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<p class="caption" role="heading"><span class="caption-text">Tutorials</span></p>
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="../../../tutorials/blackjack_tutorial/">Solving Blackjack with Q-Learning</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../../tutorials/environment_creation/">Make your own custom environment</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../../tutorials/handling_time_limits/">Handling Time Limits</a></li>
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<p class="caption" role="heading"><span class="caption-text">Development</span></p>
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<ul>
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<li class="toctree-l1"><a class="reference external" href="https://github.com/Farama-Foundation/Gymnasium">Github</a></li>
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<li class="toctree-l1"><a class="reference external" href="https://github.com/Farama-Foundation/Gymnasium/blob/main/docs/README.md">Contribute to the Docs</a></li>
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<div class="content">
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<div class="article-container">
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||
<a href="#" class="back-to-top muted-link">
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<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24">
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<path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12z"></path>
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</svg>
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<span>Back to top</span>
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<div class="visually-hidden">Toggle Light / Dark / Auto color theme</div>
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</button>
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</div>
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<div class="visually-hidden">Toggle table of contents sidebar</div>
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||
<i class="icon"><svg><use href="#svg-toc"></use></svg></i>
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</label>
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||
</div>
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||
<article role="main">
|
||
|
||
<section id="half-cheetah">
|
||
<h1>Half Cheetah<a class="headerlink" href="#half-cheetah" title="Permalink to this heading">#</a></h1>
|
||
<figure class="align-default" id="id1">
|
||
<a class="reference internal image-reference" href="../../../_images/half_cheetah.gif"><img alt="../../../_images/half_cheetah.gif" src="../../../_images/half_cheetah.gif" style="width: 200px;" /></a>
|
||
</figure>
|
||
<p>This environment is part of the <a href='..'>Mujoco environments</a>.Please read that page first for general information.</p>
|
||
<div class="table-wrapper colwidths-auto docutils container">
|
||
<table class="docutils align-default">
|
||
<thead>
|
||
<tr class="row-odd"><th class="head"><p></p></th>
|
||
<th class="head"><p></p></th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr class="row-even"><td><p>Action Space</p></td>
|
||
<td><p>Box(-1.0, 1.0, (6,), float32)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>Observation Shape</p></td>
|
||
<td><p>(17,)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>Observation High</p></td>
|
||
<td><p>inf</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>Observation Low</p></td>
|
||
<td><p>[-inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf]</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>Import</p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">gymnasium.make("HalfCheetah-v4")</span></code></p></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
</div>
|
||
<section id="description">
|
||
<h2>Description<a class="headerlink" href="#description" title="Permalink to this heading">#</a></h2>
|
||
<p>This environment is based on the work by P. Wawrzyński in
|
||
<a class="reference external" href="http://staff.elka.pw.edu.pl/~pwawrzyn/pub-s/0812_LSCLRR.pdf">“A Cat-Like Robot Real-Time Learning to Run”</a>.
|
||
The HalfCheetah is a 2-dimensional robot consisting of 9 links and 8
|
||
joints connecting them (including two paws). The goal is to apply a torque
|
||
on the joints to make the cheetah run forward (right) as fast as possible,
|
||
with a positive reward allocated based on the distance moved forward and a
|
||
negative reward allocated for moving backward. The torso and head of the
|
||
cheetah are fixed, and the torque can only be applied on the other 6 joints
|
||
over the front and back thighs (connecting to the torso), shins
|
||
(connecting to the thighs) and feet (connecting to the shins).</p>
|
||
</section>
|
||
<section id="action-space">
|
||
<h2>Action Space<a class="headerlink" href="#action-space" title="Permalink to this heading">#</a></h2>
|
||
<p>The action space is a <code class="docutils literal notranslate"><span class="pre">Box(-1,</span> <span class="pre">1,</span> <span class="pre">(6,),</span> <span class="pre">float32)</span></code>. An action represents the torques applied between <em>links</em>.</p>
|
||
<div class="table-wrapper colwidths-auto docutils container">
|
||
<table class="docutils align-default">
|
||
<thead>
|
||
<tr class="row-odd"><th class="head"><p>Num</p></th>
|
||
<th class="head"><p>Action</p></th>
|
||
<th class="head"><p>Control Min</p></th>
|
||
<th class="head"><p>Control Max</p></th>
|
||
<th class="head"><p>Name (in corresponding XML file)</p></th>
|
||
<th class="head"><p>Joint</p></th>
|
||
<th class="head"><p>Unit</p></th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr class="row-even"><td><p>0</p></td>
|
||
<td><p>Torque applied on the back thigh rotor</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>bthigh</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>1</p></td>
|
||
<td><p>Torque applied on the back shin rotor</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>bshin</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>2</p></td>
|
||
<td><p>Torque applied on the back foot rotor</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>bfoot</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>3</p></td>
|
||
<td><p>Torque applied on the front thigh rotor</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>fthigh</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>4</p></td>
|
||
<td><p>Torque applied on the front shin rotor</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>fshin</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>5</p></td>
|
||
<td><p>Torque applied on the front foot rotor</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>ffoot</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
</div>
|
||
</section>
|
||
<section id="observation-space">
|
||
<h2>Observation Space<a class="headerlink" href="#observation-space" title="Permalink to this heading">#</a></h2>
|
||
<p>Observations consist of positional values of different body parts of the
|
||
cheetah, followed by the velocities of those individual parts (their derivatives) with all the positions ordered before all the velocities.</p>
|
||
<p>By default, observations do not include the x-coordinate of the cheetah’s center of mass. It may
|
||
be included by passing <code class="docutils literal notranslate"><span class="pre">exclude_current_positions_from_observation=False</span></code> during construction.
|
||
In that case, the observation space will have 18 dimensions where the first dimension
|
||
represents the x-coordinate of the cheetah’s center of mass.
|
||
Regardless of whether <code class="docutils literal notranslate"><span class="pre">exclude_current_positions_from_observation</span></code> was set to true or false, the x-coordinate
|
||
will be returned in <code class="docutils literal notranslate"><span class="pre">info</span></code> with key <code class="docutils literal notranslate"><span class="pre">"x_position"</span></code>.</p>
|
||
<p>However, by default, the observation is a <code class="docutils literal notranslate"><span class="pre">ndarray</span></code> with shape <code class="docutils literal notranslate"><span class="pre">(17,)</span></code> where the elements correspond to the following:</p>
|
||
<div class="table-wrapper colwidths-auto docutils container">
|
||
<table class="docutils align-default">
|
||
<thead>
|
||
<tr class="row-odd"><th class="head"><p>Num</p></th>
|
||
<th class="head"><p>Observation</p></th>
|
||
<th class="head"><p>Min</p></th>
|
||
<th class="head"><p>Max</p></th>
|
||
<th class="head"><p>Name (in corresponding XML file)</p></th>
|
||
<th class="head"><p>Joint</p></th>
|
||
<th class="head"><p>Unit</p></th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr class="row-even"><td><p>0</p></td>
|
||
<td><p>z-coordinate of the front tip</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>rootz</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>position (m)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>1</p></td>
|
||
<td><p>angle of the front tip</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>rooty</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>2</p></td>
|
||
<td><p>angle of the second rotor</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>bthigh</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>3</p></td>
|
||
<td><p>angle of the second rotor</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>bshin</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>4</p></td>
|
||
<td><p>velocity of the tip along the x-axis</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>bfoot</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>5</p></td>
|
||
<td><p>velocity of the tip along the y-axis</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>fthigh</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>6</p></td>
|
||
<td><p>angular velocity of front tip</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>fshin</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>7</p></td>
|
||
<td><p>angular velocity of second rotor</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>ffoot</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>8</p></td>
|
||
<td><p>x-coordinate of the front tip</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>rootx</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>velocity (m/s)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>9</p></td>
|
||
<td><p>y-coordinate of the front tip</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>rootz</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>velocity (m/s)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>10</p></td>
|
||
<td><p>angle of the front tip</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>rooty</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>11</p></td>
|
||
<td><p>angle of the second rotor</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>bthigh</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>12</p></td>
|
||
<td><p>angle of the second rotor</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>bshin</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>13</p></td>
|
||
<td><p>velocity of the tip along the x-axis</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>bfoot</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>14</p></td>
|
||
<td><p>velocity of the tip along the y-axis</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>fthigh</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>15</p></td>
|
||
<td><p>angular velocity of front tip</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>fshin</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>16</p></td>
|
||
<td><p>angular velocity of second rotor</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>ffoot</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
</div>
|
||
</section>
|
||
<section id="rewards">
|
||
<h2>Rewards<a class="headerlink" href="#rewards" title="Permalink to this heading">#</a></h2>
|
||
<p>The reward consists of two parts:</p>
|
||
<ul class="simple">
|
||
<li><p><em>forward_reward</em>: A reward of moving forward which is measured
|
||
as <em><code class="docutils literal notranslate"><span class="pre">forward_reward_weight</span></code> * (x-coordinate before action - x-coordinate after action)/dt</em>. <em>dt</em> is
|
||
the time between actions and is dependent on the frame_skip parameter
|
||
(fixed to 5), where the frametime is 0.01 - making the
|
||
default <em>dt = 5 * 0.01 = 0.05</em>. This reward would be positive if the cheetah
|
||
runs forward (right).</p></li>
|
||
<li><p><em>ctrl_cost</em>: A cost for penalising the cheetah if it takes
|
||
actions that are too large. It is measured as <em><code class="docutils literal notranslate"><span class="pre">ctrl_cost_weight</span></code> *
|
||
sum(action<sup>2</sup>)</em> where <em><code class="docutils literal notranslate"><span class="pre">ctrl_cost_weight</span></code></em> is a parameter set for the
|
||
control and has a default value of 0.1</p></li>
|
||
</ul>
|
||
<p>The total reward returned is <em><strong>reward</strong></em> <em>=</em> <em>forward_reward - ctrl_cost</em> and <code class="docutils literal notranslate"><span class="pre">info</span></code> will also contain the individual reward terms</p>
|
||
</section>
|
||
<section id="starting-state">
|
||
<h2>Starting State<a class="headerlink" href="#starting-state" title="Permalink to this heading">#</a></h2>
|
||
<p>All observations start in state (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
|
||
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,) with a noise added to the
|
||
initial state for stochasticity. As seen before, the first 8 values in the
|
||
state are positional and the last 9 values are velocity. A uniform noise in
|
||
the range of [-<code class="docutils literal notranslate"><span class="pre">reset_noise_scale</span></code>, <code class="docutils literal notranslate"><span class="pre">reset_noise_scale</span></code>] is added to the positional values while a standard
|
||
normal noise with a mean of 0 and standard deviation of <code class="docutils literal notranslate"><span class="pre">reset_noise_scale</span></code> is added to the
|
||
initial velocity values of all zeros.</p>
|
||
</section>
|
||
<section id="episode-end">
|
||
<h2>Episode End<a class="headerlink" href="#episode-end" title="Permalink to this heading">#</a></h2>
|
||
<p>The episode truncates when the episode length is greater than 1000.</p>
|
||
</section>
|
||
<section id="arguments">
|
||
<h2>Arguments<a class="headerlink" href="#arguments" title="Permalink to this heading">#</a></h2>
|
||
<p>No additional arguments are currently supported in v2 and lower.</p>
|
||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
|
||
<span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s1">'HalfCheetah-v2'</span><span class="p">)</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>v3 and v4 take <code class="docutils literal notranslate"><span class="pre">gymnasium.make</span></code> kwargs such as <code class="docutils literal notranslate"><span class="pre">xml_file</span></code>, <code class="docutils literal notranslate"><span class="pre">ctrl_cost_weight</span></code>, <code class="docutils literal notranslate"><span class="pre">reset_noise_scale</span></code>, etc.</p>
|
||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
|
||
<span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s1">'HalfCheetah-v4'</span><span class="p">,</span> <span class="n">ctrl_cost_weight</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span> <span class="o">....</span><span class="p">)</span>
|
||
</pre></div>
|
||
</div>
|
||
<div class="table-wrapper colwidths-auto docutils container">
|
||
<table class="docutils align-default">
|
||
<thead>
|
||
<tr class="row-odd"><th class="head"><p>Parameter</p></th>
|
||
<th class="head"><p>Type</p></th>
|
||
<th class="head"><p>Default</p></th>
|
||
<th class="head"><p>Description</p></th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">xml_file</span></code></p></td>
|
||
<td><p><strong>str</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">"half_cheetah.xml"</span></code></p></td>
|
||
<td><p>Path to a MuJoCo model</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">forward_reward_weight</span></code></p></td>
|
||
<td><p><strong>float</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">1.0</span></code></p></td>
|
||
<td><p>Weight for <em>forward_reward</em> term (see section on reward)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">ctrl_cost_weight</span></code></p></td>
|
||
<td><p><strong>float</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">0.1</span></code></p></td>
|
||
<td><p>Weight for <em>ctrl_cost</em> weight (see section on reward)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">reset_noise_scale</span></code></p></td>
|
||
<td><p><strong>float</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">0.1</span></code></p></td>
|
||
<td><p>Scale of random perturbations of initial position and velocity (see section on Starting State)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">exclude_current_positions_from_observation</span></code></p></td>
|
||
<td><p><strong>bool</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">True</span></code></p></td>
|
||
<td><p>Whether or not to omit the x-coordinate from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies</p></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
</div>
|
||
</section>
|
||
<section id="version-history">
|
||
<h2>Version History<a class="headerlink" href="#version-history" title="Permalink to this heading">#</a></h2>
|
||
<ul class="simple">
|
||
<li><p>v4: all mujoco environments now use the mujoco bindings in mujoco>=2.1.3</p></li>
|
||
<li><p>v3: support for <code class="docutils literal notranslate"><span class="pre">gymnasium.make</span></code> kwargs such as <code class="docutils literal notranslate"><span class="pre">xml_file</span></code>, <code class="docutils literal notranslate"><span class="pre">ctrl_cost_weight</span></code>, <code class="docutils literal notranslate"><span class="pre">reset_noise_scale</span></code>, etc. rgb rendering comes from tracking camera (so agent does not run away from screen)</p></li>
|
||
<li><p>v2: All continuous control environments now use mujoco_py >= 1.50</p></li>
|
||
<li><p>v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments.</p></li>
|
||
<li><p>v0: Initial versions release (1.0.0)</p></li>
|
||
</ul>
|
||
</section>
|
||
</section>
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<ul>
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<li><a class="reference internal" href="#">Half Cheetah</a><ul>
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<li><a class="reference internal" href="#description">Description</a></li>
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<li><a class="reference internal" href="#action-space">Action Space</a></li>
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<li><a class="reference internal" href="#observation-space">Observation Space</a></li>
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<li><a class="reference internal" href="#rewards">Rewards</a></li>
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<li><a class="reference internal" href="#starting-state">Starting State</a></li>
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<li><a class="reference internal" href="#episode-end">Episode End</a></li>
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|
||
containerElem.appendChild(textElem);
|
||
const closeBtn = document.createElement("button");
|
||
closeBtn.innerHTML = `<?xml version="1.0" ?><svg viewBox="0 0 32 32" xmlns="http://www.w3.org/2000/svg"><defs><style>.cls-1{fill:none;stroke:#000;stroke-linecap:round;stroke-linejoin:round;stroke-width:2px;}</style></defs><title/><g id="cross"><line class="cls-1" x1="7" x2="25" y1="7" y2="25"/><line class="cls-1" x1="7" x2="25" y1="25" y2="7"/></g></svg>`
|
||
closeBtn.onclick = () => {
|
||
localStorage.setItem("shownCookieAlert", "true");
|
||
boxElem.style.display = "none";
|
||
}
|
||
containerElem.appendChild(closeBtn);
|
||
boxElem.appendChild(containerElem);
|
||
document.body.appendChild(boxElem);
|
||
}
|
||
})()
|
||
</script>
|
||
|
||
<script async src="https://www.googletagmanager.com/gtag/js?id=G-6H9C8TWXZ8"></script>
|
||
<script>
|
||
window.dataLayer = window.dataLayer || [];
|
||
function gtag(){dataLayer.push(arguments);}
|
||
gtag('js', new Date());
|
||
|
||
gtag('config', 'G-6H9C8TWXZ8');
|
||
</script>
|
||
|
||
<script data-url_root="../../../" id="documentation_options" src="../../../_static/documentation_options.js"></script>
|
||
<script src="../../../_static/jquery.js"></script>
|
||
<script src="../../../_static/underscore.js"></script>
|
||
<script src="../../../_static/_sphinx_javascript_frameworks_compat.js"></script>
|
||
<script src="../../../_static/doctools.js"></script>
|
||
<script src="../../../_static/sphinx_highlight.js"></script>
|
||
<script src="../../../_static/scripts/furo.js"></script>
|
||
|
||
<script>
|
||
const versioningConfig = {
|
||
githubUser: 'Farama-Foundation',
|
||
githubRepo: 'Gymnasium',
|
||
};
|
||
fetch('/_static/versioning/versioning_menu.html').then(response => {
|
||
if (response.status === 200) {
|
||
response.text().then(text => {
|
||
const container = document.createElement("div");
|
||
container.innerHTML = text;
|
||
document.querySelector("body").appendChild(container);
|
||
// innerHtml doenst evaluate scripts, we need to add them dynamically
|
||
Array.from(container.querySelectorAll("script")).forEach(oldScript => {
|
||
const newScript = document.createElement("script");
|
||
Array.from(oldScript.attributes).forEach(attr => newScript.setAttribute(attr.name, attr.value));
|
||
newScript.appendChild(document.createTextNode(oldScript.innerHTML));
|
||
oldScript.parentNode.replaceChild(newScript, oldScript);
|
||
});
|
||
});
|
||
} else {
|
||
console.warn("Unable to load versioning menu", response);
|
||
}
|
||
});
|
||
</script></body>
|
||
</html> |