From 66ae40c861c867b076ea1f727aeaa066998daad1 Mon Sep 17 00:00:00 2001
From: MatthewGerber <mvg0419@dexcom.com>
Date: Thu, 12 Sep 2024 22:51:41 -0400
Subject: [PATCH] Add swimmer v5.

---
 poetry.lock                                   | 1106 +++++++++--------
 trained_agents/swimmer/pooled/swimmer_pool.sh |    2 +-
 2 files changed, 586 insertions(+), 522 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 5a372b2..fd12d87 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -240,89 +240,89 @@ files = [
 
 [[package]]
 name = "certifi"
-version = "2024.7.4"
+version = "2024.8.30"
 description = "Python package for providing Mozilla's CA Bundle."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "certifi-2024.7.4-py3-none-any.whl", hash = "sha256:c198e21b1289c2ab85ee4e67bb4b4ef3ead0892059901a8d5b622f24a1101e90"},
-    {file = "certifi-2024.7.4.tar.gz", hash = "sha256:5a1e7645bc0ec61a09e26c36f6106dd4cf40c6db3a1fb6352b0244e7fb057c7b"},
+    {file = "certifi-2024.8.30-py3-none-any.whl", hash = "sha256:922820b53db7a7257ffbda3f597266d435245903d80737e34f8a45ff3e3230d8"},
+    {file = "certifi-2024.8.30.tar.gz", hash = "sha256:bec941d2aa8195e248a60b31ff9f0558284cf01a52591ceda73ea9afffd69fd9"},
 ]
 
 [[package]]
 name = "cffi"
-version = "1.17.0"
+version = "1.17.1"
 description = "Foreign Function Interface for Python calling C code."
 optional = false
 python-versions = ">=3.8"
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 [package.dependencies]
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 docs = ["furo", "sphinx (>=7.2)", "sphinx-copybutton"]
-mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.8.0)", "types-Pillow"]
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+test-no-images = ["pytest", "pytest-cov", "pytest-rerunfailures", "pytest-xdist", "wurlitzer"]
 
 [[package]]
 name = "coverage"
@@ -726,13 +747,13 @@ files = [
 
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 [package.dependencies]
@@ -744,7 +765,7 @@ zipp = {version = "*", optional = true, markers = "extra == \"epath\""}
 [package.extras]
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-dev = ["chex", "dataclass_array", "optree", "pyink", "pylint (>=2.6.0)", "pytest", "pytest-subtests", "pytest-xdist", "torch"]
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 docs = ["etils[all,dev]", "sphinx-apitree[ext]"]
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 ecolab = ["etils[enp]", "etils[epy]", "etils[etree]", "jupyter", "mediapy", "numpy", "packaging", "protobuf"]
@@ -791,13 +812,13 @@ testing = ["hatch", "pre-commit", "pytest", "tox"]
 
 [[package]]
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 optional = false
-python-versions = ">=3.5"
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 [package.extras]
@@ -971,13 +992,13 @@ files = [
 
 [[package]]
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+version = "2024.9.0"
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 python-versions = ">=3.8"
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@@ -1098,13 +1119,13 @@ trio = ["trio (>=0.22.0,<0.26.0)"]
 
 [[package]]
 name = "httpx"
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+version = "0.27.2"
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 python-versions = ">=3.8"
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+    {file = "httpx-0.27.2.tar.gz", hash = "sha256:f7c2be1d2f3c3c3160d441802406b206c2b76f5947b11115e6df10c6c65e66c2"},
 ]
 
 [package.dependencies]
@@ -1119,27 +1140,28 @@ brotli = ["brotli", "brotlicffi"]
 cli = ["click (==8.*)", "pygments (==2.*)", "rich (>=10,<14)"]
 http2 = ["h2 (>=3,<5)"]
 socks = ["socksio (==1.*)"]
+zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "idna"
-version = "3.7"
+version = "3.8"
 description = "Internationalized Domain Names in Applications (IDNA)"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.6"
 files = [
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+    {file = "idna-3.8-py3-none-any.whl", hash = "sha256:050b4e5baadcd44d760cedbd2b8e639f2ff89bbc7a5730fcc662954303377aac"},
+    {file = "idna-3.8.tar.gz", hash = "sha256:d838c2c0ed6fced7693d5e8ab8e734d5f8fda53a039c0164afb0b82e771e3603"},
 ]
 
 [[package]]
 name = "imageio"
-version = "2.34.2"
+version = "2.35.1"
 description = "Library for reading and writing a wide range of image, video, scientific, and volumetric data formats."
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -1147,19 +1169,20 @@ numpy = "*"
 pillow = ">=8.3.2"
 
 [package.extras]
-all-plugins = ["astropy", "av", "imageio-ffmpeg", "pillow-heif", "psutil", "tifffile"]
-all-plugins-pypy = ["av", "imageio-ffmpeg", "pillow-heif", "psutil", "tifffile"]
+all-plugins = ["astropy", "av", "imageio-ffmpeg", "psutil", "tifffile"]
+all-plugins-pypy = ["av", "imageio-ffmpeg", "psutil", "tifffile"]
 build = ["wheel"]
 dev = ["black", "flake8", "fsspec[github]", "pytest", "pytest-cov"]
 docs = ["numpydoc", "pydata-sphinx-theme", "sphinx (<6)"]
 ffmpeg = ["imageio-ffmpeg", "psutil"]
 fits = ["astropy"]
-full = ["astropy", "av", "black", "flake8", "fsspec[github]", "gdal", "imageio-ffmpeg", "itk", "numpydoc", "pillow-heif", "psutil", "pydata-sphinx-theme", "pytest", "pytest-cov", "sphinx (<6)", "tifffile", "wheel"]
+full = ["astropy", "av", "black", "flake8", "fsspec[github]", "gdal", "imageio-ffmpeg", "itk", "numpy (>2)", "numpydoc", "pillow-heif", "psutil", "pydata-sphinx-theme", "pytest", "pytest-cov", "rawpy", "sphinx (<6)", "tifffile", "wheel"]
 gdal = ["gdal"]
 itk = ["itk"]
 linting = ["black", "flake8"]
 pillow-heif = ["pillow-heif"]
 pyav = ["av"]
+rawpy = ["numpy (>2)", "rawpy"]
 test = ["fsspec[github]", "pytest", "pytest-cov"]
 tifffile = ["tifffile"]
 
@@ -1183,18 +1206,22 @@ setuptools = "*"
 
 [[package]]
 name = "importlib-resources"
-version = "6.4.0"
+version = "6.4.5"
 description = "Read resources from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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+check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)"]
+cover = ["pytest-cov"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+enabler = ["pytest-enabler (>=2.2)"]
+test = ["jaraco.test (>=5.4)", "pytest (>=6,!=8.1.*)", "zipp (>=3.17)"]
+type = ["pytest-mypy"]
 
 [[package]]
 name = "iniconfig"
@@ -1242,13 +1269,13 @@ test = ["flaky", "ipyparallel", "pre-commit", "pytest (>=7.0)", "pytest-asyncio
 
 [[package]]
 name = "ipython"
-version = "8.26.0"
+version = "8.27.0"
 description = "IPython: Productive Interactive Computing"
 optional = false
 python-versions = ">=3.10"
 files = [
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 ]
 
 [package.dependencies]
@@ -1607,13 +1634,13 @@ test = ["jupyter-server (>=2.0.0)", "pytest (>=7.0)", "pytest-jupyter[server] (>
 
 [[package]]
 name = "jupyterlab"
-version = "4.2.4"
+version = "4.2.5"
 description = "JupyterLab computational environment"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -1677,115 +1704,125 @@ test = ["hatch", "ipykernel", "openapi-core (>=0.18.0,<0.19.0)", "openapi-spec-v
 
 [[package]]
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-version = "1.4.5"
+version = "1.4.7"
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-python-versions = ">=3.7"
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 [package.dependencies]
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+    {file = "scipy-1.14.1-cp313-cp313-macosx_14_0_arm64.whl", hash = "sha256:e0cf28db0f24a38b2a0ca33a85a54852586e43cf6fd876365c86e0657cfe7d73"},
+    {file = "scipy-1.14.1-cp313-cp313-macosx_14_0_x86_64.whl", hash = "sha256:0c2f95de3b04e26f5f3ad5bb05e74ba7f68b837133a4492414b3afd79dfe540e"},
+    {file = "scipy-1.14.1-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b99722ea48b7ea25e8e015e8341ae74624f72e5f21fc2abd45f3a93266de4c5d"},
+    {file = "scipy-1.14.1-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5149e3fd2d686e42144a093b206aef01932a0059c2a33ddfa67f5f035bdfe13e"},
+    {file = "scipy-1.14.1-cp313-cp313-musllinux_1_2_x86_64.whl", hash = "sha256:e4f5a7c49323533f9103d4dacf4e4f07078f360743dec7f7596949149efeec06"},
+    {file = "scipy-1.14.1-cp313-cp313-win_amd64.whl", hash = "sha256:baff393942b550823bfce952bb62270ee17504d02a1801d7fd0719534dfb9c84"},
+    {file = "scipy-1.14.1.tar.gz", hash = "sha256:5a275584e726026a5699459aa72f828a610821006228e841b94275c4a7c08417"},
 ]
 
 [package.dependencies]
@@ -3473,8 +3529,8 @@ numpy = ">=1.23.5,<2.3"
 
 [package.extras]
 dev = ["cython-lint (>=0.12.2)", "doit (>=0.36.0)", "mypy (==1.10.0)", "pycodestyle", "pydevtool", "rich-click", "ruff (>=0.0.292)", "types-psutil", "typing_extensions"]
-doc = ["jupyterlite-pyodide-kernel", "jupyterlite-sphinx (>=0.13.1)", "jupytext", "matplotlib (>=3.5)", "myst-nb", "numpydoc", "pooch", "pydata-sphinx-theme (>=0.15.2)", "sphinx (>=5.0.0)", "sphinx-design (>=0.4.0)"]
-test = ["Cython", "array-api-strict", "asv", "gmpy2", "hypothesis (>=6.30)", "meson", "mpmath", "ninja", "pooch", "pytest", "pytest-cov", "pytest-timeout", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
+doc = ["jupyterlite-pyodide-kernel", "jupyterlite-sphinx (>=0.13.1)", "jupytext", "matplotlib (>=3.5)", "myst-nb", "numpydoc", "pooch", "pydata-sphinx-theme (>=0.15.2)", "sphinx (>=5.0.0,<=7.3.7)", "sphinx-design (>=0.4.0)"]
+test = ["Cython", "array-api-strict (>=2.0)", "asv", "gmpy2", "hypothesis (>=6.30)", "meson", "mpmath", "ninja", "pooch", "pytest", "pytest-cov", "pytest-timeout", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
 
 [[package]]
 name = "send2trash"
@@ -3494,19 +3550,23 @@ win32 = ["pywin32"]
 
 [[package]]
 name = "setuptools"
-version = "72.1.0"
+version = "74.1.2"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "setuptools-72.1.0-py3-none-any.whl", hash = "sha256:5a03e1860cf56bb6ef48ce186b0e557fdba433237481a9a625176c2831be15d1"},
-    {file = "setuptools-72.1.0.tar.gz", hash = "sha256:8d243eff56d095e5817f796ede6ae32941278f542e0f941867cc05ae52b162ec"},
+    {file = "setuptools-74.1.2-py3-none-any.whl", hash = "sha256:5f4c08aa4d3ebcb57a50c33b1b07e94315d7fc7230f7115e47fc99776c8ce308"},
+    {file = "setuptools-74.1.2.tar.gz", hash = "sha256:95b40ed940a1c67eb70fc099094bd6e99c6ee7c23aa2306f4d2697ba7916f9c6"},
 ]
 
 [package.extras]
-core = ["importlib-metadata (>=6)", "importlib-resources (>=5.10.2)", "jaraco.text (>=3.7)", "more-itertools (>=8.8)", "ordered-set (>=3.1.1)", "packaging (>=24)", "platformdirs (>=2.6.2)", "tomli (>=2.0.1)", "wheel (>=0.43.0)"]
-doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
-test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test", "mypy (==1.11.*)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (<0.4)", "pytest-ruff (>=0.2.1)", "pytest-ruff (>=0.3.2)", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
+check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)", "ruff (>=0.5.2)"]
+core = ["importlib-metadata (>=6)", "importlib-resources (>=5.10.2)", "jaraco.text (>=3.7)", "more-itertools (>=8.8)", "packaging (>=24)", "platformdirs (>=2.6.2)", "tomli (>=2.0.1)", "wheel (>=0.43.0)"]
+cover = ["pytest-cov"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier", "towncrier (<24.7)"]
+enabler = ["pytest-enabler (>=2.2)"]
+test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-home (>=0.5)", "pytest-perf", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel (>=0.44.0)"]
+type = ["importlib-metadata (>=7.0.2)", "jaraco.develop (>=7.21)", "mypy (==1.11.*)", "pytest-mypy"]
 
 [[package]]
 name = "six"
@@ -3543,13 +3603,13 @@ files = [
 
 [[package]]
 name = "soupsieve"
-version = "2.5"
+version = "2.6"
 description = "A modern CSS selector implementation for Beautiful Soup."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "soupsieve-2.5-py3-none-any.whl", hash = "sha256:eaa337ff55a1579b6549dc679565eac1e3d000563bcb1c8ab0d0fefbc0c2cdc7"},
-    {file = "soupsieve-2.5.tar.gz", hash = "sha256:5663d5a7b3bfaeee0bc4372e7fc48f9cff4940b3eec54a6451cc5299f1097690"},
+    {file = "soupsieve-2.6-py3-none-any.whl", hash = "sha256:e72c4ff06e4fb6e4b5a9f0f55fe6e81514581fca1515028625d0f299c602ccc9"},
+    {file = "soupsieve-2.6.tar.gz", hash = "sha256:e2e68417777af359ec65daac1057404a3c8a5455bb8abc36f1a9866ab1a51abb"},
 ]
 
 [[package]]
@@ -3728,24 +3788,24 @@ test = ["argcomplete (>=3.0.3)", "mypy (>=1.7.0)", "pre-commit", "pytest (>=7.0,
 
 [[package]]
 name = "types-python-dateutil"
-version = "2.9.0.20240316"
+version = "2.9.0.20240906"
 description = "Typing stubs for python-dateutil"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "types-python-dateutil-2.9.0.20240316.tar.gz", hash = "sha256:5d2f2e240b86905e40944dd787db6da9263f0deabef1076ddaed797351ec0202"},
-    {file = "types_python_dateutil-2.9.0.20240316-py3-none-any.whl", hash = "sha256:6b8cb66d960771ce5ff974e9dd45e38facb81718cc1e208b10b1baccbfdbee3b"},
+    {file = "types-python-dateutil-2.9.0.20240906.tar.gz", hash = "sha256:9706c3b68284c25adffc47319ecc7947e5bb86b3773f843c73906fd598bc176e"},
+    {file = "types_python_dateutil-2.9.0.20240906-py3-none-any.whl", hash = "sha256:27c8cc2d058ccb14946eebcaaa503088f4f6dbc4fb6093d3d456a49aef2753f6"},
 ]
 
 [[package]]
 name = "types-requests"
-version = "2.32.0.20240712"
+version = "2.32.0.20240907"
 description = "Typing stubs for requests"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "types-requests-2.32.0.20240712.tar.gz", hash = "sha256:90c079ff05e549f6bf50e02e910210b98b8ff1ebdd18e19c873cd237737c1358"},
-    {file = "types_requests-2.32.0.20240712-py3-none-any.whl", hash = "sha256:f754283e152c752e46e70942fa2a146b5bc70393522257bb85bd1ef7e019dcc3"},
+    {file = "types-requests-2.32.0.20240907.tar.gz", hash = "sha256:ff33935f061b5e81ec87997e91050f7b4af4f82027a7a7a9d9aaea04a963fdf8"},
+    {file = "types_requests-2.32.0.20240907-py3-none-any.whl", hash = "sha256:1d1e79faeaf9d42def77f3c304893dea17a97cae98168ac69f3cb465516ee8da"},
 ]
 
 [package.dependencies]
@@ -3800,13 +3860,13 @@ dev = ["flake8", "flake8-annotations", "flake8-bandit", "flake8-bugbear", "flake
 
 [[package]]
 name = "urllib3"
-version = "2.2.2"
+version = "2.2.3"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "urllib3-2.2.2-py3-none-any.whl", hash = "sha256:a448b2f64d686155468037e1ace9f2d2199776e17f0a46610480d311f73e3472"},
-    {file = "urllib3-2.2.2.tar.gz", hash = "sha256:dd505485549a7a552833da5e6063639d0d177c04f23bc3864e41e5dc5f612168"},
+    {file = "urllib3-2.2.3-py3-none-any.whl", hash = "sha256:ca899ca043dcb1bafa3e262d73aa25c465bfb49e0bd9dd5d59f1d0acba2f8fac"},
+    {file = "urllib3-2.2.3.tar.gz", hash = "sha256:e7d814a81dad81e6caf2ec9fdedb284ecc9c73076b62654547cc64ccdcae26e9"},
 ]
 
 [package.extras]
@@ -3880,20 +3940,24 @@ files = [
 
 [[package]]
 name = "zipp"
-version = "3.19.2"
+version = "3.20.1"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.19.2-py3-none-any.whl", hash = "sha256:f091755f667055f2d02b32c53771a7a6c8b47e1fdbc4b72a8b9072b3eef8015c"},
-    {file = "zipp-3.19.2.tar.gz", hash = "sha256:bf1dcf6450f873a13e952a29504887c89e6de7506209e5b1bcc3460135d4de19"},
+    {file = "zipp-3.20.1-py3-none-any.whl", hash = "sha256:9960cd8967c8f85a56f920d5d507274e74f9ff813a0ab8889a5b5be2daf44064"},
+    {file = "zipp-3.20.1.tar.gz", hash = "sha256:c22b14cc4763c5a5b04134207736c107db42e9d3ef2d9779d465f5f1bcba572b"},
 ]
 
 [package.extras]
+check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)"]
+cover = ["pytest-cov"]
 doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
+enabler = ["pytest-enabler (>=2.2)"]
+test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-ignore-flaky"]
+type = ["pytest-mypy"]
 
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.13"
-content-hash = "d09d715621af15e28dcecfcdcb25cbf6ef8d875add3fa6c9c0aeb649909c6dee"
+content-hash = "6fbeb61825061a6ac506002792f1019aec5cb3f272ef01bf0ed574708c3e548a"
diff --git a/trained_agents/swimmer/pooled/swimmer_pool.sh b/trained_agents/swimmer/pooled/swimmer_pool.sh
index 302b75a..6ec8508 100755
--- a/trained_agents/swimmer/pooled/swimmer_pool.sh
+++ b/trained_agents/swimmer/pooled/swimmer_pool.sh
@@ -8,6 +8,6 @@ eta_values=(0.0001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001)
 alpha_values=(0.00001 0.0001 0.0001 0.0001 0.0001 0.0001 0.0001 0.0001 0.0001 0.0001)
 
 for n in $(seq 0 $((num_runners - 1))); do
-    rlai train --random-seed "1234${n}" --agent rlai.policy_gradient.ParameterizedMdpAgent --gamma 1.0 --environment rlai.core.environments.gymnasium.Gym --gym-id Swimmer-v5 --render-every-nth-episode 100 --video-directory "$HOME/Desktop/swimmer_videos_${n}" --T 500 --train-function rlai.policy_gradient.monte_carlo.reinforce.improve --num-episodes 4000 --v-S rlai.state_value.function_approximation.ApproximateStateValueEstimator --feature-extractor rlai.core.environments.gymnasium.SignedCodingFeatureExtractor --function-approximation-model rlai.models.sklearn.SKLearnSGD --loss squared_error --sgd-alpha 0.0 --learning-rate constant --eta0 "${eta_values[$n]}" --policy rlai.policy_gradient.policies.continuous_action.ContinuousActionBetaDistributionPolicy --policy-feature-extractor rlai.core.environments.gymnasium.SignedCodingFeatureExtractor --alpha "${alpha_values[$n]}" --update-upon-every-visit True --num-episodes-per-checkpoint 1000 --checkpoint-path $"$HOME/Desktop/swimmer_${n}_checkpoint.pickle" --save-agent-path "$HOME/Desktop/swimmer_agent_${n}.pickle" --log INFO --training-pool-directory ~/Desktop/swimmer_pool --training-pool-count ${num_runners} --training-pool-iterate-episodes 10 --training-pool-evaluate-episodes 10 >>swimmer_pool.log 2>&1 &
+    rlai train --random-seed "1234${n}" --agent rlai.policy_gradient.ParameterizedMdpAgent --gamma 1.0 --environment rlai.core.environments.gymnasium.Gym --gym-id Swimmer-v5 --render-every-nth-episode 100 --video-directory "$HOME/Desktop/swimmer_videos_${n}" --T 500 --train-function rlai.policy_gradient.monte_carlo.reinforce.improve --num-episodes 4000 --v-S rlai.state_value.function_approximation.ApproximateStateValueEstimator --feature-extractor rlai.core.environments.gymnasium.SignedCodingFeatureExtractor --function-approximation-model rlai.models.sklearn.SKLearnSGD --loss squared_error --sgd-alpha 0.0 --learning-rate constant --eta0 "${eta_values[$n]}" --policy rlai.policy_gradient.policies.continuous_action.ContinuousActionBetaDistributionPolicy --policy-feature-extractor rlai.core.environments.gymnasium.SignedCodingFeatureExtractor --alpha "${alpha_values[$n]}" --update-upon-every-visit True --num-episodes-per-checkpoint 1000 --checkpoint-path $"$HOME/Desktop/swimmer_${n}_checkpoint.pickle" --save-agent-path "$HOME/Desktop/swimmer_agent_${n}.pickle" --log INFO --training-pool-directory ~/Desktop/swimmer_pool --training-pool-count ${num_runners} --training-pool-iterate-episodes 10 --training-pool-evaluate-episodes 10 --num-episodes-per-policy-update-plot 100 --policy-update-plot-pdf-directory $"$HOME/Desktop/swimmer_${n}_plots" >>swimmer_pool.log 2>&1 &
     echo "sudo kill -9 $!" >> kill_swimmer_pool.sh
 done
\ No newline at end of file