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<li class="toctree-l2 current current-page"><a class="current reference internal" href="#">Pusher</a></li>
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<p class="caption" role="heading"><span class="caption-text">Tutorials</span></p>
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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 external" href="https://github.com/Farama-Foundation/Gymnasium">Github</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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<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="pusher">
|
||
<h1>Pusher<a class="headerlink" href="#pusher" title="Permalink to this heading">#</a></h1>
|
||
<figure class="align-default" id="id1">
|
||
<a class="reference internal image-reference" href="../../../_images/pusher.gif"><img alt="../../../_images/pusher.gif" src="../../../_images/pusher.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(-2.0, 2.0, (7,), float32)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>Observation Shape</p></td>
|
||
<td><p>(23,)</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 -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("Pusher-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>“Pusher” is a multi-jointed robot arm which is very similar to that of a human.
|
||
The goal is to move a target cylinder (called <em>object</em>) to a goal position using the robot’s end effector (called <em>fingertip</em>).
|
||
The robot consists of shoulder, elbow, forearm, and wrist joints.</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(-2,</span> <span class="pre">2,</span> <span class="pre">(7,),</span> <span class="pre">float32)</span></code>. An action <code class="docutils literal notranslate"><span class="pre">(a,</span> <span class="pre">b)</span></code> represents the torques applied at the hinge joints.</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>Rotation of the panning the shoulder</p></td>
|
||
<td><p>-2</p></td>
|
||
<td><p>2</p></td>
|
||
<td><p>r_shoulder_pan_joint</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>Rotation of the shoulder lifting joint</p></td>
|
||
<td><p>-2</p></td>
|
||
<td><p>2</p></td>
|
||
<td><p>r_shoulder_lift_joint</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>Rotation of the shoulder rolling joint</p></td>
|
||
<td><p>-2</p></td>
|
||
<td><p>2</p></td>
|
||
<td><p>r_upper_arm_roll_joint</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>Rotation of hinge joint that flexed the elbow</p></td>
|
||
<td><p>-2</p></td>
|
||
<td><p>2</p></td>
|
||
<td><p>r_elbow_flex_joint</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>Rotation of hinge that rolls the forearm</p></td>
|
||
<td><p>-2</p></td>
|
||
<td><p>2</p></td>
|
||
<td><p>r_forearm_roll_joint</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>Rotation of flexing the wrist</p></td>
|
||
<td><p>-2</p></td>
|
||
<td><p>2</p></td>
|
||
<td><p>r_wrist_flex_joint</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>6</p></td>
|
||
<td><p>Rotation of rolling the wrist</p></td>
|
||
<td><p>-2</p></td>
|
||
<td><p>2</p></td>
|
||
<td><p>r_wrist_roll_joint</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</p>
|
||
<ul class="simple">
|
||
<li><p>Angle of rotational joints on the pusher</p></li>
|
||
<li><p>Angular velocities of rotational joints on the pusher</p></li>
|
||
<li><p>The coordinates of the fingertip of the pusher</p></li>
|
||
<li><p>The coordinates of the object to be moved</p></li>
|
||
<li><p>The coordinates of the goal position</p></li>
|
||
</ul>
|
||
<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">(23,)</span></code> where the elements correspond to the table below.
|
||
An analogy can be drawn to a human arm in order to help understand the state space, with the words flex and roll meaning the
|
||
same as human joints.</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>Rotation of the panning the shoulder</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>r_shoulder_pan_joint</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>1</p></td>
|
||
<td><p>Rotation of the shoulder lifting joint</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>r_shoulder_lift_joint</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>Rotation of the shoulder rolling joint</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>r_upper_arm_roll_joint</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>Rotation of hinge joint that flexed the elbow</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>r_elbow_flex_joint</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>Rotation of hinge that rolls the forearm</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>r_forearm_roll_joint</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>Rotation of flexing the wrist</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>r_wrist_flex_joint</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>Rotation of rolling the wrist</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>r_wrist_roll_joint</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>Rotational velocity of the panning the shoulder</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>r_shoulder_pan_joint</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>8</p></td>
|
||
<td><p>Rotational velocity of the shoulder lifting joint</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>r_shoulder_lift_joint</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>9</p></td>
|
||
<td><p>Rotational velocity of the shoulder rolling joint</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>r_upper_arm_roll_joint</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>10</p></td>
|
||
<td><p>Rotational velocity of hinge joint that flexed the elbow</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>r_elbow_flex_joint</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>Rotational velocity of hinge that rolls the forearm</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>r_forearm_roll_joint</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>Rotational velocity of flexing the wrist</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>r_wrist_flex_joint</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>Rotational velocity of rolling the wrist</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>r_wrist_roll_joint</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>x-coordinate of the fingertip of the pusher</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>tips_arm</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>position (m)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>15</p></td>
|
||
<td><p>y-coordinate of the fingertip of the pusher</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>tips_arm</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>position (m)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>16</p></td>
|
||
<td><p>z-coordinate of the fingertip of the pusher</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>tips_arm</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>position (m)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>17</p></td>
|
||
<td><p>x-coordinate of the object to be moved</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>object (obj_slidex)</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>position (m)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>18</p></td>
|
||
<td><p>y-coordinate of the object to be moved</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>object (obj_slidey)</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>position (m)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>19</p></td>
|
||
<td><p>z-coordinate of the object to be moved</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>object</p></td>
|
||
<td><p>cylinder</p></td>
|
||
<td><p>position (m)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>20</p></td>
|
||
<td><p>x-coordinate of the goal position of the object</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>goal (goal_slidex)</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>position (m)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>21</p></td>
|
||
<td><p>y-coordinate of the goal position of the object</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>goal (goal_slidey)</p></td>
|
||
<td><p>slide</p></td>
|
||
<td><p>position (m)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>22</p></td>
|
||
<td><p>z-coordinate of the goal position of the object</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>goal</p></td>
|
||
<td><p>sphere</p></td>
|
||
<td><p>position (m)</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>*reward_near *: This reward is a measure of how far the <em>fingertip</em>
|
||
of the pusher (the unattached end) is from the object, with a more negative
|
||
value assigned for when the pusher’s <em>fingertip</em> is further away from the
|
||
target. It is calculated as the negative vector norm of (position of
|
||
the fingertip - position of target), or <em>-norm(“fingertip” - “target”)</em>.</p></li>
|
||
<li><p>*reward_dist *: This reward is a measure of how far the object is from
|
||
the target goal position, with a more negative value assigned for object is
|
||
further away from the target. It is calculated as the negative vector norm of
|
||
(position of the object - position of goal), or <em>-norm(“object” - “target”)</em>.</p></li>
|
||
<li><p><em>reward_control</em>: A negative reward for penalising the pusher if
|
||
it takes actions that are too large. It is measured as the negative squared
|
||
Euclidean norm of the action, i.e. as <em>- sum(action<sup>2</sup>)</em>.</p></li>
|
||
</ul>
|
||
<p>The total reward returned is <em><strong>reward</strong></em> <em>=</em> <em>reward_dist + 0.1 * reward_ctrl + 0.5 * reward_near</em></p>
|
||
<p>Unlike other environments, Pusher does not allow you to specify weights for the individual reward terms.
|
||
However, <code class="docutils literal notranslate"><span class="pre">info</span></code> does contain the keys <em>reward_dist</em> and <em>reward_ctrl</em>. Thus, if you’d like to weight the terms,
|
||
you should create a wrapper that computes the weighted reward from <code class="docutils literal notranslate"><span class="pre">info</span></code>.</p>
|
||
</section>
|
||
<section id="starting-state">
|
||
<h2>Starting State<a class="headerlink" href="#starting-state" title="Permalink to this heading">#</a></h2>
|
||
<p>All pusher (not including object and goal) states start in
|
||
(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). A uniform noise in the range
|
||
[-0.005, 0.005] is added to the velocity attributes only. The velocities of
|
||
the object and goal are permanently set to 0. The object’s x-position is selected uniformly
|
||
between [-0.3, 0] while the y-position is selected uniformly between [-0.2, 0.2], and this
|
||
process is repeated until the vector norm between the object’s (x,y) position and origin is not greater
|
||
than 0.17. The goal always have the same position of (0.45, -0.05, -0.323).</p>
|
||
<p>The default framerate is 5 with each frame lasting for 0.01, giving rise to a <em>dt = 5 * 0.01 = 0.05</em></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 a 100 timesteps.</p></li>
|
||
<li><p>Termination: Any of the state space values is no longer finite.</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 (in v2 and lower),
|
||
but modifications can be made to the XML file in the assets folder
|
||
(or by changing the path to a modified XML file in another folder)..</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">'Pusher-v4'</span><span class="p">)</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>There is no v3 for Pusher, unlike the robot environments where a v3 and
|
||
beyond take <code class="docutils literal notranslate"><span class="pre">gymnasmium.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">'Pusher-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>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 (not including reacher, which has a max_time_steps of 50). Added reward_threshold to environments.</p></li>
|
||
<li><p>v0: Initial versions release (1.0.0)</p></li>
|
||
</ul>
|
||
</section>
|
||
</section>
|
||
|
||
</article>
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<ul>
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<li><a class="reference internal" href="#">Pusher</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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<li><a class="reference internal" href="#arguments">Arguments</a></li>
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<li><a class="reference internal" href="#version-history">Version History</a></li>
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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> |