mirror of
https://github.com/Farama-Foundation/Gymnasium.git
synced 2025-08-20 22:12:03 +00:00
869 lines
47 KiB
HTML
869 lines
47 KiB
HTML
<!doctype html>
|
||
<html class="no-js" lang="en">
|
||
<head><meta charset="utf-8"/>
|
||
<meta name="viewport" content="width=device-width,initial-scale=1"/>
|
||
<meta name="color-scheme" content="light dark">
|
||
<meta name="description" content="A standard API for reinforcement learning and a diverse set of reference environments (formerly Gym)">
|
||
<meta property="og:title" content="Gymnasium Documentation" />
|
||
<meta property="og:type" content="website" />
|
||
<meta property="og:description" content="A standard API for reinforcement learning and a diverse set of reference environments (formerly Gym)" />
|
||
<meta property="og:url" content="https://gymnasium.farama.org/environments/mujoco/inverted_pendulum.html" /><meta property="og:image" content="https://gymnasium.farama.org/_static/img/gymnasium-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
|
||
<link rel="index" title="Index" href="../../../genindex/" /><link rel="search" title="Search" href="../../../search/" /><link rel="next" title="Reacher" href="../reacher/" /><link rel="prev" title="Inverted Double Pendulum" href="../inverted_double_pendulum/" />
|
||
<link rel="canonical" href="https://gymnasium.farama.org/environments/mujoco/inverted_pendulum.html" />
|
||
|
||
<link rel="shortcut icon" href="../../../_static/favicon.png"/><meta name="generator" content="sphinx-5.3.0, furo 2022.09.15.dev1"/>
|
||
<title>Inverted Pendulum - Gymnasium Documentation</title>
|
||
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css" />
|
||
<link rel="stylesheet" type="text/css" href="../../../_static/styles/furo.css?digest=9ec31e2665bf879c1d47d93a8ec4893870ee1e45" />
|
||
<link rel="stylesheet" type="text/css" href="../../../_static/styles/furo-extensions.css?digest=a614025deca43086db03c234d5a3a2047a0241ae" />
|
||
|
||
|
||
|
||
|
||
<style>
|
||
body {
|
||
--color-code-background: #f8f8f8;
|
||
--color-code-foreground: black;
|
||
|
||
}
|
||
@media not print {
|
||
body[data-theme="dark"] {
|
||
--color-code-background: #202020;
|
||
--color-code-foreground: #d0d0d0;
|
||
|
||
}
|
||
@media (prefers-color-scheme: dark) {
|
||
body:not([data-theme="light"]) {
|
||
--color-code-background: #202020;
|
||
--color-code-foreground: #d0d0d0;
|
||
|
||
}
|
||
}
|
||
}
|
||
</style></head>
|
||
<body>
|
||
<header class="farama-header">
|
||
<div class="farama-header__container">
|
||
<div class="farama-header__left">
|
||
<a href="../../../">
|
||
<img class="farama-header__logo only-light" src="../../../_static/img/gymnasium_black.svg" alt="Light Logo"/>
|
||
<img class="farama-header__logo only-dark" src="../../../_static/img/gymnasium_white.svg" alt="Dark Logo"/>
|
||
<h1 class="farama-header__title">Gymnasium Documentation</h1>
|
||
</a>
|
||
</div>
|
||
<div class="farama-header__right">
|
||
<div class="farama-header-menu">
|
||
<div class="farama-header-menu__btn">
|
||
<span class="farama-header-menu__btn-name">
|
||
Farama Foundation
|
||
</span>
|
||
<svg viewBox="0 0 32 32" xmlns="http://www.w3.org/2000/svg" xmlns:bx="https://boxy-svg.com">
|
||
<defs></defs>
|
||
<path d="M 3 4.677 C 3 3.751 3.659 3 4.474 3 L 27.526 3 C 28.341 3 29 3.751 29 4.677 C 29 5.603 28.341 6.354 27.526 6.354 L 4.474 6.354 C 3.659 6.354 3 5.603 3 4.677 Z" bx:origin="0.622825 3.875593"></path>
|
||
<path d="M 3 16 C 3 15.074 3.659 14.323 4.474 14.323 L 27.526 14.323 C 28.341 14.323 29 15.074 29 16 C 29 16.926 28.341 17.677 27.526 17.677 L 4.474 17.677 C 3.659 17.677 3 16.926 3 16 Z" bx:origin="0.622825 0.5"></path>
|
||
<path d="M 3 27.323 C 3 26.397 3.659 25.646 4.474 25.646 L 27.526 25.646 C 28.341 25.646 29 26.397 29 27.323 C 29 28.249 28.341 29 27.526 29 L 4.474 29 C 3.659 29 3 28.249 3 27.323 Z" bx:origin="0.622825 -2.875591"></path>
|
||
</svg>
|
||
</div>
|
||
<div class="farama-header-menu-container">
|
||
<div class="farama-header-menu__header">
|
||
<a href="https://farama.org">
|
||
<img class="farama-header-menu__logo" src="../../../_static/img/farama_solid_white.svg" alt="Farama Foundation">
|
||
<span>Farama Foundation</span>
|
||
</a>
|
||
<button id="farama-close-menu">
|
||
<svg viewBox="0 0 24 24" xmlns="http://www.w3.org/2000/svg" fill="none" stroke="currentColor"
|
||
stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="icon-close">
|
||
<line x1="3" y1="21" x2="21" y2="3"></line>
|
||
<line x1="3" y1="3" x2="21" y2="21"></line>
|
||
</svg>
|
||
</button>
|
||
</div>
|
||
<div class="farama-header-menu__body">
|
||
<div class="farama-header-menu__section" style="padding-left: 24px;" >
|
||
<span class="farama-header-menu__section-title">Documentation</span>
|
||
<ul class="farama-header-menu-list">
|
||
<li>
|
||
<a href="https://gymnasium.farama.org">
|
||
|
||
<img src="../../../_static/img/gymnasium-white.svg">
|
||
|
||
Gymnasium
|
||
</a>
|
||
</li>
|
||
<li>
|
||
<a href="https://pettingzoo.farama.org">
|
||
|
||
<img src="../../../_static/img/pettingzoo-white.svg">
|
||
|
||
PettingZoo
|
||
</a>
|
||
</li>
|
||
<li>
|
||
<a href="https://minigrid.farama.org">
|
||
|
||
<img src="../../../_static/img/minigrid-white.svg">
|
||
|
||
MiniGrid
|
||
</a>
|
||
</li>
|
||
<li>
|
||
<a href="https://robotics.farama.org">
|
||
|
||
<img src="../../../_static/img/gymrobotics-white.svg">
|
||
|
||
Gymnasium-Robotics
|
||
</a>
|
||
</li>
|
||
|
||
</ul>
|
||
</div>
|
||
<div class="farama-header-menu__section" style="padding-left: 24px;" >
|
||
<span class="farama-header-menu__section-title">Mature Projects</span>
|
||
<ul class="farama-header-menu-list">
|
||
<li>
|
||
<a href="https://github.com/Farama-Foundation/SuperSuit">
|
||
|
||
<img src="../../../_static/img/supersuit-white.svg">
|
||
|
||
SuperSuit
|
||
</a>
|
||
</li>
|
||
<li>
|
||
<a href="https://github.com/Farama-Foundation/tinyscaler">
|
||
|
||
<img src="../../../_static/img/tinyscaler-white.svg">
|
||
|
||
Tinyscaler
|
||
</a>
|
||
</li>
|
||
<li>
|
||
<a href="https://github.com/Farama-Foundation/AutoROM">
|
||
|
||
<img src="../../../_static/img/autorom-white.svg">
|
||
|
||
AutoROM
|
||
</a>
|
||
</li>
|
||
<li>
|
||
<a href="https://github.com/Farama-Foundation/Jumpy">
|
||
|
||
<img src="../../../_static/img/jumpy-white.svg">
|
||
|
||
JumPy
|
||
</a>
|
||
</li>
|
||
|
||
</ul>
|
||
</div>
|
||
<div class="farama-header-menu__section" style="padding-left: 24px;" >
|
||
<span class="farama-header-menu__section-title">Incubating Projects</span>
|
||
<ul class="farama-header-menu-list">
|
||
<li>
|
||
<a href="https://github.com/Farama-Foundation/MAgent2">
|
||
|
||
<img src="../../../_static/img/MAgent2-white.svg">
|
||
|
||
MAgent2
|
||
</a>
|
||
</li>
|
||
<li>
|
||
<a href="https://github.com/Farama-Foundation/procgen2">
|
||
|
||
<img src="../../../_static/img/procgen2-white.svg">
|
||
|
||
Procgen2
|
||
</a>
|
||
</li>
|
||
<li>
|
||
<a href="https://github.com/Farama-Foundation/MiniWorld">
|
||
|
||
<img src="../../../_static/img/miniworld-white.svg">
|
||
|
||
Miniworld
|
||
</a>
|
||
</li>
|
||
<li>
|
||
<a href="https://github.com/Farama-Foundation/D4RL">
|
||
|
||
<img src="../../../_static/img/d4rl-white.svg">
|
||
|
||
D4RL
|
||
</a>
|
||
</li>
|
||
<li>
|
||
<a href="https://github.com/Farama-Foundation/Kabuki">
|
||
|
||
<img src="../../../_static/img/kabuki-white.svg">
|
||
|
||
Kabuki
|
||
</a>
|
||
</li>
|
||
|
||
</ul>
|
||
</div>
|
||
<div class="farama-header-menu__section" style="padding-left: 24px;" >
|
||
<span class="farama-header-menu__section-title">Foundation</span>
|
||
<ul class="farama-header-menu-list">
|
||
<li>
|
||
<a href="https://farama.org/about">
|
||
|
||
About
|
||
</a>
|
||
</li>
|
||
<li>
|
||
<a href="https://farama.org/project_standards">
|
||
|
||
Standards
|
||
</a>
|
||
</li>
|
||
<li>
|
||
<a href="https://farama.org/donations">
|
||
|
||
Donate
|
||
</a>
|
||
</li>
|
||
|
||
</ul>
|
||
</div>
|
||
|
||
|
||
</div>
|
||
</div>
|
||
</div>
|
||
</div>
|
||
</div>
|
||
</header>
|
||
|
||
<div class="farama-header-menu__overlay"></div>
|
||
|
||
|
||
<script>
|
||
document.body.dataset.theme = localStorage.getItem("theme") || "auto";
|
||
</script>
|
||
|
||
|
||
<svg xmlns="http://www.w3.org/2000/svg" style="display: none;">
|
||
<symbol id="svg-toc" viewBox="0 0 24 24">
|
||
<title>Contents</title>
|
||
<svg stroke="currentColor" fill="currentColor" stroke-width="0" viewBox="0 0 1024 1024">
|
||
<path d="M408 442h480c4.4 0 8-3.6 8-8v-56c0-4.4-3.6-8-8-8H408c-4.4 0-8 3.6-8 8v56c0 4.4 3.6 8 8 8zm-8 204c0 4.4 3.6 8 8 8h480c4.4 0 8-3.6 8-8v-56c0-4.4-3.6-8-8-8H408c-4.4 0-8 3.6-8 8v56zm504-486H120c-4.4 0-8 3.6-8 8v56c0 4.4 3.6 8 8 8h784c4.4 0 8-3.6 8-8v-56c0-4.4-3.6-8-8-8zm0 632H120c-4.4 0-8 3.6-8 8v56c0 4.4 3.6 8 8 8h784c4.4 0 8-3.6 8-8v-56c0-4.4-3.6-8-8-8zM115.4 518.9L271.7 642c5.8 4.6 14.4.5 14.4-6.9V388.9c0-7.4-8.5-11.5-14.4-6.9L115.4 505.1a8.74 8.74 0 0 0 0 13.8z"/>
|
||
</svg>
|
||
</symbol>
|
||
<symbol id="svg-menu" viewBox="0 0 24 24">
|
||
<title>Menu</title>
|
||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" fill="none" stroke="currentColor"
|
||
stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="feather-menu">
|
||
<line x1="3" y1="12" x2="21" y2="12"></line>
|
||
<line x1="3" y1="6" x2="21" y2="6"></line>
|
||
<line x1="3" y1="18" x2="21" y2="18"></line>
|
||
</svg>
|
||
</symbol>
|
||
<symbol id="svg-arrow-right" viewBox="0 0 24 24">
|
||
<title>Expand</title>
|
||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" fill="none" stroke="currentColor"
|
||
stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="feather-chevron-right">
|
||
<polyline points="9 18 15 12 9 6"></polyline>
|
||
</svg>
|
||
</symbol>
|
||
<symbol id="svg-sun" viewBox="0 0 24 24">
|
||
<title>Light mode</title>
|
||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" fill="none" stroke="currentColor"
|
||
stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round" class="feather-sun">
|
||
<circle cx="12" cy="12" r="5"></circle>
|
||
<line x1="12" y1="1" x2="12" y2="3"></line>
|
||
<line x1="12" y1="21" x2="12" y2="23"></line>
|
||
<line x1="4.22" y1="4.22" x2="5.64" y2="5.64"></line>
|
||
<line x1="18.36" y1="18.36" x2="19.78" y2="19.78"></line>
|
||
<line x1="1" y1="12" x2="3" y2="12"></line>
|
||
<line x1="21" y1="12" x2="23" y2="12"></line>
|
||
<line x1="4.22" y1="19.78" x2="5.64" y2="18.36"></line>
|
||
<line x1="18.36" y1="5.64" x2="19.78" y2="4.22"></line>
|
||
</svg>
|
||
</symbol>
|
||
<symbol id="svg-moon" viewBox="0 0 24 24">
|
||
<title>Dark mode</title>
|
||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" fill="none" stroke="currentColor"
|
||
stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round" class="icon-tabler-moon">
|
||
<path stroke="none" d="M0 0h24v24H0z" fill="none" />
|
||
<path d="M12 3c.132 0 .263 0 .393 0a7.5 7.5 0 0 0 7.92 12.446a9 9 0 1 1 -8.313 -12.454z" />
|
||
</svg>
|
||
</symbol>
|
||
<symbol id="svg-sun-half" viewBox="0 0 24 24">
|
||
<title>Auto light/dark mode</title>
|
||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" fill="none" stroke="currentColor"
|
||
stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round" class="icon-tabler-shadow">
|
||
<path stroke="none" d="M0 0h24v24H0z" fill="none"/>
|
||
<circle cx="12" cy="12" r="9" />
|
||
<path d="M13 12h5" />
|
||
<path d="M13 15h4" />
|
||
<path d="M13 18h1" />
|
||
<path d="M13 9h4" />
|
||
<path d="M13 6h1" />
|
||
</svg>
|
||
</symbol>
|
||
</svg>
|
||
|
||
<input type="checkbox" class="sidebar-toggle" name="__navigation" id="__navigation">
|
||
<input type="checkbox" class="sidebar-toggle" name="__toc" id="__toc">
|
||
<label class="overlay sidebar-overlay" for="__navigation">
|
||
<div class="visually-hidden">Hide navigation sidebar</div>
|
||
</label>
|
||
<label class="overlay toc-overlay" for="__toc">
|
||
<div class="visually-hidden">Hide table of contents sidebar</div>
|
||
</label>
|
||
|
||
|
||
|
||
<div class="page">
|
||
<header class="mobile-header">
|
||
<div class="header-left">
|
||
<label class="nav-overlay-icon" for="__navigation">
|
||
<div class="visually-hidden">Toggle site navigation sidebar</div>
|
||
<i class="icon"><svg><use href="#svg-menu"></use></svg></i>
|
||
</label>
|
||
</div>
|
||
<div class="header-center">
|
||
<a href="../../../"><div class="brand">Gymnasium Documentation</div></a>
|
||
</div>
|
||
<div class="header-right">
|
||
<div class="theme-toggle-container theme-toggle-header">
|
||
<button class="theme-toggle">
|
||
<div class="visually-hidden">Toggle Light / Dark / Auto color theme</div>
|
||
<svg class="theme-icon-when-auto"><use href="#svg-sun-half"></use></svg>
|
||
<svg class="theme-icon-when-dark"><use href="#svg-moon"></use></svg>
|
||
<svg class="theme-icon-when-light"><use href="#svg-sun"></use></svg>
|
||
</button>
|
||
</div>
|
||
<label class="toc-overlay-icon toc-header-icon" for="__toc">
|
||
<div class="visually-hidden">Toggle table of contents sidebar</div>
|
||
<i class="icon"><svg><use href="#svg-toc"></use></svg></i>
|
||
</label>
|
||
</div>
|
||
</header>
|
||
<aside class="sidebar-drawer">
|
||
<div class="sidebar-container">
|
||
|
||
<div class="sidebar-sticky"><form class="sidebar-search-container" method="get" action="../../../search/" role="search">
|
||
<input class="sidebar-search" placeholder=Search name="q" aria-label="Search">
|
||
<input type="hidden" name="check_keywords" value="yes">
|
||
<input type="hidden" name="area" value="default">
|
||
</form>
|
||
<div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
|
||
<p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
|
||
<ul>
|
||
<li class="toctree-l1"><a class="reference internal" href="../../../content/basic_usage/">Basic Usage</a></li>
|
||
<li class="toctree-l1"><a class="reference internal" href="../../../content/gym_compatibility/">Compatibility with Gym</a></li>
|
||
<li class="toctree-l1"><a class="reference internal" href="../../../content/migration-guide/">v21 to v26 Migration Guide</a></li>
|
||
</ul>
|
||
<p class="caption" role="heading"><span class="caption-text">API</span></p>
|
||
<ul>
|
||
<li class="toctree-l1"><a class="reference internal" href="../../../api/env/">Env</a></li>
|
||
<li class="toctree-l1"><a class="reference internal" href="../../../api/registry/">Registry</a></li>
|
||
<li class="toctree-l1 has-children"><a class="reference internal" href="../../../api/spaces/">Spaces</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle child pages in navigation</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../../api/spaces/fundamental/">Fundamental Spaces</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../../api/spaces/composite/">Composite Spaces</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../../api/spaces/utils/">Spaces Utils</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../../api/spaces/vector_utils/">Spaces Vector Utils</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l1 has-children"><a class="reference internal" href="../../../api/wrappers/">Wrappers</a><input class="toctree-checkbox" id="toctree-checkbox-2" name="toctree-checkbox-2" role="switch" type="checkbox"/><label for="toctree-checkbox-2"><div class="visually-hidden">Toggle child pages in navigation</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../../api/wrappers/misc_wrappers/">Misc Wrappers</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../../api/wrappers/action_wrappers/">Action Wrappers</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../../api/wrappers/observation_wrappers/">Observation Wrappers</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../../api/wrappers/reward_wrappers/">Reward Wrappers</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l1"><a class="reference internal" href="../../../api/vector/">Vector</a></li>
|
||
<li class="toctree-l1"><a class="reference internal" href="../../../api/utils/">Utils</a></li>
|
||
</ul>
|
||
<p class="caption" role="heading"><span class="caption-text">Environments</span></p>
|
||
<ul class="current">
|
||
<li class="toctree-l1 has-children"><a class="reference internal" href="../../classic_control/">Classic Control</a><input class="toctree-checkbox" id="toctree-checkbox-3" name="toctree-checkbox-3" role="switch" type="checkbox"/><label for="toctree-checkbox-3"><div class="visually-hidden">Toggle child pages in navigation</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../classic_control/acrobot/">Acrobot</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../classic_control/cart_pole/">Cart Pole</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../classic_control/mountain_car_continuous/">Mountain Car Continuous</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../classic_control/mountain_car/">Mountain Car</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../classic_control/pendulum/">Pendulum</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l1 has-children"><a class="reference internal" href="../../box2d/">Box2D</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" role="switch" type="checkbox"/><label for="toctree-checkbox-4"><div class="visually-hidden">Toggle child pages in navigation</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../box2d/bipedal_walker/">Bipedal Walker</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../box2d/car_racing/">Car Racing</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../box2d/lunar_lander/">Lunar Lander</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l1 has-children"><a class="reference internal" href="../../toy_text/">Toy Text</a><input class="toctree-checkbox" id="toctree-checkbox-5" name="toctree-checkbox-5" role="switch" type="checkbox"/><label for="toctree-checkbox-5"><div class="visually-hidden">Toggle child pages in navigation</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../toy_text/blackjack/">Blackjack</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../toy_text/taxi/">Taxi</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../toy_text/cliff_walking/">Cliff Walking</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../toy_text/frozen_lake/">Frozen Lake</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l1 current has-children"><a class="reference internal" href="../">MuJoCo</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-6" name="toctree-checkbox-6" role="switch" type="checkbox"/><label for="toctree-checkbox-6"><div class="visually-hidden">Toggle child pages in navigation</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
|
||
<li class="toctree-l2"><a class="reference internal" href="../ant/">Ant</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../half_cheetah/">Half Cheetah</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../hopper/">Hopper</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../humanoid_standup/">Humanoid Standup</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../humanoid/">Humanoid</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../inverted_double_pendulum/">Inverted Double Pendulum</a></li>
|
||
<li class="toctree-l2 current current-page"><a class="current reference internal" href="#">Inverted Pendulum</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../reacher/">Reacher</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../swimmer/">Swimmer</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../pusher/">Pusher</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../walker2d/">Walker2D</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l1 has-children"><a class="reference internal" href="../../atari/">Atari</a><input class="toctree-checkbox" id="toctree-checkbox-7" name="toctree-checkbox-7" role="switch" type="checkbox"/><label for="toctree-checkbox-7"><div class="visually-hidden">Toggle child pages in navigation</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/adventure/">Adventure</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/air_raid/">Air Raid</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/alien/">Alien</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/amidar/">Amidar</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/assault/">Assault</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/asterix/">Asterix</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/asteroids/">Asteroids</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/atlantis/">Atlantis</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/bank_heist/">Bank Heist</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/battle_zone/">Battle Zone</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/beam_rider/">Beam Rider</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/berzerk/">Berzerk</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/bowling/">Bowling</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/boxing/">Boxing</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/breakout/">Breakout</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/carnival/">Carnival</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/centipede/">Centipede</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/chopper_command/">Chopper Command</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/crazy_climber/">Crazy Climber</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/defender/">Defender</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/demon_attack/">Demon Attack</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/double_dunk/">Double Dunk</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/elevator_action/">Elevator Action</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/enduro/">Enduro</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/fishing_derby/">FishingDerby</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/freeway/">Freeway</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/frostbite/">Frostbite</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/gopher/">Gopher</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/gravitar/">Gravitar</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/hero/">Hero</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/ice_hockey/">IceHockey</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/jamesbond/">Jamesbond</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/journey_escape/">JourneyEscape</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/kangaroo/">Kangaroo</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/krull/">Krull</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/kung_fu_master/">Kung Fu Master</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/montezuma_revenge/">Montezuma Revenge</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/ms_pacman/">Ms Pacman</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/name_this_game/">Name This Game</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/phoenix/">Phoenix</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/pitfall/">Pitfall</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/pong/">Pong</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/pooyan/">Pooyan</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/private_eye/">PrivateEye</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/qbert/">Qbert</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/riverraid/">Riverraid</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/road_runner/">Road Runner</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/robotank/">Robot Tank</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/seaquest/">Seaquest</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/skiing/">Skiings</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/solaris/">Solaris</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/space_invaders/">SpaceInvaders</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/star_gunner/">StarGunner</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/tennis/">Tennis</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/time_pilot/">TimePilot</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/tutankham/">Tutankham</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/up_n_down/">Up n’ Down</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/venture/">Venture</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/video_pinball/">Video Pinball</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/wizard_of_wor/">Wizard of Wor</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../../atari/zaxxon/">Zaxxon</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l1"><a class="reference internal" href="../../third_party_environments/">Third-Party Environments</a></li>
|
||
</ul>
|
||
<p class="caption" role="heading"><span class="caption-text">Tutorials</span></p>
|
||
<ul>
|
||
<li class="toctree-l1"><a class="reference internal" href="../../../tutorials/blackjack_tutorial/">Solving Blackjack with Q-Learning</a></li>
|
||
<li class="toctree-l1"><a class="reference internal" href="../../../tutorials/environment_creation/">Make your own custom environment</a></li>
|
||
<li class="toctree-l1"><a class="reference internal" href="../../../tutorials/handling_time_limits/">Handling Time Limits</a></li>
|
||
</ul>
|
||
<p class="caption" role="heading"><span class="caption-text">Development</span></p>
|
||
<ul>
|
||
<li class="toctree-l1"><a class="reference external" href="https://github.com/Farama-Foundation/Gymnasium">Github</a></li>
|
||
<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>
|
||
</ul>
|
||
|
||
</div>
|
||
</div>
|
||
|
||
</div>
|
||
|
||
</div>
|
||
</aside>
|
||
<div class="main">
|
||
<div class="content">
|
||
<div class="article-container">
|
||
<a href="#" class="back-to-top muted-link">
|
||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24">
|
||
<path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12z"></path>
|
||
</svg>
|
||
<span>Back to top</span>
|
||
</a>
|
||
<div class="content-icon-container">
|
||
<div class="theme-toggle-container theme-toggle-content">
|
||
<button class="theme-toggle">
|
||
<div class="visually-hidden">Toggle Light / Dark / Auto color theme</div>
|
||
<svg class="theme-icon-when-auto"><use href="#svg-sun-half"></use></svg>
|
||
<svg class="theme-icon-when-dark"><use href="#svg-moon"></use></svg>
|
||
<svg class="theme-icon-when-light"><use href="#svg-sun"></use></svg>
|
||
</button>
|
||
</div>
|
||
<label class="toc-overlay-icon toc-content-icon" for="__toc">
|
||
<div class="visually-hidden">Toggle table of contents sidebar</div>
|
||
<i class="icon"><svg><use href="#svg-toc"></use></svg></i>
|
||
</label>
|
||
</div>
|
||
<article role="main">
|
||
|
||
<section id="inverted-pendulum">
|
||
<h1>Inverted Pendulum<a class="headerlink" href="#inverted-pendulum" title="Permalink to this heading">#</a></h1>
|
||
<figure class="align-default" id="id1">
|
||
<a class="reference internal image-reference" href="../../../_images/inverted_pendulum.gif"><img alt="../../../_images/inverted_pendulum.gif" src="../../../_images/inverted_pendulum.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(-3.0, 3.0, (1,), float32)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>Observation Shape</p></td>
|
||
<td><p>(4,)</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]</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>Import</p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">gymnasium.make("InvertedPendulum-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 the cartpole environment based on the work done by
|
||
Barto, Sutton, and Anderson in <a class="reference external" href="https://ieeexplore.ieee.org/document/6313077">“Neuronlike adaptive elements that can
|
||
solve difficult learning control problems”</a>,
|
||
just like in the classic environments but now powered by the Mujoco physics simulator -
|
||
allowing for more complex experiments (such as varying the effects of gravity).
|
||
This environment involves a cart that can moved linearly, with a pole fixed on it
|
||
at one end and having another end free. The cart can be pushed left or right, and the
|
||
goal is to balance the pole on the top of the cart by applying forces on the cart.</p>
|
||
</section>
|
||
<section id="action-space">
|
||
<h2>Action Space<a class="headerlink" href="#action-space" title="Permalink to this heading">#</a></h2>
|
||
<p>The agent take a 1-element vector for actions.</p>
|
||
<p>The action space is a continuous <code class="docutils literal notranslate"><span class="pre">(action)</span></code> in <code class="docutils literal notranslate"><span class="pre">[-3,</span> <span class="pre">3]</span></code>, where <code class="docutils literal notranslate"><span class="pre">action</span></code> represents
|
||
the numerical force applied to the cart (with magnitude representing the amount of
|
||
force and sign representing the direction)</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>Force applied on the cart</p></td>
|
||
<td><p>-3</p></td>
|
||
<td><p>3</p></td>
|
||
<td><p>slider</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>Force (N)</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>The state space consists of positional values of different body parts of
|
||
the pendulum system, followed by the velocities of those individual parts (their derivatives)
|
||
with all the positions ordered before all the velocities.</p>
|
||
<p>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">(4,)</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>position of the cart along the linear surface</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>slider</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>vertical angle of the pole on the cart</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>hinge</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>linear velocity of the cart</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>slider</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>velocity (m/s)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>3</p></td>
|
||
<td><p>angular velocity of the pole on the cart</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>anglular 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 goal is to make the inverted pendulum stand upright (within a certain angle limit)
|
||
as long as possible - as such a reward of +1 is awarded for each timestep that
|
||
the pole is upright.</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) with a uniform noise in the range
|
||
of [-0.01, 0.01] added to the values for stochasticity.</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 ends when any of the following happens:</p>
|
||
<ol class="arabic simple">
|
||
<li><p>Truncation: The episode duration reaches 1000 timesteps.</p></li>
|
||
<li><p>Termination: Any of the state space values is no longer finite.</p></li>
|
||
<li><p>Termination: The absolute value of the vertical angle between the pole and the cart is greater than 0.2 radian.</p></li>
|
||
</ol>
|
||
</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.</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">'InvertedPendulum-v4'</span><span class="p">)</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>There is no v3 for InvertedPendulum, unlike the robot environments where a
|
||
v3 and beyond 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">'InvertedPendulum-v2'</span><span class="p">)</span>
|
||
</pre></div>
|
||
</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 (including inverted pendulum)</p></li>
|
||
<li><p>v0: Initial versions release (1.0.0)</p></li>
|
||
</ul>
|
||
</section>
|
||
</section>
|
||
|
||
</article>
|
||
</div>
|
||
<footer>
|
||
|
||
<div class="related-pages">
|
||
<a class="next-page" href="../reacher/">
|
||
<div class="page-info">
|
||
<div class="context">
|
||
<span>Next</span>
|
||
</div>
|
||
<div class="title">Reacher</div>
|
||
</div>
|
||
<svg class="furo-related-icon"><use href="#svg-arrow-right"></use></svg>
|
||
</a>
|
||
<a class="prev-page" href="../inverted_double_pendulum/">
|
||
<svg class="furo-related-icon"><use href="#svg-arrow-right"></use></svg>
|
||
<div class="page-info">
|
||
<div class="context">
|
||
<span>Previous</span>
|
||
</div>
|
||
|
||
<div class="title">Inverted Double Pendulum</div>
|
||
|
||
</div>
|
||
</a>
|
||
</div>
|
||
<div class="bottom-of-page">
|
||
<div class="left-details">
|
||
<div class="copyright">
|
||
Copyright © 2022 Farama Foundation
|
||
</div>
|
||
<!--
|
||
Made with <a href="https://www.sphinx-doc.org/">Sphinx</a> and <a class="muted-link" href="https://pradyunsg.me">@pradyunsg</a>'s
|
||
|
||
<a href="https://github.com/pradyunsg/furo">Furo</a>
|
||
-->
|
||
</div>
|
||
<div class="right-details">
|
||
<div class="icons">
|
||
|
||
</div>
|
||
</div>
|
||
</div>
|
||
|
||
</footer>
|
||
</div>
|
||
<aside class="toc-drawer">
|
||
|
||
|
||
<div class="toc-sticky toc-scroll">
|
||
<div class="toc-title-container">
|
||
<span class="toc-title">
|
||
On this page
|
||
</span>
|
||
</div>
|
||
<div class="toc-tree-container">
|
||
<div class="toc-tree">
|
||
<ul>
|
||
<li><a class="reference internal" href="#">Inverted Pendulum</a><ul>
|
||
<li><a class="reference internal" href="#description">Description</a></li>
|
||
<li><a class="reference internal" href="#action-space">Action Space</a></li>
|
||
<li><a class="reference internal" href="#observation-space">Observation Space</a></li>
|
||
<li><a class="reference internal" href="#rewards">Rewards</a></li>
|
||
<li><a class="reference internal" href="#starting-state">Starting State</a></li>
|
||
<li><a class="reference internal" href="#episode-end">Episode End</a></li>
|
||
<li><a class="reference internal" href="#arguments">Arguments</a></li>
|
||
<li><a class="reference internal" href="#version-history">Version History</a></li>
|
||
</ul>
|
||
</li>
|
||
</ul>
|
||
|
||
</div>
|
||
</div>
|
||
</div>
|
||
|
||
|
||
</aside>
|
||
</div>
|
||
</div>
|
||
<script>
|
||
let toggleMenu = () => {
|
||
document.querySelector(".farama-header-menu").classList.toggle("active");
|
||
document.querySelector(".farama-header-menu__overlay").classList.toggle("active");
|
||
}
|
||
|
||
document.querySelector(".farama-header-menu__btn").addEventListener("click", toggleMenu);
|
||
document.getElementById("farama-close-menu").addEventListener("click", toggleMenu);
|
||
document.querySelector(".farama-header-menu__overlay").addEventListener("click", toggleMenu);
|
||
|
||
window.onclick = function(event) {
|
||
if (!event.target.matches('.farama-header-menu__btn')) {
|
||
const dropdown = document.querySelector(".farama-header-menu-container");
|
||
if (dropdown.classList.contains('active')) {
|
||
dropdown.classList.remove('active');
|
||
document.querySelector(".farama-header-menu__overlay").classList.remove("active");
|
||
}
|
||
}
|
||
}
|
||
</script>
|
||
|
||
|
||
<script>
|
||
(() => {
|
||
if (!localStorage.getItem("shownCookieAlert")) {
|
||
const boxElem = document.createElement("div");
|
||
boxElem.classList.add("cookie-alert");
|
||
const containerElem = document.createElement("div");
|
||
containerElem.classList.add("cookie-alert__container");
|
||
const textElem = document.createElement("p");
|
||
textElem.innerHTML = `This page uses <a href="https://analytics.google.com/">
|
||
Google Analytics</a> to collect statistics. You can disable it by blocking
|
||
the JavaScript coming from www.google-analytics.com.`;
|
||
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> |