, pathset, HM_targets)
 
     def calc_targets(self) -> tp.Tuple[tp.List[types.YAMLDict],
                                        tp.List[types.YAMLDict]]:
diff --git a/sierra/core/pipeline/stage4/graphs/intra/heatmap.py b/sierra/core/pipeline/stage4/graphs/intra/heatmap.py
index 16517258..27cbf347 100644
--- a/sierra/core/pipeline/stage4/graphs/intra/heatmap.py
+++ b/sierra/core/pipeline/stage4/graphs/intra/heatmap.py
@@ -6,14 +6,13 @@
 
 # Core packages
 import typing as tp
-import pathlib
 import logging
 
 # 3rd party packages
 import json
 
 # Project packages
-from sierra.core import types, config
+from sierra.core import types, config, exproot
 from sierra.core.models.graphs import IntraExpModel2DGraphSet
 from sierra.core.graphs.heatmap import Heatmap
 
@@ -21,18 +20,16 @@
 
 
 def generate(cmdopts: types.Cmdopts,
+             pathset: exproot.PathSet,
              targets: tp.List[types.YAMLDict]) -> None:
     """
     Generate heatmaps from: term: `Averaged .csv` files for a single experiment.
     """
-    exp_stat_root = pathlib.Path(cmdopts['exp_stat_root'])
-    exp_graph_root = pathlib.Path(cmdopts["exp_graph_root"])
-    exp_model_root = pathlib.Path(cmdopts["exp_model_root"])
     large_text = cmdopts['plot_large_text']
 
     targets = targets
 
-    _logger.info("Heatmaps from %s", exp_stat_root)
+    _logger.info("Heatmaps from %s", pathset.stat_root)
 
     # For each category of heatmaps we are generating
     for category in targets:
@@ -41,18 +38,18 @@ def generate(cmdopts: types.Cmdopts,
         for graph in category['graphs']:
             _logger.trace('\n' +  # type: ignore
                           json.dumps(graph, indent=4))
-            if IntraExpModel2DGraphSet.model_exists(exp_model_root,
+            if IntraExpModel2DGraphSet.model_exists(pathset.model_root,
                                                     graph['src_stem']):
-                IntraExpModel2DGraphSet(exp_stat_root,
-                                        exp_model_root,
-                                        exp_graph_root,
+                IntraExpModel2DGraphSet(pathset.stat_root,
+                                        pathset.model_root,
+                                        pathset.graph_root,
                                         graph['src_stem'],
                                         graph.get('title', None)).generate()
             else:
-                input_fpath = exp_stat_root / (graph['src_stem'] +
-                                               config.kStats['mean'].exts['mean'])
-                output_fpath = exp_graph_root / ('HM-' + graph['src_stem'] +
-                                                 config.kImageExt)
+                input_fpath = pathset.stat_root / (graph['src_stem'] +
+                                                   config.kStats['mean'].exts['mean'])
+                output_fpath = pathset.graph_root / ('HM-' + graph['src_stem'] +
+                                                     config.kImageExt)
 
                 Heatmap(input_fpath=input_fpath,
                         output_fpath=output_fpath,
diff --git a/sierra/core/pipeline/stage4/graphs/intra/line.py b/sierra/core/pipeline/stage4/graphs/intra/line.py
index 380772b3..5a0b4f62 100644
--- a/sierra/core/pipeline/stage4/graphs/intra/line.py
+++ b/sierra/core/pipeline/stage4/graphs/intra/line.py
@@ -5,7 +5,6 @@
 #
 
 # Core packages
-import pathlib
 import typing as tp
 import logging
 
@@ -13,33 +12,32 @@
 import json
 
 # Project packages
-from sierra.core import types, config
+from sierra.core import types, config, exproot
 from sierra.core.graphs.stacked_line_graph import StackedLineGraph
 
 _logger = logging.getLogger(__name__)
 
 
 def generate(cmdopts: types.Cmdopts,
+             pathset: exproot.PathSet,
              targets: tp.List[types.YAMLDict]) -> None:
     """
     Generate linegraphs from: term: `Averaged .csv` files within an experiment.
     """
 
-    graph_root = pathlib.Path(cmdopts['exp_graph_root'])
-    stats_root = pathlib.Path(cmdopts['exp_stat_root'])
-    _logger.info("Linegraphs from %s", cmdopts['exp_stat_root'])
+    _logger.info("Linegraphs from %s", pathset.stat_root)
 
     # For each category of linegraphs we are generating
     for category in targets:
 
         # For each graph in each category
         for graph in category['graphs']:
-            output_fpath = graph_root / ('SLN-' + graph['dest_stem'] +
-                                         config.kImageExt)
+            output_fpath = pathset.graph_root / ('SLN-' + graph['dest_stem'] +
+                                                 config.kImageExt)
             try:
                 _logger.trace('\n' +  # type: ignore
                               json.dumps(graph, indent=4))
-                StackedLineGraph(stats_root=stats_root,
+                StackedLineGraph(stats_root=pathset.stat_root,
                                  input_stem=graph['src_stem'],
                                  output_fpath=output_fpath,
                                  stats=cmdopts['dist_stats'],
diff --git a/sierra/core/pipeline/stage4/pipeline_stage4.py b/sierra/core/pipeline/stage4/pipeline_stage4.py
index a097d534..897ad56c 100755
--- a/sierra/core/pipeline/stage4/pipeline_stage4.py
+++ b/sierra/core/pipeline/stage4/pipeline_stage4.py
@@ -24,7 +24,7 @@
 
 from sierra.core.pipeline.stage4 import render
 import sierra.core.plugin_manager as pm
-from sierra.core import types, config, utils
+from sierra.core import types, config, utils, batchroot
 
 
 class PipelineStage4:
@@ -89,9 +89,11 @@ class PipelineStage4:
 
     def __init__(self,
                  main_config: types.YAMLDict,
-                 cmdopts: types.Cmdopts) -> None:
-        self.cmdopts = cmdopts
+                 cmdopts: types.Cmdopts,
+                 pathset: batchroot.PathSet) -> None:
         self.main_config = main_config
+        self.cmdopts = cmdopts
+        self.pathset = pathset
 
         self.project_config_root = pathlib.Path(self.cmdopts['project_config_root'])
         controllers_yaml = self.project_config_root / config.kYAML.controllers
@@ -406,6 +408,7 @@ def _run_inter_graph_generation(self, criteria: bc.IConcreteBatchCriteria) -> No
                                        path='pipeline.stage4.graphs.inter.generate')
         module.generate(self.main_config,
                         self.cmdopts,
+                        self.pathset,
                         LN_targets,
                         HM_targets,
                         criteria)
diff --git a/sierra/core/pipeline/stage5/inter_scenario_comparator.py b/sierra/core/pipeline/stage5/inter_scenario_comparator.py
index ab02b43b..6c2536d8 100755
--- a/sierra/core/pipeline/stage5/inter_scenario_comparator.py
+++ b/sierra/core/pipeline/stage5/inter_scenario_comparator.py
@@ -129,7 +129,7 @@ def _leaf_select(self, candidate: str) -> bool:
 
         """
         leaf = batchroot.ExpRootLeaf.from_name(candidate)
-        return leaf.to_path() in candidate and leaf.scenario in self.scenarios
+        return leaf.to_str() in candidate and leaf.scenario in self.scenarios
 
     def _compare_across_scenarios(self,
                                   cmdopts: types.Cmdopts,
diff --git a/sierra/core/pipeline/stage5/intra_scenario_comparator.py b/sierra/core/pipeline/stage5/intra_scenario_comparator.py
index d4393bd9..83e7a5cf 100755
--- a/sierra/core/pipeline/stage5/intra_scenario_comparator.py
+++ b/sierra/core/pipeline/stage5/intra_scenario_comparator.py
@@ -114,7 +114,7 @@ def _leaf_select(self, candidate: str) -> bool:
 
         """
         leaf = batchroot.ExpRootLeaf.from_name(candidate).to_path()
-        return leaf in candidate
+        return str(leaf) in candidate
 
     def _compare_in_scenario(self,
                              cmdopts: types.Cmdopts,
@@ -124,7 +124,8 @@ def _compare_in_scenario(self,
 
         for controller in self.controllers:
             dirs = [d for d in os.listdir(
-                self.project_root / controller) if batch_leaf in d]
+                self.project_root / controller) if batch_leaf.to_str() in d]
+
             if len(dirs) == 0:
                 self.logger.warning("Controller %s was not run on experiment %s",
                                     controller,
@@ -198,7 +199,7 @@ def _gen_csv(self,
                                                ipath_leaf=src_stem,
                                                opath_stem=self.stage5_roots.csv_root,
                                                n_exp=criteria.n_exp())
-        opath_leaf = namecalc.for_output(batch_leaf.name, dest_stem, None)
+        opath_leaf = namecalc.for_output(batch_leaf, dest_stem, None)
         preparer.across_rows(opath_leaf=opath_leaf, index=0, inc_exps=inc_exps)
 
     def _gen_graph(self,
@@ -324,8 +325,8 @@ def _leaf_select(self, candidate: str) -> bool:
         cause file not found errors.
 
         """
-        leaf = batchroot.ExpRootLeaf.from_name(candidate).to_path()
-        return leaf in candidate
+        leaf = batchroot.ExpRootLeaf.from_name(candidate)
+        return leaf.to_str() in candidate
 
     def _compare_in_scenario(self,
                              cmdopts: types.Cmdopts,
@@ -339,7 +340,7 @@ def _compare_in_scenario(self,
         """
         for controller in self.controllers:
             dirs = [d for d in os.listdir(
-                self.project_root / controller) if batch_leaf in d]
+                self.project_root / controller) if batch_leaf.to_str() in d]
 
             if len(dirs) == 0:
                 self.logger.warning("Controller '%s' was not run on scenario '%s'",
@@ -398,6 +399,7 @@ def _compare_in_scenario(self,
             self._gen_graphs2D(batch_leaf=batch_leaf,
                                criteria=criteria,
                                cmdopts=cmdopts,
+                               batch_output_root=pathset.output_root,
                                dest_stem=graph['dest_stem'],
                                title=graph.get('title', ''),
                                label=graph.get('label', ''),
@@ -408,6 +410,7 @@ def _compare_in_scenario(self,
             self._gen_graph3D(batch_leaf=batch_leaf,
                               criteria=criteria,
                               cmdopts=cmdopts,
+                              batch_output_root=pathset.output_root,
                               dest_stem=graph['dest_stem'],
                               title=graph.get('title', ''),
                               zlabel=graph.get('label', ''),
@@ -485,7 +488,7 @@ def _gen_csvs_for_1D(self,
                           controller, src_stem, dest_stem)
 
         csv_ipath = pathset.stat_collate_root / \
-            src_stem + config.kStats['mean'].exts['mean']
+            (src_stem + config.kStats['mean'].exts['mean'])
 
         # Some experiments might not generate the necessary performance measure
         # .csvs for graph generation, which is OK.
@@ -566,24 +569,26 @@ def _gen_graphs1D(self,
 
             if primary_axis == 0:
                 n_exp = criteria.criteria1.n_exp()
-                xticks = utils.exp_include_filter(inc_exps,
-                                                  criteria.graph_yticks(
-                                                      cmdopts),
-                                                  n_exp)
+                yticks = criteria.graph_yticks(cmdopts,
+                                               pathset.output_root)
+                xticks = utils.exp_include_filter(inc_exps, yticks, n_exp)
+
+                ytick_labels = criteria.graph_yticklabels(cmdopts,
+                                                          pathset.output_root)
                 xtick_labels = utils.exp_include_filter(inc_exps,
-                                                        criteria.graph_yticklabels(
-                                                            cmdopts),
+                                                        ytick_labels,
                                                         n_exp)
                 xlabel = criteria.graph_ylabel(cmdopts)
             else:
                 n_exp = criteria.criteria2.n_exp()
-                xticks = utils.exp_include_filter(inc_exps,
-                                                  criteria.graph_xticks(
-                                                      cmdopts),
-                                                  n_exp)
+                yticks = criteria.graph_xticks(cmdopts,
+                                               pathset.output_root)
+                xticks = utils.exp_include_filter(inc_exps, yticks, n_exp)
+
+                ytick_labels = criteria.graph_xticklabels(cmdopts,
+                                                          pathset.output_root)
                 xtick_labels = utils.exp_include_filter(inc_exps,
-                                                        criteria.graph_xticklabels(
-                                                            cmdopts),
+                                                        ytick_labels,
                                                         n_exp)
                 xlabel = criteria.graph_xlabel(cmdopts)
 
@@ -606,6 +611,7 @@ def _gen_graphs2D(self,
                       batch_leaf: batchroot.ExpRootLeaf,
                       criteria: bc.BivarBatchCriteria,
                       cmdopts: types.Cmdopts,
+                      batch_output_root: pathlib.Path,
                       dest_stem: str,
                       title: str,
                       label: str,
@@ -615,6 +621,7 @@ def _gen_graphs2D(self,
             self._gen_paired_heatmaps(batch_leaf,
                                       criteria,
                                       cmdopts,
+                                      batch_output_root,
                                       dest_stem,
                                       title,
                                       label,
@@ -623,6 +630,7 @@ def _gen_graphs2D(self,
             self._gen_dual_heatmaps(batch_leaf,
                                     criteria,
                                     cmdopts,
+                                    batch_output_root,
                                     dest_stem,
                                     title,
                                     label,
@@ -633,6 +641,7 @@ def _gen_paired_heatmaps(self,
                              batch_leaf: batchroot.ExpRootLeaf,
                              criteria: bc.BivarBatchCriteria,
                              cmdopts: types.Cmdopts,
+                             batch_output_root: pathlib.Path,
                              dest_stem: str,
                              title: str,
                              label: str,
@@ -694,13 +703,16 @@ def _gen_paired_heatmaps(self,
                     zlabel=self._gen_zaxis_label(label, comp_type),
                     xlabel=criteria.graph_xlabel(cmdopts),
                     ylabel=criteria.graph_ylabel(cmdopts),
-                    xtick_labels=criteria.graph_xticklabels(cmdopts),
-                    ytick_labels=criteria.graph_yticklabels(cmdopts)).generate()
+                    xtick_labels=criteria.graph_xticklabels(cmdopts,
+                                                            batch_output_root),
+                    ytick_labels=criteria.graph_yticklabels(cmdopts,
+                                                            batch_output_root)).generate()
 
     def _gen_dual_heatmaps(self,
                            batch_leaf: batchroot.ExpRootLeaf,
                            criteria: bc.BivarBatchCriteria,
                            cmdopts: types.Cmdopts,
+                           batch_output_root: pathlib.Path,
                            dest_stem: str,
                            title: str,
                            label: str,
@@ -736,13 +748,16 @@ def _gen_dual_heatmaps(self,
                     xlabel=criteria.graph_xlabel(cmdopts),
                     ylabel=criteria.graph_ylabel(cmdopts),
                     legend=legend,
-                    xtick_labels=criteria.graph_xticklabels(cmdopts),
-                    ytick_labels=criteria.graph_yticklabels(cmdopts)).generate()
+                    xtick_labels=criteria.graph_xticklabels(cmdopts,
+                                                            batch_output_root),
+                    ytick_labels=criteria.graph_yticklabels(cmdopts,
+                                                            batch_output_root)).generate()
 
     def _gen_graph3D(self,
                      batch_leaf: batchroot.ExpRootLeaf,
                      criteria: bc.BivarBatchCriteria,
                      cmdopts: types.Cmdopts,
+                     batch_output_root: pathlib.Path,
                      dest_stem: str,
                      title: str,
                      zlabel: str,
@@ -775,8 +790,10 @@ def _gen_graph3D(self,
                             ylabel=criteria.graph_xlabel(cmdopts),
                             xlabel=criteria.graph_ylabel(cmdopts),
                             zlabel=self._gen_zaxis_label(zlabel, comp_type),
-                            xtick_labels=criteria.graph_yticklabels(cmdopts),
-                            ytick_labels=criteria.graph_xticklabels(cmdopts),
+                            xtick_labels=criteria.graph_yticklabels(cmdopts,
+                                                                    batch_output_root),
+                            ytick_labels=criteria.graph_xticklabels(cmdopts,
+                                                                    batch_output_root),
                             legend=legend,
                             comp_type=comp_type).generate()
 
diff --git a/sierra/core/pipeline/stage5/outputroot.py b/sierra/core/pipeline/stage5/outputroot.py
index 4637e944..fdbc06b8 100644
--- a/sierra/core/pipeline/stage5/outputroot.py
+++ b/sierra/core/pipeline/stage5/outputroot.py
@@ -28,7 +28,7 @@ def __init__(self,
         if controllers:
             self.graph_root = pathlib.Path(cmdopts['sierra_root'],
                                            cmdopts['project'],
-                                           '+'.join(controllers) + "-cc-graphs"),
+                                           '+'.join(controllers) + "-cc-graphs")
 
             self.csv_root = pathlib.Path(cmdopts['sierra_root'],
                                          cmdopts['project'],
diff --git a/sierra/core/pipeline/stage5/pipeline_stage5.py b/sierra/core/pipeline/stage5/pipeline_stage5.py
index b70ffd4b..61341c47 100755
--- a/sierra/core/pipeline/stage5/pipeline_stage5.py
+++ b/sierra/core/pipeline/stage5/pipeline_stage5.py
@@ -9,6 +9,8 @@
 # Core packages
 import logging
 import pathlib
+import typing as tp
+import argparse
 
 # 3rd party packages
 import yaml
@@ -18,6 +20,7 @@
 from sierra.core.pipeline.stage5 import inter_scenario_comparator as intersc
 from sierra.core.pipeline.stage5 import outputroot
 from sierra.core import types, utils, config, batchroot
+from sierra.core.generators.controller_generator_parser import ControllerGeneratorParser
 
 
 class PipelineStage5:
@@ -81,7 +84,7 @@ def __init__(self,
         self.project_root = pathlib.Path(self.cmdopts['sierra_root'],
                                          self.cmdopts['project'])
 
-    def run(self, cli_args) -> None:
+    def run(self, cli_args: argparse.Namespace) -> None:
         """Run stage 5 of the experimental pipeline.
 
         If ``--controller-comparison`` was passed:
@@ -111,7 +114,7 @@ def run(self, cli_args) -> None:
         elif self.cmdopts['scenario_comparison']:
             self._run_sc(cli_args)
 
-    def _run_cc(self, cli_args):
+    def _run_cc(self, cli_args: argparse.Namespace) -> None:
         # Use nice controller names on graph legends if configured
         if self.cmdopts['controllers_legend'] is not None:
             legend = self.cmdopts['controllers_legend'].split(',')
@@ -145,21 +148,23 @@ def _run_cc(self, cli_args):
 
         self.logger.info("Inter-batch controller comparison complete")
 
-    def _run_sc(self, cli_args):
+    def _run_sc(self, cli_args: argparse.Namespace) -> None:
         # Use nice scenario names on graph legends if configured
         if self.cmdopts['scenarios_legend'] is not None:
             legend = self.cmdopts['scenarios_legend'].split(',')
         else:
             legend = self.scenarios
 
+        controller = ControllerGeneratorParser()(cli_args)
+
         self.logger.info("Inter-batch  comparison of %s across %s...",
-                         self.cmdopts['controller'],
+                         controller,
                          self.scenarios)
 
         assert cli_args.bc_univar, \
             "inter-scenario controller comparison only valid for univariate batch criteria"
 
-        comparator = intersc.UnivarInterScenarioComparator(self.cmdopts['controller'],
+        comparator = intersc.UnivarInterScenarioComparator(controller,
                                                            self.scenarios,
                                                            self.batch_roots,
                                                            self.stage5_roots,
@@ -171,10 +176,12 @@ def _run_sc(self, cli_args):
                    legend=legend)
 
         self.logger.info("Inter-batch  comparison of %s across %s complete",
-                         self.cmdopts['controller'],
+                         controller,
                          self.scenarios)
 
-    def _verify_comparability(self, controllers, cli_args):
+    def _verify_comparability(self,
+                              controllers: tp.List[str],
+                              cli_args: argparse.Namespace) -> None:
         """Check if the specified controllers can be compared.
 
         Comparable controllers have all been run on the same set of batch
diff --git a/sierra/core/variables/batch_criteria.py b/sierra/core/variables/batch_criteria.py
index 6f7648de..878917f1 100755
--- a/sierra/core/variables/batch_criteria.py
+++ b/sierra/core/variables/batch_criteria.py
@@ -60,7 +60,9 @@ def graph_xticks(self,
 
             exp_names: If not None, then this list of directories will be used
                        to calculate the ticks, rather than the results of
-                       :ref:`gen_exp_names()`.
+                       :ref:`gen_exp_names()`. This argument will be non-None
+                       when calling this function from within a bivariate batch
+                       criteria.
 
         """
 
@@ -84,7 +86,9 @@ def graph_xticklabels(self,
 
             exp_names: If not None, then these directories will be used to
                        calculate the labels, rather than the results of
-                       :ref:`gen_exp_names()`.
+                       :ref:`gen_exp_names()`. This argument will be non-None
+                       when calling this function from within a bivariate batch
+                       criteria.
 
         """
         raise NotImplementedError
@@ -589,7 +593,7 @@ def graph_xticks(self,
                                         batch_output_root,
                                         self)
 
-        ynames = exp_names if exp_names else self.criteria1.gen_exp_names(cmdopts)
+        ynames = exp_names if exp_names else self.criteria1.gen_exp_names()
 
         for c1 in ynames:
             for x in all_dirs:
@@ -608,7 +612,7 @@ def graph_yticks(self,
         all_dirs = utils.exp_range_calc(cmdopts["exp_range"],
                                         batch_output_root,
                                         self)
-        xnames = exp_names if exp_names else self.criteria2.gen_exp_names(cmdopts)
+        xnames = exp_names if exp_names else self.criteria2.gen_exp_names()
 
         for c2 in xnames:
             for y in all_dirs:
@@ -623,17 +627,59 @@ def graph_xticklabels(self,
                           cmdopts: types.Cmdopts,
                           batch_output_root: pathlib.Path,
                           exp_names: tp.Optional[tp.List[str]] = None) -> tp.List[str]:
+        """Generate x-axis labels.
+
+        This bivariate function is one of the reasons the ``exp_names`` argument
+        is needed as an optional: when calculating xticks using say criteria1,
+        if the criteria uses :ref:`populations()` in the process, the criteria's
+        OWN ``gen_exp_names()`` will be used, which will result in bad directory
+        name calculations. This can be overcome by passing the list of exp names
+        to use at THIS level.
+        """
+        names = []
+        all_dirs = utils.exp_range_calc(cmdopts['exp_range'],
+                                        batch_output_root,
+                                        self)
+
+        for c1 in self.criteria1.gen_exp_names():
+            for x in all_dirs:
+                leaf = x.name
+                if c1 in leaf.split('+')[0]:
+                    names.append(leaf)
+                    break
+
         return self.criteria1.graph_xticklabels(cmdopts,
                                                 batch_output_root,
-                                                exp_names)
+                                                names)
 
     def graph_yticklabels(self,
                           cmdopts: types.Cmdopts,
                           batch_output_root: pathlib.Path,
                           exp_names: tp.Optional[tp.List[str]] = None) -> tp.List[str]:
+        """Generate y-axis labels.
+
+        This bivariate function is one of the reasons the ``exp_names`` argument
+        is needed as an optional: when calculating yticks using criteria2,
+        if the criteria uses :ref:`populations()` in the process, the criteria's
+        OWN ``gen_exp_names()`` will be used, which will result in bad directory
+        name calculations. This can be overcome by passing the list of exp names
+        to use at THIS level.
+        """
+        names = []
+        all_dirs = utils.exp_range_calc(cmdopts['exp_range'],
+                                        batch_output_root,
+                                        self)
+
+        for c2 in self.criteria2.gen_exp_names():
+            for x in all_dirs:
+                leaf = x.name
+                if c2 in leaf.split('+')[0]:
+                    names.append(leaf)
+                    break
+
         return self.criteria2.graph_xticklabels(cmdopts,
                                                 batch_output_root,
-                                                exp_names)
+                                                names)
 
     def graph_xlabel(self, cmdopts: types.Cmdopts) -> str:
         return self.criteria1.graph_xlabel(cmdopts)
diff --git a/sierra/core/variables/population_size.py b/sierra/core/variables/population_size.py
index aba62218..e492adec 100644
--- a/sierra/core/variables/population_size.py
+++ b/sierra/core/variables/population_size.py
@@ -8,6 +8,7 @@
 import typing as tp
 import re
 import math
+import pathlib
 
 # 3rd party packages
 
@@ -26,6 +27,7 @@ def __init__(self, *args, **kwargs) -> None:
 
     def graph_xticks(self,
                      cmdopts: types.Cmdopts,
+                     batch_output_root: pathlib.Path,
                      exp_names: tp.Optional[tp.List[str]] = None) -> tp.List[float]:
 
         if exp_names is None:
@@ -42,6 +44,7 @@ def graph_xticks(self,
 
     def graph_xticklabels(self,
                           cmdopts: types.Cmdopts,
+                          batch_output_root: pathlib.Path,
                           exp_names: tp.Optional[tp.List[str]] = None) -> tp.List[str]:
 
         if exp_names is None:
diff --git a/sierra/core/variables/variable_density.py b/sierra/core/variables/variable_density.py
index 3bf5b332..47e084af 100755
--- a/sierra/core/variables/variable_density.py
+++ b/sierra/core/variables/variable_density.py
@@ -69,7 +69,7 @@ def __call__(self, arg: str) -> types.CLIArgSpec:
 
         # remove batch criteria variable name, leaving only the spec
         sections = sections[1:]
-        assert len(sections) == 3,\
+        assert len(sections) == 3, \
             ("Spec must have 3 sections separated by '.'; "
              f"have {len(sections)} from '{arg}'")
 
diff --git a/sierra/main.py b/sierra/main.py
index 2c8e2ba0..4114c18f 100755
--- a/sierra/main.py
+++ b/sierra/main.py
@@ -115,6 +115,7 @@ def __call__(self) -> None:
 
             self.logger.info("Controller=%s, Scenario=%s", controller, scenario)
             pathset = batchroot.from_cmdline(self.args)
+
             pipeline = Pipeline(self.args, controller, pathset)
         else:
             pipeline = Pipeline(self.args, None)
diff --git a/sierra/plugins/platform/argos/cmdline.py b/sierra/plugins/platform/argos/cmdline.py
index 80085daf..42a663d5 100755
--- a/sierra/plugins/platform/argos/cmdline.py
+++ b/sierra/plugins/platform/argos/cmdline.py
@@ -267,17 +267,16 @@ def init_stage1(self) -> None:
                                         action="store_true",
                                         default=False)
 
-        self.stage1_robots.add_argument("--n-robots",
+        self.stage1_robots.add_argument("--n-agents",
                                         help="""
-
-                                        The # robots that should be used in the
-                                        simulation. Can be used to override
-                                        batch criteria, or to supplement
-                                        experiments that do not set it so that
-                                        manual modification of input file is
-                                        unneccesary.
-
-                                        """ + self.stage_usage_doc([1]),
+                                             The # agents (robots) that should
+                                             be used in the simulation.  Can be
+                                             used to override batch criteria, or
+                                             to supplement experiments that do
+                                             not set it so that manual
+                                             modification of input file is
+                                             unneccesary.
+                                             """ + self.stage_usage_doc([1]),
                                         type=int,
                                         default=None)
 
@@ -287,7 +286,6 @@ def cmdopts_update(cli_args, cmdopts: types.Cmdopts) -> None:
 
         """
         hpc.cmdline.HPCCmdline.cmdopts_update(cli_args, cmdopts)
-
         updates = {
             # Stage 1
             'n_agents': cli_args.n_agents,
diff --git a/sierra/plugins/platform/argos/variables/population_constant_density.py b/sierra/plugins/platform/argos/variables/population_constant_density.py
index 9928965a..6947c984 100755
--- a/sierra/plugins/platform/argos/variables/population_constant_density.py
+++ b/sierra/plugins/platform/argos/variables/population_constant_density.py
@@ -87,6 +87,7 @@ def gen_exp_names(self) -> tp.List[str]:
 
     def graph_xticks(self,
                      cmdopts: types.Cmdopts,
+                     batch_output_root: pathlib.Path,
                      exp_names: tp.Optional[tp.List[str]] = None) -> tp.List[float]:
 
         if exp_names is None:
@@ -103,6 +104,7 @@ def graph_xticks(self,
 
     def graph_xticklabels(self,
                           cmdopts: types.Cmdopts,
+                          batch_output_root: pathlib.Path,
                           exp_names: tp.Optional[tp.List[str]] = None) -> tp.List[str]:
         if exp_names is None:
             exp_names = self.gen_exp_names()
diff --git a/sierra/plugins/platform/argos/variables/population_variable_density.py b/sierra/plugins/platform/argos/variables/population_variable_density.py
index 4e68fd30..e30a9862 100755
--- a/sierra/plugins/platform/argos/variables/population_variable_density.py
+++ b/sierra/plugins/platform/argos/variables/population_variable_density.py
@@ -77,6 +77,7 @@ def gen_exp_names(self) -> tp.List[str]:
 
     def graph_xticks(self,
                      cmdopts: types.Cmdopts,
+                     batch_output_root: pathlib.Path,
                      exp_names: tp.Optional[tp.List[str]] = None) -> tp.List[float]:
 
         if exp_names is None:
@@ -86,9 +87,10 @@ def graph_xticks(self,
 
     def graph_xticklabels(self,
                           cmdopts: types.Cmdopts,
+                          batch_output_root: pathlib.Path,
                           exp_names: tp.Optional[tp.List[str]] = None) -> tp.List[str]:
         return list(map(lambda x: str(round(x, 4)),
-                        self.graph_xticks(cmdopts, exp_names)))
+                        self.graph_xticks(cmdopts, batch_output_root, exp_names)))
 
     def graph_xlabel(self, cmdopts: types.Cmdopts) -> str:
         return r"Population Density"
diff --git a/sierra/plugins/platform/ros1gazebo/variables/population_size.py b/sierra/plugins/platform/ros1gazebo/variables/population_size.py
index 0da37b89..80fd0ee3 100755
--- a/sierra/plugins/platform/ros1gazebo/variables/population_size.py
+++ b/sierra/plugins/platform/ros1gazebo/variables/population_size.py
@@ -97,7 +97,7 @@ def gen_tag_addlist(self) -> tp.List[xml.TagAddList]:
                 exp_adds.append(xml.TagAdd("./master/group/[@ns='sierra']",
                                            "param",
                                            {
-                                               'name': 'experiment/n_robots',
+                                               'name': 'experiment/n_agents',
                                                'value': str(s)
                                            },
                                            False))
@@ -157,7 +157,7 @@ def gen_exp_names(self) -> tp.List[str]:
         adds = self.gen_tag_addlist()
         return ['exp' + str(x) for x in range(0, len(adds))]
 
-    def n_robots(self, exp_num: int) -> int:
+    def n_agents(self, exp_num: int) -> int:
         return int(len(self.tag_adds[exp_num]) / len(self.tag_adds[0]))