feat: improve 'eval_robustness' utility (#313)

This commit improves the 'eval_robustness' utility so that users no
longer need to modify their environments to use it with this utility.
The disturbers are now implemented as [gymnasium
wrappers](https://gymnasium.farama.org/api/wrappers/). Because of this,
they can be used with any [gymnasium
environment](https://gymnasium.farama.org/). If you want to add a new
disturber, you only have to ensure that it is a Python class that
inherits from the
[gym.Wrapper](https://github.com/Farama-Foundation/Gymnasium/blob/ba348890af369dad6e6093665fd4e54d8d4b4824/gymnasium/core.py#L246-L249)
class.

.github/workflows/documentation.yml

@@ -1,22 +1,22 @@
 name: Docs
-on: 
+on:
   push:
     tags:
       - v*.*.*
     paths:
-      - 'docs/**'
+      - "docs/**"
   workflow_dispatch:
 permissions:
-    contents: write
+  contents: write
 jobs:
   docs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
       - uses: actions/setup-python@v4
-        with: 
+        with:
           python-version: 3.8
-          cache: 'pip'
+          cache: "pip"
           cache-dependency-path: pyproject.toml
       - name: Install system dependencies
         run: sudo apt-get update; sudo apt-get install libopenmpi-dev

.github/workflows/stable_learning_control.yml

@@ -39,7 +39,7 @@ jobs:
         uses: actions/setup-python@v4
         with:
           python-version: 3.8
-          cache: 'pip'
+          cache: "pip"
           cache-dependency-path: pyproject.toml
       - name: Install the stable_learning_control package with its dependencies
         run: |
@@ -56,7 +56,7 @@ jobs:
     strategy:
       fail-fast: false # Run all matrix jobs.
       matrix:
-        python-version: [3.8, 3.9, '3.10'] # Supported python versions.
+        python-version: [3.8, 3.9, "3.10"] # Supported python versions.
     steps:
       - name: Checkout stable-learning-control repository
         uses: actions/checkout@v3
@@ -66,7 +66,7 @@ jobs:
         uses: actions/setup-python@v4
         with:
           python-version: ${{ matrix.python-version }}
-          cache: 'pip'
+          cache: "pip"
           cache-dependency-path: pyproject.toml
       - name: Install the stable_learning_control package with its dependencies
         run: |
@@ -78,5 +78,5 @@ jobs:
           set +o pipefail
       - name: Upload coverage reports to Codecov
         uses: codecov/codecov-action@v3
-        env: 
+        env:
           CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

CONTRIBUTING.md

@@ -16,7 +16,7 @@ We love your input! 🚀 We want to make contributing to this project as easy an
 
 We use Github to host code, track issues and feature requests, and accept pull requests.
 
-### We Use [Github Flow](https://guides.github.com/introduction/flow/index.html), So All Code Changes Happen Through Pull Requests
+### We Use [Github Flow](https://docs.github.com/en), So All Code Changes Happen Through Pull Requests
 
 Pull requests are the best way to propose changes to the codebase (we use [Github Flow](https://docs.github.com/en/get-started/quickstart/github-flow)). We actively welcome your pull requests:
 
@@ -96,4 +96,4 @@ See the [documentation guidelines](https://rickstaa.dev/stable-learning-control/
 
 ## Any contributions you make will be under the MIT Software License
 
-In short, when you submit code changes, your submissions are understood to be under the same [MIT License](http://choosealicense.com/licenses/mit/) that covers the project. Feel free to contact the maintainers if that's a concern.
+In short, when you submit code changes, your submissions are understood to be under the same [MIT License](https://choosealicense.com/licenses/mit/) that covers the project. Feel free to contact the maintainers if that's a concern.

README.md

@@ -9,7 +9,7 @@
 
 ## Package Overview
 
-The Stable Learning Control (SLC) framework is a collection of robust Reinforcement Learning control algorithms designed to ensure stability. These algorithms are built upon the Lyapunov actor-critic architecture introduced by [Han et al. 2020](http://arxiv.org/abs/2004.14288). They guarantee stability and robustness by leveraging [Lyapunov stability theory](https://en.wikipedia.org/wiki/Lyapunov_stability). These algorithms are specifically tailored for use with [gymnasium environments](https://gymnasium.farama.org/) that feature a positive definite cost function. Several ready-to-use compatible environments can be found in the [stable-gym](https://github.com/rickstaa/stable-gym) package.
+The Stable Learning Control (SLC) framework is a collection of robust Reinforcement Learning control algorithms designed to ensure stability. These algorithms are built upon the Lyapunov actor-critic architecture introduced by [Han et al. 2020](https://arxiv.org/abs/2004.14288). They guarantee stability and robustness by leveraging [Lyapunov stability theory](https://en.wikipedia.org/wiki/Lyapunov_stability). These algorithms are specifically tailored for use with [gymnasium environments](https://gymnasium.farama.org/) that feature a positive definite cost function. Several ready-to-use compatible environments can be found in the [stable-gym](https://github.com/rickstaa/stable-gym) package.
 
 ## Installation and Usage
 
@@ -21,5 +21,5 @@ We use [husky](https://github.com/typicode/husky) pre-commit hooks and github ac
 
 ## References
 
-*   [Han et al. 2020](http://arxiv.org/abs/2004.14288) - Used as a basis for the Lyapunov actor-critic architecture.
+*   [Han et al. 2020](https://arxiv.org/abs/2004.14288) - Used as a basis for the Lyapunov actor-critic architecture.
 *   [Spinningup](https://spinningup.openai.com/en/latest/) - Used as a basis for the code structure.

docs/Makefile

@@ -1,59 +1,20 @@
-# Makefile for Stable Learning Control Sphinx documentation
+# Makefile for Stable Learnig Control Sphinx documentation.
 
-# You can set these variables from the command line
-SPHINXOPTS    =
-SPHINXBUILD   = sphinx-build
-SPHINXPROJ    = Stable Learning Control
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
 SOURCEDIR     = source
 BUILDDIR      = build
-GH_PAGES_SOURCES = docs stable_learning_control examples
-
-# User-friendly check for sphinx-build
-ifeq ($(shell which $(SPHINXBUILD) >/dev/null 2>&1; echo $$?), 1)
-$(error The '$(SPHINXBUILD)' command was not found. Make sure you have Sphinx installed, then set the SPHINXBUILD environment variable to point to the full path of the '$(SPHINXBUILD)' executable. Alternatively you can add the directory with the executable to your PATH. If you don't have Sphinx installed, grab it from https://sphinx-doc.org/)
-endif
+GH_PAGES_SOURCES = stable_learning_control
 
 # Put it first so that "make" without argument is like "make help".
-.PHONY: help Makefile
 help:
 	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
 
-# Create make clean command
-.PHONY: clean
-clean:
-	@rm -rf $(BUILDDIR)/*
-	@rm -rf $(SOURCEDIR)/dev/api/_autosummary
-	@echo "Build folder cleaned"
-
-# Publish gh-pages command
-.PHONY: gh-pages
-gh-pages:
-	cd .. && \
-	git submodule update --recursive && \
-	git checkout gh-pages && \
-	git rm -rf . && git clean -fxd && \
-	git checkout main $(GH_PAGES_SOURCES) && \
-	git reset HEAD && \
-	cd docs && \
-	make clean && \
-	make html && \
-	cd .. && \
-	git add docs/build/html && \
-	git clean -ffxd && \
-	mv -fv docs/build/html/* ./ && \
-	mv -fv docs/build/html/.[!.]* ./ && \
-	rm -rf $(GH_PAGES_SOURCES) && \
-	git add -A && \
-	git commit -m "docs: Generated gh-pages for `git log main -1 --pretty=short --abbrev-commit`" && \
-	git push origin gh-pages && \
-	git checkout main && \
-	git submodule update --recursive && \
-	pnpm install && \
-	pnpm run prepare && \
-	git restore pnpm-lock.yaml
+.PHONY: help Makefile
 
 # Catch-all target: route all unknown targets to Sphinx using the new
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
 %: Makefile
-	git submodule update --init --recursive
 	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/make.bat

@@ -7,11 +7,8 @@ REM Command file for Sphinx documentation
 if "%SPHINXBUILD%" == "" (
 	set SPHINXBUILD=sphinx-build
 )
-set SOURCEDIR=.
-set BUILDDIR=_build
-set SPHINXPROJ=SpinningUp
-
-if "%1" == "" goto help
+set SOURCEDIR=source
+set BUILDDIR=build
 
 %SPHINXBUILD% >NUL 2>NUL
 if errorlevel 9009 (
@@ -22,15 +19,17 @@ if errorlevel 9009 (
 	echo.may add the Sphinx directory to PATH.
 	echo.
 	echo.If you don't have Sphinx installed, grab it from
-	echo.https://sphinx-doc.org/
+	echo.https://www.sphinx-doc.org/
 	exit /b 1
 )
 
-%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
+if "%1" == "" goto help
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
 goto end
 
 :help
-%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
 
 :end
 popd

docs/source/dev/doc_dev.rst

@@ -33,11 +33,16 @@ directory and run the ``make html`` command. This command will generate the html
 the ``docs/build/html`` directory. If the documentation is successfully created, you can also use the
 ``make linkcheck`` command to check for broken links.
 
-.. note::
+.. attention::
 
     Ensure you are in the Conda environment where you installed the :slc:`stable_learning_control <>`
     package with its dependencies.
 
+.. note::
+
+    Sometimes the ``make linkcheck`` command doesn't show the results on the stdout. You can also find the results
+    in the ``docs/build/linkcheck`` folder. 
+
 .. _HTML: https://www.w3schools.com/html/
 
 Deploying

docs/source/index.rst

@@ -50,7 +50,7 @@ ready-to-use compatible environments can be found in the  :stable-gym:`stable-gy
    utils/mpi
    utils/run_utils
    utils/plotter
-   utils/tester
+   utils/testers
 
 .. toctree::
    :maxdepth: 2