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<section class="tex2jax_ignore mathjax_ignore" id="mujoco">
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<h1>MuJoCo<a class="headerlink" href="#mujoco" title="Link to this heading">¶</a></h1>
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</div>
|
|
<div class="cell__title">
|
|
<span>Humanoid Standup</span>
|
|
</div>
|
|
</div>
|
|
</a>
|
|
|
|
|
|
<a href="humanoid">
|
|
<div class="env-grid__cell">
|
|
<div class="cell__image-container">
|
|
<img src="/_static/videos/mujoco/humanoid.gif">
|
|
</div>
|
|
<div class="cell__title">
|
|
<span>Humanoid</span>
|
|
</div>
|
|
</div>
|
|
</a>
|
|
|
|
|
|
<a href="inverted_double_pendulum">
|
|
<div class="env-grid__cell">
|
|
<div class="cell__image-container">
|
|
<img src="/_static/videos/mujoco/inverted_double_pendulum.gif">
|
|
</div>
|
|
<div class="cell__title">
|
|
<span>Inverted Double Pendulum</span>
|
|
</div>
|
|
</div>
|
|
</a>
|
|
|
|
|
|
<a href="inverted_pendulum">
|
|
<div class="env-grid__cell">
|
|
<div class="cell__image-container">
|
|
<img src="/_static/videos/mujoco/inverted_pendulum.gif">
|
|
</div>
|
|
<div class="cell__title">
|
|
<span>Inverted Pendulum</span>
|
|
</div>
|
|
</div>
|
|
</a>
|
|
|
|
|
|
<a href="pusher">
|
|
<div class="env-grid__cell">
|
|
<div class="cell__image-container">
|
|
<img src="/_static/videos/mujoco/pusher.gif">
|
|
</div>
|
|
<div class="cell__title">
|
|
<span>Pusher</span>
|
|
</div>
|
|
</div>
|
|
</a>
|
|
|
|
|
|
<a href="reacher">
|
|
<div class="env-grid__cell">
|
|
<div class="cell__image-container">
|
|
<img src="/_static/videos/mujoco/reacher.gif">
|
|
</div>
|
|
<div class="cell__title">
|
|
<span>Reacher</span>
|
|
</div>
|
|
</div>
|
|
</a>
|
|
|
|
|
|
<a href="swimmer">
|
|
<div class="env-grid__cell">
|
|
<div class="cell__image-container">
|
|
<img src="/_static/videos/mujoco/swimmer.gif">
|
|
</div>
|
|
<div class="cell__title">
|
|
<span>Swimmer</span>
|
|
</div>
|
|
</div>
|
|
</a>
|
|
|
|
|
|
<a href="walker2d">
|
|
<div class="env-grid__cell">
|
|
<div class="cell__image-container">
|
|
<img src="/_static/videos/mujoco/walker2d.gif">
|
|
</div>
|
|
<div class="cell__title">
|
|
<span>Walker2D</span>
|
|
</div>
|
|
</div>
|
|
</a>
|
|
|
|
</div>
|
|
|
|
<p>MuJoCo stands for Multi-Joint dynamics with Contact. It is a physics engine for facilitating research and development in robotics, biomechanics, graphics and animation, and other areas where fast and accurate simulation is needed.
|
|
There is physical contact between the robots and their environment - and MuJoCo attempts at getting realistic physics simulations for the possible physical contact dynamics by aiming for physical accuracy and computational efficiency.</p>
|
|
<p>The unique dependencies including the MuJoCo simlator for this set of environments can be installed via:</p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pip<span class="w"> </span>install<span class="w"> </span>gymnasium<span class="o">[</span>mujoco<span class="o">]</span>
|
|
</pre></div>
|
|
</div>
|
|
<p>As of October 2021, DeepMind has acquired MuJoCo and has open-sourced it in 2022, making it free for everyone.
|
|
Using MuJoCo with Gymnasium requires the framework <code class="docutils literal notranslate"><span class="pre">mujoco</span></code> be installed (this dependency is installed with the above command).
|
|
Instructions for installing the MuJoCo engine can be found on their <a class="reference external" href="https://mujoco.org">website</a> and <a class="reference external" href="https://github.com/deepmind/mujoco">GitHub repository</a>.</p>
|
|
<p>For MuJoCo <code class="docutils literal notranslate"><span class="pre">v3</span></code> environments and older the <code class="docutils literal notranslate"><span class="pre">mujoco-py</span></code> framework is required (<code class="docutils literal notranslate"><span class="pre">pip</span> <span class="pre">install</span> <span class="pre">gymnasium[mujoco-py]</span></code>) which can be found in the <a class="reference external" href="https://github.com/openai/mujoco-py/tree/master/mujoco_py">GitHub repository</a>.</p>
|
|
<p>There are eleven MuJoCo environments (in roughly increasing complexity):</p>
|
|
<div class="table-wrapper colwidths-auto docutils container">
|
|
<table class="docutils align-default">
|
|
<thead>
|
|
<tr class="row-odd"><th class="head"><p>Robot</p></th>
|
|
<th class="head"><p>Short Description</p></th>
|
|
</tr>
|
|
</thead>
|
|
<tbody>
|
|
<tr class="row-even"><td><p><strong>CartPoles</strong></p></td>
|
|
<td><p></p></td>
|
|
</tr>
|
|
<tr class="row-odd"><td><p>InvertedPendulum</p></td>
|
|
<td><p>MuJoCo version of the CartPole Environment (with Continuous actions)</p></td>
|
|
</tr>
|
|
<tr class="row-even"><td><p>InvertedDoublePendulum</p></td>
|
|
<td><p>2 Pole variation of the CartPole Environment</p></td>
|
|
</tr>
|
|
<tr class="row-odd"><td><p><strong>Arms</strong></p></td>
|
|
<td><p></p></td>
|
|
</tr>
|
|
<tr class="row-even"><td><p>Reacher</p></td>
|
|
<td><p>2d arm with the goal of reaching an object</p></td>
|
|
</tr>
|
|
<tr class="row-odd"><td><p>Pusher</p></td>
|
|
<td><p>3d arm with the goal of pushing an object to a target location</p></td>
|
|
</tr>
|
|
<tr class="row-even"><td><p><strong>2D Runners</strong></p></td>
|
|
<td><p></p></td>
|
|
</tr>
|
|
<tr class="row-odd"><td><p>HalfCheetah</p></td>
|
|
<td><p>2d quadruped with the goal of running</p></td>
|
|
</tr>
|
|
<tr class="row-even"><td><p>Hopper</p></td>
|
|
<td><p>2d monoped with the goal of hopping</p></td>
|
|
</tr>
|
|
<tr class="row-odd"><td><p>Walker2d</p></td>
|
|
<td><p>2d biped with the goal of walking</p></td>
|
|
</tr>
|
|
<tr class="row-even"><td><p><strong>Swimmers</strong></p></td>
|
|
<td><p></p></td>
|
|
</tr>
|
|
<tr class="row-odd"><td><p>Swimmer</p></td>
|
|
<td><p>3d robot with the goal of swimming</p></td>
|
|
</tr>
|
|
<tr class="row-even"><td><p><strong>Quarduped</strong></p></td>
|
|
<td><p></p></td>
|
|
</tr>
|
|
<tr class="row-odd"><td><p>Ant</p></td>
|
|
<td><p>3d quadruped with the goal of running</p></td>
|
|
</tr>
|
|
<tr class="row-even"><td><p><strong>Humanoid Bipeds</strong></p></td>
|
|
<td><p></p></td>
|
|
</tr>
|
|
<tr class="row-odd"><td><p>Humanoid</p></td>
|
|
<td><p>3d humanoid with the goal of running</p></td>
|
|
</tr>
|
|
<tr class="row-even"><td><p>HumanoidStandup</p></td>
|
|
<td><p>3d humanoid with the goal of standing up</p></td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
</div>
|
|
<p>All of these environments are stochastic in terms of their initial state, with a Gaussian noise added to a fixed initial state in order to add stochasticity.
|
|
The state spaces for MuJoCo environments in Gymnasium consist of two parts that are flattened and concatenated together: the position of the body part and joints (<code class="docutils literal notranslate"><span class="pre">mujoco.MjData.qpos</span></code>) and their corresponding velocity (<code class="docutils literal notranslate"><span class="pre">mujoco.MjData.qvel</span></code>) (more information in the <a class="reference external" href="https://mujoco.readthedocs.io/en/stable/computation/index.html#physics-state">MuJoCo Physics State Documentation</a>).</p>
|
|
<!--
|
|
Often some of the first positional elements are omitted from the state space since the reward is calculated based on their values, leaving it up to the algorithm to infer these hidden values indirectly.
|
|
-->
|
|
<p>Among the Gymnasium environments, this set of environments can be considered as more difficult to solve by policy.</p>
|
|
<p>Environments can be configured by changing the <code class="docutils literal notranslate"><span class="pre">xml_file</span></code> argument and/or by tweaking the parameters of their classes.</p>
|
|
<section id="versions">
|
|
<h2>Versions<a class="headerlink" href="#versions" title="Link to this heading">¶</a></h2>
|
|
<p>Gymnasium includes the following versions of the environments:</p>
|
|
<div class="table-wrapper colwidths-auto docutils container">
|
|
<table class="docutils align-default">
|
|
<thead>
|
|
<tr class="row-odd"><th class="head"><p>Version</p></th>
|
|
<th class="head"><p>Simulator</p></th>
|
|
<th class="head"><p>Notes</p></th>
|
|
</tr>
|
|
</thead>
|
|
<tbody>
|
|
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">v5</span></code></p></td>
|
|
<td><p><code class="docutils literal notranslate"><span class="pre">mujoco=>2.3.3</span></code></p></td>
|
|
<td><p>Recommended (most features, the least bugs)</p></td>
|
|
</tr>
|
|
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">v4</span></code></p></td>
|
|
<td><p><code class="docutils literal notranslate"><span class="pre">mujoco=>2.1.3</span></code></p></td>
|
|
<td><p>Maintained for reproducibility</p></td>
|
|
</tr>
|
|
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">v3</span></code></p></td>
|
|
<td><p><code class="docutils literal notranslate"><span class="pre">mujoco-py</span></code></p></td>
|
|
<td><p>Deprecated, Kept for reproducibility (limited support)</p></td>
|
|
</tr>
|
|
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">v2</span></code></p></td>
|
|
<td><p><code class="docutils literal notranslate"><span class="pre">mujoco-py</span></code></p></td>
|
|
<td><p>Deprecated, Kept for reproducibility (limited support)</p></td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
</div>
|
|
<p>For more information, see the section “Version History” for each environment.</p>
|
|
<p><code class="docutils literal notranslate"><span class="pre">v1</span></code> and older are no longer included in Gymnasium.</p>
|
|
<section id="comparing-training-performance-across-versions">
|
|
<h3>Comparing training performance across versions<a class="headerlink" href="#comparing-training-performance-across-versions" title="Link to this heading">¶</a></h3>
|
|
<p>The training performance of <code class="docutils literal notranslate"><span class="pre">v2</span></code> and <code class="docutils literal notranslate"><span class="pre">v3</span></code> is identical assuming the same/default arguments were used.</p>
|
|
<p>The training performance of <code class="docutils literal notranslate"><span class="pre">v2</span></code>/<code class="docutils literal notranslate"><span class="pre">v3</span></code> and <code class="docutils literal notranslate"><span class="pre">v4</span></code> are not directly comparable because of the change to the newer simulator, but the results for not Ant and not Humanoids are comparable (for more information see <a class="reference external" href="https://github.com/openai/gym/pull/2595#issuecomment-1099152505">GitHub Comment #1</a> and <a class="reference external" href="https://github.com/openai/gym/pull/2762#issuecomment-1135362092">GitHub Comment #2</a>).</p>
|
|
<p>The Training performance of <code class="docutils literal notranslate"><span class="pre">v4</span></code> and <code class="docutils literal notranslate"><span class="pre">v5</span></code> is different because of the many changes in the environments, but the Half Cheetah and Swimmer exhibits identical behaviour, Pusher and Swimmer are close (for more information see <a class="reference external" href="https://github.com/Farama-Foundation/Gymnasium/issues/821">GitHub Issue</a>).</p>
|
|
</section>
|
|
<section id="exact-reproducibility">
|
|
<h3>Exact reproducibility<a class="headerlink" href="#exact-reproducibility" title="Link to this heading">¶</a></h3>
|
|
<p>Note: The exact behavior of the MuJoCo simulator changes slightly between <code class="docutils literal notranslate"><span class="pre">mujoco</span></code> versions due to floating point operation ordering (more information of their <a class="reference external" href="https://mujoco.readthedocs.io/en/stable/computation/index.html#reproducibility">Documentation</a>), if exact reproducibility is need besides using the <code class="docutils literal notranslate"><span class="pre">seed</span></code> for experiments the same simulator version should be used.</p>
|
|
</section>
|
|
</section>
|
|
<section id="rendering-arguments">
|
|
<h2>Rendering Arguments<a class="headerlink" href="#rendering-arguments" title="Link to this heading">¶</a></h2>
|
|
<p>All of the MuJoCo Environments besides the general Gymnasium arguments, and environment specific arguments they also take the following arguments for configuring the renderer:</p>
|
|
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">env</span> <span class="o">=</span> <span class="n">gymnasium</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s2">"Ant-v5"</span><span class="p">,</span> <span class="n">render_mode</span><span class="o">=</span><span class="s2">"rgb_array"</span><span class="p">,</span> <span class="n">width</span><span class="o">=</span><span class="mi">1280</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="mi">720</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">width</span></code></p></td>
|
|
<td><p><strong>int</strong></p></td>
|
|
<td><p><code class="docutils literal notranslate"><span class="pre">480</span></code></p></td>
|
|
<td><p>The width of the render window</p></td>
|
|
</tr>
|
|
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">height</span></code></p></td>
|
|
<td><p><strong>int</strong></p></td>
|
|
<td><p><code class="docutils literal notranslate"><span class="pre">480</span></code></p></td>
|
|
<td><p>The height of the render window</p></td>
|
|
</tr>
|
|
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">camera_id</span></code></p></td>
|
|
<td><p><strong>int | None</strong></p></td>
|
|
<td><p><code class="docutils literal notranslate"><span class="pre">None</span></code></p></td>
|
|
<td><p>The camera ID used for the render window</p></td>
|
|
</tr>
|
|
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">camera_name</span></code></p></td>
|
|
<td><p><strong>str | None</strong></p></td>
|
|
<td><p><code class="docutils literal notranslate"><span class="pre">None</span></code></p></td>
|
|
<td><p>The name of the camera used for the render window (mutally exclusive option with <code class="docutils literal notranslate"><span class="pre">camera_id</span></code>)</p></td>
|
|
</tr>
|
|
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">default_camera_config</span></code></p></td>
|
|
<td><p><strong>dict[str, float | int] | None</strong></p></td>
|
|
<td><p><code class="docutils literal notranslate"><span class="pre">None</span></code></p></td>
|
|
<td><p>The <a class="reference external" href="https://mujoco.readthedocs.io/en/stable/APIreference/APItypes.html#mjvcamera">mjvCamera</a> properties</p></td>
|
|
</tr>
|
|
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">max_geom</span></code></p></td>
|
|
<td><p><strong>int</strong></p></td>
|
|
<td><p><code class="docutils literal notranslate"><span class="pre">1000</span></code></p></td>
|
|
<td><p>Max number of geometrical objects to render (useful for 3rd-party environments)</p></td>
|
|
</tr>
|
|
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">visual_options</span></code></p></td>
|
|
<td><p><strong>Dict[int, bool]</strong></p></td>
|
|
<td><p><code class="docutils literal notranslate"><span class="pre">{}</span></code></p></td>
|
|
<td><p>A dictionary with <a class="reference external" href="https://mujoco.readthedocs.io/en/stable/overview.html#mjvisual">mjVisual</a> flags and value pairs, example <code class="docutils literal notranslate"><span class="pre">{mujoco.mjtVisFlag.mjVIS_CONTACTPOINT:</span> <span class="pre">True,</span> <span class="pre">mujoco.mjtVisFlag.mjVIS_CONTACTFORCE:</span> <span class="pre">True}</span></code> (show contact points and forces).</p></td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
</div>
|
|
<!--
|
|
## Custom Models
|
|
For more complex locomotion robot environments you can use third party models with the environments.
|
|
-->
|
|
</section>
|
|
</section>
|
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</article>
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<li><a class="reference internal" href="#">MuJoCo</a><ul>
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<li><a class="reference internal" href="#versions">Versions</a><ul>
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<li><a class="reference internal" href="#comparing-training-performance-across-versions">Comparing training performance across versions</a></li>
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<li><a class="reference internal" href="#exact-reproducibility">Exact reproducibility</a></li>
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|
</ul>
|
|
</li>
|
|
<li><a class="reference internal" href="#rendering-arguments">Rendering Arguments</a></li>
|
|
</ul>
|
|
</li>
|
|
</ul>
|
|
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
|
|
</aside>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
<script>
|
|
const toggleMenu = () => {
|
|
const menuBtn = document.querySelector(".farama-header-menu__btn");
|
|
const menuContainer = document.querySelector(".farama-header-menu-container");
|
|
if (document.querySelector(".farama-header-menu").classList.contains("active")) {
|
|
menuBtn.setAttribute("aria-expanded", "false");
|
|
menuContainer.setAttribute("aria-hidden", "true");
|
|
} else {
|
|
menuBtn.setAttribute("aria-expanded", "true");
|
|
menuContainer.setAttribute("aria-hidden", "false");
|
|
}
|
|
document.querySelector(".farama-header-menu").classList.toggle("active");
|
|
}
|
|
|
|
document.querySelector(".farama-header-menu__btn").addEventListener("click", toggleMenu);
|
|
document.getElementById("farama-close-menu").addEventListener("click", toggleMenu);
|
|
</script>
|
|
|
|
|
|
<script async src="https://www.googletagmanager.com/gtag/js?id=G-6H9C8TWXZ8"></script>
|
|
<script>
|
|
const enableGtag = () => {
|
|
window.dataLayer = window.dataLayer || [];
|
|
function gtag(){dataLayer.push(arguments);}
|
|
gtag('js', new Date());
|
|
gtag('config', 'G-6H9C8TWXZ8');
|
|
}
|
|
(() => {
|
|
if (!localStorage.getItem("acceptedCookieAlert")) {
|
|
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.`;
|
|
containerElem.appendChild(textElem);
|
|
|
|
const declineBtn = Object.assign(document.createElement("button"),
|
|
{
|
|
innerText: "Deny",
|
|
className: "farama-btn cookie-alert__button",
|
|
id: "cookie-alert__decline",
|
|
}
|
|
);
|
|
declineBtn.addEventListener("click", () => {
|
|
localStorage.setItem("acceptedCookieAlert", false);
|
|
boxElem.remove();
|
|
});
|
|
|
|
const acceptBtn = Object.assign(document.createElement("button"),
|
|
{
|
|
innerText: "Allow",
|
|
className: "farama-btn cookie-alert__button",
|
|
id: "cookie-alert__accept",
|
|
}
|
|
);
|
|
acceptBtn.addEventListener("click", () => {
|
|
localStorage.setItem("acceptedCookieAlert", true);
|
|
boxElem.remove();
|
|
enableGtag();
|
|
});
|
|
|
|
containerElem.appendChild(declineBtn);
|
|
containerElem.appendChild(acceptBtn);
|
|
boxElem.appendChild(containerElem);
|
|
document.body.appendChild(boxElem);
|
|
} else if (localStorage.getItem("acceptedCookieAlert") === "true") {
|
|
enableGtag();
|
|
}
|
|
})()
|
|
</script>
|
|
|
|
<script src="../../_static/documentation_options.js?v=ed34540e"></script>
|
|
<script src="../../_static/doctools.js?v=9a2dae69"></script>
|
|
<script src="../../_static/sphinx_highlight.js?v=dc90522c"></script>
|
|
<script src="../../_static/scripts/furo.js?v=7660844c"></script>
|
|
<script>window.MathJax = {"options": {"processHtmlClass": "tex2jax_process|mathjax_process|math|output_area"}}</script>
|
|
<script defer="defer" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
|
|
|
<script>
|
|
|
|
const createProjectsList = (projects, displayImages) => {
|
|
const ulElem = Object.assign(document.createElement('ul'),
|
|
{
|
|
className:'farama-header-menu-list',
|
|
}
|
|
)
|
|
for (let project of projects) {
|
|
const liElem = document.createElement("li");
|
|
const aElem = Object.assign(document.createElement("a"),
|
|
{
|
|
href: project.link
|
|
}
|
|
);
|
|
liElem.appendChild(aElem);
|
|
if (displayImages) {
|
|
const imgElem = Object.assign(document.createElement("img"),
|
|
{
|
|
src: project.image ? imagesBasepath + project.image : imagesBasepath + "/farama_black.svg",
|
|
alt: `${project.name} logo`,
|
|
className: "farama-black-logo-invert"
|
|
}
|
|
);
|
|
aElem.appendChild(imgElem);
|
|
}
|
|
aElem.appendChild(document.createTextNode(project.name));
|
|
ulElem.appendChild(liElem);
|
|
}
|
|
return ulElem;
|
|
}
|
|
|
|
// Create menu with Farama projects by using the API at farama.org/api/projects.json
|
|
const createCORSRequest = (method, url) => {
|
|
let xhr = new XMLHttpRequest();
|
|
xhr.responseType = 'json';
|
|
|
|
if ("withCredentials" in xhr) {
|
|
xhr.open(method, url, true);
|
|
} else if (typeof XDomainRequest != "undefined") {
|
|
// IE8 & IE9
|
|
xhr = new XDomainRequest();
|
|
xhr.open(method, url);
|
|
} else {
|
|
// CORS not supported.
|
|
xhr = null;
|
|
}
|
|
return xhr;
|
|
};
|
|
|
|
const url = 'https://farama.org/api/projects.json';
|
|
const imagesBasepath = "https://farama.org/assets/images"
|
|
const method = 'GET';
|
|
let xhr = createCORSRequest(method, url);
|
|
|
|
xhr.onload = () => {
|
|
const jsonResponse = xhr.response;
|
|
const sections = {
|
|
"Core Projects": [],
|
|
"Mature Projects": {
|
|
"Documentation": [],
|
|
"Repositories": [],
|
|
},
|
|
"Incubating Projects": {
|
|
"Documentation": [],
|
|
"Repositories": [],
|
|
},
|
|
"Foundation": [
|
|
{
|
|
name: "About",
|
|
link: "https://farama.org/about"
|
|
},
|
|
{
|
|
name: "Standards",
|
|
link: "https://farama.org/project_standards",
|
|
},
|
|
{
|
|
name: "Donate",
|
|
link: "https://farama.org/donations"
|
|
}
|
|
]
|
|
}
|
|
|
|
// Categorize projects
|
|
Object.keys(jsonResponse).forEach(key => {
|
|
projectJson = jsonResponse[key];
|
|
if (projectJson.website !== null) {
|
|
projectJson.link = projectJson.website;
|
|
} else {
|
|
projectJson.link = projectJson.github;
|
|
}
|
|
if (projectJson.type === "core") {
|
|
sections["Core Projects"].push(projectJson)
|
|
} else if (projectJson.type == "mature") {
|
|
if (projectJson.website !== null) {
|
|
sections["Mature Projects"]["Documentation"].push(projectJson)
|
|
} else {
|
|
sections["Mature Projects"]["Repositories"].push(projectJson)
|
|
}
|
|
} else {
|
|
if (projectJson.website !== null) {
|
|
sections["Incubating Projects"]["Documentation"].push(projectJson)
|
|
} else {
|
|
sections["Incubating Projects"]["Repositories"].push(projectJson)
|
|
}
|
|
}
|
|
})
|
|
|
|
const menuContainer = document.querySelector(".farama-header-menu__body");
|
|
|
|
Object.keys(sections).forEach((key, i) => {
|
|
const sectionElem = Object.assign(
|
|
document.createElement('div'), {
|
|
className:'farama-header-menu__section',
|
|
}
|
|
)
|
|
sectionElem.appendChild(Object.assign(document.createElement('span'),
|
|
{
|
|
className:'farama-header-menu__section-title' ,
|
|
innerText: key
|
|
}
|
|
))
|
|
// is not a list
|
|
if (sections[key].constructor !== Array) {
|
|
const subSections = sections[key];
|
|
const subSectionContainerElem = Object.assign(
|
|
document.createElement('div'), {
|
|
className:'farama-header-menu__subsections-container',
|
|
style: 'display: flex'
|
|
}
|
|
)
|
|
Object.keys(subSections).forEach((subKey, i) => {
|
|
const subSectionElem = Object.assign(
|
|
document.createElement('div'), {
|
|
className:'farama-header-menu__subsection',
|
|
}
|
|
)
|
|
subSectionElem.appendChild(Object.assign(document.createElement('span'),
|
|
{
|
|
className:'farama-header-menu__subsection-title' ,
|
|
innerText: subKey
|
|
}
|
|
))
|
|
const ulElem = createProjectsList(subSections[subKey], key !== 'Foundation');
|
|
subSectionElem.appendChild(ulElem);
|
|
subSectionContainerElem.appendChild(subSectionElem);
|
|
})
|
|
sectionElem.appendChild(subSectionContainerElem);
|
|
} else {
|
|
const projects = sections[key];
|
|
const ulElem = createProjectsList(projects, true);
|
|
sectionElem.appendChild(ulElem);
|
|
}
|
|
menuContainer.appendChild(sectionElem)
|
|
});
|
|
}
|
|
|
|
xhr.onerror = function() {
|
|
console.error("Unable to load projects");
|
|
};
|
|
|
|
xhr.send();
|
|
</script>
|
|
|
|
|
|
<script>
|
|
const versioningConfig = {
|
|
githubUser: 'Farama-Foundation',
|
|
githubRepo: 'Gymnasium',
|
|
};
|
|
fetch('/main/_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> |