diff --git a/docs/_site/contributing/making_docs.html b/docs/_site/contributing/making_docs.html
index 5a1ba811..e4322bf5 100644
--- a/docs/_site/contributing/making_docs.html
+++ b/docs/_site/contributing/making_docs.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Making docs &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Making docs</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/contributing/making_docs.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="making-docs">
-<h1>Making docs<a class="headerlink" href="#making-docs" title="Permalink to this heading"></a></h1>
+<h1>Making docs<a class="headerlink" href="#making-docs" title="Permalink to this headline"></a></h1>
 <p>The source code for all the documentation can be found in <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/docs_src</span></code></p>
 <p>We use <a class="reference external" href="https://www.sphinx-doc.org/en/master/">Sphinx</a> to create our documentation and host it in Github Pages.</p>
 <p>Check out <code class="docutils literal notranslate"><span class="pre">docs_src/index.rst</span></code> for the layout of the pages (starting on line 6).  That file will point to the source doc
@@ -86,17 +83,17 @@ <h1>Making docs<a class="headerlink" href="#making-docs" title="Permalink to thi
 as you save files.) The service is usually hosted on http://127.0.0.1:8000 but it will also tell you where the local
 version of the site is.</p>
 <section id="uploading-changes">
-<h2>Uploading changes<a class="headerlink" href="#uploading-changes" title="Permalink to this heading"></a></h2>
+<h2>Uploading changes<a class="headerlink" href="#uploading-changes" title="Permalink to this headline"></a></h2>
 <section id="run-build-sh">
-<h3>1.) Run <code class="docutils literal notranslate"><span class="pre">./build.sh</span></code><a class="headerlink" href="#run-build-sh" title="Permalink to this heading"></a></h3>
+<h3>1.) Run <code class="docutils literal notranslate"><span class="pre">./build.sh</span></code><a class="headerlink" href="#run-build-sh" title="Permalink to this headline"></a></h3>
 </section>
 <section id="run-git-add-sh">
-<h3>2.) Run <code class="docutils literal notranslate"><span class="pre">./git_add.sh</span></code><a class="headerlink" href="#run-git-add-sh" title="Permalink to this heading"></a></h3>
+<h3>2.) Run <code class="docutils literal notranslate"><span class="pre">./git_add.sh</span></code><a class="headerlink" href="#run-git-add-sh" title="Permalink to this headline"></a></h3>
 </section>
 <section id="the-files-are-now-staged-in-git-you-can-do">
-<h3>3.) The files are now staged in git, you can do<a class="headerlink" href="#the-files-are-now-staged-in-git-you-can-do" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>commit<span class="w"> </span>-m<span class="w"> </span><span class="s2">&quot;Doc changes&quot;</span>
-git<span class="w"> </span>push
+<h3>3.) The files are now staged in git, you can do<a class="headerlink" href="#the-files-are-now-staged-in-git-you-can-do" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git commit -m <span class="s2">&quot;Doc changes&quot;</span>
+git push
 </pre></div>
 </div>
 <p>and the website should update within the next 5-10minutes.</p>
diff --git a/docs/_site/index.html b/docs/_site/index.html
index f2e8f27b..468d4645 100644
--- a/docs/_site/index.html
+++ b/docs/_site/index.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Welcome to the Social Gym 2.0 documentation! &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Welcome to the Social Gym 2.0 documentation!</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/_site/index.rst.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="welcome-to-the-social-gym-2-0-documentation">
-<h1>Welcome to the Social Gym 2.0 documentation!<a class="headerlink" href="#welcome-to-the-social-gym-2-0-documentation" title="Permalink to this heading"></a></h1>
+<h1>Welcome to the Social Gym 2.0 documentation!<a class="headerlink" href="#welcome-to-the-social-gym-2-0-documentation" title="Permalink to this headline"></a></h1>
 <p>(Find the GitHub link at <a class="reference external" href="https://github.com/ut-amrl/social_gym">https://github.com/ut-amrl/social_gym</a>)</p>
 <a class="reference internal image-reference" href="https://obj.umiacs.umd.edu/badue-accepted/sim_demo.gif"><img alt="https://obj.umiacs.umd.edu/badue-accepted/sim_demo.gif" class="align-center" src="https://obj.umiacs.umd.edu/badue-accepted/sim_demo.gif" style="width: 400px;" /></a>
 <div class="line-block">
@@ -116,7 +113,7 @@ <h1>Welcome to the Social Gym 2.0 documentation!<a class="headerlink" href="#wel
 </div>
 </section>
 <section id="indices-and-tables">
-<h1>Indices and tables<a class="headerlink" href="#indices-and-tables" title="Permalink to this heading"></a></h1>
+<h1>Indices and tables<a class="headerlink" href="#indices-and-tables" title="Permalink to this headline"></a></h1>
 <ul class="simple">
 <li><p><a class="reference internal" href="../genindex.html"><span class="std std-ref">Index</span></a></p></li>
 <li><p><a class="reference internal" href="../py-modindex.html"><span class="std std-ref">Module Index</span></a></p></li>
diff --git a/docs/_site/installation/advanced_usage.html b/docs/_site/installation/advanced_usage.html
index 87efb5a8..8a7fee0d 100644
--- a/docs/_site/installation/advanced_usage.html
+++ b/docs/_site/installation/advanced_usage.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Advanced Usage &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Advanced Usage</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/installation/advanced_usage.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="advanced-usage">
-<h1>Advanced Usage<a class="headerlink" href="#advanced-usage" title="Permalink to this heading"></a></h1>
+<h1>Advanced Usage<a class="headerlink" href="#advanced-usage" title="Permalink to this headline"></a></h1>
 <hr class="docutils" />
 <p>There’s a FAQ at the bottom (maybe worth reading first).  Expect this process to take about 3-6 hours :/</p>
 <p><strong>WARNING</strong>: The authors of this project have had numerous issues with Docker and Docker-Compose when installed via snap.  We
@@ -84,7 +81,7 @@ <h1>Advanced Usage<a class="headerlink" href="#advanced-usage" title="Permalink
 <p>Welcome to the Advanced Usage doc!  Here, we will be setting up Social Gym so that each submodule runs on it’s
 own, allowing you to set up debuggers and step through each C submodule and the python code!</p>
 <section id="requirements">
-<h2>Requirements<a class="headerlink" href="#requirements" title="Permalink to this heading"></a></h2>
+<h2>Requirements<a class="headerlink" href="#requirements" title="Permalink to this headline"></a></h2>
 <p>We have only tested this full process on Pycharm and CLion Professional IDEs.  However, what’s really needed
 is the ability to have a remote source or remote server that you can plug your IDE into.  Specifically,
 we are going to plug our IDE (Pycharm/CLion) into a docker container via SSH.  Our IDE’s allow us to do this
@@ -92,38 +89,38 @@ <h2>Requirements<a class="headerlink" href="#requirements" title="Permalink to t
 need to look more stuff up on how to get these to work :/</p>
 </section>
 <section id="advanced-usage-setup-buckle-up">
-<h2>Advanced Usage setup (buckle up!)<a class="headerlink" href="#advanced-usage-setup-buckle-up" title="Permalink to this heading"></a></h2>
+<h2>Advanced Usage setup (buckle up!)<a class="headerlink" href="#advanced-usage-setup-buckle-up" title="Permalink to this headline"></a></h2>
 <p>We’ve broken this tutorial into 3 parts, the first is the basic setup, the second will get the submodules
 running, and the final part will focus on the python code and running the actual simulator end to end.</p>
 <section id="part-1-setting-up-the-basic-social-gym-dependencies-and-containers">
-<h3>Part 1: Setting up the basic Social Gym dependencies and containers<a class="headerlink" href="#part-1-setting-up-the-basic-social-gym-dependencies-and-containers" title="Permalink to this heading"></a></h3>
+<h3>Part 1: Setting up the basic Social Gym dependencies and containers<a class="headerlink" href="#part-1-setting-up-the-basic-social-gym-dependencies-and-containers" title="Permalink to this headline"></a></h3>
 <section id="from-the-basic-installation-guide-follow-steps-1-5">
-<h4>1.) From the basic installation guide follow steps 1-5<a class="headerlink" href="#from-the-basic-installation-guide-follow-steps-1-5" title="Permalink to this heading"></a></h4>
+<h4>1.) From the basic installation guide follow steps 1-5<a class="headerlink" href="#from-the-basic-installation-guide-follow-steps-1-5" title="Permalink to this headline"></a></h4>
 <p>They are not repeated here in case they change at some time</p>
 </section>
 <section id="build-and-up-the-docker-containers">
-<h4>2.) Build and “up” the docker containers<a class="headerlink" href="#build-and-up-the-docker-containers" title="Permalink to this heading"></a></h4>
+<h4>2.) Build and “up” the docker containers<a class="headerlink" href="#build-and-up-the-docker-containers" title="Permalink to this headline"></a></h4>
 <p>From the root directory of the project</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>docker-compose<span class="w"> </span>build<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>docker-compose<span class="w"> </span>up
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>docker-compose build <span class="o">&amp;&amp;</span> docker-compose up
 </pre></div>
 </div>
 <p>Make sure you see an RVIS window after the <code class="docutils literal notranslate"><span class="pre">docker-up</span></code> command finishes.  If you don’t, check your logs for build
 errors.</p>
 </section>
 <section id="open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these">
-<h4>3.) Open the submodule projects <code class="docutils literal notranslate"><span class="pre">ut_multirobot_sim</span></code> and <code class="docutils literal notranslate"><span class="pre">graph_navigation</span></code> in a separate IDE window (I use CLion for these)<a class="headerlink" href="#open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these" title="Permalink to this heading"></a></h4>
+<h4>3.) Open the submodule projects <code class="docutils literal notranslate"><span class="pre">ut_multirobot_sim</span></code> and <code class="docutils literal notranslate"><span class="pre">graph_navigation</span></code> in a separate IDE window (I use CLion for these)<a class="headerlink" href="#open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these" title="Permalink to this headline"></a></h4>
 <p>Make sure you are opening them from the directory <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/submodules/ut_multirobot_sim</span></code> and
 <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/submodules/graph_navigation</span></code> – we will be running the submodules from these windows (you could also
 run them from the ssh terminal in the subsequent steps)</p>
 </section>
 </section>
 <section id="part-2-setting-up-the-submodules">
-<h3>Part 2: Setting up the submodules<a class="headerlink" href="#part-2-setting-up-the-submodules" title="Permalink to this heading"></a></h3>
+<h3>Part 2: Setting up the submodules<a class="headerlink" href="#part-2-setting-up-the-submodules" title="Permalink to this headline"></a></h3>
 <p>This part of the setup was heavily inspired by https://github.com/nocoinman/ros-docker-clion – big shoutout to this
 project :)</p>
 <section id="ssh-into-the-ros-submodules-container">
-<h4>1.) SSH into the ROS submodules container<a class="headerlink" href="#ssh-into-the-ros-submodules-container" title="Permalink to this heading"></a></h4>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh<span class="w"> </span>rosdev@localhost<span class="w"> </span>-p<span class="w"> </span><span class="m">2222</span>
+<h4>1.) SSH into the ROS submodules container<a class="headerlink" href="#ssh-into-the-ros-submodules-container" title="Permalink to this headline"></a></h4>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh rosdev@localhost -p <span class="m">2222</span>
 yes
 <span class="m">12345</span>
 </pre></div>
@@ -134,25 +131,25 @@ <h4>1.) SSH into the ROS submodules container<a class="headerlink" href="#ssh-in
 so we can set some stuff up manually before we plug our IDE into it.</p>
 </section>
 <section id="build-static-dependencies">
-<h4>2.) Build static dependencies.<a class="headerlink" href="#build-static-dependencies" title="Permalink to this heading"></a></h4>
+<h4>2.) Build static dependencies.<a class="headerlink" href="#build-static-dependencies" title="Permalink to this headline"></a></h4>
 <p>There are a few submodules that really just contain libraries or code that does not need to be ran.  We still
 need to compile them so that we can reference them in the other sobumodules.</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>~/set_paths.sh
-rosdep<span class="w"> </span>update
-<span class="nb">cd</span><span class="w"> </span>social_gym/submodules/amrl_msgs
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span> ~/set_paths.sh
+rosdep update
+<span class="nb">cd</span> social_gym/submodules/amrl_msgs
 make
-<span class="nb">cd</span><span class="w"> </span>../pedsim_ros
+<span class="nb">cd</span> ../pedsim_ros
 catkin_make
-<span class="nb">cd</span><span class="w"> </span>../
+<span class="nb">cd</span> ../
 </pre></div>
 </div>
 <p>Make sure <code class="docutils literal notranslate"><span class="pre">rosdep</span> <span class="pre">udpate</span></code> succeeds! If it fails, you won’t be able to build the submodules.</p>
 </section>
 <section id="build-the-graph-navigation-submodule">
-<h4>3.) Build the Graph Navigation submodule<a class="headerlink" href="#build-the-graph-navigation-submodule" title="Permalink to this heading"></a></h4>
+<h4>3.) Build the Graph Navigation submodule<a class="headerlink" href="#build-the-graph-navigation-submodule" title="Permalink to this headline"></a></h4>
 <p>This submodule handles low level navigation for the agents.</p>
 <p>Assuming you are starting from the <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/submodules</span></code> directory</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>graph_navigation
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> graph_navigation
 make
 </pre></div>
 </div>
@@ -163,7 +160,7 @@ <h4>3.) Build the Graph Navigation submodule<a class="headerlink" href="#build-t
 </section>
 <hr class="docutils" />
 <section id="setup-graph-navigation-with-your-ide">
-<h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-graph-navigation-with-your-ide" title="Permalink to this heading"></a></h4>
+<h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-graph-navigation-with-your-ide" title="Permalink to this headline"></a></h4>
 <p>If you have a different IDE other than CLION Commercial or Professional find out how to configure a remote host via
 ssh.  Some of this will be relevant (like setting global env variables) but most of it may be CLION specific.</p>
 <p>Before following the steps below, run</p>
@@ -196,8 +193,8 @@ <h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-g
 something in there currently, make sure to delete that.)</p>
 <p>16.) Click OK in the settings window and go back to your terminal with the SSH connection.</p>
 <p>17.) Run</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-debug/
-sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-remotedebugger/
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo rm -r cmake-build-debug/
+sudo rm -r cmake-build-remotedebugger/
 </pre></div>
 </div>
 <p>remember the password is <code class="docutils literal notranslate"><span class="pre">12345</span></code> if you have not changed it.</p>
@@ -213,9 +210,9 @@ <h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-g
 <hr class="docutils" />
 <p><em>NOTE</em>: If you are going to be using custom maps, this is one of the places you’ll have to update the name (<code class="docutils literal notranslate"><span class="pre">-map</span></code>)</p>
 <p>21.) Hit Apply and OK then hit Run.  You should see the IDE build the project and eventually produce</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/graph_navigation/cmake-build-remotedebugger/../bin/social_nav<span class="w"> </span>-service_mode<span class="o">=</span><span class="nb">true</span><span class="w"> </span>-map<span class="o">=</span>exp2/train/easy
-Loading<span class="w"> </span>/home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json...
-Loaded<span class="w"> </span>/home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json<span class="w"> </span>with<span class="w"> </span><span class="m">18</span><span class="w"> </span>states,<span class="w"> </span><span class="m">17</span><span class="w"> </span>edges
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/graph_navigation/cmake-build-remotedebugger/../bin/social_nav -service_mode<span class="o">=</span><span class="nb">true</span> -map<span class="o">=</span>exp2/train/easy
+Loading /home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json...
+Loaded /home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json with <span class="m">18</span> states, <span class="m">17</span> edges
 </pre></div>
 </div>
 <p>If you see anything other than what’s shown here (except for maybe vertices counts) double check your configuration and
@@ -223,28 +220,28 @@ <h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-g
 <p>22.) Congratulations you now have a running Graph Navigation project that you can set breakpoints on using CLION :)</p>
 </section>
 <section id="setup-ut-multirobot-sim-with-your-ide">
-<h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-ut-multirobot-sim-with-your-ide" title="Permalink to this heading"></a></h4>
+<h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-ut-multirobot-sim-with-your-ide" title="Permalink to this headline"></a></h4>
 <p>For this next step I like creating a new terminal in a new IDE window, but that’s entirely up to you.</p>
 <p>Keep those environment parameters we copied from the Graph Navigation setup for this step as well!</p>
 <p>I am going to go a bit faster here since almost all the steps are repeating what we’ve already done for Graph Nav.</p>
 <p>1.) Navigate to your UT_Multirobot_sim IDE window and open a new terminal with a new ssh connection into the same
 container <code class="docutils literal notranslate"><span class="pre">ssh</span> <span class="pre">rosdev&#64;localhost</span> <span class="pre">-p</span> <span class="pre">2222</span></code> (password is <code class="docutils literal notranslate"><span class="pre">12345</span></code> unless you changed it)</p>
 <p>2.) Set up the shell</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>social_gym/submodules/ut_multirobot_sim/
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> social_gym/submodules/ut_multirobot_sim/
 </pre></div>
 </div>
 <p>3.) Edit the source file to include a new submodule</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>vim<span class="w"> </span>~/set_paths.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>vim ~/set_paths.sh
 </pre></div>
 </div>
 <p>Uncomment the second line
 write and quit</p>
 <p>4.) Source variables.</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>./set_paths.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span> ./set_paths.sh
 </pre></div>
 </div>
 <p>5.) Update rosdep</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>rosdep<span class="w"> </span>update
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>rosdep update
 </pre></div>
 </div>
 <p>6.) Make the simulator</p>
@@ -265,8 +262,8 @@ <h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-
 <code class="docutils literal notranslate"><span class="pre">/home/rosdev/social_gym/submodules/ut_multirobot_sim</span></code></p>
 <p>12.) Click Apply and OK to close the settings window.</p>
 <p>13.) Clean the projects CMAKE configs</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-debug/
-sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-remotedebugger/
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo rm -r cmake-build-debug/
+sudo rm -r cmake-build-remotedebugger/
 </pre></div>
 </div>
 <p>14.) Go to the CMake tab on your IDE (by the terminal window tab)</p>
@@ -280,23 +277,23 @@ <h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-
 <p><code class="docutils literal notranslate"><span class="pre">Environment</span> <span class="pre">Variables</span></code> should have the pasted environment variables from <code class="docutils literal notranslate"><span class="pre">~/get_vars.sh</span></code></p>
 <p>19.) Click the Run button</p>
 <p>20.) You should see the project rebuild and then an error message</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/ut_multirobot_sim/cmake-build-debug-docremotetest/../bin/simulator<span class="w"> </span>-sim_config<span class="w"> </span>/home/rosdev/social_gym/config/gym_gen/sim_config.lua<span class="w"> </span>-scene_config<span class="w"> </span>/home/rosdev/social_gym/config/gym_gen/scene.xml<span class="w"> </span>-speedup_factor<span class="w"> </span><span class="m">1</span>.0<span class="w"> </span>--localize<span class="w"> </span>--use_pedsim
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/ut_multirobot_sim/cmake-build-debug-docremotetest/../bin/simulator -sim_config /home/rosdev/social_gym/config/gym_gen/sim_config.lua -scene_config /home/rosdev/social_gym/config/gym_gen/scene.xml -speedup_factor <span class="m">1</span>.0 --localize --use_pedsim
 
-UT<span class="w"> </span>Multi-Robot<span class="w"> </span>Simulator
+UT Multi-Robot Simulator
 
-Publish<span class="w"> </span>GoAlone<span class="w"> </span>message
-Publish<span class="w"> </span>GoAlone<span class="w"> </span>message
-ERROR:<span class="w"> </span>Unable<span class="w"> </span>to<span class="w"> </span>load<span class="w"> </span>map<span class="w"> </span>maps/closed/door/t1/closed/door/t1.vectormap.txt
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Pass<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Follow<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>GoAlone<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>.017613<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">2</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Halt<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Publishing<span class="w"> </span>Halt<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Step<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>StepUTMRS<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>StepPedsim<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
+Publish GoAlone message
+Publish GoAlone message
+ERROR: Unable to load map maps/closed/door/t1/closed/door/t1.vectormap.txt
+Run-time stats <span class="k">for</span> Pass : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> Follow : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> GoAlone : mean run <span class="nb">time</span> <span class="o">=</span> <span class="m">0</span>.017613 ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">2</span>
+Run-time stats <span class="k">for</span> Halt : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> Publishing Halt : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> Step : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> StepUTMRS : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> StepPedsim : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
 
-Process<span class="w"> </span>finished<span class="w"> </span>with<span class="w"> </span><span class="nb">exit</span><span class="w"> </span>code<span class="w"> </span><span class="m">1</span>
+Process finished with <span class="nb">exit</span> code <span class="m">1</span>
 </pre></div>
 </div>
 <p>This is okay! This means the project was built correctly but the current configuration in the python project
@@ -307,12 +304,12 @@ <h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-
 </section>
 </section>
 <section id="part-3-setting-up-python-and-running-everything">
-<h3>Part 3: Setting up Python and Running everything!<a class="headerlink" href="#part-3-setting-up-python-and-running-everything" title="Permalink to this heading"></a></h3>
+<h3>Part 3: Setting up Python and Running everything!<a class="headerlink" href="#part-3-setting-up-python-and-running-everything" title="Permalink to this headline"></a></h3>
 <section id="open-up-pycharm-to-the-root-folder-of-the-project">
-<h4>1.) Open up Pycharm to the root folder of the project<a class="headerlink" href="#open-up-pycharm-to-the-root-folder-of-the-project" title="Permalink to this heading"></a></h4>
+<h4>1.) Open up Pycharm to the root folder of the project<a class="headerlink" href="#open-up-pycharm-to-the-root-folder-of-the-project" title="Permalink to this headline"></a></h4>
 </section>
 <section id="set-up-your-ide-with-the-container-via-ssh-pycharm-specific">
-<h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="headerlink" href="#set-up-your-ide-with-the-container-via-ssh-pycharm-specific" title="Permalink to this heading"></a></h4>
+<h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="headerlink" href="#set-up-your-ide-with-the-container-via-ssh-pycharm-specific" title="Permalink to this headline"></a></h4>
 <p>Similar to the UT Multirobot Sim and Graph Navigation guides, we assume your IDE has remote host available
 and if not, there’s some useful stuff here but you may have to translate the steps for your ide.</p>
 <p>1.) Open the settings window <code class="docutils literal notranslate"><span class="pre">file</span> <span class="pre">&lt;</span> <span class="pre">settings</span></code></p>
@@ -333,27 +330,27 @@ <h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="h
 <p><code class="docutils literal notranslate"><span class="pre">Parameters</span></code> should have <code class="docutils literal notranslate"><span class="pre">-c</span> <span class="pre">./tmp_config.json</span></code></p>
 <p><code class="docutils literal notranslate"><span class="pre">Environment</span> <span class="pre">variables</span></code> should have the pasted env vars we keep getting in the previous steps.</p>
 <p>10.) Open a new ssh terminal</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh<span class="w"> </span>rosdev@localhost<span class="w"> </span>-p<span class="w"> </span><span class="m">2223</span>
-<span class="nb">cd</span><span class="w"> </span>./social_gym/submodules
-vim<span class="w"> </span>~/set_paths.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh rosdev@localhost -p <span class="m">2223</span>
+<span class="nb">cd</span> ./social_gym/submodules
+vim ~/set_paths.sh
 <span class="c1"># uncomment the second line then save the file</span>
-<span class="nb">source</span><span class="w"> </span>~/set_paths.sh
-rosdep<span class="w"> </span>update
-pip<span class="w"> </span>install<span class="w"> </span>sb3_contrib
-pip<span class="w"> </span>install<span class="w"> </span><span class="nv">supersuit</span><span class="o">==</span><span class="m">3</span>.5.0
-pip<span class="w"> </span>install<span class="w"> </span><span class="nv">gym</span><span class="o">==</span><span class="m">0</span>.26.2
+<span class="nb">source</span> ~/set_paths.sh
+rosdep update
+pip install sb3_contrib
+pip install <span class="nv">supersuit</span><span class="o">==</span><span class="m">3</span>.5.0
+pip install <span class="nv">gym</span><span class="o">==</span><span class="m">0</span>.26.2
 </pre></div>
 </div>
 <p>11.) Click run in your pycharm editor. It should hang around the input</p>
 <div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>...
-Waiting<span class="w"> </span>on<span class="w"> </span>UTMRS
-<span class="o">[</span>WARN<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.168961<span class="o">]</span>:<span class="w"> </span>wait_for_service<span class="o">(</span>/utmrsStepper<span class="o">)</span>:<span class="w"> </span>failed<span class="w"> </span>to<span class="w"> </span>contact,<span class="w"> </span>will<span class="w"> </span>keep<span class="w"> </span>trying
-QStandardPaths:<span class="w"> </span>XDG_RUNTIME_DIR<span class="w"> </span>not<span class="w"> </span>set,<span class="w"> </span>defaulting<span class="w"> </span>to<span class="w"> </span><span class="s1">&#39;/tmp/runtime-rosdev&#39;</span>
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.188148416<span class="o">]</span>:<span class="w"> </span>Updated<span class="w"> </span>sim<span class="w"> </span>with<span class="w"> </span>live<span class="w"> </span>config:<span class="w"> </span><span class="nv">Rate</span><span class="o">=</span><span class="m">40</span><span class="w"> </span>incoming<span class="w"> </span><span class="nv">rate</span><span class="o">=</span><span class="m">40</span>
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.192522299<span class="o">]</span>:<span class="w"> </span>Using<span class="w"> </span>default<span class="w"> </span>queue<span class="w"> </span>size<span class="w"> </span>of<span class="w"> </span><span class="m">10</span><span class="w"> </span><span class="k">for</span><span class="w"> </span>publisher<span class="w"> </span>queues...<span class="w"> </span>
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.199740381<span class="o">]</span>:<span class="w"> </span>Loading<span class="w"> </span>scene<span class="w"> </span><span class="o">[</span>/home/rosdev/social_gym/config/gym_gen/scene.xml<span class="o">]</span><span class="w"> </span><span class="k">for</span><span class="w"> </span>simulation
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.204534827<span class="o">]</span>:<span class="w"> </span>node<span class="w"> </span>initialized,<span class="w"> </span>now<span class="w"> </span>running<span class="w"> </span>
-Service<span class="w"> </span>Mode
+Waiting on UTMRS
+<span class="o">[</span>WARN<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.168961<span class="o">]</span>: wait_for_service<span class="o">(</span>/utmrsStepper<span class="o">)</span>: failed to contact, will keep trying
+QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to <span class="s1">&#39;/tmp/runtime-rosdev&#39;</span>
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.188148416<span class="o">]</span>: Updated sim with live config: <span class="nv">Rate</span><span class="o">=</span><span class="m">40</span> incoming <span class="nv">rate</span><span class="o">=</span><span class="m">40</span>
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.192522299<span class="o">]</span>: Using default queue size of <span class="m">10</span> <span class="k">for</span> publisher queues... 
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.199740381<span class="o">]</span>: Loading scene <span class="o">[</span>/home/rosdev/social_gym/config/gym_gen/scene.xml<span class="o">]</span> <span class="k">for</span> simulation
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.204534827<span class="o">]</span>: node initialized, now running 
+Service Mode
 </pre></div>
 </div>
 <p>This means we can fire up the UT Multirobot simulator now</p>
@@ -365,7 +362,7 @@ <h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="h
 </section>
 </section>
 <section id="faq">
-<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></a></h2>
+<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this headline"></a></h2>
 <hr class="docutils" />
 <p><strong>All my files are missing!</strong>: If at any point your files are missing or empty check out your path mappings for your
 project and make sure they are valid.  Then, do <code class="docutils literal notranslate"><span class="pre">git</span> <span class="pre">stash</span></code> for every project that has missing or empty files</p>
@@ -373,8 +370,8 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 <p>You will get tons of compile errors when you make a submodule saying “geometry” is undefined etc.  This means you have
 to do <code class="docutils literal notranslate"><span class="pre">git</span> <span class="pre">stash</span></code> anywhere a thirdparty source is being used.</p>
 <p><strong>ROSDEP errors</strong>: If you see anything during the install about ROSDEP not working correctly, make sure you are doing</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>~/set_paths.sh
-rosedep<span class="w"> </span>update
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span> ~/set_paths.sh
+rosedep update
 </pre></div>
 </div>
 <p>often – once you have built pedsim via <code class="docutils literal notranslate"><span class="pre">catkin_make</span></code>, you should remove the comment on the 2nd line of <code class="docutils literal notranslate"><span class="pre">~/set_paths.sh</span></code>
@@ -383,7 +380,7 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 <p><strong>CMAKE errors</strong>: CMake is not fun.  If you see weird issues with cmake not building or not finding stuff make sure you
 are removing the cmake folders then rebuilding.</p>
 <p><strong>Permission Issues</strong>: The easiest way to resolve weird permission issues when setting up the advanced usage is to run</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>chmod<span class="w"> </span>-R<span class="w"> </span><span class="m">777</span><span class="w"> </span>.<span class="w"> </span>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo chmod -R <span class="m">777</span> . 
 </pre></div>
 </div>
 <p>from the project root.  This effectively gives all users access to the folder (<strong>warning</strong>: this may be too open if you are working
diff --git a/docs/_site/installation/installation.html b/docs/_site/installation/installation.html
index 5feeac6c..b59a5359 100644
--- a/docs/_site/installation/installation.html
+++ b/docs/_site/installation/installation.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Installation &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Installation</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/installation/installation.md.txt" rel="nofollow"> View page source</a>
@@ -74,20 +71,20 @@
            <div itemprop="articleBody">
              
   <section id="installation">
-<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h1>
+<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h1>
 <p>In this doc we are going to setup Social Gym’s <code class="docutils literal notranslate"><span class="pre">config</span> <span class="pre">runner</span></code> which allows you to run Social Gym using a configuration
 file.  If all you need to do is train, evaluate, or test your installation of Social Gym, this is the only installation
 step you have to follow.  However, if you wish to contribute and develop on Social Gym, we recommend the more indepth
 installation guide which goes over setting up a debugger.</p>
 <section id="why-are-there-two-installation-guides-for-social-gym">
-<h2>Why are there two installation guides for Social Gym<a class="headerlink" href="#why-are-there-two-installation-guides-for-social-gym" title="Permalink to this heading"></a></h2>
+<h2>Why are there two installation guides for Social Gym<a class="headerlink" href="#why-are-there-two-installation-guides-for-social-gym" title="Permalink to this headline"></a></h2>
 <p>Social Gym uses ROS (Robot Operating System) submodules written in C, to ensure they installed correctly and can run on
 your machine, we use Docker.  However, this poses challenges for debugging both the Python code and the C code because
 everything has to communicate with each other.  To ease the process of setting Social Gym up, we separated installing
 Social Gym for running and experimenting from installing Social Gym for developing.</p>
 </section>
 <section id="let-s-install-config-runner">
-<h2>Let’s Install Config Runner!<a class="headerlink" href="#let-s-install-config-runner" title="Permalink to this heading"></a></h2>
+<h2>Let’s Install Config Runner!<a class="headerlink" href="#let-s-install-config-runner" title="Permalink to this headline"></a></h2>
 <hr class="docutils" />
 <p><strong>Note</strong>: We require you have installed Docker and Python 3.8 (version 3.8 may not be necessary but it’s what we use)</p>
 <p><strong>WARNING</strong>: The authors of this project have had numerous issues with Docker and Docker-Compose when installed via snap.  We
@@ -95,24 +92,24 @@ <h2>Let’s Install Config Runner!<a class="headerlink" href="#let-s-install-con
 <code class="docutils literal notranslate"><span class="pre">apt</span></code>.</p>
 <hr class="docutils" />
 <section id="clone-the-repo-and-checkout-main">
-<h3>1.) Clone the repo and checkout main<a class="headerlink" href="#clone-the-repo-and-checkout-main" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>clone<span class="w"> </span>git@github.com:ut-amrl/social_gym.git
-git<span class="w"> </span>checkout<span class="w"> </span>main
+<h3>1.) Clone the repo and checkout main<a class="headerlink" href="#clone-the-repo-and-checkout-main" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git clone git@github.com:ut-amrl/social_gym.git
+git checkout main
 </pre></div>
 </div>
 <p>Although we use Docker to run Social Gym’s internals, we have scripts to set up Social Gym as well as scripts that kick
 off the process written in python (so you still need to install stuff)</p>
 </section>
 <section id="install-requirements-and-run-the-install-script">
-<h3>2.) Install requirements and run the install script!<a class="headerlink" href="#install-requirements-and-run-the-install-script" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>./scripts/install_config_runner.py
+<h3>2.) Install requirements and run the install script!<a class="headerlink" href="#install-requirements-and-run-the-install-script" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python ./scripts/install_config_runner.py
 </pre></div>
 </div>
 <p>Expect this to take a while (20-40m depending on your machine, mostly for the last step.).</p>
 </section>
 <section id="run-the-config-runner">
-<h3>3.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>config_runner/run.py<span class="w"> </span>-c<span class="w"> </span>1_31_23/door/sacadrl.json
+<h3>3.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python config_runner/run.py -c 1_31_23/door/sacadrl.json
 </pre></div>
 </div>
 <p>This should open an RVIS window (looks like a 2D grid with options on the side-panels).  It may CLOSE and re-open MANY
@@ -122,7 +119,7 @@ <h3>3.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner
 <hr class="docutils" />
 <p><strong>NOTE</strong>: If you do NOT see windows, there’s a problem with the docker file.</p>
 <p>First try running</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>xhost<span class="w"> </span>+
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo xhost +
 </pre></div>
 </div>
 <p>and repeat the command.  If it still fails to show windows then try adding</p>
@@ -133,7 +130,7 @@ <h3>3.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner
 </section>
 <hr class="docutils" />
 <section id="have-fun">
-<h3>4.) Have fun!<a class="headerlink" href="#have-fun" title="Permalink to this heading"></a></h3>
+<h3>4.) Have fun!<a class="headerlink" href="#have-fun" title="Permalink to this headline"></a></h3>
 <p>You can now specify your own configurations and run your own training or evaluation jobs.  More documentation on this
 later.</p>
 <p>If you need to develop or debug Social Gym – you’ll have to follow the full installation guide on the next
diff --git a/docs/_site/installation/installation__deprecated.html b/docs/_site/installation/installation__deprecated.html
index fe4ef514..c69ad3ed 100644
--- a/docs/_site/installation/installation__deprecated.html
+++ b/docs/_site/installation/installation__deprecated.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Installation &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Installation</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/installation/installation__deprecated.md.txt" rel="nofollow"> View page source</a>
@@ -74,59 +71,59 @@
            <div itemprop="articleBody">
              
   <section id="installation">
-<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h1>
+<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h1>
 <p>In this doc we are going to setup Social Gym’s <code class="docutils literal notranslate"><span class="pre">config</span> <span class="pre">runner</span></code> which allows you to run Social Gym using a configuration
 file.  If all you need to do is train, evaluate, or test your installation of Social Gym, this is the only installation
 step you have to follow.  However, if you wish to contribute and develop on Social Gym, we recommend the more indepth
 installation guide which goes over setting up a debugger.</p>
 <section id="why-are-there-two-installation-guides-for-social-gym">
-<h2>Why are there two installation guides for Social Gym<a class="headerlink" href="#why-are-there-two-installation-guides-for-social-gym" title="Permalink to this heading"></a></h2>
+<h2>Why are there two installation guides for Social Gym<a class="headerlink" href="#why-are-there-two-installation-guides-for-social-gym" title="Permalink to this headline"></a></h2>
 <p>Social Gym uses ROS (Robot Operating System) submodules written in C, to ensure they installed correctly and can run on
 your machine, we use Docker.  However, this poses challenges for debugging both the Python code and the C code because
 everything has to communicate with each other.  To ease the process of setting Social Gym up, we separated installing
 Social Gym for running and experimenting from installing Social Gym for developing.</p>
 </section>
 <section id="let-s-install-config-runner">
-<h2>Let’s Install Config Runner!<a class="headerlink" href="#let-s-install-config-runner" title="Permalink to this heading"></a></h2>
+<h2>Let’s Install Config Runner!<a class="headerlink" href="#let-s-install-config-runner" title="Permalink to this headline"></a></h2>
 <hr class="docutils" />
 <p><strong>Note</strong>: We require you have installed Docker and Python 3.8 (version 3.8 may not be necessary but it’s what we use)</p>
 <hr class="docutils" />
 <section id="checkout-the-right-branch-eventually-this-will-be-main">
-<h3>1.) Checkout the right branch! (Eventually this will be main)<a class="headerlink" href="#checkout-the-right-branch-eventually-this-will-be-main" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>checkout<span class="w"> </span>feature/20221218_multi_agent_finishing_and_cleanup
-git<span class="w"> </span>submodule<span class="w"> </span>update<span class="w"> </span>--init<span class="w"> </span>--recursive
+<h3>1.) Checkout the right branch! (Eventually this will be main)<a class="headerlink" href="#checkout-the-right-branch-eventually-this-will-be-main" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git checkout feature/20221218_multi_agent_finishing_and_cleanup
+git submodule update --init --recursive
 </pre></div>
 </div>
 <p>Although we use Docker to run Social Gym’s internals, we have scripts to set up Social Gym as well as scripts that kick
 off the process written in python (so you still need to install stuff)</p>
 </section>
 <section id="build-vector-display-this-creates-the-environments">
-<h3>2.) Build Vector Display (this creates the environments!)<a class="headerlink" href="#build-vector-display-this-creates-the-environments" title="Permalink to this heading"></a></h3>
+<h3>2.) Build Vector Display (this creates the environments!)<a class="headerlink" href="#build-vector-display-this-creates-the-environments" title="Permalink to this headline"></a></h3>
 <p>Assuming you are starting from the ROOT_DIRECTORY of the project:</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>docker/vectordisplay
-docker<span class="w"> </span>build<span class="w"> </span>-t<span class="w">  </span>vector_display:custom<span class="w"> </span>.
-<span class="nb">cd</span><span class="w"> </span>../..
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> docker/vectordisplay
+docker build -t  vector_display:custom .
+<span class="nb">cd</span> ../..
 </pre></div>
 </div>
 <p>Expect this to take a while (15-30m depending on your machine).</p>
 </section>
 <section id="create-a-virtualenv-to-install-python-dependencies">
-<h3>3.) Create a virtualenv to install python dependencies<a class="headerlink" href="#create-a-virtualenv-to-install-python-dependencies" title="Permalink to this heading"></a></h3>
+<h3>3.) Create a virtualenv to install python dependencies<a class="headerlink" href="#create-a-virtualenv-to-install-python-dependencies" title="Permalink to this headline"></a></h3>
 <p>Assuming linux/mac style, windows have their own special flavor for activating virtualenvs.</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>virtualenv<span class="w"> </span>venv
-<span class="nb">source</span><span class="w"> </span>venv/bin/activate
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>virtualenv venv
+<span class="nb">source</span> venv/bin/activate
 </pre></div>
 </div>
 </section>
 <section id="install-python-requirements">
-<h3>4.) Install python requirements<a class="headerlink" href="#install-python-requirements" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>pip<span class="w"> </span>install<span class="w"> </span>-r<span class="w"> </span>requirements.txt
+<h3>4.) Install python requirements<a class="headerlink" href="#install-python-requirements" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>pip install -r requirements.txt
 </pre></div>
 </div>
 </section>
 <section id="create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really">
-<h3>5.) Create the Environment for Social Gym (don’t worry, this is copying files really.)<a class="headerlink" href="#create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>scripts/create_env_template.py<span class="w"> </span>-n<span class="w"> </span>exp1/train/easy
+<h3>5.) Create the Environment for Social Gym (don’t worry, this is copying files really.)<a class="headerlink" href="#create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python scripts/create_env_template.py -n exp1/train/easy
 </pre></div>
 </div>
 <p>The <code class="docutils literal notranslate"><span class="pre">--name</span></code> parameter is referencing a saved file checked in by a commit, you should expect to see two windows when
@@ -136,7 +133,7 @@ <h3>5.) Create the Environment for Social Gym (don’t worry, this is copying fi
 <hr class="docutils" />
 <p><strong>NOTE</strong>: If you do NOT see windows, there’s a problem with the docker file.</p>
 <p>First try running</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>xhost<span class="w"> </span>+
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo xhost +
 </pre></div>
 </div>
 <p>and repeat the command.  If it still fails to show windows then try adding</p>
@@ -147,17 +144,17 @@ <h3>5.) Create the Environment for Social Gym (don’t worry, this is copying fi
 </section>
 <hr class="docutils" />
 <section id="build-config-runner">
-<h3>6.) Build Config Runner<a class="headerlink" href="#build-config-runner" title="Permalink to this heading"></a></h3>
+<h3>6.) Build Config Runner<a class="headerlink" href="#build-config-runner" title="Permalink to this headline"></a></h3>
 <p>In order to run the docker container with Config Runner, you have to build the image.  This can be done via</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>chmod<span class="w"> </span>+x<span class="w"> </span>./config_runner/build.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo chmod +x ./config_runner/build.sh
 ./config_runner/build.sh
 </pre></div>
 </div>
 <p>This may take 15-30minutes depending on your machine.</p>
 </section>
 <section id="run-the-config-runner">
-<h3>7.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>config_runner/run.py<span class="w"> </span>-c<span class="w"> </span>11_20_22/sacadrl.json
+<h3>7.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python config_runner/run.py -c 11_20_22/sacadrl.json
 </pre></div>
 </div>
 <p>This should open an RVIS window (looks like a 2D grid with options on the side-panels).  It may CLOSE and re-open MANY
@@ -170,7 +167,7 @@ <h3>7.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner
 </section>
 <hr class="docutils" />
 <section id="have-fun">
-<h3>7.) Have fun!<a class="headerlink" href="#have-fun" title="Permalink to this heading"></a></h3>
+<h3>7.) Have fun!<a class="headerlink" href="#have-fun" title="Permalink to this headline"></a></h3>
 <p>You can now specify your own configurations and run your own training or evaluation jobs.  More documentation on this
 later.</p>
 <p>If you need to develop or debug Social Gym – you’ll have to follow the full installation guide on the next
diff --git a/docs/_site/intro/advanced_training_and_eval.html b/docs/_site/intro/advanced_training_and_eval.html
index 5c5dbe13..f79a6701 100644
--- a/docs/_site/intro/advanced_training_and_eval.html
+++ b/docs/_site/intro/advanced_training_and_eval.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Advanced Training and Evaluation &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Advanced Training and Evaluation</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/intro/advanced_training_and_eval.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="advanced-training-and-evaluation">
-<h1>Advanced Training and Evaluation<a class="headerlink" href="#advanced-training-and-evaluation" title="Permalink to this heading"></a></h1>
+<h1>Advanced Training and Evaluation<a class="headerlink" href="#advanced-training-and-evaluation" title="Permalink to this headline"></a></h1>
 <p>Social Gym 2.0 uses a familiar Gym-like training loop with some important deviations, an example of training a new
 policy is shown below.</p>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># 1.) Create the Scenario</span>
diff --git a/docs/_site/intro/features.html b/docs/_site/intro/features.html
index 175a618f..cbede1df 100644
--- a/docs/_site/intro/features.html
+++ b/docs/_site/intro/features.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>What’s new in Social Gym 2.0 from the original release? &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">What’s new in Social Gym 2.0 from the original release?</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/intro/features.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="what-s-new-in-social-gym-2-0-from-the-original-release">
-<h1>What’s new in Social Gym 2.0 from the original release?<a class="headerlink" href="#what-s-new-in-social-gym-2-0-from-the-original-release" title="Permalink to this heading"></a></h1>
+<h1>What’s new in Social Gym 2.0 from the original release?<a class="headerlink" href="#what-s-new-in-social-gym-2-0-from-the-original-release" title="Permalink to this headline"></a></h1>
 <p>Social Gym 2.0 focused on multiagent training, enhanced feature extraction and policy modeling, modular control over
 environments and training, as well as various quality of life improvements to make training, evaluating, experimenting,
 and developing easier!</p>
@@ -86,7 +83,7 @@ <h1>What’s new in Social Gym 2.0 from the original release?<a class="headerlin
 required. An itemized list of features are below with indicators (*) for new features!</p>
 </section>
 <section id="social-gym-features">
-<h1>Social Gym Features<a class="headerlink" href="#social-gym-features" title="Permalink to this heading"></a></h1>
+<h1>Social Gym Features<a class="headerlink" href="#social-gym-features" title="Permalink to this headline"></a></h1>
 <ul class="simple">
 <li><p>Multi Agent training! *</p>
 <ul>
diff --git a/docs/_site/intro/making_a_new_scene.html b/docs/_site/intro/making_a_new_scene.html
index 0f2d3ada..f33856a2 100644
--- a/docs/_site/intro/making_a_new_scene.html
+++ b/docs/_site/intro/making_a_new_scene.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>How to make a new Scene &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">How to make a new Scene</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/intro/making_a_new_scene.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="how-to-make-a-new-scene">
-<h1>How to make a new Scene<a class="headerlink" href="#how-to-make-a-new-scene" title="Permalink to this heading"></a></h1>
+<h1>How to make a new Scene<a class="headerlink" href="#how-to-make-a-new-scene" title="Permalink to this headline"></a></h1>
 <p>Scene (or environments) are what the agents are trained on.  They consist of two important objects, the first are walls
 (denoted by blue lines).  The next are navigation paths (denoted by pink/purple lines).  These are explained a bit
 below.</p>
@@ -93,24 +90,24 @@ <h1>How to make a new Scene<a class="headerlink" href="#how-to-make-a-new-scene"
 effectively!</p>
 <hr class="docutils" />
 <section id="creating-a-new-environment">
-<h2>Creating a new environment<a class="headerlink" href="#creating-a-new-environment" title="Permalink to this heading"></a></h2>
+<h2>Creating a new environment<a class="headerlink" href="#creating-a-new-environment" title="Permalink to this headline"></a></h2>
 <p>We have an easy script for creating brand new scenes!  It also allows editing scenes, or using an existing scene as a
 template for a new one.  We’ll give a brief intro into how to make a new scene below.</p>
 <section id="using-your-local-python-interpreter-of-choice-run">
-<h3>1.) Using your local python interpreter of choice, run<a class="headerlink" href="#using-your-local-python-interpreter-of-choice-run" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>scripts/create_env_template<span class="w"> </span>--name<span class="w"> </span><span class="o">{</span>NAME<span class="w"> </span>YOUR<span class="w"> </span>NEW<span class="w"> </span>ENV<span class="w"> </span>HERE<span class="o">}</span>
+<h3>1.) Using your local python interpreter of choice, run<a class="headerlink" href="#using-your-local-python-interpreter-of-choice-run" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python scripts/create_env_template --name <span class="o">{</span>NAME YOUR NEW ENV HERE<span class="o">}</span>
 </pre></div>
 </div>
 </section>
 <section id="if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly">
-<h3>2.) If you have followed the Installation guide you should see a window pop up (if not double check that Social Gym was installed correctly).<a class="headerlink" href="#if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly" title="Permalink to this heading"></a></h3>
+<h3>2.) If you have followed the Installation guide you should see a window pop up (if not double check that Social Gym was installed correctly).<a class="headerlink" href="#if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly" title="Permalink to this headline"></a></h3>
 <p>This window is the Walls editor!  It’s most likely blank on your screen, but you can add new walls by using
 <code class="docutils literal notranslate"><span class="pre">[Shift]</span> <span class="pre">+</span> <span class="pre">[Click]</span> <span class="pre">+</span> <span class="pre">Mouse</span> <span class="pre">Drag</span></code></p>
 <p>Remove walls by <code class="docutils literal notranslate"><span class="pre">[Control]</span> <span class="pre">+</span> <span class="pre">[Click]</span></code></p>
 <p>When you are satisfied with your walls, hit <code class="docutils literal notranslate"><span class="pre">[Escape]</span></code></p>
 </section>
 <section id="a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor">
-<h3>3.) A new window should have popped up that looks exactly like the last, but now we are in the Graph Navigation editor!<a class="headerlink" href="#a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor" title="Permalink to this heading"></a></h3>
+<h3>3.) A new window should have popped up that looks exactly like the last, but now we are in the Graph Navigation editor!<a class="headerlink" href="#a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor" title="Permalink to this headline"></a></h3>
 <p>The controls are the same except for one crucial difference.  In the Graph Navigation editor, you create “Nodes” that
 can connect to each other through “Edges”.  You must place “Nodes” first before you can draw an “Edge”.</p>
 <p>Create a node by hitting <code class="docutils literal notranslate"><span class="pre">[Shift]</span> <span class="pre">+</span> <span class="pre">[Click]</span></code>, Be advised - the nodes are literally the size of a pixel so they may be hard
@@ -125,7 +122,7 @@ <h3>3.) A new window should have popped up that looks exactly like the last, but
 <p>Hit <code class="docutils literal notranslate"><span class="pre">[Escape]</span></code> when done.</p>
 </section>
 <section id="your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to">
-<h3>4.) Your Scene has been created and the files are in the right spot, but now you have to update the Social Gym code to<a class="headerlink" href="#your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to" title="Permalink to this heading"></a></h3>
+<h3>4.) Your Scene has been created and the files are in the right spot, but now you have to update the Social Gym code to<a class="headerlink" href="#your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to" title="Permalink to this headline"></a></h3>
 <p>reference your new scene.  The easiest way to do this is to define a new <code class="docutils literal notranslate"><span class="pre">GraphNavScenario</span></code> scenario like so</p>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span>   <span class="c1">#...</span>
    <span class="n">scenario</span> <span class="o">=</span> <span class="n">GraphNavScenario</span><span class="p">(</span>
diff --git a/docs/_site/intro/training_and_eval.html b/docs/_site/intro/training_and_eval.html
index 48200431..dc169563 100644
--- a/docs/_site/intro/training_and_eval.html
+++ b/docs/_site/intro/training_and_eval.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Training and Evaluation with ConfigRunner &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Training and Evaluation with ConfigRunner</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/intro/training_and_eval.md.txt" rel="nofollow"> View page source</a>
@@ -74,56 +71,56 @@
            <div itemprop="articleBody">
              
   <section id="training-and-evaluation-with-configrunner">
-<h1>Training and Evaluation with ConfigRunner<a class="headerlink" href="#training-and-evaluation-with-configrunner" title="Permalink to this heading"></a></h1>
+<h1>Training and Evaluation with ConfigRunner<a class="headerlink" href="#training-and-evaluation-with-configrunner" title="Permalink to this headline"></a></h1>
 <p>To ease batch training jobs we created a wrapper class around the training and evaluation code that can be configured
 via a configuration file (.yaml file)</p>
 <p>These configuration files are stored in <code class="docutils literal notranslate"><span class="pre">{PROJECT</span> <span class="pre">ROOT}/config_runner/configs</span></code></p>
 <p>ConfigRunner allows you train and evaluate a policy using one of these files via</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>config_runner/run.py<span class="w"> </span>-c<span class="w"> </span><span class="o">{</span>path_to_config<span class="o">}</span>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python config_runner/run.py -c <span class="o">{</span>path_to_config<span class="o">}</span>
 </pre></div>
 </div>
 <p>where the <code class="docutils literal notranslate"><span class="pre">{path_to_config}</span></code> is the relative path from <code class="docutils literal notranslate"><span class="pre">{PROJECT</span> <span class="pre">ROOT}/config_runner/configs</span></code> to a specific config file.</p>
 <p>You can run batch training jobs by either separating each unique configuration file with a white space and the <code class="docutils literal notranslate"><span class="pre">-c</span></code> flag, or you can
 use the <code class="docutils literal notranslate"><span class="pre">-f</span></code> flag (meaning <code class="docutils literal notranslate"><span class="pre">folder</span></code>) and point it at a folder in the <code class="docutils literal notranslate"><span class="pre">{PROJECT</span> <span class="pre">ROOT}/config_runner/configs</span></code> directory.</p>
 <p>An example of a config is shown below:</p>
-<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="p p-Indicator">{</span>
-<span class="w">  </span><span class="s">&quot;num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">3</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">35</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">70</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">]],</span>
-<span class="w">  </span><span class="s">&quot;eval_num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">7</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">10</span><span class="p p-Indicator">],</span>
-<span class="w">  </span><span class="s">&quot;train_length&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">250000</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;ending_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;eval_frequency&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">0</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;intermediate_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_algo_sb3_contrib&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_algo_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;PPO&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;MlpPolicy&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_algo_kwargs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="s">&quot;n_steps&quot;</span><span class="p p-Indicator">:</span><span class="w">  </span><span class="nv">4096</span><span class="p p-Indicator">},</span>
-<span class="w">  </span><span class="s">&quot;monitor&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;experiment_names&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;envs_door&quot;</span><span class="p p-Indicator">],</span>
-
-<span class="w">  </span><span class="s">&quot;run_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;door_ao&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;run_type&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;AO&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;device&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;cuda:0&quot;</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;other_velocities_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;agent_velocity_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;agent_velocity_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;other_velocities_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;other_poses_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;agent_pose_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;entropy_constant_penalty&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">-100000</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;entropy_constant_penalty_only_those_that_did_not_finish&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;timelimit&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;timelimit_threshold&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">3000</span>
-<span class="p p-Indicator">}</span>
+<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="p p-Indicator">{</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">3</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">35</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">70</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">]],</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;eval_num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">7</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">10</span><span class="p p-Indicator">],</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;train_length&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">250000</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;ending_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;eval_frequency&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;intermediate_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_algo_sb3_contrib&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_algo_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;PPO&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;MlpPolicy&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_algo_kwargs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="s">&quot;n_steps&quot;</span><span class="p p-Indicator">:</span><span class="w">  </span><span class="nv">4096</span><span class="p p-Indicator">},</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;monitor&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;experiment_names&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;envs_door&quot;</span><span class="p p-Indicator">],</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;run_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;door_ao&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;run_type&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;AO&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;device&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;cuda:0&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;other_velocities_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;agent_velocity_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;agent_velocity_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;other_velocities_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;other_poses_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;agent_pose_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;entropy_constant_penalty&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">-100000</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;entropy_constant_penalty_only_those_that_did_not_finish&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;timelimit&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;timelimit_threshold&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">3000</span><span class="w"></span>
+<span class="p p-Indicator">}</span><span class="w"></span>
 </pre></div>
 </div>
 </section>
 <section id="configrunner-configurations">
-<h1>ConfigRunner Configurations<a class="headerlink" href="#configrunner-configurations" title="Permalink to this heading"></a></h1>
+<h1>ConfigRunner Configurations<a class="headerlink" href="#configrunner-configurations" title="Permalink to this headline"></a></h1>
 <p>Each attribute in the yaml configuration matches an argument passed into the <code class="docutils literal notranslate"><span class="pre">run</span></code> function in <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/src/config_run.py</span></code></p>
 <p>They are described in details in the file <code class="docutils literal notranslate"><span class="pre">{PROJECT</span> <span class="pre">ROOT}/src/config_run.py</span></code></p>
 </section>
diff --git a/docs/_site/intro/what_is_social_gym.html b/docs/_site/intro/what_is_social_gym.html
index 4c1007db..84761d11 100644
--- a/docs/_site/intro/what_is_social_gym.html
+++ b/docs/_site/intro/what_is_social_gym.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>What is Social Gym &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">What is Social Gym</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/intro/what_is_social_gym.md.txt" rel="nofollow"> View page source</a>
@@ -74,11 +71,11 @@
            <div itemprop="articleBody">
              
   <section id="what-is-social-gym">
-<h1>What is Social Gym<a class="headerlink" href="#what-is-social-gym" title="Permalink to this heading"></a></h1>
+<h1>What is Social Gym<a class="headerlink" href="#what-is-social-gym" title="Permalink to this headline"></a></h1>
 <p>Social Gym is a lightweight 2D simulation environment for robot social navigation.  It allows for multi-agent and
 single-agent scenarios as well as dynamic obstacles for testing complex social navigation.</p>
 <section id="social-gym-s-stack">
-<h2>Social Gym’s Stack<a class="headerlink" href="#social-gym-s-stack" title="Permalink to this heading"></a></h2>
+<h2>Social Gym’s Stack<a class="headerlink" href="#social-gym-s-stack" title="Permalink to this headline"></a></h2>
 <p>Social Gym’s foundation is in ROS (Robot Operating System) which we surface via a python API.  This allows for all the
 training, evaluation, and experimentation to be done in Python similar to Stable Baselines or PettingZoo.  However,
 because it’s built ontop of ROS, it’s also easy to extend with ROS submodules to experiment with more complex
diff --git a/docs/_site/modules/modules.html b/docs/_site/modules/modules.html
index 5900b4eb..5b087e20 100644
--- a/docs/_site/modules/modules.html
+++ b/docs/_site/modules/modules.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/modules.rst.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="src">
-<h1>src<a class="headerlink" href="#src" title="Permalink to this heading"></a></h1>
+<h1>src<a class="headerlink" href="#src" title="Permalink to this headline"></a></h1>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.html">src package</a><ul>
@@ -82,27 +79,15 @@ <h1>src<a class="headerlink" href="#src" title="Permalink to this heading"></
 <li class="toctree-l3"><a class="reference internal" href="src.environment.html">src.environment package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#module-src.environment.ros_social_gym">src.environment.ros_social_gym module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#module-src.environment">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src-environment-ros-social-gym-module">src.environment.ros_social_gym module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.html#module-src.config_run">src.config_run module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.html#src.config_run.kinds"><code class="docutils literal notranslate"><span class="pre">kinds</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.html#src.config_run.kinds.ao"><code class="docutils literal notranslate"><span class="pre">kinds.ao</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.html#src.config_run.kinds.eo"><code class="docutils literal notranslate"><span class="pre">kinds.eo</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.html#src.config_run.kinds.sacadrl"><code class="docutils literal notranslate"><span class="pre">kinds.sacadrl</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.html#src.config_run.run"><code class="docutils literal notranslate"><span class="pre">run()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.html#module-src.multi_agent_optuna">src.multi_agent_optuna module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.html#src.multi_agent_optuna.objective"><code class="docutils literal notranslate"><span class="pre">objective()</span></code></a></li>
-</ul>
-</li>
+<li class="toctree-l2"><a class="reference internal" href="src.html#src-config-run-module">src.config_run module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.html#src-multi-agent-optuna-module">src.multi_agent_optuna module</a></li>
 <li class="toctree-l2"><a class="reference internal" href="src.html#module-src">Module contents</a></li>
 </ul>
 </li>
diff --git a/docs/_site/modules/src.environment.callbacks.html b/docs/_site/modules/src.environment.callbacks.html
index e5049a01..b82caaac 100644
--- a/docs/_site/modules/src.environment.callbacks.html
+++ b/docs/_site/modules/src.environment.callbacks.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.callbacks package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.callbacks package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.callbacks.rst.txt" rel="nofollow"> View page source</a>
@@ -74,79 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-callbacks-package">
-<h1>src.environment.callbacks package<a class="headerlink" href="#src-environment-callbacks-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.callbacks package<a class="headerlink" href="#src-environment-callbacks-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.callbacks.callbacks">
-<span id="src-environment-callbacks-callbacks-module"></span><h2>src.environment.callbacks.callbacks module<a class="headerlink" href="#module-src.environment.callbacks.callbacks" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.callbacks.callbacks.EvalCallback">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.callbacks.callbacks.</span></span><span class="sig-name descname"><span class="pre">EvalCallback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.callbacks.callbacks.EvalCallback" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">EventCallback</span></code></p>
-<p>Callback for evaluating an agent.</p>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>When using multiple environments, each call to  <code class="docutils literal notranslate"><span class="pre">env.step()</span></code>
-will effectively correspond to <code class="docutils literal notranslate"><span class="pre">n_envs</span></code> steps.
-To account for that, you can use <code class="docutils literal notranslate"><span class="pre">eval_freq</span> <span class="pre">=</span> <span class="pre">max(eval_freq</span> <span class="pre">//</span> <span class="pre">n_envs,</span> <span class="pre">1)</span></code></p>
-</div>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>eval_env</strong> – The environment used for initialization</p></li>
-<li><p><strong>callback_on_new_best</strong> – Callback to trigger
-when there is a new best model according to the <code class="docutils literal notranslate"><span class="pre">mean_reward</span></code></p></li>
-<li><p><strong>callback_after_eval</strong> – Callback to trigger after every evaluation</p></li>
-<li><p><strong>n_eval_episodes</strong> – The number of episodes to test the agent</p></li>
-<li><p><strong>eval_freq</strong> – Evaluate the agent every <code class="docutils literal notranslate"><span class="pre">eval_freq</span></code> call of the callback.</p></li>
-<li><p><strong>log_path</strong> – Path to a folder where the evaluations (<code class="docutils literal notranslate"><span class="pre">evaluations.npz</span></code>)
-will be saved. It will be updated at each evaluation.</p></li>
-<li><p><strong>best_model_save_path</strong> – Path to a folder where the best model
-according to performance on the eval env will be saved.</p></li>
-<li><p><strong>deterministic</strong> – Whether the evaluation should
-use a stochastic or deterministic actions.</p></li>
-<li><p><strong>render</strong> – Whether to render or not the environment during evaluation</p></li>
-<li><p><strong>verbose</strong> – </p></li>
-<li><p><strong>warn</strong> – Passed to <code class="docutils literal notranslate"><span class="pre">evaluate_policy</span></code> (warns if <code class="docutils literal notranslate"><span class="pre">eval_env</span></code> has not been
-wrapped with a Monitor wrapper)</p></li>
-</ul>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.callbacks.callbacks.EvalCallback.update_child_locals">
-<span class="sig-name descname"><span class="pre">update_child_locals</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">locals_</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#src.environment.callbacks.callbacks.EvalCallback.update_child_locals" title="Permalink to this definition"></a></dt>
-<dd><p>Update the references to the local variables.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>locals</strong> – the local variables during rollout collection</p>
-</dd>
-</dl>
-</dd></dl>
-
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.callbacks.callbacks.OptunaCallback">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.callbacks.callbacks.</span></span><span class="sig-name descname"><span class="pre">OptunaCallback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.callbacks.callbacks.OptunaCallback" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseCallback</span></code></p>
-<p>Stop the training once a threshold in episodic reward
-has been reached (i.e. when the model is good enough).</p>
-<p>It must be used with the <code class="docutils literal notranslate"><span class="pre">EvalCallback</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>reward_threshold</strong> – Minimum expected reward per episode
-to stop training.</p></li>
-<li><p><strong>verbose</strong> – </p></li>
-</ul>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-environment-callbacks-callbacks-module">
+<h2>src.environment.callbacks.callbacks module<a class="headerlink" href="#src-environment-callbacks-callbacks-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.callbacks">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.callbacks" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/_site/modules/src.environment.environment_types.html b/docs/_site/modules/src.environment.environment_types.html
index 576a5948..2dbb6d96 100644
--- a/docs/_site/modules/src.environment.environment_types.html
+++ b/docs/_site/modules/src.environment.environment_types.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.environment_types package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.environment_types package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.environment_types.rst.txt" rel="nofollow"> View page source</a>
@@ -74,118 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-environment-types-package">
-<h1>src.environment.environment_types package<a class="headerlink" href="#src-environment-environment-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.environment_types package<a class="headerlink" href="#src-environment-environment-types-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.environment_types.manual_zone">
-<span id="src-environment-environment-types-manual-zone-module"></span><h2>src.environment.environment_types.manual_zone module<a class="headerlink" href="#module-src.environment.environment_types.manual_zone" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.environment_types.manual_zone.</span></span><span class="sig-name descname"><span class="pre">ManualZoneEnv</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">launch_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'/home/rosdev/social_gym/config/gym_gen/launch.launch'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">observer</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observer.Observer" title="src.environment.observations.observer.Observer"><span class="pre">Observer</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rewarder</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder" title="src.environment.rewards.rewarder.Rewarder"><span class="pre">Rewarder</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scenarios</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">()</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(3,</span> <span class="pre">5)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">debug</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">visuals</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">RosSocialEnv</span></code></a></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders">
-<span class="sig-name descname"><span class="pre">agents_priority_orders</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone">
-<span class="sig-name descname"><span class="pre">build_zone</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario">
-<span class="sig-name descname"><span class="pre">new_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.sim_step">
-<span class="sig-name descname"><span class="pre">sim_step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.sim_step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse">
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-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><code class="xref py py-class docutils literal notranslate"><span class="pre">UTMRSResponse</span></code></a></p>
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-<dd></dd></dl>
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-<dd></dd></dl>
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-<dd></dd></dl>
-
-</dd></dl>
-
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.RvisZoneVisualization.publish">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.RvisZoneVisualization.rect">
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-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-environment-types-manual-zone-module">
+<h2>src.environment.environment_types.manual_zone module<a class="headerlink" href="#src-environment-environment-types-manual-zone-module" title="Permalink to this headline"></a></h2>
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+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
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diff --git a/docs/_site/modules/src.environment.extractors.html b/docs/_site/modules/src.environment.extractors.html
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+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
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 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
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@@ -62,7 +59,7 @@
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-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.extractors package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.extractors.rst.txt" rel="nofollow"> View page source</a>
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            <div itemprop="articleBody">
              
   <section id="src-environment-extractors-package">
-<h1>src.environment.extractors package<a class="headerlink" href="#src-environment-extractors-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.extractors package<a class="headerlink" href="#src-environment-extractors-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.extractors.lstm_agent_obs">
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-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.extractors.lstm_agent_obs.LSTMAgentObs">
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-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseFeaturesExtractor</span></code></p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>observation_space</strong> – (gym.Space)</p></li>
-<li><p><strong>features_dim</strong> – (int) Number of features extracted.
-This corresponds to the number of unit for the last layer.</p></li>
-</ul>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.extractors.lstm_agent_obs.LSTMAgentObs.forward">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.extractors.lstm_agent_obs.LSTMAgentObs.make_tensors">
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-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-extractors-lstm-agent-obs-module">
+<h2>src.environment.extractors.lstm_agent_obs module<a class="headerlink" href="#src-environment-extractors-lstm-agent-obs-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.extractors">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.extractors" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
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diff --git a/docs/_site/modules/src.environment.html b/docs/_site/modules/src.environment.html
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
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@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
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   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment package</li>
       <li class="wy-breadcrumbs-aside">
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@@ -74,69 +71,27 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-package">
-<h1>src.environment package<a class="headerlink" href="#src-environment-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment package<a class="headerlink" href="#src-environment-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.callbacks.html">src.environment.callbacks package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#module-src.environment.callbacks.callbacks">src.environment.callbacks.callbacks module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.callbacks.html#src.environment.callbacks.callbacks.EvalCallback"><code class="docutils literal notranslate"><span class="pre">EvalCallback</span></code></a><ul>
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-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.callbacks.html#src.environment.callbacks.callbacks.OptunaCallback"><code class="docutils literal notranslate"><span class="pre">OptunaCallback</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#module-src.environment.callbacks">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#src-environment-callbacks-callbacks-module">src.environment.callbacks.callbacks module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.environment_types.html">src.environment.environment_types package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#module-src.environment.environment_types.manual_zone">src.environment.environment_types.manual_zone module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.agents_priority_orders</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.build_zone()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.new_scenario()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.reset"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.sim_step"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.sim_step()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_current_order"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.agents_current_order</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_priority_order"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.agents_priority_order</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.entering"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.entering</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.exiting"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.exiting</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.in_zone"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.in_zone</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_entering"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.number_agents_entering</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_exiting"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.number_agents_exiting</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.process"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.process()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.set_zone_vars"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.set_zone_vars()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.point"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization.point()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.publish"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization.publish()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.rect"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization.rect()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#module-src.environment.environment_types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#src-environment-environment-types-manual-zone-module">src.environment.environment_types.manual_zone module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.extractors.html">src.environment.extractors package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#module-src.environment.extractors.lstm_agent_obs">src.environment.extractors.lstm_agent_obs module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs"><code class="docutils literal notranslate"><span class="pre">LSTMAgentObs</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.forward"><code class="docutils literal notranslate"><span class="pre">LSTMAgentObs.forward()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.make_tensors"><code class="docutils literal notranslate"><span class="pre">LSTMAgentObs.make_tensors()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#module-src.environment.extractors">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#src-environment-extractors-lstm-agent-obs-module">src.environment.extractors.lstm_agent_obs module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.observations.html">src.environment.observations package</a><ul>
@@ -144,48 +99,28 @@ <h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to thi
 <li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html">src.environment.observations.types package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_goal_distance">src.environment.observations.types.agents_goal_distance module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_heading_direction">src.environment.observations.types.agents_heading_direction module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_others_distance">src.environment.observations.types.agents_others_distance module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_pose">src.environment.observations.types.agents_pose module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_preferred_velocity">src.environment.observations.types.agents_preferred_velocity module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">src.environment.observations.types.agents_velocity module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">src.environment.observations.types.collision_observation module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">src.environment.observations.types.other_agent_observables module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_heading_direction">src.environment.observations.types.others_heading_direction module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_poses">src.environment.observations.types.others_poses module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_velocities">src.environment.observations.types.others_velocities module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.success_observation">src.environment.observations.types.success_observation module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-goal-distance-module">src.environment.observations.types.agents_goal_distance module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-heading-direction-module">src.environment.observations.types.agents_heading_direction module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-others-distance-module">src.environment.observations.types.agents_others_distance module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-pose-module">src.environment.observations.types.agents_pose module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-preferred-velocity-module">src.environment.observations.types.agents_preferred_velocity module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-velocity-module">src.environment.observations.types.agents_velocity module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-collision-observation-module">src.environment.observations.types.collision_observation module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-other-agent-observables-module">src.environment.observations.types.other_agent_observables module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-heading-direction-module">src.environment.observations.types.others_heading_direction module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-poses-module">src.environment.observations.types.others_poses module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-velocities-module">src.environment.observations.types.others_velocities module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-success-observation-module">src.environment.observations.types.success_observation module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations.common_observations">src.environment.observations.common_observations module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.common_observations.dsacadrl_observations"><code class="docutils literal notranslate"><span class="pre">dsacadrl_observations()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations.observation">src.environment.observations.observation module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation"><code class="docutils literal notranslate"><span class="pre">Observation</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation.name"><code class="docutils literal notranslate"><span class="pre">Observation.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation.observations"><code class="docutils literal notranslate"><span class="pre">Observation.observations()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations.observer">src.environment.observations.observer module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer"><code class="docutils literal notranslate"><span class="pre">Observer</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.arr_to_dict"><code class="docutils literal notranslate"><span class="pre">Observer.arr_to_dict()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.make_observation"><code class="docutils literal notranslate"><span class="pre">Observer.make_observation()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.registered_observations"><code class="docutils literal notranslate"><span class="pre">Observer.registered_observations</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.reset"><code class="docutils literal notranslate"><span class="pre">Observer.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.setup"><code class="docutils literal notranslate"><span class="pre">Observer.setup()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-common-observations-module">src.environment.observations.common_observations module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observation-module">src.environment.observations.observation module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observer-module">src.environment.observations.observer module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.html">src.environment.rewards package</a><ul>
@@ -193,340 +128,87 @@ <h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to thi
 <li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html">src.environment.rewards.types package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.collisions">src.environment.rewards.types.collisions module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.existence_penalty">src.environment.rewards.types.existence_penalty module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance">src.environment.rewards.types.goal_distance module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance_change">src.environment.rewards.types.goal_distance_change module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.preferred_velocity">src.environment.rewards.types.preferred_velocity module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_cross">src.environment.rewards.types.social_norm_cross module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_overtake">src.environment.rewards.types.social_norm_overtake module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_pass">src.environment.rewards.types.social_norm_pass module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.success">src.environment.rewards.types.success module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.velocity_control">src.environment.rewards.types.velocity_control module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-collisions-module">src.environment.rewards.types.collisions module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-existence-penalty-module">src.environment.rewards.types.existence_penalty module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-module">src.environment.rewards.types.goal_distance module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-change-module">src.environment.rewards.types.goal_distance_change module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-preferred-velocity-module">src.environment.rewards.types.preferred_velocity module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-cross-module">src.environment.rewards.types.social_norm_cross module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-overtake-module">src.environment.rewards.types.social_norm_overtake module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-pass-module">src.environment.rewards.types.social_norm_pass module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-success-module">src.environment.rewards.types.success module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-velocity-control-module">src.environment.rewards.types.velocity_control module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.wrappers.html">src.environment.rewards.wrappers package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers.linear_weight_scheduler">src.environment.rewards.wrappers.linear_weight_scheduler module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#src-environment-rewards-wrappers-linear-weight-scheduler-module">src.environment.rewards.wrappers.linear_weight_scheduler module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards.common_rewards">src.environment.rewards.common_rewards module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.common_rewards.dsacadrl_rewards"><code class="docutils literal notranslate"><span class="pre">dsacadrl_rewards()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards.reward">src.environment.rewards.reward module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward"><code class="docutils literal notranslate"><span class="pre">Reward</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward.name"><code class="docutils literal notranslate"><span class="pre">Reward.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward.score"><code class="docutils literal notranslate"><span class="pre">Reward.score()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward.weight"><code class="docutils literal notranslate"><span class="pre">Reward.weight</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards.rewarder">src.environment.rewards.rewarder module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder"><code class="docutils literal notranslate"><span class="pre">Rewarder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.registered_rewards"><code class="docutils literal notranslate"><span class="pre">Rewarder.registered_rewards</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reset"><code class="docutils literal notranslate"><span class="pre">Rewarder.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reward"><code class="docutils literal notranslate"><span class="pre">Rewarder.reward()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.setup"><code class="docutils literal notranslate"><span class="pre">Rewarder.setup()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-common-rewards-module">src.environment.rewards.common_rewards module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-reward-module">src.environment.rewards.reward module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-rewarder-module">src.environment.rewards.rewarder module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.scenarios.html">src.environment.scenarios package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#subpackages">Subpackages</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html">src.environment.scenarios.types package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.cycle">src.environment.scenarios.types.cycle module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.graph_nav">src.environment.scenarios.types.graph_nav module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.manual">src.environment.scenarios.types.manual module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-cycle-module">src.environment.scenarios.types.cycle module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-graph-nav-module">src.environment.scenarios.types.graph_nav module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-manual-module">src.environment.scenarios.types.manual module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios.common_scenarios">src.environment.scenarios.common_scenarios module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides"><code class="docutils literal notranslate"><span class="pre">closed_door_1__opposing_sides()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__same_goals"><code class="docutils literal notranslate"><span class="pre">closed_door_1__same_goals()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.elevator_loading"><code class="docutils literal notranslate"><span class="pre">elevator_loading()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_door"><code class="docutils literal notranslate"><span class="pre">envs_door()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_hallway"><code class="docutils literal notranslate"><span class="pre">envs_hallway()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_intersection"><code class="docutils literal notranslate"><span class="pre">envs_intersection()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_open"><code class="docutils literal notranslate"><span class="pre">envs_open()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_round_about"><code class="docutils literal notranslate"><span class="pre">envs_round_about()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp1_train_scenario"><code class="docutils literal notranslate"><span class="pre">exp1_train_scenario()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp2_train_scenario"><code class="docutils literal notranslate"><span class="pre">exp2_train_scenario()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios.scenario">src.environment.scenarios.scenario module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario"><code class="docutils literal notranslate"><span class="pre">Scenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">Scenario.generate_scenario()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.load_nav_nodes"><code class="docutils literal notranslate"><span class="pre">Scenario.load_nav_nodes()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.make_scenario"><code class="docutils literal notranslate"><span class="pre">Scenario.make_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-common-scenarios-module">src.environment.scenarios.common_scenarios module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-scenario-module">src.environment.scenarios.scenario module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.services.html">src.environment.services package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#module-src.environment.services.utmrs">src.environment.services.utmrs module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRS"><code class="docutils literal notranslate"><span class="pre">UTMRS</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRS.reset"><code class="docutils literal notranslate"><span class="pre">UTMRS.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRS.step"><code class="docutils literal notranslate"><span class="pre">UTMRS.step()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.collision"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.collision</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.done"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.done</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_pose"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.door_pose</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_state"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.door_state</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.follow_target"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.follow_target</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.goal_pose"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.goal_pose</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_poses"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.human_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_vels"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.human_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.local_target"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.local_target</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_poses"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.other_robot_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_vels"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.other_robot_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.process"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.process()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_poses"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.robot_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_state"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.robot_state</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_vels"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.robot_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.set_vars"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.set_vars()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.success"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.success</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#module-src.environment.services">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#src-environment-services-utmrs-module">src.environment.services.utmrs module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.utils.html">src.environment.utils package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils.evaluate_policy">src.environment.utils.evaluate_policy module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.evaluate_policy.evaluate_policy"><code class="docutils literal notranslate"><span class="pre">evaluate_policy()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils.utils">src.environment.utils.utils module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.LogFilter"><code class="docutils literal notranslate"><span class="pre">LogFilter</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.LogFilter.flush"><code class="docutils literal notranslate"><span class="pre">LogFilter.flush()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.LogFilter.write"><code class="docutils literal notranslate"><span class="pre">LogFilter.write()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.filter_stdout"><code class="docutils literal notranslate"><span class="pre">filter_stdout()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.get_tboard_writer"><code class="docutils literal notranslate"><span class="pre">get_tboard_writer()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.poses_to_np_array"><code class="docutils literal notranslate"><span class="pre">poses_to_np_array()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-evaluate-policy-module">src.environment.utils.evaluate_policy module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-utils-module">src.environment.utils.utils module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.wrappers.html">src.environment.wrappers package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.collision_episode_ender">src.environment.wrappers.collision_episode_ender module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder"><code class="docutils literal notranslate"><span class="pre">CollisionEpisodeEnder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed"><code class="docutils literal notranslate"><span class="pre">CollisionEpisodeEnder.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step"><code class="docutils literal notranslate"><span class="pre">CollisionEpisodeEnder.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.entropy_episode_ender">src.environment.wrappers.entropy_episode_ender module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.agent_positions</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.calculate_deltas()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.distance_delta</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.negative_multiplier_only</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.reset_positions()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.reward_multiplier</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.step()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.timestep_threshold</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.new_scenario_wrapper">src.environment.wrappers.new_scenario_wrapper module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.env</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.episode_count</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.new_scenario_episode_frequency</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.plans</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.seed()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.reward_stripper">src.environment.wrappers.reward_stripper module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper"><code class="docutils literal notranslate"><span class="pre">RewardStripper</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.seed"><code class="docutils literal notranslate"><span class="pre">RewardStripper.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.step"><code class="docutils literal notranslate"><span class="pre">RewardStripper.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.tensorboard_writer">src.environment.wrappers.tensorboard_writer module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.image_callback"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.image_callback()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.reset"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.seed"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.step"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.time_limit">src.environment.wrappers.time_limit module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.reset"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.seed"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.step"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-collision-episode-ender-module">src.environment.wrappers.collision_episode_ender module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-entropy-episode-ender-module">src.environment.wrappers.entropy_episode_ender module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-new-scenario-wrapper-module">src.environment.wrappers.new_scenario_wrapper module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-reward-stripper-module">src.environment.wrappers.reward_stripper module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-tensorboard-writer-module">src.environment.wrappers.tensorboard_writer module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-time-limit-module">src.environment.wrappers.time_limit module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.ros_social_gym">
-<span id="src-environment-ros-social-gym-module"></span><h2>src.environment.ros_social_gym module<a class="headerlink" href="#module-src.environment.ros_social_gym" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.AgentColor">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.ros_social_gym.</span></span><span class="sig-name descname"><span class="pre">AgentColor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">r</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">g</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">reward</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.AgentColor" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.ros_social_gym.</span></span><span class="sig-name descname"><span class="pre">RosSocialEnv</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">launch_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'/home/rosdev/social_gym/config/gym_gen/launch.launch'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">observer</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observer.Observer" title="src.environment.observations.observer.Observer"><span class="pre">Observer</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rewarder</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder" title="src.environment.rewards.rewarder.Rewarder"><span class="pre">Rewarder</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scenarios</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">()</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(3,</span> <span class="pre">5)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">debug</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">visuals</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">ParallelEnv</span></code>, <code class="xref py py-class docutils literal notranslate"><span class="pre">EzPickle</span></code></p>
-<p>A ros-based social navigation environment for OpenAI gym supporting MultiAgent training.</p>
-<p>A lot of the documentation is taken from <a class="reference external" href="https://pettingzoo.farama.org/content/environment_creation/">https://pettingzoo.farama.org/content/environment_creation/</a> which is
-almost entirely about supporting multiple agents in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.action_space">
-<span class="sig-name descname"><span class="pre">action_space</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">agent</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.action_space" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.calculate_reward">
-<span class="sig-name descname"><span class="pre">calculate_reward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">obs_map</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.calculate_reward" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.close">
-<span class="sig-name descname"><span class="pre">close</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.close" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.default_action">
-<span class="sig-name descname"><span class="pre">default_action</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.default_action" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.env_response_type">
-<span class="sig-name descname"><span class="pre">env_response_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">ClassVar</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.env_response_type" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.launch_config">
-<span class="sig-name descname"><span class="pre">launch_config</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">str</span></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.launch_config" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.make_observation">
-<span class="sig-name descname"><span class="pre">make_observation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">res</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.make_observation" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.metadata">
-<span class="sig-name descname"><span class="pre">metadata</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">{'name':</span> <span class="pre">'ros_social_env',</span> <span class="pre">'render_modes':</span> <span class="pre">['human']}</span></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.metadata" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.new_scenario">
-<span class="sig-name descname"><span class="pre">new_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.new_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.num_agents">
-<span class="sig-name descname"><span class="pre">num_agents</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.num_agents" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.num_humans">
-<span class="sig-name descname"><span class="pre">num_humans</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.num_humans" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.observation_space">
-<span class="sig-name descname"><span class="pre">observation_space</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">agent</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.observation_space" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.observer">
-<span class="sig-name descname"><span class="pre">observer</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observer.Observer" title="src.environment.observations.observer.Observer"><span class="pre">Observer</span></a></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.observer" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.render">
-<span class="sig-name descname"><span class="pre">render</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mode</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'human'</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.render" title="Permalink to this definition"></a></dt>
-<dd><p>Depends on RVIZ for visualization, no render method</p>
-</dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.rewarder">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.seed">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.sim_step">
-<span class="sig-name descname"><span class="pre">sim_step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.sim_step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.state">
-<span class="sig-name descname"><span class="pre">state</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span></span></span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.state" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action_dict</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-ros-social-gym-module">
+<h2>src.environment.ros_social_gym module<a class="headerlink" href="#src-environment-ros-social-gym-module" title="Permalink to this headline"></a></h2>
 </section>
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-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/_site/modules/src.environment.observations.html b/docs/_site/modules/src.environment.observations.html
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-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
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+        <script src="../../_static/jquery.js"></script>
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@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
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+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
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@@ -62,7 +59,7 @@
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-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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             <a href="../../_sources/_site/modules/src.environment.observations.rst.txt" rel="nofollow"> View page source</a>
@@ -74,208 +71,56 @@
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   <section id="src-environment-observations-package">
-<h1>src.environment.observations package<a class="headerlink" href="#src-environment-observations-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.observations package<a class="headerlink" href="#src-environment-observations-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.observations.types.html">src.environment.observations.types package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#subpackages">Subpackages</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.manual_zone.html">src.environment.observations.types.manual_zone package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#submodules">Submodules</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone">Module contents</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-zone-current-order-module">src.environment.observations.types.manual_zone.agent_zone_current_order module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-zone-priority-order-module">src.environment.observations.types.manual_zone.agent_zone_priority_order module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_goal_distance">src.environment.observations.types.agents_goal_distance module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance"><code class="docutils literal notranslate"><span class="pre">AgentsGoalDistance</span></code></a><ul>
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-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_heading_direction">src.environment.observations.types.agents_heading_direction module</a><ul>
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-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_others_distance">src.environment.observations.types.agents_others_distance module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_others_distance.AgentsOthersDistance"><code class="docutils literal notranslate"><span class="pre">AgentsOthersDistance</span></code></a><ul>
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-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_pose">src.environment.observations.types.agents_pose module</a><ul>
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-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">src.environment.observations.types.agents_velocity module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.history"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity.history</span></code></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">src.environment.observations.types.collision_observation module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.collision_observation.CollisionObservation"><code class="docutils literal notranslate"><span class="pre">CollisionObservation</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.collision_observation.CollisionObservation.name"><code class="docutils literal notranslate"><span class="pre">CollisionObservation.name()</span></code></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">src.environment.observations.types.other_agent_observables module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables"><code class="docutils literal notranslate"><span class="pre">OtherAgentObservables</span></code></a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection"><code class="docutils literal notranslate"><span class="pre">OthersHeadingDirection</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.name"><code class="docutils literal notranslate"><span class="pre">OthersHeadingDirection.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others"><code class="docutils literal notranslate"><span class="pre">OthersHeadingDirection.num_others</span></code></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_poses">src.environment.observations.types.others_poses module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses"><code class="docutils literal notranslate"><span class="pre">OthersPoses</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses.name"><code class="docutils literal notranslate"><span class="pre">OthersPoses.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses.num_others"><code class="docutils literal notranslate"><span class="pre">OthersPoses.num_others</span></code></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_velocities">src.environment.observations.types.others_velocities module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities"><code class="docutils literal notranslate"><span class="pre">OthersVelocities</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities.name"><code class="docutils literal notranslate"><span class="pre">OthersVelocities.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities.num_others"><code class="docutils literal notranslate"><span class="pre">OthersVelocities.num_others</span></code></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.success_observation">src.environment.observations.types.success_observation module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.success_observation.SuccessObservation"><code class="docutils literal notranslate"><span class="pre">SuccessObservation</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.success_observation.SuccessObservation.name"><code class="docutils literal notranslate"><span class="pre">SuccessObservation.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-goal-distance-module">src.environment.observations.types.agents_goal_distance module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-heading-direction-module">src.environment.observations.types.agents_heading_direction module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-others-distance-module">src.environment.observations.types.agents_others_distance module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-pose-module">src.environment.observations.types.agents_pose module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-preferred-velocity-module">src.environment.observations.types.agents_preferred_velocity module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-velocity-module">src.environment.observations.types.agents_velocity module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-collision-observation-module">src.environment.observations.types.collision_observation module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-other-agent-observables-module">src.environment.observations.types.other_agent_observables module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-heading-direction-module">src.environment.observations.types.others_heading_direction module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-poses-module">src.environment.observations.types.others_poses module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-velocities-module">src.environment.observations.types.others_velocities module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-success-observation-module">src.environment.observations.types.success_observation module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.common_observations">
-<span id="src-environment-observations-common-observations-module"></span><h2>src.environment.observations.common_observations module<a class="headerlink" href="#module-src.environment.observations.common_observations" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.observations.common_observations.dsacadrl_observations">
-<span class="sig-prename descclassname"><span class="pre">src.environment.observations.common_observations.</span></span><span class="sig-name descname"><span class="pre">dsacadrl_observations</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.common_observations.dsacadrl_observations" title="Permalink to this definition"></a></dt>
-<dd><p>Helper for building the observations needed for the D-Sacadrl Policy.</p>
-</dd></dl>
-
+<section id="src-environment-observations-common-observations-module">
+<h2>src.environment.observations.common_observations module<a class="headerlink" href="#src-environment-observations-common-observations-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.observation">
-<span id="src-environment-observations-observation-module"></span><h2>src.environment.observations.observation module<a class="headerlink" href="#module-src.environment.observations.observation" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.observation.Observation">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.observation.</span></span><span class="sig-name descname"><span class="pre">Observation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observation.Observation" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">ABC</span></code></p>
-<p>Base class for an observation.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observation.Observation.name">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observation.Observation.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observation.Observation.observations">
-<span class="sig-name descname"><span class="pre">observations</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_response</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.array</span></span></span><a class="headerlink" href="#src.environment.observations.observation.Observation.observations" title="Permalink to this definition"></a></dt>
-<dd><p>Given the environment being used in the sim and the response from the current timestep, generate a numpy array
-that can be used as an observation for the Agent (subsequently passed into the policy network).</p>
-<p>Will pad the returned observation np array to the correct length specified in the __len__ to avoid shape
-mismatch in the observation space.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>env</strong> – The RosSocialEnv class object currently being used in the sim</p></li>
-<li><p><strong>env_response</strong> – The response from the env given the timestep</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>A numpy array that contains relevant observation data for the policy network.</p>
-</dd>
-</dl>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-observation-module">
+<h2>src.environment.observations.observation module<a class="headerlink" href="#src-environment-observations-observation-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.observer">
-<span id="src-environment-observations-observer-module"></span><h2>src.environment.observations.observer module<a class="headerlink" href="#module-src.environment.observations.observer" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.observer.</span></span><span class="sig-name descname"><span class="pre">Observer</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">registered_observations</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><span class="pre">Observation</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<p>Tracks all observations made in the environment</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.arr_to_dict">
-<span class="sig-name descname"><span class="pre">arr_to_dict</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">observations</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer.arr_to_dict" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.make_observation">
-<span class="sig-name descname"><span class="pre">make_observation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_response</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">any</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.observations.observer.Observer.make_observation" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.registered_observations">
-<span class="sig-name descname"><span class="pre">registered_observations</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><span class="pre">Observation</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.observations.observer.Observer.registered_observations" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.setup">
-<span class="sig-name descname"><span class="pre">setup</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer.setup" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-observer-module">
+<h2>src.environment.observations.observer module<a class="headerlink" href="#src-environment-observations-observer-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.observations" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/_site/modules/src.environment.observations.types.html b/docs/_site/modules/src.environment.observations.types.html
index b5e13e99..fb438e38 100644
--- a/docs/_site/modules/src.environment.observations.types.html
+++ b/docs/_site/modules/src.environment.observations.types.html
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 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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@@ -13,8 +13,9 @@
   <![endif]-->
   
         <script data-url_root="../../" id="documentation_options" src="../../_static/documentation_options.js"></script>
+        <script src="../../_static/jquery.js"></script>
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     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
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-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.observations.types package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.observations.types.rst.txt" rel="nofollow"> View page source</a>
@@ -74,274 +71,63 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-observations-types-package">
-<h1>src.environment.observations.types package<a class="headerlink" href="#src-environment-observations-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.observations.types package<a class="headerlink" href="#src-environment-observations-types-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.observations.types.manual_zone.html">src.environment.observations.types.manual_zone package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_in_zone">src.environment.observations.types.manual_zone.agent_in_zone module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone"><code class="docutils literal notranslate"><span class="pre">AgentInZone</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone.name"><code class="docutils literal notranslate"><span class="pre">AgentInZone.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_current_order">src.environment.observations.types.manual_zone.agent_zone_current_order module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder"><code class="docutils literal notranslate"><span class="pre">AgentZoneCurrentOrder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder.name"><code class="docutils literal notranslate"><span class="pre">AgentZoneCurrentOrder.name()</span></code></a></li>
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-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_priority_order">src.environment.observations.types.manual_zone.agent_zone_priority_order module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder"><code class="docutils literal notranslate"><span class="pre">AgentZonePriorityOrder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder.name"><code class="docutils literal notranslate"><span class="pre">AgentZonePriorityOrder.name()</span></code></a></li>
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-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-in-zone-module">src.environment.observations.types.manual_zone.agent_in_zone module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-zone-current-order-module">src.environment.observations.types.manual_zone.agent_zone_current_order module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-zone-priority-order-module">src.environment.observations.types.manual_zone.agent_zone_priority_order module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_goal_distance">
-<span id="src-environment-observations-types-agents-goal-distance-module"></span><h2>src.environment.observations.types.agents_goal_distance module<a class="headerlink" href="#module-src.environment.observations.types.agents_goal_distance" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_goal_distance.</span></span><span class="sig-name descname"><span class="pre">AgentsGoalDistance</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">history_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the Norm of the agents pose and the goal pose</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history">
-<span class="sig-name descname"><span class="pre">history</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">deque</span></em><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history_length">
-<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history_length" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-goal-distance-module">
+<h2>src.environment.observations.types.agents_goal_distance module<a class="headerlink" href="#src-environment-observations-types-agents-goal-distance-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_heading_direction">
-<span id="src-environment-observations-types-agents-heading-direction-module"></span><h2>src.environment.observations.types.agents_heading_direction module<a class="headerlink" href="#module-src.environment.observations.types.agents_heading_direction" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_heading_direction.</span></span><span class="sig-name descname"><span class="pre">AgentsHeadingDirection</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the heading direction of the agent ( via tan-1(vy / vx) )</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-heading-direction-module">
+<h2>src.environment.observations.types.agents_heading_direction module<a class="headerlink" href="#src-environment-observations-types-agents-heading-direction-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_others_distance">
-<span id="src-environment-observations-types-agents-others-distance-module"></span><h2>src.environment.observations.types.agents_others_distance module<a class="headerlink" href="#module-src.environment.observations.types.agents_others_distance" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_others_distance.AgentsOthersDistance">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_others_distance.</span></span><span class="sig-name descname"><span class="pre">AgentsOthersDistance</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_others_distance.AgentsOthersDistance" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Return the Normed distance between the agent and the other agents/humans</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_others_distance.AgentsOthersDistance.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_others_distance.AgentsOthersDistance.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-others-distance-module">
+<h2>src.environment.observations.types.agents_others_distance module<a class="headerlink" href="#src-environment-observations-types-agents-others-distance-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_pose">
-<span id="src-environment-observations-types-agents-pose-module"></span><h2>src.environment.observations.types.agents_pose module<a class="headerlink" href="#module-src.environment.observations.types.agents_pose" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_pose.AgentsPose">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_pose.</span></span><span class="sig-name descname"><span class="pre">AgentsPose</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_pose.AgentsPose" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the X, Y, Theta positions of the agent in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_pose.AgentsPose.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_pose.AgentsPose.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-pose-module">
+<h2>src.environment.observations.types.agents_pose module<a class="headerlink" href="#src-environment-observations-types-agents-pose-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_preferred_velocity">
-<span id="src-environment-observations-types-agents-preferred-velocity-module"></span><h2>src.environment.observations.types.agents_preferred_velocity module<a class="headerlink" href="#module-src.environment.observations.types.agents_preferred_velocity" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_preferred_velocity.</span></span><span class="sig-name descname"><span class="pre">AgentsPreferredVelocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">preferred_velocity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the preferred velocity of the agent (really just a static number)</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-preferred-velocity-module">
+<h2>src.environment.observations.types.agents_preferred_velocity module<a class="headerlink" href="#src-environment-observations-types-agents-preferred-velocity-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_velocity">
-<span id="src-environment-observations-types-agents-velocity-module"></span><h2>src.environment.observations.types.agents_velocity module<a class="headerlink" href="#module-src.environment.observations.types.agents_velocity" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_velocity.</span></span><span class="sig-name descname"><span class="pre">AgentsVelocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">history_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the vx, vy of the agent in the current timestep</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.history">
-<span class="sig-name descname"><span class="pre">history</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">deque</span></em><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.history" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.history_length">
-<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.history_length" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.ignore_theta">
-<span class="sig-name descname"><span class="pre">ignore_theta</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.ignore_theta" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-velocity-module">
+<h2>src.environment.observations.types.agents_velocity module<a class="headerlink" href="#src-environment-observations-types-agents-velocity-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.collision_observation">
-<span id="src-environment-observations-types-collision-observation-module"></span><h2>src.environment.observations.types.collision_observation module<a class="headerlink" href="#module-src.environment.observations.types.collision_observation" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.collision_observation.CollisionObservation">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.collision_observation.</span></span><span class="sig-name descname"><span class="pre">CollisionObservation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.collision_observation.CollisionObservation" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns number of collisions</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.collision_observation.CollisionObservation.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.collision_observation.CollisionObservation.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-collision-observation-module">
+<h2>src.environment.observations.types.collision_observation module<a class="headerlink" href="#src-environment-observations-types-collision-observation-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.other_agent_observables">
-<span id="src-environment-observations-types-other-agent-observables-module"></span><h2>src.environment.observations.types.other_agent_observables module<a class="headerlink" href="#module-src.environment.observations.types.other_agent_observables" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.other_agent_observables.OtherAgentObservables">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.other_agent_observables.</span></span><span class="sig-name descname"><span class="pre">OtherAgentObservables</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">pos_x</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pos_y</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pos_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">vel_x</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">vel_y</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">vel_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.other_agent_observables.OtherAgentObservables" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.other_agent_observables.OtherAgentObservables.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.other_agent_observables.OtherAgentObservables.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.other_agent_observables.OtherAgentObservables.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.other_agent_observables.OtherAgentObservables.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-other-agent-observables-module">
+<h2>src.environment.observations.types.other_agent_observables module<a class="headerlink" href="#src-environment-observations-types-other-agent-observables-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.others_heading_direction">
-<span id="src-environment-observations-types-others-heading-direction-module"></span><h2>src.environment.observations.types.others_heading_direction module<a class="headerlink" href="#module-src.environment.observations.types.others_heading_direction" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_heading_direction.OthersHeadingDirection">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.others_heading_direction.</span></span><span class="sig-name descname"><span class="pre">OthersHeadingDirection</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_heading_direction.OthersHeadingDirection" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the heading direction of every other Agent/Human ( via tan-1(vx/vy) )</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_heading_direction.OthersHeadingDirection.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-others-heading-direction-module">
+<h2>src.environment.observations.types.others_heading_direction module<a class="headerlink" href="#src-environment-observations-types-others-heading-direction-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.others_poses">
-<span id="src-environment-observations-types-others-poses-module"></span><h2>src.environment.observations.types.others_poses module<a class="headerlink" href="#module-src.environment.observations.types.others_poses" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_poses.OthersPoses">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.others_poses.</span></span><span class="sig-name descname"><span class="pre">OthersPoses</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">actuals</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_poses.OthersPoses" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the X, Y, Theta positions of the other agents/humans in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_poses.OthersPoses.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_poses.OthersPoses.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_poses.OthersPoses.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.others_poses.OthersPoses.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-others-poses-module">
+<h2>src.environment.observations.types.others_poses module<a class="headerlink" href="#src-environment-observations-types-others-poses-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.others_velocities">
-<span id="src-environment-observations-types-others-velocities-module"></span><h2>src.environment.observations.types.others_velocities module<a class="headerlink" href="#module-src.environment.observations.types.others_velocities" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_velocities.OthersVelocities">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.others_velocities.</span></span><span class="sig-name descname"><span class="pre">OthersVelocities</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_velocities.OthersVelocities" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the vx, vy, vtheta for each other agent/human in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_velocities.OthersVelocities.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_velocities.OthersVelocities.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_velocities.OthersVelocities.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.others_velocities.OthersVelocities.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-others-velocities-module">
+<h2>src.environment.observations.types.others_velocities module<a class="headerlink" href="#src-environment-observations-types-others-velocities-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.success_observation">
-<span id="src-environment-observations-types-success-observation-module"></span><h2>src.environment.observations.types.success_observation module<a class="headerlink" href="#module-src.environment.observations.types.success_observation" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.success_observation.SuccessObservation">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.success_observation.</span></span><span class="sig-name descname"><span class="pre">SuccessObservation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.success_observation.SuccessObservation" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns if there was a success in the episode</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.success_observation.SuccessObservation.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.success_observation.SuccessObservation.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-success-observation-module">
+<h2>src.environment.observations.types.success_observation module<a class="headerlink" href="#src-environment-observations-types-success-observation-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.observations.types" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/_site/modules/src.environment.observations.types.manual_zone.html b/docs/_site/modules/src.environment.observations.types.manual_zone.html
index db2512cb..d3099a02 100644
--- a/docs/_site/modules/src.environment.observations.types.manual_zone.html
+++ b/docs/_site/modules/src.environment.observations.types.manual_zone.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.observations.types.manual_zone package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.observations.types.manual_zone package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.observations.types.manual_zone.rst.txt" rel="nofollow"> View page source</a>
@@ -74,57 +71,21 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-observations-types-manual-zone-package">
-<h1>src.environment.observations.types.manual_zone package<a class="headerlink" href="#src-environment-observations-types-manual-zone-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.observations.types.manual_zone package<a class="headerlink" href="#src-environment-observations-types-manual-zone-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone.agent_in_zone">
-<span id="src-environment-observations-types-manual-zone-agent-in-zone-module"></span><h2>src.environment.observations.types.manual_zone.agent_in_zone module<a class="headerlink" href="#module-src.environment.observations.types.manual_zone.agent_in_zone" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.manual_zone.agent_in_zone.</span></span><span class="sig-name descname"><span class="pre">AgentInZone</span></span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Tracks if the agent is in the zone</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-manual-zone-agent-in-zone-module">
+<h2>src.environment.observations.types.manual_zone.agent_in_zone module<a class="headerlink" href="#src-environment-observations-types-manual-zone-agent-in-zone-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone.agent_zone_current_order">
-<span id="src-environment-observations-types-manual-zone-agent-zone-current-order-module"></span><h2>src.environment.observations.types.manual_zone.agent_zone_current_order module<a class="headerlink" href="#module-src.environment.observations.types.manual_zone.agent_zone_current_order" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.manual_zone.agent_zone_current_order.</span></span><span class="sig-name descname"><span class="pre">AgentZoneCurrentOrder</span></span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Tracks the current order of the agent in the zone</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-manual-zone-agent-zone-current-order-module">
+<h2>src.environment.observations.types.manual_zone.agent_zone_current_order module<a class="headerlink" href="#src-environment-observations-types-manual-zone-agent-zone-current-order-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone.agent_zone_priority_order">
-<span id="src-environment-observations-types-manual-zone-agent-zone-priority-order-module"></span><h2>src.environment.observations.types.manual_zone.agent_zone_priority_order module<a class="headerlink" href="#module-src.environment.observations.types.manual_zone.agent_zone_priority_order" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.manual_zone.agent_zone_priority_order.</span></span><span class="sig-name descname"><span class="pre">AgentZonePriorityOrder</span></span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Tracks the current order of the agent in the zone</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-manual-zone-agent-zone-priority-order-module">
+<h2>src.environment.observations.types.manual_zone.agent_zone_priority_order module<a class="headerlink" href="#src-environment-observations-types-manual-zone-agent-zone-priority-order-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.observations.types.manual_zone" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/_site/modules/src.environment.rewards.html b/docs/_site/modules/src.environment.rewards.html
index 16081dca..c961bf14 100644
--- a/docs/_site/modules/src.environment.rewards.html
+++ b/docs/_site/modules/src.environment.rewards.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.rewards package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
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-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
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+    <input type="text" name="q" placeholder="Search docs" />
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@@ -62,7 +59,7 @@
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   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
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@@ -74,218 +71,58 @@
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   <section id="src-environment-rewards-package">
-<h1>src.environment.rewards package<a class="headerlink" href="#src-environment-rewards-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards package<a class="headerlink" href="#src-environment-rewards-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.types.html">src.environment.rewards.types package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#subpackages">Subpackages</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html">src.environment.rewards.types.manual_zone package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone.enforced_order">src.environment.rewards.types.manual_zone.enforced_order module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src-environment-rewards-types-manual-zone-enforced-order-module">src.environment.rewards.types.manual_zone.enforced_order module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.collisions">src.environment.rewards.types.collisions module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions"><code class="docutils literal notranslate"><span class="pre">Collisions</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions.name"><code class="docutils literal notranslate"><span class="pre">Collisions.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.existence_penalty">src.environment.rewards.types.existence_penalty module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.existence_penalty.ExistencePenalty"><code class="docutils literal notranslate"><span class="pre">ExistencePenalty</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.existence_penalty.ExistencePenalty.name"><code class="docutils literal notranslate"><span class="pre">ExistencePenalty.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance">src.environment.rewards.types.goal_distance module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance.GoalDistance"><code class="docutils literal notranslate"><span class="pre">GoalDistance</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance.GoalDistance.name"><code class="docutils literal notranslate"><span class="pre">GoalDistance.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance_change">src.environment.rewards.types.goal_distance_change module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance_change.GoalDistanceChange"><code class="docutils literal notranslate"><span class="pre">GoalDistanceChange</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance_change.GoalDistanceChange.name"><code class="docutils literal notranslate"><span class="pre">GoalDistanceChange.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.preferred_velocity">src.environment.rewards.types.preferred_velocity module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.preferred_velocity.PreferredVelocity"><code class="docutils literal notranslate"><span class="pre">PreferredVelocity</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.preferred_velocity.PreferredVelocity.name"><code class="docutils literal notranslate"><span class="pre">PreferredVelocity.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_cross">src.environment.rewards.types.social_norm_cross module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross"><code class="docutils literal notranslate"><span class="pre">SocialNormCross</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.dist_to_other_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.goal_dist_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.heading_angle_thresholds</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.name"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.relative_agent_to_other_angle_threshold</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_overtake">src.environment.rewards.types.social_norm_overtake module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.goal_dist_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.heading_angle_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.name"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.px_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.py_threshold</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_pass">src.environment.rewards.types.social_norm_pass module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass"><code class="docutils literal notranslate"><span class="pre">SocialNormPass</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.goal_dist_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.heading_angle_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.name"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.px_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.py_threshold</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.success">src.environment.rewards.types.success module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.success.Success"><code class="docutils literal notranslate"><span class="pre">Success</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.success.Success.name"><code class="docutils literal notranslate"><span class="pre">Success.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.velocity_control">src.environment.rewards.types.velocity_control module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.velocity_control.VelocityControl"><code class="docutils literal notranslate"><span class="pre">VelocityControl</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.velocity_control.VelocityControl.name"><code class="docutils literal notranslate"><span class="pre">VelocityControl.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-collisions-module">src.environment.rewards.types.collisions module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-existence-penalty-module">src.environment.rewards.types.existence_penalty module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-module">src.environment.rewards.types.goal_distance module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-change-module">src.environment.rewards.types.goal_distance_change module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-preferred-velocity-module">src.environment.rewards.types.preferred_velocity module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-cross-module">src.environment.rewards.types.social_norm_cross module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-overtake-module">src.environment.rewards.types.social_norm_overtake module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-pass-module">src.environment.rewards.types.social_norm_pass module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-success-module">src.environment.rewards.types.success module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-velocity-control-module">src.environment.rewards.types.velocity_control module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.wrappers.html">src.environment.rewards.wrappers package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers.linear_weight_scheduler">src.environment.rewards.wrappers.linear_weight_scheduler module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.wrappers.html#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler"><code class="docutils literal notranslate"><span class="pre">LinearWeightScheduler</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler.name"><code class="docutils literal notranslate"><span class="pre">LinearWeightScheduler.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#src-environment-rewards-wrappers-linear-weight-scheduler-module">src.environment.rewards.wrappers.linear_weight_scheduler module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.common_rewards">
-<span id="src-environment-rewards-common-rewards-module"></span><h2>src.environment.rewards.common_rewards module<a class="headerlink" href="#module-src.environment.rewards.common_rewards" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.rewards.common_rewards.dsacadrl_rewards">
-<span class="sig-prename descclassname"><span class="pre">src.environment.rewards.common_rewards.</span></span><span class="sig-name descname"><span class="pre">dsacadrl_rewards</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.common_rewards.dsacadrl_rewards" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
+<section id="src-environment-rewards-common-rewards-module">
+<h2>src.environment.rewards.common_rewards module<a class="headerlink" href="#src-environment-rewards-common-rewards-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.reward">
-<span id="src-environment-rewards-reward-module"></span><h2>src.environment.rewards.reward module<a class="headerlink" href="#module-src.environment.rewards.reward" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.reward.</span></span><span class="sig-name descname"><span class="pre">Reward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.reward.Reward" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">ABC</span></code></p>
-<p>Base class for rewarding or penalizing the agent in the simulation at each timestep according to the observation
-and environment configs.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward.name">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.reward.Reward.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward.score">
-<span class="sig-name descname"><span class="pre">score</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">observation_map</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#src.environment.rewards.reward.Reward.score" title="Permalink to this definition"></a></dt>
-<dd><p>Given the current environment instantiation, the current timesteps response from the environment, and the
-data_map object, calculate a float scalar as a reward.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>env</strong> – The RosSocialEnv class object currently being used in the sim</p></li>
-<li><p><strong>env_response</strong> – The response from the env given the timestep</p></li>
-<li><p><strong>observation_map</strong> – key observation pair from the Observer class.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>A weighted float scalar representing the amount of reward of the current timestep.</p>
-</dd>
-</dl>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward.weight">
-<span class="sig-name descname"><span class="pre">weight</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.reward.Reward.weight" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-reward-module">
+<h2>src.environment.rewards.reward module<a class="headerlink" href="#src-environment-rewards-reward-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.rewarder">
-<span id="src-environment-rewards-rewarder-module"></span><h2>src.environment.rewards.rewarder module<a class="headerlink" href="#module-src.environment.rewards.rewarder" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.rewarder.</span></span><span class="sig-name descname"><span class="pre">Rewarder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">registered_rewards</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><span class="pre">Reward</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<p>Class that handles storing reward classes, calling them to sum their reward, and logging if a logger is given.</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.registered_rewards">
-<span class="sig-name descname"><span class="pre">registered_rewards</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><span class="pre">Reward</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.registered_rewards" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.reward">
-<span class="sig-name descname"><span class="pre">reward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">observation_map</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.reward" title="Permalink to this definition"></a></dt>
-<dd><p>Given the environments response for the current timestep, calculate the total reward (sum of all the registered
-reward class objects) and log the individual rewards as well as the total reward if the tensorboardX Summary
-Writer is present.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>env</strong> – The RosSocialEnv being used in the current episode</p></li>
-<li><p><strong>observation_map</strong> – Dictionary storing all the observations of the environment</p></li>
-</ul>
-</dd>
-</dl>
-</dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.setup">
-<span class="sig-name descname"><span class="pre">setup</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.setup" title="Permalink to this definition"></a></dt>
-<dd><p>Helper for reward classes that require environment knowledge before being run.</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-rewarder-module">
+<h2>src.environment.rewards.rewarder module<a class="headerlink" href="#src-environment-rewards-rewarder-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/_site/modules/src.environment.rewards.types.html b/docs/_site/modules/src.environment.rewards.types.html
index 3c4872a5..3cca8782 100644
--- a/docs/_site/modules/src.environment.rewards.types.html
+++ b/docs/_site/modules/src.environment.rewards.types.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.rewards.types package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <script data-url_root="../../" id="documentation_options" src="../../_static/documentation_options.js"></script>
+        <script src="../../_static/jquery.js"></script>
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-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
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@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
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@@ -62,7 +59,7 @@
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-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.rewards.types package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.rewards.types.rst.txt" rel="nofollow"> View page source</a>
@@ -74,256 +71,55 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-rewards-types-package">
-<h1>src.environment.rewards.types package<a class="headerlink" href="#src-environment-rewards-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards.types package<a class="headerlink" href="#src-environment-rewards-types-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html">src.environment.rewards.types.manual_zone package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone.enforced_order">src.environment.rewards.types.manual_zone.enforced_order module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.name"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.on_enter</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.on_exit</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.previous_zone_state</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src-environment-rewards-types-manual-zone-enforced-order-module">src.environment.rewards.types.manual_zone.enforced_order module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.collisions">
-<span id="src-environment-rewards-types-collisions-module"></span><h2>src.environment.rewards.types.collisions module<a class="headerlink" href="#module-src.environment.rewards.types.collisions" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.collisions.Collisions">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.collisions.</span></span><span class="sig-name descname"><span class="pre">Collisions</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.collisions.Collisions" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Penalty for when the agent collides with something in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.collisions.Collisions.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.collisions.Collisions.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-collisions-module">
+<h2>src.environment.rewards.types.collisions module<a class="headerlink" href="#src-environment-rewards-types-collisions-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.existence_penalty">
-<span id="src-environment-rewards-types-existence-penalty-module"></span><h2>src.environment.rewards.types.existence_penalty module<a class="headerlink" href="#module-src.environment.rewards.types.existence_penalty" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.existence_penalty.ExistencePenalty">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.existence_penalty.</span></span><span class="sig-name descname"><span class="pre">ExistencePenalty</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.existence_penalty.ExistencePenalty" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Penalty for every timestep that has not led to success.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.existence_penalty.ExistencePenalty.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.existence_penalty.ExistencePenalty.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-existence-penalty-module">
+<h2>src.environment.rewards.types.existence_penalty module<a class="headerlink" href="#src-environment-rewards-types-existence-penalty-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.goal_distance">
-<span id="src-environment-rewards-types-goal-distance-module"></span><h2>src.environment.rewards.types.goal_distance module<a class="headerlink" href="#module-src.environment.rewards.types.goal_distance" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance.GoalDistance">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.goal_distance.</span></span><span class="sig-name descname"><span class="pre">GoalDistance</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance.GoalDistance" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance.GoalDistance.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance.GoalDistance.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-goal-distance-module">
+<h2>src.environment.rewards.types.goal_distance module<a class="headerlink" href="#src-environment-rewards-types-goal-distance-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.goal_distance_change">
-<span id="src-environment-rewards-types-goal-distance-change-module"></span><h2>src.environment.rewards.types.goal_distance_change module<a class="headerlink" href="#module-src.environment.rewards.types.goal_distance_change" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance_change.GoalDistanceChange">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.goal_distance_change.</span></span><span class="sig-name descname"><span class="pre">GoalDistanceChange</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">clip</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance_change.GoalDistanceChange" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Simple reward that returns the change in distance to the goal per timestep as a reward.</p>
-<p>I.E.</p>
-<p>timestep 1 -&gt; 5 units to the goal, will return 0
-timestep 2 -&gt; 3 units to the goal, will return 5 - 3 -&gt; 2
-timestep 3 -&gt; 4 units to the goal, will return 3 - 4 -&gt; -1</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance_change.GoalDistanceChange.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance_change.GoalDistanceChange.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-goal-distance-change-module">
+<h2>src.environment.rewards.types.goal_distance_change module<a class="headerlink" href="#src-environment-rewards-types-goal-distance-change-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.preferred_velocity">
-<span id="src-environment-rewards-types-preferred-velocity-module"></span><h2>src.environment.rewards.types.preferred_velocity module<a class="headerlink" href="#module-src.environment.rewards.types.preferred_velocity" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.preferred_velocity.PreferredVelocity">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.preferred_velocity.</span></span><span class="sig-name descname"><span class="pre">PreferredVelocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.preferred_velocity.PreferredVelocity" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.preferred_velocity.PreferredVelocity.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.preferred_velocity.PreferredVelocity.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-preferred-velocity-module">
+<h2>src.environment.rewards.types.preferred_velocity module<a class="headerlink" href="#src-environment-rewards-types-preferred-velocity-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.social_norm_cross">
-<span id="src-environment-rewards-types-social-norm-cross-module"></span><h2>src.environment.rewards.types.social_norm_cross module<a class="headerlink" href="#module-src.environment.rewards.types.social_norm_cross" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.social_norm_cross.</span></span><span class="sig-name descname"><span class="pre">SocialNormCross</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_dist_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">3.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dist_to_other_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">relative_agent_to_other_angle_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">heading_angle_thresholds</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(-2.356194490192345,</span> <span class="pre">-0.7853981633974483)</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Social Norm Crossing Penalty as defined in <a class="reference external" href="https://arxiv.org/pdf/1703.08862.pdf">https://arxiv.org/pdf/1703.08862.pdf</a> on page 4 eq 12</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold">
-<span class="sig-name descname"><span class="pre">dist_to_other_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold">
-<span class="sig-name descname"><span class="pre">goal_dist_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds">
-<span class="sig-name descname"><span class="pre">heading_angle_thresholds</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold">
-<span class="sig-name descname"><span class="pre">relative_agent_to_other_angle_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-social-norm-cross-module">
+<h2>src.environment.rewards.types.social_norm_cross module<a class="headerlink" href="#src-environment-rewards-types-social-norm-cross-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.social_norm_overtake">
-<span id="src-environment-rewards-types-social-norm-overtake-module"></span><h2>src.environment.rewards.types.social_norm_overtake module<a class="headerlink" href="#module-src.environment.rewards.types.social_norm_overtake" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.social_norm_overtake.</span></span><span class="sig-name descname"><span class="pre">SocialNormOvertake</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_dist_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">3.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">px_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(0,</span> <span class="pre">3)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">py_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(0,</span> <span class="pre">1)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">heading_angle_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.7853981633974483</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Social Norm Overtake Penalty as defined in <a class="reference external" href="https://arxiv.org/pdf/1703.08862.pdf">https://arxiv.org/pdf/1703.08862.pdf</a> on page 4 eq 11</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold">
-<span class="sig-name descname"><span class="pre">goal_dist_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold">
-<span class="sig-name descname"><span class="pre">heading_angle_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold">
-<span class="sig-name descname"><span class="pre">px_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold">
-<span class="sig-name descname"><span class="pre">py_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-social-norm-overtake-module">
+<h2>src.environment.rewards.types.social_norm_overtake module<a class="headerlink" href="#src-environment-rewards-types-social-norm-overtake-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.social_norm_pass">
-<span id="src-environment-rewards-types-social-norm-pass-module"></span><h2>src.environment.rewards.types.social_norm_pass module<a class="headerlink" href="#module-src.environment.rewards.types.social_norm_pass" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.social_norm_pass.</span></span><span class="sig-name descname"><span class="pre">SocialNormPass</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_dist_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">3.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">px_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(1,</span> <span class="pre">4)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">py_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(-2,</span> <span class="pre">0)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">heading_angle_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2.356194490192345</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Social Norm Pass Penalty as defined in <a class="reference external" href="https://arxiv.org/pdf/1703.08862.pdf">https://arxiv.org/pdf/1703.08862.pdf</a> on page 4 eq 10</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold">
-<span class="sig-name descname"><span class="pre">goal_dist_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold">
-<span class="sig-name descname"><span class="pre">heading_angle_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold">
-<span class="sig-name descname"><span class="pre">px_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold">
-<span class="sig-name descname"><span class="pre">py_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-social-norm-pass-module">
+<h2>src.environment.rewards.types.social_norm_pass module<a class="headerlink" href="#src-environment-rewards-types-social-norm-pass-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.success">
-<span id="src-environment-rewards-types-success-module"></span><h2>src.environment.rewards.types.success module<a class="headerlink" href="#module-src.environment.rewards.types.success" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.success.Success">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.success.</span></span><span class="sig-name descname"><span class="pre">Success</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.success.Success" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Reward for when the agent has successfully completed the goal in the env.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.success.Success.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.success.Success.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-success-module">
+<h2>src.environment.rewards.types.success module<a class="headerlink" href="#src-environment-rewards-types-success-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.velocity_control">
-<span id="src-environment-rewards-types-velocity-control-module"></span><h2>src.environment.rewards.types.velocity_control module<a class="headerlink" href="#module-src.environment.rewards.types.velocity_control" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.velocity_control.VelocityControl">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.velocity_control.</span></span><span class="sig-name descname"><span class="pre">VelocityControl</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.velocity_control.VelocityControl" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Penalty for punishing abrupt changes in velocity</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.velocity_control.VelocityControl.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.velocity_control.VelocityControl.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-velocity-control-module">
+<h2>src.environment.rewards.types.velocity_control module<a class="headerlink" href="#src-environment-rewards-types-velocity-control-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards.types" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/_site/modules/src.environment.rewards.types.manual_zone.html b/docs/_site/modules/src.environment.rewards.types.manual_zone.html
index 33f65860..cde1db5a 100644
--- a/docs/_site/modules/src.environment.rewards.types.manual_zone.html
+++ b/docs/_site/modules/src.environment.rewards.types.manual_zone.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.rewards.types.manual_zone package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.rewards.types.manual_zone package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.rewards.types.manual_zone.rst.txt" rel="nofollow"> View page source</a>
@@ -74,42 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-rewards-types-manual-zone-package">
-<h1>src.environment.rewards.types.manual_zone package<a class="headerlink" href="#src-environment-rewards-types-manual-zone-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards.types.manual_zone package<a class="headerlink" href="#src-environment-rewards-types-manual-zone-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.manual_zone.enforced_order">
-<span id="src-environment-rewards-types-manual-zone-enforced-order-module"></span><h2>src.environment.rewards.types.manual_zone.enforced_order module<a class="headerlink" href="#module-src.environment.rewards.types.manual_zone.enforced_order" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.manual_zone.enforced_order.</span></span><span class="sig-name descname"><span class="pre">EnforcedOrder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">on_enter</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">on_exit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">continuous</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">weak_out_of_zone</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_any_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">incorrect_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">penalty_for_multiple_agents_entering</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter">
-<span class="sig-name descname"><span class="pre">on_enter</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit">
-<span class="sig-name descname"><span class="pre">on_exit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state">
-<span class="sig-name descname"><span class="pre">previous_zone_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-manual-zone-enforced-order-module">
+<h2>src.environment.rewards.types.manual_zone.enforced_order module<a class="headerlink" href="#src-environment-rewards-types-manual-zone-enforced-order-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.manual_zone">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards.types.manual_zone" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/_site/modules/src.environment.rewards.wrappers.html b/docs/_site/modules/src.environment.rewards.wrappers.html
index 33955d02..e14f4979 100644
--- a/docs/_site/modules/src.environment.rewards.wrappers.html
+++ b/docs/_site/modules/src.environment.rewards.wrappers.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.rewards.wrappers package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.rewards.wrappers package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.rewards.wrappers.rst.txt" rel="nofollow"> View page source</a>
@@ -74,30 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-rewards-wrappers-package">
-<h1>src.environment.rewards.wrappers package<a class="headerlink" href="#src-environment-rewards-wrappers-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards.wrappers package<a class="headerlink" href="#src-environment-rewards-wrappers-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.wrappers.linear_weight_scheduler">
-<span id="src-environment-rewards-wrappers-linear-weight-scheduler-module"></span><h2>src.environment.rewards.wrappers.linear_weight_scheduler module<a class="headerlink" href="#module-src.environment.rewards.wrappers.linear_weight_scheduler" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.wrappers.linear_weight_scheduler.</span></span><span class="sig-name descname"><span class="pre">LinearWeightScheduler</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><span class="pre">Reward</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">min_weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">duration</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1000</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a>, <code class="xref py py-class docutils literal notranslate"><span class="pre">ABC</span></code></p>
-<p>linearly interpolates the weight value between min_weight and max_weight starting at min_weight then incrementally
-increasing the weight until max weight is achieved.</p>
-<p>Only works for increasing weights not decreasing - TODO - this is probably easy.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-wrappers-linear-weight-scheduler-module">
+<h2>src.environment.rewards.wrappers.linear_weight_scheduler module<a class="headerlink" href="#src-environment-rewards-wrappers-linear-weight-scheduler-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.wrappers">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards.wrappers" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/_site/modules/src.environment.scenarios.html b/docs/_site/modules/src.environment.scenarios.html
index ac84a0f0..597cd3e8 100644
--- a/docs/_site/modules/src.environment.scenarios.html
+++ b/docs/_site/modules/src.environment.scenarios.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.scenarios package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.scenarios package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.scenarios.rst.txt" rel="nofollow"> View page source</a>
@@ -74,122 +71,33 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-scenarios-package">
-<h1>src.environment.scenarios package<a class="headerlink" href="#src-environment-scenarios-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.scenarios package<a class="headerlink" href="#src-environment-scenarios-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.scenarios.types.html">src.environment.scenarios.types package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.cycle">src.environment.scenarios.types.cycle module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario"><code class="docutils literal notranslate"><span class="pre">CycleScenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">CycleScenario.generate_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.graph_nav">src.environment.scenarios.types.graph_nav module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario"><code class="docutils literal notranslate"><span class="pre">GraphNavScenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">GraphNavScenario.generate_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.manual">src.environment.scenarios.types.manual module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario"><code class="docutils literal notranslate"><span class="pre">ManualScenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">ManualScenario.generate_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-cycle-module">src.environment.scenarios.types.cycle module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-graph-nav-module">src.environment.scenarios.types.graph_nav module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-manual-module">src.environment.scenarios.types.manual module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.common_scenarios">
-<span id="src-environment-scenarios-common-scenarios-module"></span><h2>src.environment.scenarios.common_scenarios module<a class="headerlink" href="#module-src.environment.scenarios.common_scenarios" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">closed_door_1__opposing_sides</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">task_id</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'t1'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.closed_door_1__same_goals">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">closed_door_1__same_goals</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">task_id</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'t1'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.closed_door_1__same_goals" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.elevator_loading">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">elevator_loading</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.elevator_loading" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_door">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_door</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_door" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_hallway">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_hallway</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_hallway" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_intersection">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_intersection</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_intersection" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_open">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_open</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_open" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_round_about">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_round_about</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_round_about" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.exp1_train_scenario">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">exp1_train_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">level</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'easy'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.exp1_train_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.exp2_train_scenario">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">exp2_train_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">level</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'easy'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.exp2_train_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
+<section id="src-environment-scenarios-common-scenarios-module">
+<h2>src.environment.scenarios.common_scenarios module<a class="headerlink" href="#src-environment-scenarios-common-scenarios-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.scenario">
-<span id="src-environment-scenarios-scenario-module"></span><h2>src.environment.scenarios.scenario module<a class="headerlink" href="#module-src.environment.scenarios.scenario" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.scenario.</span></span><span class="sig-name descname"><span class="pre">Scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario.load_nav_nodes">
-<span class="sig-name descname"><span class="pre">load_nav_nodes</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">nav_path</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario.load_nav_nodes" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario.make_scenario">
-<span class="sig-name descname"><span class="pre">make_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">config</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario.make_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-scenario-module">
+<h2>src.environment.scenarios.scenario module<a class="headerlink" href="#src-environment-scenarios-scenario-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.scenarios" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/_site/modules/src.environment.scenarios.types.html b/docs/_site/modules/src.environment.scenarios.types.html
index d03b9642..d229ceb4 100644
--- a/docs/_site/modules/src.environment.scenarios.types.html
+++ b/docs/_site/modules/src.environment.scenarios.types.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.scenarios.types package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.scenarios.types package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.scenarios.types.rst.txt" rel="nofollow"> View page source</a>
@@ -74,57 +71,21 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-scenarios-types-package">
-<h1>src.environment.scenarios.types package<a class="headerlink" href="#src-environment-scenarios-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.scenarios.types package<a class="headerlink" href="#src-environment-scenarios-types-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types.cycle">
-<span id="src-environment-scenarios-types-cycle-module"></span><h2>src.environment.scenarios.types.cycle module<a class="headerlink" href="#module-src.environment.scenarios.types.cycle" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.cycle.CycleScenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.types.cycle.</span></span><span class="sig-name descname"><span class="pre">CycleScenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.cycle.CycleScenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><code class="xref py py-class docutils literal notranslate"><span class="pre">Scenario</span></code></a></p>
-<p>A simple DEBUG scenario that will cycle through all the nodes in a graph nav file choosing a new node per episode
-until it cycles.</p>
-<p>Useful for knowing which node on the graph nav is what ID for manual planning.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.cycle.CycleScenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.cycle.CycleScenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-types-cycle-module">
+<h2>src.environment.scenarios.types.cycle module<a class="headerlink" href="#src-environment-scenarios-types-cycle-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types.graph_nav">
-<span id="src-environment-scenarios-types-graph-nav-module"></span><h2>src.environment.scenarios.types.graph_nav module<a class="headerlink" href="#module-src.environment.scenarios.types.graph_nav" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.graph_nav.GraphNavScenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.types.graph_nav.</span></span><span class="sig-name descname"><span class="pre">GraphNavScenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_agent_start_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_agent_goal_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_human_start_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_human_goal_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.graph_nav.GraphNavScenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><code class="xref py py-class docutils literal notranslate"><span class="pre">Scenario</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-types-graph-nav-module">
+<h2>src.environment.scenarios.types.graph_nav module<a class="headerlink" href="#src-environment-scenarios-types-graph-nav-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types.manual">
-<span id="src-environment-scenarios-types-manual-module"></span><h2>src.environment.scenarios.types.manual module<a class="headerlink" href="#module-src.environment.scenarios.types.manual" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.manual.ManualScenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.types.manual.</span></span><span class="sig-name descname"><span class="pre">ManualScenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_paths</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">human_paths</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.manual.ManualScenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><code class="xref py py-class docutils literal notranslate"><span class="pre">Scenario</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.manual.ManualScenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.manual.ManualScenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-types-manual-module">
+<h2>src.environment.scenarios.types.manual module<a class="headerlink" href="#src-environment-scenarios-types-manual-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.scenarios.types" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/_site/modules/src.environment.services.html b/docs/_site/modules/src.environment.services.html
index 7c662db0..f78f2f1f 100644
--- a/docs/_site/modules/src.environment.services.html
+++ b/docs/_site/modules/src.environment.services.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.services package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.services package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.services.rst.txt" rel="nofollow"> View page source</a>
@@ -74,122 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-services-package">
-<h1>src.environment.services package<a class="headerlink" href="#src-environment-services-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.services package<a class="headerlink" href="#src-environment-services-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.services.utmrs">
-<span id="src-environment-services-utmrs-module"></span><h2>src.environment.services.utmrs module<a class="headerlink" href="#module-src.environment.services.utmrs" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRS">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.services.utmrs.</span></span><span class="sig-name descname"><span class="pre">UTMRS</span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRS" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRS.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRS.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRS.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRS.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.services.utmrs.</span></span><span class="sig-name descname"><span class="pre">UTMRSResponse</span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.collision">
-<span class="sig-name descname"><span class="pre">collision</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.collision" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.done">
-<span class="sig-name descname"><span class="pre">done</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.done" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.door_pose">
-<span class="sig-name descname"><span class="pre">door_pose</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.door_pose" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.door_state">
-<span class="sig-name descname"><span class="pre">door_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.door_state" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.follow_target">
-<span class="sig-name descname"><span class="pre">follow_target</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.follow_target" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.goal_pose">
-<span class="sig-name descname"><span class="pre">goal_pose</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.goal_pose" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.human_poses">
-<span class="sig-name descname"><span class="pre">human_poses</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.human_poses" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.human_vels">
-<span class="sig-name descname"><span class="pre">human_vels</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.human_vels" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.local_target">
-<span class="sig-name descname"><span class="pre">local_target</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.local_target" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.other_robot_poses">
-<span class="sig-name descname"><span class="pre">other_robot_poses</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.other_robot_poses" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.other_robot_vels">
-<span class="sig-name descname"><span class="pre">other_robot_vels</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.other_robot_vels" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.process">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">process</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_response</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.process" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.robot_poses">
-<span class="sig-name descname"><span class="pre">robot_poses</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.robot_poses" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.robot_state">
-<span class="sig-name descname"><span class="pre">robot_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.robot_state" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.robot_vels">
-<span class="sig-name descname"><span class="pre">robot_vels</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.robot_vels" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.set_vars">
-<span class="sig-name descname"><span class="pre">set_vars</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot_obs</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">robot_idx</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.set_vars" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.success">
-<span class="sig-name descname"><span class="pre">success</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.success" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-services-utmrs-module">
+<h2>src.environment.services.utmrs module<a class="headerlink" href="#src-environment-services-utmrs-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.services">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.services" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/_site/modules/src.environment.utils.html b/docs/_site/modules/src.environment.utils.html
index a689b112..05114d3f 100644
--- a/docs/_site/modules/src.environment.utils.html
+++ b/docs/_site/modules/src.environment.utils.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.utils package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
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         <script data-url_root="../../" id="documentation_options" src="../../_static/documentation_options.js"></script>
+        <script src="../../_static/jquery.js"></script>
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     <link rel="index" title="Index" href="../../genindex.html" />
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@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
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-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
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@@ -62,7 +59,7 @@
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           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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             <a href="../../_sources/_site/modules/src.environment.utils.rst.txt" rel="nofollow"> View page source</a>
@@ -74,109 +71,18 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-utils-package">
-<h1>src.environment.utils package<a class="headerlink" href="#src-environment-utils-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.utils package<a class="headerlink" href="#src-environment-utils-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.utils.evaluate_policy">
-<span id="src-environment-utils-evaluate-policy-module"></span><h2>src.environment.utils.evaluate_policy module<a class="headerlink" href="#module-src.environment.utils.evaluate_policy" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.evaluate_policy.evaluate_policy">
-<span class="sig-prename descclassname"><span class="pre">src.environment.utils.evaluate_policy.</span></span><span class="sig-name descname"><span class="pre">evaluate_policy</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">model</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">stable_baselines3.common.base_class.BaseAlgorithm</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">gym.Env</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">stable_baselines3.common.vec_env.VecEnv</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n_eval_episodes</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">10</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">deterministic</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">render</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Callable</span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">None</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">reward_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_episode_rewards</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">warn</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.utils.evaluate_policy.evaluate_policy" title="Permalink to this definition"></a></dt>
-<dd><p>SocialGym Note: This is a slightly altered variation of the Stable Baselines V3 evaluate_policy function.
-The major difference is that we check to make sure ALL dones are true (as they refer to the agents being done
-and not an environment being done).  Stable baselines expects an array of dones (similar to how PettingZoo works)
-but, StableBaselines thinks that the array is for a list of environments not a list of agents.</p>
-<p>NEW NOTE: although the above is true, other changes have come about that make this evaluate_policy fn a bit
-different.</p>
-<p>Runs policy for <code class="docutils literal notranslate"><span class="pre">n_eval_episodes</span></code> episodes and returns average reward.
-If a vector env is passed in, this divides the episodes to evaluate onto the
-different elements of the vector env. This static division of work is done to
-remove bias. See <a class="reference external" href="https://github.com/DLR-RM/stable-baselines3/issues/402">https://github.com/DLR-RM/stable-baselines3/issues/402</a> for more
-details and discussion.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>If environment has not been wrapped with <code class="docutils literal notranslate"><span class="pre">Monitor</span></code> wrapper, reward and
-episode lengths are counted as it appears with <code class="docutils literal notranslate"><span class="pre">env.step</span></code> calls. If
-the environment contains wrappers that modify rewards or episode lengths
-(e.g. reward scaling, early episode reset), these will affect the evaluation
-results as well. You can avoid this by wrapping environment with <code class="docutils literal notranslate"><span class="pre">Monitor</span></code>
-wrapper before anything else.</p>
-</div>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>model</strong> – The RL agent you want to evaluate.</p></li>
-<li><p><strong>env</strong> – The gym environment or <code class="docutils literal notranslate"><span class="pre">VecEnv</span></code> environment.</p></li>
-<li><p><strong>n_eval_episodes</strong> – Number of episode to evaluate the agent</p></li>
-<li><p><strong>deterministic</strong> – Whether to use deterministic or stochastic actions</p></li>
-<li><p><strong>render</strong> – Whether to render the environment or not</p></li>
-<li><p><strong>callback</strong> – callback function to do additional checks,
-called after each step. Gets locals() and globals() passed as parameters.</p></li>
-<li><p><strong>reward_threshold</strong> – Minimum expected reward per episode,
-this will raise an error if the performance is not met</p></li>
-<li><p><strong>return_episode_rewards</strong> – If True, a list of rewards and episode lengths
-per episode will be returned instead of the mean.</p></li>
-<li><p><strong>warn</strong> – If True (default), warns user about lack of a Monitor wrapper in the
-evaluation environment.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>Mean reward per episode, std of reward per episode.
-Returns ([float], [int]) when <code class="docutils literal notranslate"><span class="pre">return_episode_rewards</span></code> is True, first
-list containing per-episode rewards and second containing per-episode lengths
-(in number of steps).</p>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-environment-utils-evaluate-policy-module">
+<h2>src.environment.utils.evaluate_policy module<a class="headerlink" href="#src-environment-utils-evaluate-policy-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.utils.utils">
-<span id="src-environment-utils-utils-module"></span><h2>src.environment.utils.utils module<a class="headerlink" href="#module-src.environment.utils.utils" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.utils.utils.LogFilter">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">LogFilter</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">stream</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">re_pattern</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.LogFilter" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<p>Taken from <a class="reference external" href="https://stackoverflow.com/questions/34904946/how-to-filter-stdout-in-python-logging">https://stackoverflow.com/questions/34904946/how-to-filter-stdout-in-python-logging</a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.utils.utils.LogFilter.flush">
-<span class="sig-name descname"><span class="pre">flush</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.LogFilter.flush" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.utils.utils.LogFilter.write">
-<span class="sig-name descname"><span class="pre">write</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.LogFilter.write" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.utils.filter_stdout">
-<span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">filter_stdout</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">filter</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.filter_stdout" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.utils.get_tboard_writer">
-<span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">get_tboard_writer</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">log_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.get_tboard_writer" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.utils.poses_to_np_array">
-<span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">poses_to_np_array</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">poses</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.array</span></span></span><a class="headerlink" href="#src.environment.utils.utils.poses_to_np_array" title="Permalink to this definition"></a></dt>
-<dd><p>Given a list of poses, convert them into a numpy array.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>poses</strong> – List of poses</p>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>np array where the values are the [ poses[0].x, poses[0].y, poses[0].theta, …, poses[N].theta ]</p>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-environment-utils-utils-module">
+<h2>src.environment.utils.utils module<a class="headerlink" href="#src-environment-utils-utils-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.utils">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.utils" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/_site/modules/src.environment.wrappers.html b/docs/_site/modules/src.environment.wrappers.html
index 6096a33e..3f3c91a4 100644
--- a/docs/_site/modules/src.environment.wrappers.html
+++ b/docs/_site/modules/src.environment.wrappers.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
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@@ -13,8 +13,9 @@
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@@ -62,7 +59,7 @@
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@@ -74,231 +71,30 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-wrappers-package">
-<h1>src.environment.wrappers package<a class="headerlink" href="#src-environment-wrappers-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.wrappers package<a class="headerlink" href="#src-environment-wrappers-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.collision_episode_ender">
-<span id="src-environment-wrappers-collision-episode-ender-module"></span><h2>src.environment.wrappers.collision_episode_ender module<a class="headerlink" href="#module-src.environment.wrappers.collision_episode_ender" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.collision_episode_ender.</span></span><span class="sig-name descname"><span class="pre">CollisionEpisodeEnder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>You collide you die!</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>env</strong> – Gym environment that will be wrapped</p>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Dict</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-collision-episode-ender-module">
+<h2>src.environment.wrappers.collision_episode_ender module<a class="headerlink" href="#src-environment-wrappers-collision-episode-ender-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.entropy_episode_ender">
-<span id="src-environment-wrappers-entropy-episode-ender-module"></span><h2>src.environment.wrappers.entropy_episode_ender module<a class="headerlink" href="#module-src.environment.wrappers.entropy_episode_ender" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.entropy_episode_ender.</span></span><span class="sig-name descname"><span class="pre">EntropyEpisodeEnder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>You stop moving you die! (if all agents in an environment are no longer moving within some absolute delta over a
-set of timesteps, end the episode)</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>env</strong> – Gym environment that will be wrapped</p>
-</dd>
-</dl>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions">
-<span class="sig-name descname"><span class="pre">agent_positions</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas">
-<span class="sig-name descname"><span class="pre">calculate_deltas</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta">
-<span class="sig-name descname"><span class="pre">distance_delta</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only">
-<span class="sig-name descname"><span class="pre">negative_multiplier_only</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions">
-<span class="sig-name descname"><span class="pre">reset_positions</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier">
-<span class="sig-name descname"><span class="pre">reward_multiplier</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Dict</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold">
-<span class="sig-name descname"><span class="pre">timestep_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-entropy-episode-ender-module">
+<h2>src.environment.wrappers.entropy_episode_ender module<a class="headerlink" href="#src-environment-wrappers-entropy-episode-ender-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.new_scenario_wrapper">
-<span id="src-environment-wrappers-new-scenario-wrapper-module"></span><h2>src.environment.wrappers.new_scenario_wrapper module<a class="headerlink" href="#module-src.environment.wrappers.new_scenario_wrapper" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.new_scenario_wrapper.</span></span><span class="sig-name descname"><span class="pre">NewScenarioWrapper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env">
-<span class="sig-name descname"><span class="pre">env</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count">
-<span class="sig-name descname"><span class="pre">episode_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency">
-<span class="sig-name descname"><span class="pre">new_scenario_episode_frequency</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans">
-<span class="sig-name descname"><span class="pre">plans</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-new-scenario-wrapper-module">
+<h2>src.environment.wrappers.new_scenario_wrapper module<a class="headerlink" href="#src-environment-wrappers-new-scenario-wrapper-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.reward_stripper">
-<span id="src-environment-wrappers-reward-stripper-module"></span><h2>src.environment.wrappers.reward_stripper module<a class="headerlink" href="#module-src.environment.wrappers.reward_stripper" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.reward_stripper.RewardStripper">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.reward_stripper.</span></span><span class="sig-name descname"><span class="pre">RewardStripper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.reward_stripper.RewardStripper" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>When an agent succeeds, remove the</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>env</strong> – Gym environment that will be wrapped</p>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.reward_stripper.RewardStripper.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.reward_stripper.RewardStripper.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.reward_stripper.RewardStripper.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Dict</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.wrappers.reward_stripper.RewardStripper.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-reward-stripper-module">
+<h2>src.environment.wrappers.reward_stripper module<a class="headerlink" href="#src-environment-wrappers-reward-stripper-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.tensorboard_writer">
-<span id="src-environment-wrappers-tensorboard-writer-module"></span><h2>src.environment.wrappers.tensorboard_writer module<a class="headerlink" href="#module-src.environment.wrappers.tensorboard_writer" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.tensorboard_writer.</span></span><span class="sig-name descname"><span class="pre">TensorboardWriter</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.tensorboard_writer.TensorboardWriter" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>Handles tensorboard recording of the environments</p>
-<p>Can record video of each episode, the rewards at each timestep, and overall env information per episode.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter.image_callback">
-<span class="sig-name descname"><span class="pre">image_callback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">msg</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.tensorboard_writer.TensorboardWriter.image_callback" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.tensorboard_writer.TensorboardWriter.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.tensorboard_writer.TensorboardWriter.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">actions</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.tensorboard_writer.TensorboardWriter.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-tensorboard-writer-module">
+<h2>src.environment.wrappers.tensorboard_writer module<a class="headerlink" href="#src-environment-wrappers-tensorboard-writer-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.time_limit">
-<span id="src-environment-wrappers-time-limit-module"></span><h2>src.environment.wrappers.time_limit module<a class="headerlink" href="#module-src.environment.wrappers.time_limit" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.time_limit.TimeLimitWrapper">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.time_limit.</span></span><span class="sig-name descname"><span class="pre">TimeLimitWrapper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.time_limit.TimeLimitWrapper" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>Limit the maximum number of steps per episode.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>env</strong> – Gym environment that will be wrapped</p></li>
-<li><p><strong>max_steps</strong> – Max number of steps per episode</p></li>
-</ul>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.time_limit.TimeLimitWrapper.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.time_limit.TimeLimitWrapper.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.time_limit.TimeLimitWrapper.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.time_limit.TimeLimitWrapper.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.time_limit.TimeLimitWrapper.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Dict</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.wrappers.time_limit.TimeLimitWrapper.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-time-limit-module">
+<h2>src.environment.wrappers.time_limit module<a class="headerlink" href="#src-environment-wrappers-time-limit-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.wrappers" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/_site/modules/src.html b/docs/_site/modules/src.html
index d4115bfb..e55ff3e4 100644
--- a/docs/_site/modules/src.html
+++ b/docs/_site/modules/src.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
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   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.rst.txt" rel="nofollow"> View page source</a>
@@ -74,244 +71,102 @@
            <div itemprop="articleBody">
              
   <section id="src-package">
-<h1>src package<a class="headerlink" href="#src-package" title="Permalink to this heading"></a></h1>
+<h1>src package<a class="headerlink" href="#src-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.html">src.environment package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.html#subpackages">Subpackages</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.callbacks.html">src.environment.callbacks package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.callbacks.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.callbacks.html#module-src.environment.callbacks.callbacks">src.environment.callbacks.callbacks module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.callbacks.html#module-src.environment.callbacks">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.callbacks.html#src-environment-callbacks-callbacks-module">src.environment.callbacks.callbacks module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.callbacks.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.environment_types.html">src.environment.environment_types package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#module-src.environment.environment_types.manual_zone">src.environment.environment_types.manual_zone module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#module-src.environment.environment_types">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src-environment-environment-types-manual-zone-module">src.environment.environment_types.manual_zone module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.extractors.html">src.environment.extractors package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#module-src.environment.extractors.lstm_agent_obs">src.environment.extractors.lstm_agent_obs module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#module-src.environment.extractors">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#src-environment-extractors-lstm-agent-obs-module">src.environment.extractors.lstm_agent_obs module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html">src.environment.observations package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations.common_observations">src.environment.observations.common_observations module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations.observation">src.environment.observations.observation module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations.observer">src.environment.observations.observer module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-common-observations-module">src.environment.observations.common_observations module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observation-module">src.environment.observations.observation module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observer-module">src.environment.observations.observer module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.html">src.environment.rewards package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards.common_rewards">src.environment.rewards.common_rewards module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards.reward">src.environment.rewards.reward module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards.rewarder">src.environment.rewards.rewarder module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-common-rewards-module">src.environment.rewards.common_rewards module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-reward-module">src.environment.rewards.reward module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-rewarder-module">src.environment.rewards.rewarder module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html">src.environment.scenarios package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios.common_scenarios">src.environment.scenarios.common_scenarios module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios.scenario">src.environment.scenarios.scenario module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-common-scenarios-module">src.environment.scenarios.common_scenarios module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-scenario-module">src.environment.scenarios.scenario module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.services.html">src.environment.services package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#module-src.environment.services.utmrs">src.environment.services.utmrs module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#module-src.environment.services">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src-environment-services-utmrs-module">src.environment.services.utmrs module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html">src.environment.utils package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils.evaluate_policy">src.environment.utils.evaluate_policy module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils.utils">src.environment.utils.utils module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-evaluate-policy-module">src.environment.utils.evaluate_policy module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-utils-module">src.environment.utils.utils module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html">src.environment.wrappers package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.collision_episode_ender">src.environment.wrappers.collision_episode_ender module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.entropy_episode_ender">src.environment.wrappers.entropy_episode_ender module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.new_scenario_wrapper">src.environment.wrappers.new_scenario_wrapper module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.reward_stripper">src.environment.wrappers.reward_stripper module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.tensorboard_writer">src.environment.wrappers.tensorboard_writer module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.time_limit">src.environment.wrappers.time_limit module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-collision-episode-ender-module">src.environment.wrappers.collision_episode_ender module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-entropy-episode-ender-module">src.environment.wrappers.entropy_episode_ender module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-new-scenario-wrapper-module">src.environment.wrappers.new_scenario_wrapper module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-reward-stripper-module">src.environment.wrappers.reward_stripper module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-tensorboard-writer-module">src.environment.wrappers.tensorboard_writer module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-time-limit-module">src.environment.wrappers.time_limit module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.html#module-src.environment.ros_social_gym">src.environment.ros_social_gym module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.AgentColor"><code class="docutils literal notranslate"><span class="pre">AgentColor</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.action_space"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.action_space()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.calculate_reward"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.calculate_reward()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.close"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.close()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.default_action"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.default_action()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.env_response_type"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.env_response_type</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.launch_config"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.launch_config</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.make_observation"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.make_observation()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.metadata"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.metadata</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.new_scenario"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.new_scenario()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_agents"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.num_agents</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_humans"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.num_humans</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.observation_space"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.observation_space()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.observer"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.observer</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.render"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.render()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.reset"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.rewarder"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.rewarder</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.seed"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.sim_step"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.sim_step()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.state"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.state()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.step"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.html#module-src.environment">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.html#src-environment-ros-social-gym-module">src.environment.ros_social_gym module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.config_run">
-<span id="src-config-run-module"></span><h2>src.config_run module<a class="headerlink" href="#module-src.config_run" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.config_run.kinds">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.config_run.</span></span><span class="sig-name descname"><span class="pre">kinds</span></span><a class="headerlink" href="#src.config_run.kinds" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.config_run.kinds.ao">
-<span class="sig-name descname"><span class="pre">ao</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'AO'</span></em><a class="headerlink" href="#src.config_run.kinds.ao" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.config_run.kinds.eo">
-<span class="sig-name descname"><span class="pre">eo</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'EO'</span></em><a class="headerlink" href="#src.config_run.kinds.eo" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.config_run.kinds.sacadrl">
-<span class="sig-name descname"><span class="pre">sacadrl</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'SACADRL'</span></em><a class="headerlink" href="#src.config_run.kinds.sacadrl" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.config_run.run">
-<span class="sig-prename descclassname"><span class="pre">src.config_run.</span></span><span class="sig-name descname"><span class="pre">run</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">eval_num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">train_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100000</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">eval_frequency</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">25000</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">intermediate_eval_trials</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">25</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ending_eval_trials</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ending_eval_with_best</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'cuda:0'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">train</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">eval</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">monitor</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">local</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">existence_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">success_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">10</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">starting_collision_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_penalty_scale_duration</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">25</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_track_exit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_penalty_for_incorrect_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_weak_signal_out_of_zone</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">penalty_for_multiple_agents_entering</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_distance_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_distance_reward_clip</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_ender</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">reward_stripper</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timelimit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timelimit_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2000</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_ender</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_max_distance</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.25</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_max_timesteps</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_constant_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_constant_penalty_only_those_that_did_not_finish</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_reward_multiplier</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100000.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_multiply_negative_rewards_only</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_goal_distance_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_pose_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_pose_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_velocity_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_velocity_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_poses_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_poses_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_poses_actual_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_velocities_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_velocities_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_algo_sb3_contrib</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_algo_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'PPO'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'MlpPolicy'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_algo_kwargs</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">debug</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">experiment_names</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'envs_open'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">run_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">continue_from</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">run_type</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'SACADRL'</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.config_run.run" title="Permalink to this definition"></a></dt>
-<dd><dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>num_agents</strong> – Int or List[Int] - Either the exact number of agents to use, or an array of the format [[episode #,
-num of agents], …] which will alter the number of agents once that episode limit has been reached.  I.E. [[0, 3],
-[10, 4], [20, 5]] will initially train with 3 agents until episode 10 which will then change to 4 agents and then
-change to 5 once episode 20 is reached.</p></li>
-<li><p><strong>eval_num_agents</strong> – Int or List[Int] - Either the number of agents to evaluate on or a list of a number of agents
-to evaluate on (if list, [1, 2], evaluations will run for the number of specified episodes for 1 agent and then
-agian using 2 agents).</p></li>
-<li><p><strong>train_length</strong> – Int - Number of steps to train for.  (remember each agent requires a step, therefore 500 steps
-for training 5 agents means each agent will get 100 steps each.</p></li>
-<li><p><strong>eval_frequency</strong> – Int - Interval for running intermediate evaluation (in steps).   0&gt;= will effectively disable
-evaluation during training.</p></li>
-<li><p><strong>intermediate_eval_trials</strong> – Int - How many episodes to evaluate on during intermediate evaluation.</p></li>
-<li><p><strong>ending_eval_trials</strong> – Int - Number of episodes to evaluate for after training has completed.</p></li>
-<li><p><strong>ending_eval_with_best</strong> – Bool - After training, load up the best model seen during intermediate eval (if False,
-the most recent checkpoint will be loaded).</p></li>
-<li><p><strong>device</strong> – Str - The torch device to use (cpu/cuda:N/etc.) GPU is highly recommended.</p></li>
-<li><p><strong>partially_observable</strong> – Bool - whether or not LIDAR scans (and thus observations of the ego-agent) can be blocked
-by objects (walls/other agents/humans etc.)  If False then everything will be observable.</p></li>
-<li><p><strong>train</strong> – Bool - Run training</p></li>
-<li><p><strong>eval</strong> – Bool - Run evaluation</p></li>
-<li><p><strong>monitor</strong> – Bool - Show an RVIS window so you can watch the sim.</p></li>
-<li><p><strong>local</strong> – Bool - If you have graphnav and UTMRS running locally, this will tap the config_runner into those
-ROSModules.  Has some special requirements and isn’t recommended.</p></li>
-<li><p><strong>existence_penalty</strong> – Float - Existence Penalty amount (1 will be a reward of -1 per step).  Disabled if 0.</p></li>
-<li><p><strong>success_reward</strong> – Float - Reward amount for reaching the goal. Disabled if 0.</p></li>
-<li><p><strong>collision_penalty</strong> – Float - Penalty amount for colliding with a wall or agent (1 will be a reward of -1 per step).  Disabled if 0.</p></li>
-<li><p><strong>starting_collision_penalty</strong> – Float - Starting weight of the collision penalty if you want to scale it as training continues.</p></li>
-<li><p><strong>collision_penalty_scale_duration</strong> – Float - Number of steps to linearly scale the collision penalty from the
-starting_collision_penalty to the ending collision_penalty value over the specified number of STEPs. Disabled when 0</p></li>
-<li><p><strong>enforced_order_reward</strong> – Float - Penalty and Reward amount for entering/exiting the collision zone under specific
-conditions (controlled via other flags).</p></li>
-<li><p><strong>enforced_order_track_exit</strong> – Bool - Reward/Penalty for agents when they exit the conflict zone</p></li>
-<li><p><strong>enforced_order_penalty_for_incorrect_order</strong> – Bool - Penalty for out of order agents</p></li>
-<li><p><strong>enforced_order_weak_signal_out_of_zone</strong> – Bool - scaled (0.1 * enforced_order_reward) for agents at every
-timestep regardless of if they are in the conflict zone or not (scales to 1 once agents are in a collision zone).</p></li>
-<li><p><strong>penalty_for_multiple_agents_entering</strong> – Bool - Experimental flag that not only gives a penalty for agents out of
-order but also a penalty for when agents try to enter the conflict zone at the same time (agents are overlapping
-with the same edge of a conflict zone at the same time)</p></li>
-<li><p><strong>goal_distance_reward</strong> – Bool - include the goal distance reward.</p></li>
-<li><p><strong>goal_distance_reward_clip</strong> – Bool - clip the goal distance reward to [0, 1]</p></li>
-<li><p><strong>collision_ender</strong> – Bool - End episodes on collisions.</p></li>
-<li><p><strong>reward_stripper</strong> – Bool - When an agent succeeds and remains at the goal state, only give the at goal reward once
-and then 0 from then on (an attempt to make truncation work, truncation is not supported until <a class="reference external" href="https://github.com/DLR-RM/stable-baselines3/pull/780">https://github.com/DLR-RM/stable-baselines3/pull/780</a>
-is resolved.</p></li>
-<li><p><strong>timelimit</strong> – Bool - end episodes on a step timelimit.</p></li>
-<li><p><strong>timelimit_threshold</strong> – Int - the number of steps an episode is allowed to have (if the timelimit bool is set to True)</p></li>
-<li><p><strong>entropy_ender</strong> – Bool - End the episode if agents have not moved a sufficient amount over a length of time.</p></li>
-<li><p><strong>entropy_max_distance</strong> – Float - Distance threshold, if below during the duration of the timelimit the episode
-will end.  1 = one square in RVis (roughly 2meters)</p></li>
-<li><p><strong>entropy_max_timesteps</strong> – Int - number of timesteps that a sufficient distance must be traversed before ending the
-episode</p></li>
-<li><p><strong>entropy_reward</strong> – Bool - If an episode ends during the entropy wrapper, give a reward/penalty to agents determined
-by their final state and configuration flags.</p></li>
-<li><p><strong>entropy_constant_penalty</strong> – Int - If EntropyEnder ends an episode all agents recieve this penalty (1 is equal to -1 reward at the end of the episode).</p></li>
-<li><p><strong>entropy_constant_penalty_only_those_that_did_not_finish</strong> – Bool - Constant penalty only applies if the agents didn’t finish (reach their goal)</p></li>
-<li><p><strong>entropy_reward_multiplier</strong> – Int - instead of a constant reward, multiply the current reward (step before the episode ended)</p></li>
-<li><p><strong>entropy_multiply_negative_rewards_only</strong> – Bool - Only multiply rewards that are negative (indicating an agent was “stuck forever”)</p></li>
-<li><p><strong>collision_obs</strong> – Bool - Include the collision observation (must be true for the collision penalty)</p></li>
-<li><p><strong>agent_goal_distance_obs</strong> – Bool - Include the distance to the goal as an observation (must be true for the goal distance reward)</p></li>
-<li><p><strong>agent_pose_obs</strong> – Bool - Include the agents pose as an observation (x, y, and theta)</p></li>
-<li><p><strong>agent_pose_ignore_theta</strong> – Bool - Ignore the theta value in the pose observation (orientation)</p></li>
-<li><p><strong>agent_velocity_obs</strong> – Bool - Include the agents velocity as an observation (vx, vy, vtheta)</p></li>
-<li><p><strong>agent_velocity_ignore_theta</strong> – Bool - Ignore the theta value in the velocity observation</p></li>
-<li><p><strong>other_poses_obs</strong> – Bool - Include other agents/humans pose information (x, y, theta) as an observation</p></li>
-<li><p><strong>other_poses_ignore_theta</strong> – Bool - Ignore other agents/humans pose thetas</p></li>
-<li><p><strong>other_velocities_obs</strong> – Include other agents/humans velocities in the observation (vx, vy, vtheta)</p></li>
-<li><p><strong>other_velocities_ignore_theta</strong> – Bool - Ignore the velocity thetas of other agents</p></li>
-<li><p><strong>policy_algo_sb3_contrib</strong> – Bool - True if the policy you want to train has it’s base code in the SB3-Contrib library
-i.e. RecurrentPPO</p></li>
-<li><p><strong>policy_algo_name</strong> – Str - Name of the policy class you want to train as it appears in SB3 or SB3-Contrib</p></li>
-<li><p><strong>policy_name</strong> – Str - SB3 Policy structure (MlpPolicy for example)</p></li>
-<li><p><strong>policy_algo_kwargs</strong> – Dict - Any kwargs for the SB3 Policy.</p></li>
-<li><p><strong>debug</strong> – Bool - print statments and ALWAYS GO baseline (gives the action 0 to UTMRS for all agents all the time)</p></li>
-<li><p><strong>experiment_names</strong> – List[str] - List of scenarios currently supported by ConfigRunner (envs_door, envs_hallway,
-envs_intersection, envs_round_about, envs_open)</p></li>
-<li><p><strong>run_name</strong> – Str - Name of the run that will also be used to store tensorbaord info and checkpoints of the model
-as well as evaluation data in <cite>{PROJECT ROOT}/data/{run_name}</cite> (can be a nested folder)</p></li>
-<li><p><strong>continue_from</strong> – Str - Policy checkpoint to load from (relative path from <cite>{PROJECT ROOT}/data</cite>)</p></li>
-<li><p><strong>run_type</strong> – Str - Helper for using SACADRL or AO/EO variants. (allowed values are SACADRL, AO, EO)</p></li>
-</ul>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-config-run-module">
+<h2>src.config_run module<a class="headerlink" href="#src-config-run-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.multi_agent_optuna">
-<span id="src-multi-agent-optuna-module"></span><h2>src.multi_agent_optuna module<a class="headerlink" href="#module-src.multi_agent_optuna" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.multi_agent_optuna.objective">
-<span class="sig-prename descclassname"><span class="pre">src.multi_agent_optuna.</span></span><span class="sig-name descname"><span class="pre">objective</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">trial</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.multi_agent_optuna.objective" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
+<section id="src-multi-agent-optuna-module">
+<h2>src.multi_agent_optuna module<a class="headerlink" href="#src-multi-agent-optuna-module" title="Permalink to this headline"></a></h2>
 </section>
 <section id="module-src">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src" title="Permalink to this heading"></a></h2>
+<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/_site/venv/lib/python3.8/site-packages/Jinja2-3.1.2.dist-info/LICENSE.html b/docs/_site/venv/lib/python3.8/site-packages/Jinja2-3.1.2.dist-info/LICENSE.html
index 0c088c0b..3ae8f93e 100644
--- a/docs/_site/venv/lib/python3.8/site-packages/Jinja2-3.1.2.dist-info/LICENSE.html
+++ b/docs/_site/venv/lib/python3.8/site-packages/Jinja2-3.1.2.dist-info/LICENSE.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/_site/venv/lib/python3.8/site-packages/Jinja2-3.1.2.dist-info/LICENSE.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs/_site/venv/lib/python3.8/site-packages/MarkupSafe-2.1.2.dist-info/LICENSE.html b/docs/_site/venv/lib/python3.8/site-packages/MarkupSafe-2.1.2.dist-info/LICENSE.html
index 4c8383ea..b90f78ae 100644
--- a/docs/_site/venv/lib/python3.8/site-packages/MarkupSafe-2.1.2.dist-info/LICENSE.html
+++ b/docs/_site/venv/lib/python3.8/site-packages/MarkupSafe-2.1.2.dist-info/LICENSE.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/_site/venv/lib/python3.8/site-packages/MarkupSafe-2.1.2.dist-info/LICENSE.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs/_site/venv/lib/python3.8/site-packages/idna-3.4.dist-info/LICENSE.html b/docs/_site/venv/lib/python3.8/site-packages/idna-3.4.dist-info/LICENSE.html
index 6b9c5121..acb8fe5a 100644
--- a/docs/_site/venv/lib/python3.8/site-packages/idna-3.4.dist-info/LICENSE.html
+++ b/docs/_site/venv/lib/python3.8/site-packages/idna-3.4.dist-info/LICENSE.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/_site/venv/lib/python3.8/site-packages/idna-3.4.dist-info/LICENSE.md.txt" rel="nofollow"> View page source</a>
diff --git a/docs/_site/venv/lib/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html b/docs/_site/venv/lib/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html
index 665a2540..5d601593 100644
--- a/docs/_site/venv/lib/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html
+++ b/docs/_site/venv/lib/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>The MIT License (MIT) &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">The MIT License (MIT)</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/_site/venv/lib/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.rst.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="the-mit-license-mit">
-<h1>The MIT License (MIT)<a class="headerlink" href="#the-mit-license-mit" title="Permalink to this heading"></a></h1>
+<h1>The MIT License (MIT)<a class="headerlink" href="#the-mit-license-mit" title="Permalink to this headline"></a></h1>
 <p>Copyright © 2016 Yoshiki Shibukawa</p>
 <p>Permission is hereby granted, free of charge, to any person obtaining a copy of this software
 and associated documentation files (the “Software”), to deal in the Software without restriction,
diff --git a/docs/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/container/README.html b/docs/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/container/README.html
index b0fa59dc..d944d70c 100644
--- a/docs/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/container/README.html
+++ b/docs/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/container/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-container &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-container</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../_sources/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/container/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-container">
-<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-container"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-container/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-container"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-container.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-container?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-container/master.svg?style=flat" /></a></p>
@@ -98,17 +95,17 @@ <h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" tit
 <p>Markup is the same as for <a class="reference external" href="http://spec.commonmark.org/0.18/#fenced-code-blocks">fenced code blocks</a>.
 Difference is, that marker use another character and content is rendered as markdown markup.</p>
 <section id="installation">
-<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h2>
+<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
-$<span class="w"> </span>bower<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$ npm install markdown-it-container --save
+$ bower install markdown-it-container --save
 </pre></div>
 </div>
 </section>
 <section id="api">
-<h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
-<span class="w">            </span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span><span class="w"> </span><span class="nx">name</span><span class="w"> </span><span class="p">[,</span><span class="w"> </span><span class="nx">options</span><span class="p">]);</span>
+<h2>API<a class="headerlink" href="#api" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="nx">name</span> <span class="p">[,</span> <span class="nx">options</span><span class="p">]);</span>
 </pre></div>
 </div>
 <p>Params:</p>
@@ -125,27 +122,27 @@ <h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="example">
-<h2>Example<a class="headerlink" href="#example" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
+<h2>Example<a class="headerlink" href="#example" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
 
-<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span><span class="w"> </span><span class="s1">&#39;spoiler&#39;</span><span class="p">,</span><span class="w"> </span><span class="p">{</span>
+<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="s1">&#39;spoiler&#39;</span><span class="p">,</span> <span class="p">{</span>
 
-<span class="w">  </span><span class="nx">validate</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="k">return</span><span class="w"> </span><span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
-<span class="w">  </span><span class="p">},</span>
+  <span class="nx">validate</span><span class="o">:</span> <span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span> <span class="p">{</span>
+    <span class="k">return</span> <span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="p">},</span>
 
-<span class="w">  </span><span class="nx">render</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">,</span><span class="w"> </span><span class="nx">idx</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="kd">var</span><span class="w"> </span><span class="nx">m</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="nx">render</span><span class="o">:</span> <span class="kd">function</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">,</span> <span class="nx">idx</span><span class="p">)</span> <span class="p">{</span>
+    <span class="kd">var</span> <span class="nx">m</span> <span class="o">=</span> <span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
 
-<span class="w">    </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span><span class="w"> </span><span class="o">===</span><span class="w"> </span><span class="mf">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// opening tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
+    <span class="k">if</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span> <span class="o">===</span> <span class="mf">1</span><span class="p">)</span> <span class="p">{</span>
+      <span class="c1">// opening tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span> <span class="o">+</span> <span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span> <span class="o">+</span> <span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
 
-<span class="w">    </span><span class="p">}</span><span class="w"> </span><span class="k">else</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// closing tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
-<span class="w">    </span><span class="p">}</span>
-<span class="w">  </span><span class="p">}</span>
+    <span class="p">}</span> <span class="k">else</span> <span class="p">{</span>
+      <span class="c1">// closing tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
+    <span class="p">}</span>
+  <span class="p">}</span>
 <span class="p">});</span>
 
 <span class="nx">console</span><span class="p">.</span><span class="nx">log</span><span class="p">(</span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;::: spoiler click me\n*content*\n:::\n&#39;</span><span class="p">));</span>
@@ -159,7 +156,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headin
 </div>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-container/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html b/docs/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html
index 64589979..4c58735f 100644
--- a/docs/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html
+++ b/docs/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-deflist &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-deflist</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../_sources/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-deflist">
-<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-deflist"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-deflist"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-deflist.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-deflist?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a></p>
@@ -84,17 +81,17 @@ <h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="
 <p><strong>v2.+ requires <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> v5.+, see changelog.</strong></p>
 <p>Syntax is based on <a class="reference external" href="http://johnmacfarlane.net/pandoc/README.html#definition-lists">pandoc definition lists</a>.</p>
 <section id="install">
-<h2>Install<a class="headerlink" href="#install" title="Permalink to this heading"></a></h2>
+<h2>Install<a class="headerlink" href="#install" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
-bower<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm install markdown-it-deflist --save
+bower install markdown-it-deflist --save
 </pre></div>
 </div>
 </section>
 <section id="use">
-<h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
-<span class="w">            </span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
+<h2>Use<a class="headerlink" href="#use" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="cm">/*...*/</span><span class="p">);</span>
 </pre></div>
@@ -103,7 +100,7 @@ <h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></
 package system, module will add itself globally as <code class="docutils literal notranslate"><span class="pre">window.markdownitDeflist</span></code>.</p>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-deflist/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html b/docs/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html
index 6a1d3ff6..afc19a3c 100644
--- a/docs/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html
+++ b/docs/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-texmath &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-texmath</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../_sources/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.md.txt" rel="nofollow"> View page source</a>
@@ -77,10 +74,10 @@
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/v/markdown-it-texmath.svg" /></a>
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/dt/markdown-it-texmath.svg" /></a></p>
 <section id="markdown-it-texmath">
-<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this headline"></a></h1>
 <p>Add TeX math equations to your Markdown documents rendered by <a class="reference external" href="https://github.com/markdown-it/markdown-it">markdown-it</a> parser. <a class="reference external" href="https://github.com/Khan/KaTeX">KaTeX</a> is used as a fast math renderer.</p>
 <section id="features">
-<h2>Features<a class="headerlink" href="#features" title="Permalink to this heading"></a></h2>
+<h2>Features<a class="headerlink" href="#features" title="Permalink to this headline"></a></h2>
 <p>Simplify the process of authoring markdown documents containing math formulas.
 This extension is a comfortable tool for scientists, engineers and students with markdown as their first choice document format.</p>
 <ul class="simple">
@@ -129,27 +126,27 @@ <h2>Features<a class="headerlink" href="#features" title="Permalink to this head
 </ul>
 </section>
 <section id="show-me">
-<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this heading"></a></h2>
+<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this headline"></a></h2>
 <p>View a <a class="reference external" href="https://goessner.github.io/markdown-it-texmath/index.html">test table</a>.</p>
 <p><a class="reference external" href="https://goessner.github.io/markdown-it-texmath/markdown-it-texmath-demo.html">try it out …</a></p>
 </section>
 <section id="use-with-node-js">
-<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this heading"></a></h2>
+<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this headline"></a></h2>
 <p>Install the extension. Verify having <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> and <code class="docutils literal notranslate"><span class="pre">katex</span></code> already installed .</p>
 <div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">npm</span> <span class="n">install</span> <span class="n">markdown</span><span class="o">-</span><span class="n">it</span><span class="o">-</span><span class="n">texmath</span>
 </pre></div>
 </div>
 <p>Use it with JavaScript.</p>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span><span class="w"> </span><span class="nx">kt</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span> <span class="nx">kt</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
+    <span class="nx">tm</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
+    <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity \(e^{i\pi}+1=0\) is a beautiful formula in $\\RR 2$.&#39;</span><span class="p">)</span>
 </pre></div>
 </div>
 </section>
 <section id="use-in-browser">
-<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this heading"></a></h2>
+<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this headline"></a></h2>
 <div class="highlight-html notranslate"><div class="highlight"><pre><span></span><span class="p">&lt;</span><span class="nt">html</span><span class="p">&gt;</span>
 <span class="p">&lt;</span><span class="nt">head</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">meta</span> <span class="na">charset</span><span class="o">=</span><span class="s">&#39;utf-8&#39;</span><span class="p">&gt;</span>
@@ -162,20 +159,20 @@ <h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink
 <span class="p">&lt;</span><span class="nt">body</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">div</span> <span class="na">id</span><span class="o">=</span><span class="s">&quot;out&quot;</span><span class="p">&gt;&lt;/</span><span class="nt">div</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">script</span><span class="p">&gt;</span>
-<span class="w">    </span><span class="kd">let</span><span class="w"> </span><span class="nx">md</span><span class="p">;</span>
-<span class="w">    </span><span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span><span class="w"> </span><span class="p">()</span><span class="w"> </span><span class="p">=&gt;</span><span class="w"> </span><span class="p">{</span>
-<span class="w">        </span><span class="kd">const</span><span class="w"> </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
-<span class="w">        </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
-<span class="w">        </span><span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
-<span class="w">    </span><span class="p">})</span>
-<span class="w">  </span><span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
+    <span class="kd">let</span> <span class="nx">md</span><span class="p">;</span>
+    <span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span> <span class="p">()</span> <span class="p">=&gt;</span> <span class="p">{</span>
+        <span class="kd">const</span> <span class="nx">tm</span> <span class="o">=</span> <span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
+        <span class="nx">md</span> <span class="o">=</span> <span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+        <span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span> <span class="o">=</span> <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
+    <span class="p">})</span>
+  <span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">body</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">html</span><span class="p">&gt;</span>
 </pre></div>
 </div>
 </section>
 <section id="cdn">
-<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></a></h2>
+<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this headline"></a></h2>
 <p>Use following links for <code class="docutils literal notranslate"><span class="pre">texmath.js</span></code> and <code class="docutils literal notranslate"><span class="pre">texmath.css</span></code></p>
 <ul class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">https://gitcdn.xyz/cdn/goessner/markdown-it-texmath/master/texmath.js</span></code></p></li>
@@ -183,18 +180,18 @@ <h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="dependencies">
-<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this heading"></a></h2>
+<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><a class="reference external" href="https://github.com/markdown-it/markdown-it"><code class="docutils literal notranslate"><span class="pre">markdown-it</span></code></a>: Markdown parser done right. Fast and easy to extend.</p></li>
 <li><p><a class="reference external" href="https://github.com/Khan/KaTeX"><code class="docutils literal notranslate"><span class="pre">katex</span></code></a>: This is where credits for fast rendering TeX math in HTML go to.</p></li>
 </ul>
 </section>
 <section id="todo">
-<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this heading"></a></h2>
+<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this headline"></a></h2>
 <p>nothing yet</p>
 </section>
 <section id="faq">
-<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></a></h2>
+<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> with React Native does not work, why ?</strong></p>
 <ul>
@@ -204,66 +201,66 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="changelog">
-<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this heading"></a></h2>
+<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this headline"></a></h2>
 <section id="on-october-04-2019">
-<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://docs.julialang.org/en/v1/stdlib/Markdown/">Julia Markdown</a> on <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/15">request</a>.</p></li>
 </ul>
 </section>
 <section id="on-february-07-2019">
-<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">rendering bug with brackets delimiters</a>.</p></li>
 </ul>
 </section>
 <section id="on-january-20-2019">
-<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove pathological <a class="reference external" href="https://github.com/goessner/mdmath/issues/50">bug within blockquotes</a>.</p></li>
 </ul>
 </section>
 <section id="on-november-11-2018">
-<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for Tex macros (https://katex.org/docs/supported.html#macros) .</p></li>
 <li><p>Bug with <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">brackets delimiters</a> .</p></li>
 </ul>
 </section>
 <section id="on-september-07-2018">
-<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://kramdown.gettalong.org/">Kramdown</a> .</p></li>
 </ul>
 </section>
 <section id="on-august-15-2018">
-<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Fatal blockquote bug investigated. Implemented workaround to vscode bug, which has finally gone with vscode 1.26.0 .</p></li>
 </ul>
 </section>
 <section id="on-january-05-2018">
-<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Escaped underscore bug removed.</p></li>
 </ul>
 </section>
 <section id="on-november-06-2017">
-<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Backslash bug removed.</p></li>
 </ul>
 </section>
 <section id="on-september-27-2017">
-<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Modifying the <code class="docutils literal notranslate"><span class="pre">block</span></code> mode regular expression with <code class="docutils literal notranslate"><span class="pre">gitlab</span></code> delimiters, so removing the <code class="docutils literal notranslate"><span class="pre">newline</span></code> bug.</p></li>
 </ul>
 </section>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
-<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <a class="reference internal" href="#./license.txt"><span class="xref myst">MIT License</span></a></p>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
+<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <span class="xref myst">MIT License</span></p>
 <p>© <a class="reference external" href="https://github.com/goessner">Stefan Gössner</a></p>
 </section>
 </section>
diff --git a/docs/_site/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html b/docs/_site/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
index 2b50a556..365fb984 100644
--- a/docs/_site/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
+++ b/docs/_site/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../../../../_sources/_site/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs/_site/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html b/docs/_site/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html
index daa77b59..c61a3285 100644
--- a/docs/_site/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html
+++ b/docs/_site/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../../../../_sources/_site/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs/_site/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html b/docs/_site/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html
index d5d93e9a..c295ded5 100644
--- a/docs/_site/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html
+++ b/docs/_site/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
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@@ -13,8 +13,9 @@
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         <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/doctools.js"></script>
-        <script src="../../../../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../../../../_static/js/theme.js"></script>
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@@ -25,16 +26,12 @@
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-
-          
-          
-          <a href="../../../../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
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           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
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diff --git a/docs/_site/venv/lib64/python3.8/site-packages/Jinja2-3.1.2.dist-info/LICENSE.html b/docs/_site/venv/lib64/python3.8/site-packages/Jinja2-3.1.2.dist-info/LICENSE.html
index 0b4e6974..19f37673 100644
--- a/docs/_site/venv/lib64/python3.8/site-packages/Jinja2-3.1.2.dist-info/LICENSE.html
+++ b/docs/_site/venv/lib64/python3.8/site-packages/Jinja2-3.1.2.dist-info/LICENSE.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
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     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
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       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
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           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/Jinja2-3.1.2.dist-info/LICENSE.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs/_site/venv/lib64/python3.8/site-packages/MarkupSafe-2.1.2.dist-info/LICENSE.html b/docs/_site/venv/lib64/python3.8/site-packages/MarkupSafe-2.1.2.dist-info/LICENSE.html
index e26c09b0..238fab4b 100644
--- a/docs/_site/venv/lib64/python3.8/site-packages/MarkupSafe-2.1.2.dist-info/LICENSE.html
+++ b/docs/_site/venv/lib64/python3.8/site-packages/MarkupSafe-2.1.2.dist-info/LICENSE.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
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     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
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       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
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           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/MarkupSafe-2.1.2.dist-info/LICENSE.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs/_site/venv/lib64/python3.8/site-packages/idna-3.4.dist-info/LICENSE.html b/docs/_site/venv/lib64/python3.8/site-packages/idna-3.4.dist-info/LICENSE.html
index ad7c2b0b..38264c03 100644
--- a/docs/_site/venv/lib64/python3.8/site-packages/idna-3.4.dist-info/LICENSE.html
+++ b/docs/_site/venv/lib64/python3.8/site-packages/idna-3.4.dist-info/LICENSE.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/idna-3.4.dist-info/LICENSE.md.txt" rel="nofollow"> View page source</a>
diff --git a/docs/_site/venv/lib64/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html b/docs/_site/venv/lib64/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html
index 680bcdc1..8a7abb22 100644
--- a/docs/_site/venv/lib64/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html
+++ b/docs/_site/venv/lib64/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>The MIT License (MIT) &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">The MIT License (MIT)</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.rst.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="the-mit-license-mit">
-<h1>The MIT License (MIT)<a class="headerlink" href="#the-mit-license-mit" title="Permalink to this heading"></a></h1>
+<h1>The MIT License (MIT)<a class="headerlink" href="#the-mit-license-mit" title="Permalink to this headline"></a></h1>
 <p>Copyright © 2016 Yoshiki Shibukawa</p>
 <p>Permission is hereby granted, free of charge, to any person obtaining a copy of this software
 and associated documentation files (the “Software”), to deal in the Software without restriction,
diff --git a/docs/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/container/README.html b/docs/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/container/README.html
index 2bd65370..eb67c28f 100644
--- a/docs/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/container/README.html
+++ b/docs/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/container/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
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     <input type="hidden" name="area" value="default" />
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@@ -62,7 +59,7 @@
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           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-container</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/container/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-container">
-<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-container"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-container/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-container"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-container.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-container?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-container/master.svg?style=flat" /></a></p>
@@ -98,17 +95,17 @@ <h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" tit
 <p>Markup is the same as for <a class="reference external" href="http://spec.commonmark.org/0.18/#fenced-code-blocks">fenced code blocks</a>.
 Difference is, that marker use another character and content is rendered as markdown markup.</p>
 <section id="installation">
-<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h2>
+<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
-$<span class="w"> </span>bower<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$ npm install markdown-it-container --save
+$ bower install markdown-it-container --save
 </pre></div>
 </div>
 </section>
 <section id="api">
-<h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
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+<h2>API<a class="headerlink" href="#api" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="nx">name</span> <span class="p">[,</span> <span class="nx">options</span><span class="p">]);</span>
 </pre></div>
 </div>
 <p>Params:</p>
@@ -125,27 +122,27 @@ <h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="example">
-<h2>Example<a class="headerlink" href="#example" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
+<h2>Example<a class="headerlink" href="#example" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
 
-<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span><span class="w"> </span><span class="s1">&#39;spoiler&#39;</span><span class="p">,</span><span class="w"> </span><span class="p">{</span>
+<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="s1">&#39;spoiler&#39;</span><span class="p">,</span> <span class="p">{</span>
 
-<span class="w">  </span><span class="nx">validate</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="k">return</span><span class="w"> </span><span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
-<span class="w">  </span><span class="p">},</span>
+  <span class="nx">validate</span><span class="o">:</span> <span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span> <span class="p">{</span>
+    <span class="k">return</span> <span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="p">},</span>
 
-<span class="w">  </span><span class="nx">render</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">,</span><span class="w"> </span><span class="nx">idx</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="kd">var</span><span class="w"> </span><span class="nx">m</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="nx">render</span><span class="o">:</span> <span class="kd">function</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">,</span> <span class="nx">idx</span><span class="p">)</span> <span class="p">{</span>
+    <span class="kd">var</span> <span class="nx">m</span> <span class="o">=</span> <span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
 
-<span class="w">    </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span><span class="w"> </span><span class="o">===</span><span class="w"> </span><span class="mf">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// opening tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
+    <span class="k">if</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span> <span class="o">===</span> <span class="mf">1</span><span class="p">)</span> <span class="p">{</span>
+      <span class="c1">// opening tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span> <span class="o">+</span> <span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span> <span class="o">+</span> <span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
 
-<span class="w">    </span><span class="p">}</span><span class="w"> </span><span class="k">else</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// closing tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
-<span class="w">    </span><span class="p">}</span>
-<span class="w">  </span><span class="p">}</span>
+    <span class="p">}</span> <span class="k">else</span> <span class="p">{</span>
+      <span class="c1">// closing tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
+    <span class="p">}</span>
+  <span class="p">}</span>
 <span class="p">});</span>
 
 <span class="nx">console</span><span class="p">.</span><span class="nx">log</span><span class="p">(</span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;::: spoiler click me\n*content*\n:::\n&#39;</span><span class="p">));</span>
@@ -159,7 +156,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headin
 </div>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-container/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html b/docs/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html
index 5a070710..3e35366f 100644
--- a/docs/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html
+++ b/docs/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-deflist &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-deflist</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-deflist">
-<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-deflist"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-deflist"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-deflist.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-deflist?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a></p>
@@ -84,17 +81,17 @@ <h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="
 <p><strong>v2.+ requires <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> v5.+, see changelog.</strong></p>
 <p>Syntax is based on <a class="reference external" href="http://johnmacfarlane.net/pandoc/README.html#definition-lists">pandoc definition lists</a>.</p>
 <section id="install">
-<h2>Install<a class="headerlink" href="#install" title="Permalink to this heading"></a></h2>
+<h2>Install<a class="headerlink" href="#install" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
-bower<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm install markdown-it-deflist --save
+bower install markdown-it-deflist --save
 </pre></div>
 </div>
 </section>
 <section id="use">
-<h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
-<span class="w">            </span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
+<h2>Use<a class="headerlink" href="#use" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="cm">/*...*/</span><span class="p">);</span>
 </pre></div>
@@ -103,7 +100,7 @@ <h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></
 package system, module will add itself globally as <code class="docutils literal notranslate"><span class="pre">window.markdownitDeflist</span></code>.</p>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-deflist/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html b/docs/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html
index e130fd93..974b0939 100644
--- a/docs/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html
+++ b/docs/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-texmath &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-texmath</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.md.txt" rel="nofollow"> View page source</a>
@@ -77,10 +74,10 @@
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/v/markdown-it-texmath.svg" /></a>
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/dt/markdown-it-texmath.svg" /></a></p>
 <section id="markdown-it-texmath">
-<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this headline"></a></h1>
 <p>Add TeX math equations to your Markdown documents rendered by <a class="reference external" href="https://github.com/markdown-it/markdown-it">markdown-it</a> parser. <a class="reference external" href="https://github.com/Khan/KaTeX">KaTeX</a> is used as a fast math renderer.</p>
 <section id="features">
-<h2>Features<a class="headerlink" href="#features" title="Permalink to this heading"></a></h2>
+<h2>Features<a class="headerlink" href="#features" title="Permalink to this headline"></a></h2>
 <p>Simplify the process of authoring markdown documents containing math formulas.
 This extension is a comfortable tool for scientists, engineers and students with markdown as their first choice document format.</p>
 <ul class="simple">
@@ -129,27 +126,27 @@ <h2>Features<a class="headerlink" href="#features" title="Permalink to this head
 </ul>
 </section>
 <section id="show-me">
-<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this heading"></a></h2>
+<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this headline"></a></h2>
 <p>View a <a class="reference external" href="https://goessner.github.io/markdown-it-texmath/index.html">test table</a>.</p>
 <p><a class="reference external" href="https://goessner.github.io/markdown-it-texmath/markdown-it-texmath-demo.html">try it out …</a></p>
 </section>
 <section id="use-with-node-js">
-<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this heading"></a></h2>
+<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this headline"></a></h2>
 <p>Install the extension. Verify having <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> and <code class="docutils literal notranslate"><span class="pre">katex</span></code> already installed .</p>
 <div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">npm</span> <span class="n">install</span> <span class="n">markdown</span><span class="o">-</span><span class="n">it</span><span class="o">-</span><span class="n">texmath</span>
 </pre></div>
 </div>
 <p>Use it with JavaScript.</p>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span><span class="w"> </span><span class="nx">kt</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span> <span class="nx">kt</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
+    <span class="nx">tm</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
+    <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity \(e^{i\pi}+1=0\) is a beautiful formula in $\\RR 2$.&#39;</span><span class="p">)</span>
 </pre></div>
 </div>
 </section>
 <section id="use-in-browser">
-<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this heading"></a></h2>
+<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this headline"></a></h2>
 <div class="highlight-html notranslate"><div class="highlight"><pre><span></span><span class="p">&lt;</span><span class="nt">html</span><span class="p">&gt;</span>
 <span class="p">&lt;</span><span class="nt">head</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">meta</span> <span class="na">charset</span><span class="o">=</span><span class="s">&#39;utf-8&#39;</span><span class="p">&gt;</span>
@@ -162,20 +159,20 @@ <h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink
 <span class="p">&lt;</span><span class="nt">body</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">div</span> <span class="na">id</span><span class="o">=</span><span class="s">&quot;out&quot;</span><span class="p">&gt;&lt;/</span><span class="nt">div</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">script</span><span class="p">&gt;</span>
-<span class="w">    </span><span class="kd">let</span><span class="w"> </span><span class="nx">md</span><span class="p">;</span>
-<span class="w">    </span><span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span><span class="w"> </span><span class="p">()</span><span class="w"> </span><span class="p">=&gt;</span><span class="w"> </span><span class="p">{</span>
-<span class="w">        </span><span class="kd">const</span><span class="w"> </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
-<span class="w">        </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
-<span class="w">        </span><span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
-<span class="w">    </span><span class="p">})</span>
-<span class="w">  </span><span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
+    <span class="kd">let</span> <span class="nx">md</span><span class="p">;</span>
+    <span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span> <span class="p">()</span> <span class="p">=&gt;</span> <span class="p">{</span>
+        <span class="kd">const</span> <span class="nx">tm</span> <span class="o">=</span> <span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
+        <span class="nx">md</span> <span class="o">=</span> <span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+        <span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span> <span class="o">=</span> <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
+    <span class="p">})</span>
+  <span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">body</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">html</span><span class="p">&gt;</span>
 </pre></div>
 </div>
 </section>
 <section id="cdn">
-<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></a></h2>
+<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this headline"></a></h2>
 <p>Use following links for <code class="docutils literal notranslate"><span class="pre">texmath.js</span></code> and <code class="docutils literal notranslate"><span class="pre">texmath.css</span></code></p>
 <ul class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">https://gitcdn.xyz/cdn/goessner/markdown-it-texmath/master/texmath.js</span></code></p></li>
@@ -183,18 +180,18 @@ <h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="dependencies">
-<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this heading"></a></h2>
+<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><a class="reference external" href="https://github.com/markdown-it/markdown-it"><code class="docutils literal notranslate"><span class="pre">markdown-it</span></code></a>: Markdown parser done right. Fast and easy to extend.</p></li>
 <li><p><a class="reference external" href="https://github.com/Khan/KaTeX"><code class="docutils literal notranslate"><span class="pre">katex</span></code></a>: This is where credits for fast rendering TeX math in HTML go to.</p></li>
 </ul>
 </section>
 <section id="todo">
-<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this heading"></a></h2>
+<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this headline"></a></h2>
 <p>nothing yet</p>
 </section>
 <section id="faq">
-<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></a></h2>
+<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> with React Native does not work, why ?</strong></p>
 <ul>
@@ -204,66 +201,66 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="changelog">
-<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this heading"></a></h2>
+<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this headline"></a></h2>
 <section id="on-october-04-2019">
-<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://docs.julialang.org/en/v1/stdlib/Markdown/">Julia Markdown</a> on <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/15">request</a>.</p></li>
 </ul>
 </section>
 <section id="on-february-07-2019">
-<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">rendering bug with brackets delimiters</a>.</p></li>
 </ul>
 </section>
 <section id="on-january-20-2019">
-<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove pathological <a class="reference external" href="https://github.com/goessner/mdmath/issues/50">bug within blockquotes</a>.</p></li>
 </ul>
 </section>
 <section id="on-november-11-2018">
-<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for Tex macros (https://katex.org/docs/supported.html#macros) .</p></li>
 <li><p>Bug with <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">brackets delimiters</a> .</p></li>
 </ul>
 </section>
 <section id="on-september-07-2018">
-<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://kramdown.gettalong.org/">Kramdown</a> .</p></li>
 </ul>
 </section>
 <section id="on-august-15-2018">
-<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Fatal blockquote bug investigated. Implemented workaround to vscode bug, which has finally gone with vscode 1.26.0 .</p></li>
 </ul>
 </section>
 <section id="on-january-05-2018">
-<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Escaped underscore bug removed.</p></li>
 </ul>
 </section>
 <section id="on-november-06-2017">
-<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Backslash bug removed.</p></li>
 </ul>
 </section>
 <section id="on-september-27-2017">
-<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Modifying the <code class="docutils literal notranslate"><span class="pre">block</span></code> mode regular expression with <code class="docutils literal notranslate"><span class="pre">gitlab</span></code> delimiters, so removing the <code class="docutils literal notranslate"><span class="pre">newline</span></code> bug.</p></li>
 </ul>
 </section>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
-<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <a class="reference internal" href="#./license.txt"><span class="xref myst">MIT License</span></a></p>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
+<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <span class="xref myst">MIT License</span></p>
 <p>© <a class="reference external" href="https://github.com/goessner">Stefan Gössner</a></p>
 </section>
 </section>
diff --git a/docs/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html b/docs/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
index 2f761590..1081b73e 100644
--- a/docs/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
+++ b/docs/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html b/docs/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html
index 3d2e80d7..e0528f40 100644
--- a/docs/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html
+++ b/docs/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html b/docs/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html
index 46018c13..a7591151 100644
--- a/docs/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html
+++ b/docs/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs/_sources/index.rst.txt b/docs/_sources/index.rst.txt
index 44793619..659d919a 100644
--- a/docs/_sources/index.rst.txt
+++ b/docs/_sources/index.rst.txt
@@ -4,7 +4,7 @@ Welcome to the Social Gym 2.0 documentation!
 .. (Find the GitHub link at https://github.com/ut-amrl/social_gym https://obj.umiacs.umd.edu/badue-accepted/sim_demo.gif)
 
 
-.. image:: https://drive.google.com/uc?id=1-mdW21SIJiF4LUlxGxQClDlZhd5iHUDP
+.. image:: https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_sim.gif 
   :width: 400
   :align: center
 
diff --git a/docs/_static/basic.css b/docs/_static/basic.css
index 7577acb1..603f6a87 100644
--- a/docs/_static/basic.css
+++ b/docs/_static/basic.css
@@ -4,7 +4,7 @@
  *
  * Sphinx stylesheet -- basic theme.
  *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS.
  * :license: BSD, see LICENSE for details.
  *
  */
@@ -222,7 +222,7 @@ table.modindextable td {
 /* -- general body styles --------------------------------------------------- */
 
 div.body {
-    min-width: 360px;
+    min-width: 450px;
     max-width: 800px;
 }
 
@@ -237,6 +237,16 @@ a.headerlink {
     visibility: hidden;
 }
 
+a.brackets:before,
+span.brackets > a:before{
+    content: "[";
+}
+
+a.brackets:after,
+span.brackets > a:after {
+    content: "]";
+}
+
 h1:hover > a.headerlink,
 h2:hover > a.headerlink,
 h3:hover > a.headerlink,
@@ -325,16 +335,12 @@ p.sidebar-title {
     font-weight: bold;
 }
 
-nav.contents,
-aside.topic,
 div.admonition, div.topic, blockquote {
     clear: left;
 }
 
 /* -- topics ---------------------------------------------------------------- */
 
-nav.contents,
-aside.topic,
 div.topic {
     border: 1px solid #ccc;
     padding: 7px;
@@ -373,8 +379,6 @@ div.body p.centered {
 
 div.sidebar > :last-child,
 aside.sidebar > :last-child,
-nav.contents > :last-child,
-aside.topic > :last-child,
 div.topic > :last-child,
 div.admonition > :last-child {
     margin-bottom: 0;
@@ -382,8 +386,6 @@ div.admonition > :last-child {
 
 div.sidebar::after,
 aside.sidebar::after,
-nav.contents::after,
-aside.topic::after,
 div.topic::after,
 div.admonition::after,
 blockquote::after {
@@ -426,6 +428,10 @@ table.docutils td, table.docutils th {
     border-bottom: 1px solid #aaa;
 }
 
+table.footnote td, table.footnote th {
+    border: 0 !important;
+}
+
 th {
     text-align: left;
     padding-right: 5px;
@@ -609,26 +615,19 @@ ul.simple p {
     margin-bottom: 0;
 }
 
-aside.footnote > span,
-div.citation > span {
+dl.footnote > dt,
+dl.citation > dt {
     float: left;
+    margin-right: 0.5em;
 }
-aside.footnote > span:last-of-type,
-div.citation > span:last-of-type {
-  padding-right: 0.5em;
-}
-aside.footnote > p {
-  margin-left: 2em;
-}
-div.citation > p {
-  margin-left: 4em;
-}
-aside.footnote > p:last-of-type,
-div.citation > p:last-of-type {
+
+dl.footnote > dd,
+dl.citation > dd {
     margin-bottom: 0em;
 }
-aside.footnote > p:last-of-type:after,
-div.citation > p:last-of-type:after {
+
+dl.footnote > dd:after,
+dl.citation > dd:after {
     content: "";
     clear: both;
 }
@@ -645,6 +644,10 @@ dl.field-list > dt {
     padding-right: 5px;
 }
 
+dl.field-list > dt:after {
+    content: ":";
+}
+
 dl.field-list > dd {
     padding-left: 0.5em;
     margin-top: 0em;
@@ -754,7 +757,6 @@ span.pre {
     -ms-hyphens: none;
     -webkit-hyphens: none;
     hyphens: none;
-    white-space: nowrap;
 }
 
 div[class*="highlight-"] {
diff --git a/docs/_static/css/theme.css b/docs/_static/css/theme.css
index c03c88f0..09a1af86 100644
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format("woff2"),url(fonts/Roboto-Slab-Bold.woff?bed5564a116b05148e3b3bea6fb1162a) format("woff");font-display:block}
\ No newline at end of file
diff --git a/docs/_static/doctools.js b/docs/_static/doctools.js
index d06a71d7..8cbf1b16 100644
--- a/docs/_static/doctools.js
+++ b/docs/_static/doctools.js
@@ -2,155 +2,322 @@
  * doctools.js
  * ~~~~~~~~~~~
  *
- * Base JavaScript utilities for all Sphinx HTML documentation.
+ * Sphinx JavaScript utilities for all documentation.
  *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS.
  * :license: BSD, see LICENSE for details.
  *
  */
-"use strict";
-
-const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([
-  "TEXTAREA",
-  "INPUT",
-  "SELECT",
-  "BUTTON",
-]);
-
-const _ready = (callback) => {
-  if (document.readyState !== "loading") {
-    callback();
-  } else {
-    document.addEventListener("DOMContentLoaded", callback);
+
+/**
+ * select a different prefix for underscore
+ */
+$u = _.noConflict();
+
+/**
+ * make the code below compatible with browsers without
+ * an installed firebug like debugger
+if (!window.console || !console.firebug) {
+  var names = ["log", "debug", "info", "warn", "error", "assert", "dir",
+    "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace",
+    "profile", "profileEnd"];
+  window.console = {};
+  for (var i = 0; i < names.length; ++i)
+    window.console[names[i]] = function() {};
+}
+ */
+
+/**
+ * small helper function to urldecode strings
+ *
+ * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL
+ */
+jQuery.urldecode = function(x) {
+  if (!x) {
+    return x
+  }
+  return decodeURIComponent(x.replace(/\+/g, ' '));
+};
+
+/**
+ * small helper function to urlencode strings
+ */
+jQuery.urlencode = encodeURIComponent;
+
+/**
+ * This function returns the parsed url parameters of the
+ * current request. Multiple values per key are supported,
+ * it will always return arrays of strings for the value parts.
+ */
+jQuery.getQueryParameters = function(s) {
+  if (typeof s === 'undefined')
+    s = document.location.search;
+  var parts = s.substr(s.indexOf('?') + 1).split('&');
+  var result = {};
+  for (var i = 0; i < parts.length; i++) {
+    var tmp = parts[i].split('=', 2);
+    var key = jQuery.urldecode(tmp[0]);
+    var value = jQuery.urldecode(tmp[1]);
+    if (key in result)
+      result[key].push(value);
+    else
+      result[key] = [value];
   }
+  return result;
 };
 
+/**
+ * highlight a given string on a jquery object by wrapping it in
+ * span elements with the given class name.
+ */
+jQuery.fn.highlightText = function(text, className) {
+  function highlight(node, addItems) {
+    if (node.nodeType === 3) {
+      var val = node.nodeValue;
+      var pos = val.toLowerCase().indexOf(text);
+      if (pos >= 0 &&
+          !jQuery(node.parentNode).hasClass(className) &&
+          !jQuery(node.parentNode).hasClass("nohighlight")) {
+        var span;
+        var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg");
+        if (isInSVG) {
+          span = document.createElementNS("http://www.w3.org/2000/svg", "tspan");
+        } else {
+          span = document.createElement("span");
+          span.className = className;
+        }
+        span.appendChild(document.createTextNode(val.substr(pos, text.length)));
+        node.parentNode.insertBefore(span, node.parentNode.insertBefore(
+          document.createTextNode(val.substr(pos + text.length)),
+          node.nextSibling));
+        node.nodeValue = val.substr(0, pos);
+        if (isInSVG) {
+          var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect");
+          var bbox = node.parentElement.getBBox();
+          rect.x.baseVal.value = bbox.x;
+          rect.y.baseVal.value = bbox.y;
+          rect.width.baseVal.value = bbox.width;
+          rect.height.baseVal.value = bbox.height;
+          rect.setAttribute('class', className);
+          addItems.push({
+              "parent": node.parentNode,
+              "target": rect});
+        }
+      }
+    }
+    else if (!jQuery(node).is("button, select, textarea")) {
+      jQuery.each(node.childNodes, function() {
+        highlight(this, addItems);
+      });
+    }
+  }
+  var addItems = [];
+  var result = this.each(function() {
+    highlight(this, addItems);
+  });
+  for (var i = 0; i < addItems.length; ++i) {
+    jQuery(addItems[i].parent).before(addItems[i].target);
+  }
+  return result;
+};
+
+/*
+ * backward compatibility for jQuery.browser
+ * This will be supported until firefox bug is fixed.
+ */
+if (!jQuery.browser) {
+  jQuery.uaMatch = function(ua) {
+    ua = ua.toLowerCase();
+
+    var match = /(chrome)[ \/]([\w.]+)/.exec(ua) ||
+      /(webkit)[ \/]([\w.]+)/.exec(ua) ||
+      /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) ||
+      /(msie) ([\w.]+)/.exec(ua) ||
+      ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) ||
+      [];
+
+    return {
+      browser: match[ 1 ] || "",
+      version: match[ 2 ] || "0"
+    };
+  };
+  jQuery.browser = {};
+  jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true;
+}
+
 /**
  * Small JavaScript module for the documentation.
  */
-const Documentation = {
-  init: () => {
-    Documentation.initDomainIndexTable();
-    Documentation.initOnKeyListeners();
+var Documentation = {
+
+  init : function() {
+    this.fixFirefoxAnchorBug();
+    this.highlightSearchWords();
+    this.initIndexTable();
+    if (DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) {
+      this.initOnKeyListeners();
+    }
   },
 
   /**
    * i18n support
    */
-  TRANSLATIONS: {},
-  PLURAL_EXPR: (n) => (n === 1 ? 0 : 1),
-  LOCALE: "unknown",
+  TRANSLATIONS : {},
+  PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; },
+  LOCALE : 'unknown',
 
   // gettext and ngettext don't access this so that the functions
   // can safely bound to a different name (_ = Documentation.gettext)
-  gettext: (string) => {
-    const translated = Documentation.TRANSLATIONS[string];
-    switch (typeof translated) {
-      case "undefined":
-        return string; // no translation
-      case "string":
-        return translated; // translation exists
-      default:
-        return translated[0]; // (singular, plural) translation tuple exists
-    }
+  gettext : function(string) {
+    var translated = Documentation.TRANSLATIONS[string];
+    if (typeof translated === 'undefined')
+      return string;
+    return (typeof translated === 'string') ? translated : translated[0];
   },
 
-  ngettext: (singular, plural, n) => {
-    const translated = Documentation.TRANSLATIONS[singular];
-    if (typeof translated !== "undefined")
-      return translated[Documentation.PLURAL_EXPR(n)];
-    return n === 1 ? singular : plural;
+  ngettext : function(singular, plural, n) {
+    var translated = Documentation.TRANSLATIONS[singular];
+    if (typeof translated === 'undefined')
+      return (n == 1) ? singular : plural;
+    return translated[Documentation.PLURALEXPR(n)];
   },
 
-  addTranslations: (catalog) => {
-    Object.assign(Documentation.TRANSLATIONS, catalog.messages);
-    Documentation.PLURAL_EXPR = new Function(
-      "n",
-      `return (${catalog.plural_expr})`
-    );
-    Documentation.LOCALE = catalog.locale;
+  addTranslations : function(catalog) {
+    for (var key in catalog.messages)
+      this.TRANSLATIONS[key] = catalog.messages[key];
+    this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')');
+    this.LOCALE = catalog.locale;
   },
 
   /**
-   * helper function to focus on search bar
+   * add context elements like header anchor links
    */
-  focusSearchBar: () => {
-    document.querySelectorAll("input[name=q]")[0]?.focus();
+  addContextElements : function() {
+    $('div[id] > :header:first').each(function() {
+      $('<a class="headerlink">\u00B6</a>').
+      attr('href', '#' + this.id).
+      attr('title', _('Permalink to this headline')).
+      appendTo(this);
+    });
+    $('dt[id]').each(function() {
+      $('<a class="headerlink">\u00B6</a>').
+      attr('href', '#' + this.id).
+      attr('title', _('Permalink to this definition')).
+      appendTo(this);
+    });
   },
 
   /**
-   * Initialise the domain index toggle buttons
+   * workaround a firefox stupidity
+   * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075
    */
-  initDomainIndexTable: () => {
-    const toggler = (el) => {
-      const idNumber = el.id.substr(7);
-      const toggledRows = document.querySelectorAll(`tr.cg-${idNumber}`);
-      if (el.src.substr(-9) === "minus.png") {
-        el.src = `${el.src.substr(0, el.src.length - 9)}plus.png`;
-        toggledRows.forEach((el) => (el.style.display = "none"));
-      } else {
-        el.src = `${el.src.substr(0, el.src.length - 8)}minus.png`;
-        toggledRows.forEach((el) => (el.style.display = ""));
+  fixFirefoxAnchorBug : function() {
+    if (document.location.hash && $.browser.mozilla)
+      window.setTimeout(function() {
+        document.location.href += '';
+      }, 10);
+  },
+
+  /**
+   * highlight the search words provided in the url in the text
+   */
+  highlightSearchWords : function() {
+    var params = $.getQueryParameters();
+    var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : [];
+    if (terms.length) {
+      var body = $('div.body');
+      if (!body.length) {
+        body = $('body');
       }
-    };
+      window.setTimeout(function() {
+        $.each(terms, function() {
+          body.highlightText(this.toLowerCase(), 'highlighted');
+        });
+      }, 10);
+      $('<p class="highlight-link"><a href="javascript:Documentation.' +
+        'hideSearchWords()">' + _('Hide Search Matches') + '</a></p>')
+          .appendTo($('#searchbox'));
+    }
+  },
+
+  /**
+   * init the domain index toggle buttons
+   */
+  initIndexTable : function() {
+    var togglers = $('img.toggler').click(function() {
+      var src = $(this).attr('src');
+      var idnum = $(this).attr('id').substr(7);
+      $('tr.cg-' + idnum).toggle();
+      if (src.substr(-9) === 'minus.png')
+        $(this).attr('src', src.substr(0, src.length-9) + 'plus.png');
+      else
+        $(this).attr('src', src.substr(0, src.length-8) + 'minus.png');
+    }).css('display', '');
+    if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) {
+        togglers.click();
+    }
+  },
 
-    const togglerElements = document.querySelectorAll("img.toggler");
-    togglerElements.forEach((el) =>
-      el.addEventListener("click", (event) => toggler(event.currentTarget))
-    );
-    togglerElements.forEach((el) => (el.style.display = ""));
-    if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler);
+  /**
+   * helper function to hide the search marks again
+   */
+  hideSearchWords : function() {
+    $('#searchbox .highlight-link').fadeOut(300);
+    $('span.highlighted').removeClass('highlighted');
   },
 
-  initOnKeyListeners: () => {
-    // only install a listener if it is really needed
-    if (
-      !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS &&
-      !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS
-    )
-      return;
-
-    document.addEventListener("keydown", (event) => {
-      // bail for input elements
-      if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return;
-      // bail with special keys
-      if (event.altKey || event.ctrlKey || event.metaKey) return;
-
-      if (!event.shiftKey) {
-        switch (event.key) {
-          case "ArrowLeft":
-            if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
-
-            const prevLink = document.querySelector('link[rel="prev"]');
-            if (prevLink && prevLink.href) {
-              window.location.href = prevLink.href;
-              event.preventDefault();
+  /**
+   * make the url absolute
+   */
+  makeURL : function(relativeURL) {
+    return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL;
+  },
+
+  /**
+   * get the current relative url
+   */
+  getCurrentURL : function() {
+    var path = document.location.pathname;
+    var parts = path.split(/\//);
+    $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() {
+      if (this === '..')
+        parts.pop();
+    });
+    var url = parts.join('/');
+    return path.substring(url.lastIndexOf('/') + 1, path.length - 1);
+  },
+
+  initOnKeyListeners: function() {
+    $(document).keydown(function(event) {
+      var activeElementType = document.activeElement.tagName;
+      // don't navigate when in search box, textarea, dropdown or button
+      if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT'
+          && activeElementType !== 'BUTTON' && !event.altKey && !event.ctrlKey && !event.metaKey
+          && !event.shiftKey) {
+        switch (event.keyCode) {
+          case 37: // left
+            var prevHref = $('link[rel="prev"]').prop('href');
+            if (prevHref) {
+              window.location.href = prevHref;
+              return false;
             }
             break;
-          case "ArrowRight":
-            if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
-
-            const nextLink = document.querySelector('link[rel="next"]');
-            if (nextLink && nextLink.href) {
-              window.location.href = nextLink.href;
-              event.preventDefault();
+          case 39: // right
+            var nextHref = $('link[rel="next"]').prop('href');
+            if (nextHref) {
+              window.location.href = nextHref;
+              return false;
             }
             break;
         }
       }
-
-      // some keyboard layouts may need Shift to get /
-      switch (event.key) {
-        case "/":
-          if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) break;
-          Documentation.focusSearchBar();
-          event.preventDefault();
-      }
     });
-  },
+  }
 };
 
 // quick alias for translations
-const _ = Documentation.gettext;
+_ = Documentation.gettext;
 
-_ready(Documentation.init);
+$(document).ready(function() {
+  Documentation.init();
+});
diff --git a/docs/_static/documentation_options.js b/docs/_static/documentation_options.js
index b57ae3b8..2fa8c97f 100644
--- a/docs/_static/documentation_options.js
+++ b/docs/_static/documentation_options.js
@@ -1,14 +1,12 @@
 var DOCUMENTATION_OPTIONS = {
     URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'),
     VERSION: '',
-    LANGUAGE: 'en',
+    LANGUAGE: 'None',
     COLLAPSE_INDEX: false,
     BUILDER: 'html',
     FILE_SUFFIX: '.html',
     LINK_SUFFIX: '.html',
     HAS_SOURCE: true,
     SOURCELINK_SUFFIX: '.txt',
-    NAVIGATION_WITH_KEYS: false,
-    SHOW_SEARCH_SUMMARY: true,
-    ENABLE_SEARCH_SHORTCUTS: true,
+    NAVIGATION_WITH_KEYS: false
 };
\ No newline at end of file
diff --git a/docs/_static/language_data.js b/docs/_static/language_data.js
index 250f5665..863704b3 100644
--- a/docs/_static/language_data.js
+++ b/docs/_static/language_data.js
@@ -5,12 +5,12 @@
  * This script contains the language-specific data used by searchtools.js,
  * namely the list of stopwords, stemmer, scorer and splitter.
  *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS.
  * :license: BSD, see LICENSE for details.
  *
  */
 
-var stopwords = ["a", "and", "are", "as", "at", "be", "but", "by", "for", "if", "in", "into", "is", "it", "near", "no", "not", "of", "on", "or", "such", "that", "the", "their", "then", "there", "these", "they", "this", "to", "was", "will", "with"];
+var stopwords = ["a","and","are","as","at","be","but","by","for","if","in","into","is","it","near","no","not","of","on","or","such","that","the","their","then","there","these","they","this","to","was","will","with"];
 
 
 /* Non-minified version is copied as a separate JS file, is available */
@@ -197,3 +197,101 @@ var Stemmer = function() {
   }
 }
 
+
+
+
+var splitChars = (function() {
+    var result = {};
+    var singles = [96, 180, 187, 191, 215, 247, 749, 885, 903, 907, 909, 930, 1014, 1648,
+         1748, 1809, 2416, 2473, 2481, 2526, 2601, 2609, 2612, 2615, 2653, 2702,
+         2706, 2729, 2737, 2740, 2857, 2865, 2868, 2910, 2928, 2948, 2961, 2971,
+         2973, 3085, 3089, 3113, 3124, 3213, 3217, 3241, 3252, 3295, 3341, 3345,
+         3369, 3506, 3516, 3633, 3715, 3721, 3736, 3744, 3748, 3750, 3756, 3761,
+         3781, 3912, 4239, 4347, 4681, 4695, 4697, 4745, 4785, 4799, 4801, 4823,
+         4881, 5760, 5901, 5997, 6313, 7405, 8024, 8026, 8028, 8030, 8117, 8125,
+         8133, 8181, 8468, 8485, 8487, 8489, 8494, 8527, 11311, 11359, 11687, 11695,
+         11703, 11711, 11719, 11727, 11735, 12448, 12539, 43010, 43014, 43019, 43587,
+         43696, 43713, 64286, 64297, 64311, 64317, 64319, 64322, 64325, 65141];
+    var i, j, start, end;
+    for (i = 0; i < singles.length; i++) {
+        result[singles[i]] = true;
+    }
+    var ranges = [[0, 47], [58, 64], [91, 94], [123, 169], [171, 177], [182, 184], [706, 709],
+         [722, 735], [741, 747], [751, 879], [888, 889], [894, 901], [1154, 1161],
+         [1318, 1328], [1367, 1368], [1370, 1376], [1416, 1487], [1515, 1519], [1523, 1568],
+         [1611, 1631], [1642, 1645], [1750, 1764], [1767, 1773], [1789, 1790], [1792, 1807],
+         [1840, 1868], [1958, 1968], [1970, 1983], [2027, 2035], [2038, 2041], [2043, 2047],
+         [2070, 2073], [2075, 2083], [2085, 2087], [2089, 2307], [2362, 2364], [2366, 2383],
+         [2385, 2391], [2402, 2405], [2419, 2424], [2432, 2436], [2445, 2446], [2449, 2450],
+         [2483, 2485], [2490, 2492], [2494, 2509], [2511, 2523], [2530, 2533], [2546, 2547],
+         [2554, 2564], [2571, 2574], [2577, 2578], [2618, 2648], [2655, 2661], [2672, 2673],
+         [2677, 2692], [2746, 2748], [2750, 2767], [2769, 2783], [2786, 2789], [2800, 2820],
+         [2829, 2830], [2833, 2834], [2874, 2876], [2878, 2907], [2914, 2917], [2930, 2946],
+         [2955, 2957], [2966, 2968], [2976, 2978], [2981, 2983], [2987, 2989], [3002, 3023],
+         [3025, 3045], [3059, 3076], [3130, 3132], [3134, 3159], [3162, 3167], [3170, 3173],
+         [3184, 3191], [3199, 3204], [3258, 3260], [3262, 3293], [3298, 3301], [3312, 3332],
+         [3386, 3388], [3390, 3423], [3426, 3429], [3446, 3449], [3456, 3460], [3479, 3481],
+         [3518, 3519], [3527, 3584], [3636, 3647], [3655, 3663], [3674, 3712], [3717, 3718],
+         [3723, 3724], [3726, 3731], [3752, 3753], [3764, 3772], [3774, 3775], [3783, 3791],
+         [3802, 3803], [3806, 3839], [3841, 3871], [3892, 3903], [3949, 3975], [3980, 4095],
+         [4139, 4158], [4170, 4175], [4182, 4185], [4190, 4192], [4194, 4196], [4199, 4205],
+         [4209, 4212], [4226, 4237], [4250, 4255], [4294, 4303], [4349, 4351], [4686, 4687],
+         [4702, 4703], [4750, 4751], [4790, 4791], [4806, 4807], [4886, 4887], [4955, 4968],
+         [4989, 4991], [5008, 5023], [5109, 5120], [5741, 5742], [5787, 5791], [5867, 5869],
+         [5873, 5887], [5906, 5919], [5938, 5951], [5970, 5983], [6001, 6015], [6068, 6102],
+         [6104, 6107], [6109, 6111], [6122, 6127], [6138, 6159], [6170, 6175], [6264, 6271],
+         [6315, 6319], [6390, 6399], [6429, 6469], [6510, 6511], [6517, 6527], [6572, 6592],
+         [6600, 6607], [6619, 6655], [6679, 6687], [6741, 6783], [6794, 6799], [6810, 6822],
+         [6824, 6916], [6964, 6980], [6988, 6991], [7002, 7042], [7073, 7085], [7098, 7167],
+         [7204, 7231], [7242, 7244], [7294, 7400], [7410, 7423], [7616, 7679], [7958, 7959],
+         [7966, 7967], [8006, 8007], [8014, 8015], [8062, 8063], [8127, 8129], [8141, 8143],
+         [8148, 8149], [8156, 8159], [8173, 8177], [8189, 8303], [8306, 8307], [8314, 8318],
+         [8330, 8335], [8341, 8449], [8451, 8454], [8456, 8457], [8470, 8472], [8478, 8483],
+         [8506, 8507], [8512, 8516], [8522, 8525], [8586, 9311], [9372, 9449], [9472, 10101],
+         [10132, 11263], [11493, 11498], [11503, 11516], [11518, 11519], [11558, 11567],
+         [11622, 11630], [11632, 11647], [11671, 11679], [11743, 11822], [11824, 12292],
+         [12296, 12320], [12330, 12336], [12342, 12343], [12349, 12352], [12439, 12444],
+         [12544, 12548], [12590, 12592], [12687, 12689], [12694, 12703], [12728, 12783],
+         [12800, 12831], [12842, 12880], [12896, 12927], [12938, 12976], [12992, 13311],
+         [19894, 19967], [40908, 40959], [42125, 42191], [42238, 42239], [42509, 42511],
+         [42540, 42559], [42592, 42593], [42607, 42622], [42648, 42655], [42736, 42774],
+         [42784, 42785], [42889, 42890], [42893, 43002], [43043, 43055], [43062, 43071],
+         [43124, 43137], [43188, 43215], [43226, 43249], [43256, 43258], [43260, 43263],
+         [43302, 43311], [43335, 43359], [43389, 43395], [43443, 43470], [43482, 43519],
+         [43561, 43583], [43596, 43599], [43610, 43615], [43639, 43641], [43643, 43647],
+         [43698, 43700], [43703, 43704], [43710, 43711], [43715, 43738], [43742, 43967],
+         [44003, 44015], [44026, 44031], [55204, 55215], [55239, 55242], [55292, 55295],
+         [57344, 63743], [64046, 64047], [64110, 64111], [64218, 64255], [64263, 64274],
+         [64280, 64284], [64434, 64466], [64830, 64847], [64912, 64913], [64968, 65007],
+         [65020, 65135], [65277, 65295], [65306, 65312], [65339, 65344], [65371, 65381],
+         [65471, 65473], [65480, 65481], [65488, 65489], [65496, 65497]];
+    for (i = 0; i < ranges.length; i++) {
+        start = ranges[i][0];
+        end = ranges[i][1];
+        for (j = start; j <= end; j++) {
+            result[j] = true;
+        }
+    }
+    return result;
+})();
+
+function splitQuery(query) {
+    var result = [];
+    var start = -1;
+    for (var i = 0; i < query.length; i++) {
+        if (splitChars[query.charCodeAt(i)]) {
+            if (start !== -1) {
+                result.push(query.slice(start, i));
+                start = -1;
+            }
+        } else if (start === -1) {
+            start = i;
+        }
+    }
+    if (start !== -1) {
+        result.push(query.slice(start));
+    }
+    return result;
+}
+
+
diff --git a/docs/_static/searchtools.js b/docs/_static/searchtools.js
index 97d56a74..7dbc787d 100644
--- a/docs/_static/searchtools.js
+++ b/docs/_static/searchtools.js
@@ -4,24 +4,22 @@
  *
  * Sphinx JavaScript utilities for the full-text search.
  *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS.
  * :license: BSD, see LICENSE for details.
  *
  */
-"use strict";
 
-/**
- * Simple result scoring code.
- */
-if (typeof Scorer === "undefined") {
+if (!Scorer) {
+  /**
+   * Simple result scoring code.
+   */
   var Scorer = {
     // Implement the following function to further tweak the score for each result
-    // The function takes a result array [docname, title, anchor, descr, score, filename]
+    // The function takes a result array [filename, title, anchor, descr, score]
     // and returns the new score.
     /*
-    score: result => {
-      const [docname, title, anchor, descr, score, filename] = result
-      return score
+    score: function(result) {
+      return result[4];
     },
     */
 
@@ -30,11 +28,9 @@ if (typeof Scorer === "undefined") {
     // or matches in the last dotted part of the object name
     objPartialMatch: 6,
     // Additive scores depending on the priority of the object
-    objPrio: {
-      0: 15, // used to be importantResults
-      1: 5, // used to be objectResults
-      2: -5, // used to be unimportantResults
-    },
+    objPrio: {0:  15,   // used to be importantResults
+              1:  5,   // used to be objectResults
+              2: -5},  // used to be unimportantResults
     //  Used when the priority is not in the mapping.
     objPrioDefault: 0,
 
@@ -43,495 +39,459 @@ if (typeof Scorer === "undefined") {
     partialTitle: 7,
     // query found in terms
     term: 5,
-    partialTerm: 2,
+    partialTerm: 2
   };
 }
 
-const _removeChildren = (element) => {
-  while (element && element.lastChild) element.removeChild(element.lastChild);
-};
-
-/**
- * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions#escaping
- */
-const _escapeRegExp = (string) =>
-  string.replace(/[.*+\-?^${}()|[\]\\]/g, "\\$&"); // $& means the whole matched string
-
-const _displayItem = (item, searchTerms) => {
-  const docBuilder = DOCUMENTATION_OPTIONS.BUILDER;
-  const docUrlRoot = DOCUMENTATION_OPTIONS.URL_ROOT;
-  const docFileSuffix = DOCUMENTATION_OPTIONS.FILE_SUFFIX;
-  const docLinkSuffix = DOCUMENTATION_OPTIONS.LINK_SUFFIX;
-  const showSearchSummary = DOCUMENTATION_OPTIONS.SHOW_SEARCH_SUMMARY;
-
-  const [docName, title, anchor, descr, score, _filename] = item;
-
-  let listItem = document.createElement("li");
-  let requestUrl;
-  let linkUrl;
-  if (docBuilder === "dirhtml") {
-    // dirhtml builder
-    let dirname = docName + "/";
-    if (dirname.match(/\/index\/$/))
-      dirname = dirname.substring(0, dirname.length - 6);
-    else if (dirname === "index/") dirname = "";
-    requestUrl = docUrlRoot + dirname;
-    linkUrl = requestUrl;
-  } else {
-    // normal html builders
-    requestUrl = docUrlRoot + docName + docFileSuffix;
-    linkUrl = docName + docLinkSuffix;
+if (!splitQuery) {
+  function splitQuery(query) {
+    return query.split(/\s+/);
   }
-  let linkEl = listItem.appendChild(document.createElement("a"));
-  linkEl.href = linkUrl + anchor;
-  linkEl.dataset.score = score;
-  linkEl.innerHTML = title;
-  if (descr)
-    listItem.appendChild(document.createElement("span")).innerHTML =
-      " (" + descr + ")";
-  else if (showSearchSummary)
-    fetch(requestUrl)
-      .then((responseData) => responseData.text())
-      .then((data) => {
-        if (data)
-          listItem.appendChild(
-            Search.makeSearchSummary(data, searchTerms)
-          );
-      });
-  Search.output.appendChild(listItem);
-};
-const _finishSearch = (resultCount) => {
-  Search.stopPulse();
-  Search.title.innerText = _("Search Results");
-  if (!resultCount)
-    Search.status.innerText = Documentation.gettext(
-      "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories."
-    );
-  else
-    Search.status.innerText = _(
-      `Search finished, found ${resultCount} page(s) matching the search query.`
-    );
-};
-const _displayNextItem = (
-  results,
-  resultCount,
-  searchTerms
-) => {
-  // results left, load the summary and display it
-  // this is intended to be dynamic (don't sub resultsCount)
-  if (results.length) {
-    _displayItem(results.pop(), searchTerms);
-    setTimeout(
-      () => _displayNextItem(results, resultCount, searchTerms),
-      5
-    );
-  }
-  // search finished, update title and status message
-  else _finishSearch(resultCount);
-};
-
-/**
- * Default splitQuery function. Can be overridden in ``sphinx.search`` with a
- * custom function per language.
- *
- * The regular expression works by splitting the string on consecutive characters
- * that are not Unicode letters, numbers, underscores, or emoji characters.
- * This is the same as ``\W+`` in Python, preserving the surrogate pair area.
- */
-if (typeof splitQuery === "undefined") {
-  var splitQuery = (query) => query
-      .split(/[^\p{Letter}\p{Number}_\p{Emoji_Presentation}]+/gu)
-      .filter(term => term)  // remove remaining empty strings
 }
 
 /**
  * Search Module
  */
-const Search = {
-  _index: null,
-  _queued_query: null,
-  _pulse_status: -1,
-
-  htmlToText: (htmlString) => {
-    const htmlElement = new DOMParser().parseFromString(htmlString, 'text/html');
-    htmlElement.querySelectorAll(".headerlink").forEach((el) => { el.remove() });
-    const docContent = htmlElement.querySelector('[role="main"]');
-    if (docContent !== undefined) return docContent.textContent;
-    console.warn(
-      "Content block not found. Sphinx search tries to obtain it via '[role=main]'. Could you check your theme or template."
-    );
-    return "";
+var Search = {
+
+  _index : null,
+  _queued_query : null,
+  _pulse_status : -1,
+
+  htmlToText : function(htmlString) {
+      var virtualDocument = document.implementation.createHTMLDocument('virtual');
+      var htmlElement = $(htmlString, virtualDocument);
+      htmlElement.find('.headerlink').remove();
+      docContent = htmlElement.find('[role=main]')[0];
+      if(docContent === undefined) {
+          console.warn("Content block not found. Sphinx search tries to obtain it " +
+                       "via '[role=main]'. Could you check your theme or template.");
+          return "";
+      }
+      return docContent.textContent || docContent.innerText;
   },
 
-  init: () => {
-    const query = new URLSearchParams(window.location.search).get("q");
-    document
-      .querySelectorAll('input[name="q"]')
-      .forEach((el) => (el.value = query));
-    if (query) Search.performSearch(query);
+  init : function() {
+      var params = $.getQueryParameters();
+      if (params.q) {
+          var query = params.q[0];
+          $('input[name="q"]')[0].value = query;
+          this.performSearch(query);
+      }
   },
 
-  loadIndex: (url) =>
-    (document.body.appendChild(document.createElement("script")).src = url),
+  loadIndex : function(url) {
+    $.ajax({type: "GET", url: url, data: null,
+            dataType: "script", cache: true,
+            complete: function(jqxhr, textstatus) {
+              if (textstatus != "success") {
+                document.getElementById("searchindexloader").src = url;
+              }
+            }});
+  },
 
-  setIndex: (index) => {
-    Search._index = index;
-    if (Search._queued_query !== null) {
-      const query = Search._queued_query;
-      Search._queued_query = null;
-      Search.query(query);
+  setIndex : function(index) {
+    var q;
+    this._index = index;
+    if ((q = this._queued_query) !== null) {
+      this._queued_query = null;
+      Search.query(q);
     }
   },
 
-  hasIndex: () => Search._index !== null,
-
-  deferQuery: (query) => (Search._queued_query = query),
+  hasIndex : function() {
+      return this._index !== null;
+  },
 
-  stopPulse: () => (Search._pulse_status = -1),
+  deferQuery : function(query) {
+      this._queued_query = query;
+  },
 
-  startPulse: () => {
-    if (Search._pulse_status >= 0) return;
+  stopPulse : function() {
+      this._pulse_status = 0;
+  },
 
-    const pulse = () => {
+  startPulse : function() {
+    if (this._pulse_status >= 0)
+        return;
+    function pulse() {
+      var i;
       Search._pulse_status = (Search._pulse_status + 1) % 4;
-      Search.dots.innerText = ".".repeat(Search._pulse_status);
-      if (Search._pulse_status >= 0) window.setTimeout(pulse, 500);
-    };
+      var dotString = '';
+      for (i = 0; i < Search._pulse_status; i++)
+        dotString += '.';
+      Search.dots.text(dotString);
+      if (Search._pulse_status > -1)
+        window.setTimeout(pulse, 500);
+    }
     pulse();
   },
 
   /**
    * perform a search for something (or wait until index is loaded)
    */
-  performSearch: (query) => {
+  performSearch : function(query) {
     // create the required interface elements
-    const searchText = document.createElement("h2");
-    searchText.textContent = _("Searching");
-    const searchSummary = document.createElement("p");
-    searchSummary.classList.add("search-summary");
-    searchSummary.innerText = "";
-    const searchList = document.createElement("ul");
-    searchList.classList.add("search");
-
-    const out = document.getElementById("search-results");
-    Search.title = out.appendChild(searchText);
-    Search.dots = Search.title.appendChild(document.createElement("span"));
-    Search.status = out.appendChild(searchSummary);
-    Search.output = out.appendChild(searchList);
-
-    const searchProgress = document.getElementById("search-progress");
-    // Some themes don't use the search progress node
-    if (searchProgress) {
-      searchProgress.innerText = _("Preparing search...");
-    }
-    Search.startPulse();
+    this.out = $('#search-results');
+    this.title = $('<h2>' + _('Searching') + '</h2>').appendTo(this.out);
+    this.dots = $('<span></span>').appendTo(this.title);
+    this.status = $('<p class="search-summary">&nbsp;</p>').appendTo(this.out);
+    this.output = $('<ul class="search"/>').appendTo(this.out);
+
+    $('#search-progress').text(_('Preparing search...'));
+    this.startPulse();
 
     // index already loaded, the browser was quick!
-    if (Search.hasIndex()) Search.query(query);
-    else Search.deferQuery(query);
+    if (this.hasIndex())
+      this.query(query);
+    else
+      this.deferQuery(query);
   },
 
   /**
    * execute search (requires search index to be loaded)
    */
-  query: (query) => {
-    const filenames = Search._index.filenames;
-    const docNames = Search._index.docnames;
-    const titles = Search._index.titles;
-    const allTitles = Search._index.alltitles;
-    const indexEntries = Search._index.indexentries;
-
-    // stem the search terms and add them to the correct list
-    const stemmer = new Stemmer();
-    const searchTerms = new Set();
-    const excludedTerms = new Set();
-    const highlightTerms = new Set();
-    const objectTerms = new Set(splitQuery(query.toLowerCase().trim()));
-    splitQuery(query.trim()).forEach((queryTerm) => {
-      const queryTermLower = queryTerm.toLowerCase();
-
-      // maybe skip this "word"
-      // stopwords array is from language_data.js
-      if (
-        stopwords.indexOf(queryTermLower) !== -1 ||
-        queryTerm.match(/^\d+$/)
-      )
-        return;
+  query : function(query) {
+    var i;
+
+    // stem the searchterms and add them to the correct list
+    var stemmer = new Stemmer();
+    var searchterms = [];
+    var excluded = [];
+    var hlterms = [];
+    var tmp = splitQuery(query);
+    var objectterms = [];
+    for (i = 0; i < tmp.length; i++) {
+      if (tmp[i] !== "") {
+          objectterms.push(tmp[i].toLowerCase());
+      }
 
+      if ($u.indexOf(stopwords, tmp[i].toLowerCase()) != -1 || tmp[i] === "") {
+        // skip this "word"
+        continue;
+      }
       // stem the word
-      let word = stemmer.stemWord(queryTermLower);
+      var word = stemmer.stemWord(tmp[i].toLowerCase());
+      // prevent stemmer from cutting word smaller than two chars
+      if(word.length < 3 && tmp[i].length >= 3) {
+        word = tmp[i];
+      }
+      var toAppend;
       // select the correct list
-      if (word[0] === "-") excludedTerms.add(word.substr(1));
+      if (word[0] == '-') {
+        toAppend = excluded;
+        word = word.substr(1);
+      }
       else {
-        searchTerms.add(word);
-        highlightTerms.add(queryTermLower);
+        toAppend = searchterms;
+        hlterms.push(tmp[i].toLowerCase());
       }
-    });
-
-    if (SPHINX_HIGHLIGHT_ENABLED) {  // set in sphinx_highlight.js
-      localStorage.setItem("sphinx_highlight_terms", [...highlightTerms].join(" "))
+      // only add if not already in the list
+      if (!$u.contains(toAppend, word))
+        toAppend.push(word);
     }
+    var highlightstring = '?highlight=' + $.urlencode(hlterms.join(" "));
 
-    // console.debug("SEARCH: searching for:");
-    // console.info("required: ", [...searchTerms]);
-    // console.info("excluded: ", [...excludedTerms]);
-
-    // array of [docname, title, anchor, descr, score, filename]
-    let results = [];
-    _removeChildren(document.getElementById("search-progress"));
-
-    const queryLower = query.toLowerCase();
-    for (const [title, foundTitles] of Object.entries(allTitles)) {
-      if (title.toLowerCase().includes(queryLower) && (queryLower.length >= title.length/2)) {
-        for (const [file, id] of foundTitles) {
-          let score = Math.round(100 * queryLower.length / title.length)
-          results.push([
-            docNames[file],
-            titles[file] !== title ? `${titles[file]} > ${title}` : title,
-            id !== null ? "#" + id : "",
-            null,
-            score,
-            filenames[file],
-          ]);
-        }
-      }
-    }
+    // console.debug('SEARCH: searching for:');
+    // console.info('required: ', searchterms);
+    // console.info('excluded: ', excluded);
 
-    // search for explicit entries in index directives
-    for (const [entry, foundEntries] of Object.entries(indexEntries)) {
-      if (entry.includes(queryLower) && (queryLower.length >= entry.length/2)) {
-        for (const [file, id] of foundEntries) {
-          let score = Math.round(100 * queryLower.length / entry.length)
-          results.push([
-            docNames[file],
-            titles[file],
-            id ? "#" + id : "",
-            null,
-            score,
-            filenames[file],
-          ]);
-        }
-      }
-    }
+    // prepare search
+    var terms = this._index.terms;
+    var titleterms = this._index.titleterms;
+
+    // array of [filename, title, anchor, descr, score]
+    var results = [];
+    $('#search-progress').empty();
 
     // lookup as object
-    objectTerms.forEach((term) =>
-      results.push(...Search.performObjectSearch(term, objectTerms))
-    );
+    for (i = 0; i < objectterms.length; i++) {
+      var others = [].concat(objectterms.slice(0, i),
+                             objectterms.slice(i+1, objectterms.length));
+      results = results.concat(this.performObjectSearch(objectterms[i], others));
+    }
 
     // lookup as search terms in fulltext
-    results.push(...Search.performTermsSearch(searchTerms, excludedTerms));
+    results = results.concat(this.performTermsSearch(searchterms, excluded, terms, titleterms));
 
     // let the scorer override scores with a custom scoring function
-    if (Scorer.score) results.forEach((item) => (item[4] = Scorer.score(item)));
+    if (Scorer.score) {
+      for (i = 0; i < results.length; i++)
+        results[i][4] = Scorer.score(results[i]);
+    }
 
     // now sort the results by score (in opposite order of appearance, since the
     // display function below uses pop() to retrieve items) and then
     // alphabetically
-    results.sort((a, b) => {
-      const leftScore = a[4];
-      const rightScore = b[4];
-      if (leftScore === rightScore) {
+    results.sort(function(a, b) {
+      var left = a[4];
+      var right = b[4];
+      if (left > right) {
+        return 1;
+      } else if (left < right) {
+        return -1;
+      } else {
         // same score: sort alphabetically
-        const leftTitle = a[1].toLowerCase();
-        const rightTitle = b[1].toLowerCase();
-        if (leftTitle === rightTitle) return 0;
-        return leftTitle > rightTitle ? -1 : 1; // inverted is intentional
+        left = a[1].toLowerCase();
+        right = b[1].toLowerCase();
+        return (left > right) ? -1 : ((left < right) ? 1 : 0);
       }
-      return leftScore > rightScore ? 1 : -1;
     });
 
-    // remove duplicate search results
-    // note the reversing of results, so that in the case of duplicates, the highest-scoring entry is kept
-    let seen = new Set();
-    results = results.reverse().reduce((acc, result) => {
-      let resultStr = result.slice(0, 4).concat([result[5]]).map(v => String(v)).join(',');
-      if (!seen.has(resultStr)) {
-        acc.push(result);
-        seen.add(resultStr);
-      }
-      return acc;
-    }, []);
-
-    results = results.reverse();
-
     // for debugging
     //Search.lastresults = results.slice();  // a copy
-    // console.info("search results:", Search.lastresults);
+    //console.info('search results:', Search.lastresults);
 
     // print the results
-    _displayNextItem(results, results.length, searchTerms);
+    var resultCount = results.length;
+    function displayNextItem() {
+      // results left, load the summary and display it
+      if (results.length) {
+        var item = results.pop();
+        var listItem = $('<li></li>');
+        var requestUrl = "";
+        var linkUrl = "";
+        if (DOCUMENTATION_OPTIONS.BUILDER === 'dirhtml') {
+          // dirhtml builder
+          var dirname = item[0] + '/';
+          if (dirname.match(/\/index\/$/)) {
+            dirname = dirname.substring(0, dirname.length-6);
+          } else if (dirname == 'index/') {
+            dirname = '';
+          }
+          requestUrl = DOCUMENTATION_OPTIONS.URL_ROOT + dirname;
+          linkUrl = requestUrl;
+
+        } else {
+          // normal html builders
+          requestUrl = DOCUMENTATION_OPTIONS.URL_ROOT + item[0] + DOCUMENTATION_OPTIONS.FILE_SUFFIX;
+          linkUrl = item[0] + DOCUMENTATION_OPTIONS.LINK_SUFFIX;
+        }
+        listItem.append($('<a/>').attr('href',
+            linkUrl +
+            highlightstring + item[2]).html(item[1]));
+        if (item[3]) {
+          listItem.append($('<span> (' + item[3] + ')</span>'));
+          Search.output.append(listItem);
+          setTimeout(function() {
+            displayNextItem();
+          }, 5);
+        } else if (DOCUMENTATION_OPTIONS.HAS_SOURCE) {
+          $.ajax({url: requestUrl,
+                  dataType: "text",
+                  complete: function(jqxhr, textstatus) {
+                    var data = jqxhr.responseText;
+                    if (data !== '' && data !== undefined) {
+                      var summary = Search.makeSearchSummary(data, searchterms, hlterms);
+                      if (summary) {
+                        listItem.append(summary);
+                      }
+                    }
+                    Search.output.append(listItem);
+                    setTimeout(function() {
+                      displayNextItem();
+                    }, 5);
+                  }});
+        } else {
+          // no source available, just display title
+          Search.output.append(listItem);
+          setTimeout(function() {
+            displayNextItem();
+          }, 5);
+        }
+      }
+      // search finished, update title and status message
+      else {
+        Search.stopPulse();
+        Search.title.text(_('Search Results'));
+        if (!resultCount)
+          Search.status.text(_('Your search did not match any documents. Please make sure that all words are spelled correctly and that you\'ve selected enough categories.'));
+        else
+            Search.status.text(_('Search finished, found %s page(s) matching the search query.').replace('%s', resultCount));
+        Search.status.fadeIn(500);
+      }
+    }
+    displayNextItem();
   },
 
   /**
    * search for object names
    */
-  performObjectSearch: (object, objectTerms) => {
-    const filenames = Search._index.filenames;
-    const docNames = Search._index.docnames;
-    const objects = Search._index.objects;
-    const objNames = Search._index.objnames;
-    const titles = Search._index.titles;
-
-    const results = [];
-
-    const objectSearchCallback = (prefix, match) => {
-      const name = match[4]
-      const fullname = (prefix ? prefix + "." : "") + name;
-      const fullnameLower = fullname.toLowerCase();
-      if (fullnameLower.indexOf(object) < 0) return;
-
-      let score = 0;
-      const parts = fullnameLower.split(".");
-
-      // check for different match types: exact matches of full name or
-      // "last name" (i.e. last dotted part)
-      if (fullnameLower === object || parts.slice(-1)[0] === object)
-        score += Scorer.objNameMatch;
-      else if (parts.slice(-1)[0].indexOf(object) > -1)
-        score += Scorer.objPartialMatch; // matches in last name
-
-      const objName = objNames[match[1]][2];
-      const title = titles[match[0]];
-
-      // If more than one term searched for, we require other words to be
-      // found in the name/title/description
-      const otherTerms = new Set(objectTerms);
-      otherTerms.delete(object);
-      if (otherTerms.size > 0) {
-        const haystack = `${prefix} ${name} ${objName} ${title}`.toLowerCase();
-        if (
-          [...otherTerms].some((otherTerm) => haystack.indexOf(otherTerm) < 0)
-        )
-          return;
+  performObjectSearch : function(object, otherterms) {
+    var filenames = this._index.filenames;
+    var docnames = this._index.docnames;
+    var objects = this._index.objects;
+    var objnames = this._index.objnames;
+    var titles = this._index.titles;
+
+    var i;
+    var results = [];
+
+    for (var prefix in objects) {
+      if (!(objects[prefix] instanceof Array)) {
+        objects[prefix] = Object.entries(objects[prefix]).map(([name, match]) => [...match, name]);
       }
+      for (var iMatch = 0; iMatch != objects[prefix].length; ++iMatch) {
+        var match = objects[prefix][iMatch];
+        var name = match[4];
+        var fullname = (prefix ? prefix + '.' : '') + name;
+        var fullnameLower = fullname.toLowerCase()
+        if (fullnameLower.indexOf(object) > -1) {
+          var score = 0;
+          var parts = fullnameLower.split('.');
+          // check for different match types: exact matches of full name or
+          // "last name" (i.e. last dotted part)
+          if (fullnameLower == object || parts[parts.length - 1] == object) {
+            score += Scorer.objNameMatch;
+          // matches in last name
+          } else if (parts[parts.length - 1].indexOf(object) > -1) {
+            score += Scorer.objPartialMatch;
+          }
+          var objname = objnames[match[1]][2];
+          var title = titles[match[0]];
+          // If more than one term searched for, we require other words to be
+          // found in the name/title/description
+          if (otherterms.length > 0) {
+            var haystack = (prefix + ' ' + name + ' ' +
+                            objname + ' ' + title).toLowerCase();
+            var allfound = true;
+            for (i = 0; i < otherterms.length; i++) {
+              if (haystack.indexOf(otherterms[i]) == -1) {
+                allfound = false;
+                break;
+              }
+            }
+            if (!allfound) {
+              continue;
+            }
+          }
+          var descr = objname + _(', in ') + title;
+
+          var anchor = match[3];
+          if (anchor === '')
+            anchor = fullname;
+          else if (anchor == '-')
+            anchor = objnames[match[1]][1] + '-' + fullname;
+          // add custom score for some objects according to scorer
+          if (Scorer.objPrio.hasOwnProperty(match[2])) {
+            score += Scorer.objPrio[match[2]];
+          } else {
+            score += Scorer.objPrioDefault;
+          }
+          results.push([docnames[match[0]], fullname, '#'+anchor, descr, score, filenames[match[0]]]);
+        }
+      }
+    }
 
-      let anchor = match[3];
-      if (anchor === "") anchor = fullname;
-      else if (anchor === "-") anchor = objNames[match[1]][1] + "-" + fullname;
-
-      const descr = objName + _(", in ") + title;
-
-      // add custom score for some objects according to scorer
-      if (Scorer.objPrio.hasOwnProperty(match[2]))
-        score += Scorer.objPrio[match[2]];
-      else score += Scorer.objPrioDefault;
-
-      results.push([
-        docNames[match[0]],
-        fullname,
-        "#" + anchor,
-        descr,
-        score,
-        filenames[match[0]],
-      ]);
-    };
-    Object.keys(objects).forEach((prefix) =>
-      objects[prefix].forEach((array) =>
-        objectSearchCallback(prefix, array)
-      )
-    );
     return results;
   },
 
+  /**
+   * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions
+   */
+  escapeRegExp : function(string) {
+    return string.replace(/[.*+\-?^${}()|[\]\\]/g, '\\$&'); // $& means the whole matched string
+  },
+
   /**
    * search for full-text terms in the index
    */
-  performTermsSearch: (searchTerms, excludedTerms) => {
-    // prepare search
-    const terms = Search._index.terms;
-    const titleTerms = Search._index.titleterms;
-    const filenames = Search._index.filenames;
-    const docNames = Search._index.docnames;
-    const titles = Search._index.titles;
+  performTermsSearch : function(searchterms, excluded, terms, titleterms) {
+    var docnames = this._index.docnames;
+    var filenames = this._index.filenames;
+    var titles = this._index.titles;
 
-    const scoreMap = new Map();
-    const fileMap = new Map();
+    var i, j, file;
+    var fileMap = {};
+    var scoreMap = {};
+    var results = [];
 
     // perform the search on the required terms
-    searchTerms.forEach((word) => {
-      const files = [];
-      const arr = [
-        { files: terms[word], score: Scorer.term },
-        { files: titleTerms[word], score: Scorer.title },
+    for (i = 0; i < searchterms.length; i++) {
+      var word = searchterms[i];
+      var files = [];
+      var _o = [
+        {files: terms[word], score: Scorer.term},
+        {files: titleterms[word], score: Scorer.title}
       ];
       // add support for partial matches
       if (word.length > 2) {
-        const escapedWord = _escapeRegExp(word);
-        Object.keys(terms).forEach((term) => {
-          if (term.match(escapedWord) && !terms[word])
-            arr.push({ files: terms[term], score: Scorer.partialTerm });
-        });
-        Object.keys(titleTerms).forEach((term) => {
-          if (term.match(escapedWord) && !titleTerms[word])
-            arr.push({ files: titleTerms[word], score: Scorer.partialTitle });
-        });
+        var word_regex = this.escapeRegExp(word);
+        for (var w in terms) {
+          if (w.match(word_regex) && !terms[word]) {
+            _o.push({files: terms[w], score: Scorer.partialTerm})
+          }
+        }
+        for (var w in titleterms) {
+          if (w.match(word_regex) && !titleterms[word]) {
+              _o.push({files: titleterms[w], score: Scorer.partialTitle})
+          }
+        }
       }
 
       // no match but word was a required one
-      if (arr.every((record) => record.files === undefined)) return;
-
+      if ($u.every(_o, function(o){return o.files === undefined;})) {
+        break;
+      }
       // found search word in contents
-      arr.forEach((record) => {
-        if (record.files === undefined) return;
-
-        let recordFiles = record.files;
-        if (recordFiles.length === undefined) recordFiles = [recordFiles];
-        files.push(...recordFiles);
-
-        // set score for the word in each file
-        recordFiles.forEach((file) => {
-          if (!scoreMap.has(file)) scoreMap.set(file, {});
-          scoreMap.get(file)[word] = record.score;
-        });
+      $u.each(_o, function(o) {
+        var _files = o.files;
+        if (_files === undefined)
+          return
+
+        if (_files.length === undefined)
+          _files = [_files];
+        files = files.concat(_files);
+
+        // set score for the word in each file to Scorer.term
+        for (j = 0; j < _files.length; j++) {
+          file = _files[j];
+          if (!(file in scoreMap))
+            scoreMap[file] = {};
+          scoreMap[file][word] = o.score;
+        }
       });
 
       // create the mapping
-      files.forEach((file) => {
-        if (fileMap.has(file) && fileMap.get(file).indexOf(word) === -1)
-          fileMap.get(file).push(word);
-        else fileMap.set(file, [word]);
-      });
-    });
+      for (j = 0; j < files.length; j++) {
+        file = files[j];
+        if (file in fileMap && fileMap[file].indexOf(word) === -1)
+          fileMap[file].push(word);
+        else
+          fileMap[file] = [word];
+      }
+    }
 
     // now check if the files don't contain excluded terms
-    const results = [];
-    for (const [file, wordList] of fileMap) {
-      // check if all requirements are matched
+    for (file in fileMap) {
+      var valid = true;
 
-      // as search terms with length < 3 are discarded
-      const filteredTermCount = [...searchTerms].filter(
-        (term) => term.length > 2
-      ).length;
+      // check if all requirements are matched
+      var filteredTermCount = // as search terms with length < 3 are discarded: ignore
+        searchterms.filter(function(term){return term.length > 2}).length
       if (
-        wordList.length !== searchTerms.size &&
-        wordList.length !== filteredTermCount
-      )
-        continue;
+        fileMap[file].length != searchterms.length &&
+        fileMap[file].length != filteredTermCount
+      ) continue;
 
       // ensure that none of the excluded terms is in the search result
-      if (
-        [...excludedTerms].some(
-          (term) =>
-            terms[term] === file ||
-            titleTerms[term] === file ||
-            (terms[term] || []).includes(file) ||
-            (titleTerms[term] || []).includes(file)
-        )
-      )
-        break;
+      for (i = 0; i < excluded.length; i++) {
+        if (terms[excluded[i]] == file ||
+            titleterms[excluded[i]] == file ||
+            $u.contains(terms[excluded[i]] || [], file) ||
+            $u.contains(titleterms[excluded[i]] || [], file)) {
+          valid = false;
+          break;
+        }
+      }
 
-      // select one (max) score for the file.
-      const score = Math.max(...wordList.map((w) => scoreMap.get(file)[w]));
-      // add result to the result list
-      results.push([
-        docNames[file],
-        titles[file],
-        "",
-        null,
-        score,
-        filenames[file],
-      ]);
+      // if we have still a valid result we can add it to the result list
+      if (valid) {
+        // select one (max) score for the file.
+        // for better ranking, we should calculate ranking by using words statistics like basic tf-idf...
+        var score = $u.max($u.map(fileMap[file], function(w){return scoreMap[file][w]}));
+        results.push([docnames[file], titles[file], '', null, score, filenames[file]]);
+      }
     }
     return results;
   },
@@ -539,28 +499,34 @@ const Search = {
   /**
    * helper function to return a node containing the
    * search summary for a given text. keywords is a list
-   * of stemmed words.
+   * of stemmed words, hlwords is the list of normal, unstemmed
+   * words. the first one is used to find the occurrence, the
+   * latter for highlighting it.
    */
-  makeSearchSummary: (htmlText, keywords) => {
-    const text = Search.htmlToText(htmlText);
-    if (text === "") return null;
-
-    const textLower = text.toLowerCase();
-    const actualStartPosition = [...keywords]
-      .map((k) => textLower.indexOf(k.toLowerCase()))
-      .filter((i) => i > -1)
-      .slice(-1)[0];
-    const startWithContext = Math.max(actualStartPosition - 120, 0);
-
-    const top = startWithContext === 0 ? "" : "...";
-    const tail = startWithContext + 240 < text.length ? "..." : "";
-
-    let summary = document.createElement("p");
-    summary.classList.add("context");
-    summary.textContent = top + text.substr(startWithContext, 240).trim() + tail;
-
-    return summary;
-  },
+  makeSearchSummary : function(htmlText, keywords, hlwords) {
+    var text = Search.htmlToText(htmlText);
+    if (text == "") {
+      return null;
+    }
+    var textLower = text.toLowerCase();
+    var start = 0;
+    $.each(keywords, function() {
+      var i = textLower.indexOf(this.toLowerCase());
+      if (i > -1)
+        start = i;
+    });
+    start = Math.max(start - 120, 0);
+    var excerpt = ((start > 0) ? '...' : '') +
+      $.trim(text.substr(start, 240)) +
+      ((start + 240 - text.length) ? '...' : '');
+    var rv = $('<p class="context"></p>').text(excerpt);
+    $.each(hlwords, function() {
+      rv = rv.highlightText(this, 'highlighted');
+    });
+    return rv;
+  }
 };
 
-_ready(Search.init);
+$(document).ready(function() {
+  Search.init();
+});
diff --git a/docs/contributing/making_docs.html b/docs/contributing/making_docs.html
index 7912ec57..48510f5d 100644
--- a/docs/contributing/making_docs.html
+++ b/docs/contributing/making_docs.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Updating docs &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
@@ -26,16 +27,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -71,7 +68,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Updating docs</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/contributing/making_docs.md.txt" rel="nofollow"> View page source</a>
@@ -83,7 +80,7 @@
            <div itemprop="articleBody">
              
   <section id="updating-docs">
-<h1>Updating docs<a class="headerlink" href="#updating-docs" title="Permalink to this heading"></a></h1>
+<h1>Updating docs<a class="headerlink" href="#updating-docs" title="Permalink to this headline"></a></h1>
 <p>The source code for all the documentation can be found in <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/docs_src</span></code></p>
 <p>We use <a class="reference external" href="https://www.sphinx-doc.org/en/master/">Sphinx</a> to create our documentation and host it in Github Pages.</p>
 <p>Check out <code class="docutils literal notranslate"><span class="pre">docs_src/index.rst</span></code> for the layout of the pages (starting on line 6).  That file will point to the source doc
@@ -95,17 +92,17 @@ <h1>Updating docs<a class="headerlink" href="#updating-docs" title="Permalink to
 as you save files.) The service is usually hosted on http://127.0.0.1:8000 but it will also tell you where the local
 version of the site is.</p>
 <section id="uploading-changes">
-<h2>Uploading changes<a class="headerlink" href="#uploading-changes" title="Permalink to this heading"></a></h2>
+<h2>Uploading changes<a class="headerlink" href="#uploading-changes" title="Permalink to this headline"></a></h2>
 <section id="run-build-sh">
-<h3>1.) Run <code class="docutils literal notranslate"><span class="pre">./build.sh</span></code><a class="headerlink" href="#run-build-sh" title="Permalink to this heading"></a></h3>
+<h3>1.) Run <code class="docutils literal notranslate"><span class="pre">./build.sh</span></code><a class="headerlink" href="#run-build-sh" title="Permalink to this headline"></a></h3>
 </section>
 <section id="run-git-add-sh">
-<h3>2.) Run <code class="docutils literal notranslate"><span class="pre">./git_add.sh</span></code><a class="headerlink" href="#run-git-add-sh" title="Permalink to this heading"></a></h3>
+<h3>2.) Run <code class="docutils literal notranslate"><span class="pre">./git_add.sh</span></code><a class="headerlink" href="#run-git-add-sh" title="Permalink to this headline"></a></h3>
 </section>
 <section id="the-files-are-now-staged-in-git-you-can-do">
-<h3>3.) The files are now staged in git, you can do<a class="headerlink" href="#the-files-are-now-staged-in-git-you-can-do" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>commit<span class="w"> </span>-m<span class="w"> </span><span class="s2">&quot;Doc changes&quot;</span>
-git<span class="w"> </span>push
+<h3>3.) The files are now staged in git, you can do<a class="headerlink" href="#the-files-are-now-staged-in-git-you-can-do" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git commit -m <span class="s2">&quot;Doc changes&quot;</span>
+git push
 </pre></div>
 </div>
 <p>and the website should update within the next 5-10minutes.</p>
diff --git a/docs/genindex.html b/docs/genindex.html
index c832043c..5d4904e1 100644
--- a/docs/genindex.html
+++ b/docs/genindex.html
@@ -12,8 +12,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="_static/sphinx_highlight.js"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="#" />
     <link rel="search" title="Search" href="search.html" /> 
@@ -24,16 +25,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -61,7 +58,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Index</li>
       <li class="wy-breadcrumbs-aside">
       </li>
@@ -75,1418 +72,34 @@
 <h1 id="index">Index</h1>
 
 <div class="genindex-jumpbox">
- <a href="#A"><strong>A</strong></a>
- | <a href="#B"><strong>B</strong></a>
- | <a href="#C"><strong>C</strong></a>
- | <a href="#D"><strong>D</strong></a>
- | <a href="#E"><strong>E</strong></a>
- | <a href="#F"><strong>F</strong></a>
- | <a href="#G"><strong>G</strong></a>
- | <a href="#H"><strong>H</strong></a>
- | <a href="#I"><strong>I</strong></a>
- | <a href="#K"><strong>K</strong></a>
- | <a href="#L"><strong>L</strong></a>
- | <a href="#M"><strong>M</strong></a>
- | <a href="#N"><strong>N</strong></a>
- | <a href="#O"><strong>O</strong></a>
- | <a href="#P"><strong>P</strong></a>
- | <a href="#R"><strong>R</strong></a>
+ <a href="#M"><strong>M</strong></a>
  | <a href="#S"><strong>S</strong></a>
- | <a href="#T"><strong>T</strong></a>
- | <a href="#U"><strong>U</strong></a>
- | <a href="#V"><strong>V</strong></a>
- | <a href="#W"><strong>W</strong></a>
  
 </div>
-<h2 id="A">A</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.action_space">action_space() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.action_space">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions">agent_positions (src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.AgentColor">AgentColor (class in src.environment.ros_social_gym)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.AgentColor">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone">AgentInZone (class in src.environment.observations.types.manual_zone.agent_in_zone)</a>, <a href="modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_current_order">agents_current_order (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_current_order">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_priority_order">agents_priority_order (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_priority_order">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders">agents_priority_orders (src.environment.environment_types.manual_zone.ManualZoneEnv attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance">AgentsGoalDistance (class in src.environment.observations.types.agents_goal_distance)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection">AgentsHeadingDirection (class in src.environment.observations.types.agents_heading_direction)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_others_distance.AgentsOthersDistance">AgentsOthersDistance (class in src.environment.observations.types.agents_others_distance)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_others_distance.AgentsOthersDistance">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_pose.AgentsPose">AgentsPose (class in src.environment.observations.types.agents_pose)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_pose.AgentsPose">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity">AgentsPreferredVelocity (class in src.environment.observations.types.agents_preferred_velocity)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity">AgentsVelocity (class in src.environment.observations.types.agents_velocity)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder">AgentZoneCurrentOrder (class in src.environment.observations.types.manual_zone.agent_zone_current_order)</a>, <a href="modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder">AgentZonePriorityOrder (class in src.environment.observations.types.manual_zone.agent_zone_priority_order)</a>, <a href="modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder">[1]</a>
-</li>
-      <li><a href="_site/modules/src.html#src.config_run.kinds.ao">ao (src.config_run.kinds attribute)</a>, <a href="modules/src.html#src.config_run.kinds.ao">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observer.Observer.arr_to_dict">arr_to_dict() (src.environment.observations.observer.Observer method)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observer.Observer.arr_to_dict">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="B">B</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone">build_zone() (src.environment.environment_types.manual_zone.ManualZoneEnv method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="C">C</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas">calculate_deltas() (src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.calculate_reward">calculate_reward() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.calculate_reward">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.close">close() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.close">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides">closed_door_1__opposing_sides() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__same_goals">closed_door_1__same_goals() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__same_goals">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.collision">collision (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.collision">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.collision">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder">CollisionEpisodeEnder (class in src.environment.wrappers.collision_episode_ender)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.collision_observation.CollisionObservation">CollisionObservation (class in src.environment.observations.types.collision_observation)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.collision_observation.CollisionObservation">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions">Collisions (class in src.environment.rewards.types.collisions)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario">CycleScenario (class in src.environment.scenarios.types.cycle)</a>, <a href="modules/src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="D">D</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.default_action">default_action() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.default_action">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold">dist_to_other_threshold (src.environment.rewards.types.social_norm_cross.SocialNormCross attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta">distance_delta (src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.done">done (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.done">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.done">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.door_pose">door_pose (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_pose">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_pose">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.door_state">door_state (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_state">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_state">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.common_observations.dsacadrl_observations">dsacadrl_observations() (in module src.environment.observations.common_observations)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.common_observations.dsacadrl_observations">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.common_rewards.dsacadrl_rewards">dsacadrl_rewards() (in module src.environment.rewards.common_rewards)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.common_rewards.dsacadrl_rewards">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="E">E</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.elevator_loading">elevator_loading() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.elevator_loading">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder">EnforcedOrder (class in src.environment.rewards.types.manual_zone.enforced_order)</a>, <a href="modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.entering">entering (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.entering">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder">EntropyEpisodeEnder (class in src.environment.wrappers.entropy_episode_ender)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env">env (src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.env_response_type">env_response_type (src.environment.environment_types.manual_zone.ManualZoneEnv attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.env_response_type">(src.environment.ros_social_gym.RosSocialEnv attribute)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.env_response_type">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_door">envs_door() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_door">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_hallway">envs_hallway() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_hallway">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_intersection">envs_intersection() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_intersection">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_open">envs_open() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_open">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_round_about">envs_round_about() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_round_about">[1]</a>
-</li>
-      <li><a href="_site/modules/src.html#src.config_run.kinds.eo">eo (src.config_run.kinds attribute)</a>, <a href="modules/src.html#src.config_run.kinds.eo">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count">episode_count (src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.callbacks.html#src.environment.callbacks.callbacks.EvalCallback">EvalCallback (class in src.environment.callbacks.callbacks)</a>, <a href="modules/src.environment.callbacks.html#src.environment.callbacks.callbacks.EvalCallback">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.utils.html#src.environment.utils.evaluate_policy.evaluate_policy">evaluate_policy() (in module src.environment.utils.evaluate_policy)</a>, <a href="modules/src.environment.utils.html#src.environment.utils.evaluate_policy.evaluate_policy">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.existence_penalty.ExistencePenalty">ExistencePenalty (class in src.environment.rewards.types.existence_penalty)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.existence_penalty.ExistencePenalty">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.exiting">exiting (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.exiting">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp1_train_scenario">exp1_train_scenario() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp1_train_scenario">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp2_train_scenario">exp2_train_scenario() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp2_train_scenario">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="F">F</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.utils.html#src.environment.utils.utils.filter_stdout">filter_stdout() (in module src.environment.utils.utils)</a>, <a href="modules/src.environment.utils.html#src.environment.utils.utils.filter_stdout">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.utils.html#src.environment.utils.utils.LogFilter.flush">flush() (src.environment.utils.utils.LogFilter method)</a>, <a href="modules/src.environment.utils.html#src.environment.utils.utils.LogFilter.flush">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.follow_target">follow_target (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.follow_target">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.follow_target">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.forward">forward() (src.environment.extractors.lstm_agent_obs.LSTMAgentObs method)</a>, <a href="modules/src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.forward">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="G">G</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.generate_scenario">generate_scenario() (src.environment.scenarios.scenario.Scenario method)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.generate_scenario">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario.generate_scenario">(src.environment.scenarios.types.cycle.CycleScenario method)</a>, <a href="modules/src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario.generate_scenario">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario">(src.environment.scenarios.types.graph_nav.GraphNavScenario method)</a>, <a href="modules/src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario.generate_scenario">(src.environment.scenarios.types.manual.ManualScenario method)</a>, <a href="modules/src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario.generate_scenario">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.utils.html#src.environment.utils.utils.get_tboard_writer">get_tboard_writer() (in module src.environment.utils.utils)</a>, <a href="modules/src.environment.utils.html#src.environment.utils.utils.get_tboard_writer">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold">goal_dist_threshold (src.environment.rewards.types.social_norm_cross.SocialNormCross attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold">(src.environment.rewards.types.social_norm_overtake.SocialNormOvertake attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold">(src.environment.rewards.types.social_norm_pass.SocialNormPass attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.goal_pose">goal_pose (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.goal_pose">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.goal_pose">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.goal_distance.GoalDistance">GoalDistance (class in src.environment.rewards.types.goal_distance)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.goal_distance.GoalDistance">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.goal_distance_change.GoalDistanceChange">GoalDistanceChange (class in src.environment.rewards.types.goal_distance_change)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.goal_distance_change.GoalDistanceChange">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario">GraphNavScenario (class in src.environment.scenarios.types.graph_nav)</a>, <a href="modules/src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="H">H</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold">heading_angle_threshold (src.environment.rewards.types.social_norm_overtake.SocialNormOvertake attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold">(src.environment.rewards.types.social_norm_pass.SocialNormPass attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds">heading_angle_thresholds (src.environment.rewards.types.social_norm_cross.SocialNormCross attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history">history (src.environment.observations.types.agents_goal_distance.AgentsGoalDistance attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.history">(src.environment.observations.types.agents_velocity.AgentsVelocity attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.history">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history_length">history_length (src.environment.observations.types.agents_goal_distance.AgentsGoalDistance attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history_length">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.history_length">(src.environment.observations.types.agents_velocity.AgentsVelocity attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.history_length">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.human_poses">human_poses (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_poses">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_poses">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.human_vels">human_vels (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_vels">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_vels">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-</tr></table>
-
-<h2 id="I">I</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.ignore_theta">ignore_theta (src.environment.observations.types.agents_velocity.AgentsVelocity attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.ignore_theta">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.image_callback">image_callback() (src.environment.wrappers.tensorboard_writer.TensorboardWriter method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.image_callback">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.in_zone">in_zone (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.in_zone">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="K">K</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.html#src.config_run.kinds">kinds (class in src.config_run)</a>, <a href="modules/src.html#src.config_run.kinds">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="L">L</h2>
+<h2 id="M">M</h2>
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.launch_config">launch_config (src.environment.environment_types.manual_zone.ManualZoneEnv attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.launch_config">(src.environment.ros_social_gym.RosSocialEnv attribute)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.launch_config">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.rewards.wrappers.html#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler">LinearWeightScheduler (class in src.environment.rewards.wrappers.linear_weight_scheduler)</a>, <a href="modules/src.environment.rewards.wrappers.html#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.load_nav_nodes">load_nav_nodes() (src.environment.scenarios.scenario.Scenario method)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.load_nav_nodes">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.local_target">local_target (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
+      <li>
+    module
 
       <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.local_target">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.local_target">[1]</a>
+        <li><a href="_site/modules/src.html#module-src">src</a>, <a href="modules/src.html#module-src">[1]</a>
 </li>
       </ul></li>
-      <li><a href="_site/modules/src.environment.utils.html#src.environment.utils.utils.LogFilter">LogFilter (class in src.environment.utils.utils)</a>, <a href="modules/src.environment.utils.html#src.environment.utils.utils.LogFilter">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs">LSTMAgentObs (class in src.environment.extractors.lstm_agent_obs)</a>, <a href="modules/src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs">[1]</a>
-</li>
   </ul></td>
 </tr></table>
 
-<h2 id="M">M</h2>
+<h2 id="S">S</h2>
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observer.Observer.make_observation">make_observation() (src.environment.observations.observer.Observer method)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observer.Observer.make_observation">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.make_observation">(src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.make_observation">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.make_scenario">make_scenario() (src.environment.scenarios.scenario.Scenario method)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.make_scenario">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.make_tensors">make_tensors() (src.environment.extractors.lstm_agent_obs.LSTMAgentObs method)</a>, <a href="modules/src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.make_tensors">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario">ManualScenario (class in src.environment.scenarios.types.manual)</a>, <a href="modules/src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv">ManualZoneEnv (class in src.environment.environment_types.manual_zone)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse">ManualZoneUTMRSResponse (class in src.environment.environment_types.manual_zone)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.metadata">metadata (src.environment.ros_social_gym.RosSocialEnv attribute)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.metadata">[1]</a>
-</li>
       <li>
-    module
+    src
 
       <ul>
-        <li><a href="_site/modules/src.html#module-src">src</a>, <a href="modules/src.html#module-src">[1]</a>
-</li>
-        <li><a href="_site/modules/src.html#module-src.config_run">src.config_run</a>, <a href="modules/src.html#module-src.config_run">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.html#module-src.environment">src.environment</a>, <a href="modules/src.environment.html#module-src.environment">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.callbacks.html#module-src.environment.callbacks">src.environment.callbacks</a>, <a href="modules/src.environment.callbacks.html#module-src.environment.callbacks">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.callbacks.html#module-src.environment.callbacks.callbacks">src.environment.callbacks.callbacks</a>, <a href="modules/src.environment.callbacks.html#module-src.environment.callbacks.callbacks">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.environment_types.html#module-src.environment.environment_types">src.environment.environment_types</a>, <a href="modules/src.environment.environment_types.html#module-src.environment.environment_types">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.environment_types.html#module-src.environment.environment_types.manual_zone">src.environment.environment_types.manual_zone</a>, <a href="modules/src.environment.environment_types.html#module-src.environment.environment_types.manual_zone">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.extractors.html#module-src.environment.extractors">src.environment.extractors</a>, <a href="modules/src.environment.extractors.html#module-src.environment.extractors">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.extractors.html#module-src.environment.extractors.lstm_agent_obs">src.environment.extractors.lstm_agent_obs</a>, <a href="modules/src.environment.extractors.html#module-src.environment.extractors.lstm_agent_obs">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations">src.environment.observations</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations.common_observations">src.environment.observations.common_observations</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations.common_observations">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations.observation">src.environment.observations.observation</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations.observation">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations.observer">src.environment.observations.observer</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations.observer">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types">src.environment.observations.types</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_goal_distance">src.environment.observations.types.agents_goal_distance</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_goal_distance">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_heading_direction">src.environment.observations.types.agents_heading_direction</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_heading_direction">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_others_distance">src.environment.observations.types.agents_others_distance</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_others_distance">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_pose">src.environment.observations.types.agents_pose</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_pose">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_preferred_velocity">src.environment.observations.types.agents_preferred_velocity</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_preferred_velocity">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">src.environment.observations.types.agents_velocity</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">src.environment.observations.types.collision_observation</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone">src.environment.observations.types.manual_zone</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_in_zone">src.environment.observations.types.manual_zone.agent_in_zone</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_in_zone">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_current_order">src.environment.observations.types.manual_zone.agent_zone_current_order</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_current_order">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_priority_order">src.environment.observations.types.manual_zone.agent_zone_priority_order</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_priority_order">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">src.environment.observations.types.other_agent_observables</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.others_heading_direction">src.environment.observations.types.others_heading_direction</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.others_heading_direction">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.others_poses">src.environment.observations.types.others_poses</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.others_poses">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.others_velocities">src.environment.observations.types.others_velocities</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.others_velocities">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.success_observation">src.environment.observations.types.success_observation</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.success_observation">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.rewards.html#module-src.environment.rewards">src.environment.rewards</a>, <a href="modules/src.environment.rewards.html#module-src.environment.rewards">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.rewards.html#module-src.environment.rewards.common_rewards">src.environment.rewards.common_rewards</a>, <a href="modules/src.environment.rewards.html#module-src.environment.rewards.common_rewards">[1]</a>
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-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.collisions">src.environment.rewards.types.collisions</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.collisions">[1]</a>
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-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.existence_penalty">src.environment.rewards.types.existence_penalty</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.existence_penalty">[1]</a>
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-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance">src.environment.rewards.types.goal_distance</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance">[1]</a>
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-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance_change">src.environment.rewards.types.goal_distance_change</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance_change">[1]</a>
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-        <li><a href="_site/modules/src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone.enforced_order">src.environment.rewards.types.manual_zone.enforced_order</a>, <a href="modules/src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone.enforced_order">[1]</a>
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-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.preferred_velocity">src.environment.rewards.types.preferred_velocity</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.preferred_velocity">[1]</a>
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-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.success">src.environment.rewards.types.success</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.success">[1]</a>
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-</li>
-        <li><a href="_site/modules/src.environment.services.html#module-src.environment.services.utmrs">src.environment.services.utmrs</a>, <a href="modules/src.environment.services.html#module-src.environment.services.utmrs">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.utils.html#module-src.environment.utils">src.environment.utils</a>, <a href="modules/src.environment.utils.html#module-src.environment.utils">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.utils.html#module-src.environment.utils.evaluate_policy">src.environment.utils.evaluate_policy</a>, <a href="modules/src.environment.utils.html#module-src.environment.utils.evaluate_policy">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.utils.html#module-src.environment.utils.utils">src.environment.utils.utils</a>, <a href="modules/src.environment.utils.html#module-src.environment.utils.utils">[1]</a>
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-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#module-src.environment.wrappers.new_scenario_wrapper">src.environment.wrappers.new_scenario_wrapper</a>, <a href="modules/src.environment.wrappers.html#module-src.environment.wrappers.new_scenario_wrapper">[1]</a>
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-  </ul></td>
-</tr></table>
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-<h2 id="N">N</h2>
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-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observation.Observation.name">name() (src.environment.observations.observation.Observation class method)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observation.Observation.name">[1]</a>
-
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-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_pose.AgentsPose.name">(src.environment.observations.types.agents_pose.AgentsPose class method)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_pose.AgentsPose.name">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity.name">(src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity class method)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity.name">[1]</a>
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-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.name">(src.environment.observations.types.agents_velocity.AgentsVelocity class method)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.name">[1]</a>
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-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.collision_observation.CollisionObservation.name">(src.environment.observations.types.collision_observation.CollisionObservation class method)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.collision_observation.CollisionObservation.name">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone.name">(src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone class method)</a>, <a href="modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone.name">[1]</a>
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-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder.name">(src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder class method)</a>, <a href="modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder.name">[1]</a>
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-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder.name">(src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder class method)</a>, <a href="modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder.name">[1]</a>
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-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities.name">(src.environment.observations.types.others_velocities.OthersVelocities class method)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities.name">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.success_observation.SuccessObservation.name">(src.environment.observations.types.success_observation.SuccessObservation class method)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.success_observation.SuccessObservation.name">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.reward.Reward.name">(src.environment.rewards.reward.Reward class method)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.reward.Reward.name">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions.name">(src.environment.rewards.types.collisions.Collisions class method)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions.name">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.existence_penalty.ExistencePenalty.name">(src.environment.rewards.types.existence_penalty.ExistencePenalty class method)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.existence_penalty.ExistencePenalty.name">[1]</a>
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-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.goal_distance.GoalDistance.name">(src.environment.rewards.types.goal_distance.GoalDistance class method)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.goal_distance.GoalDistance.name">[1]</a>
-</li>
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-</li>
-        <li><a href="_site/modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.name">(src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder class method)</a>, <a href="modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.name">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.preferred_velocity.PreferredVelocity.name">(src.environment.rewards.types.preferred_velocity.PreferredVelocity class method)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.preferred_velocity.PreferredVelocity.name">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.name">(src.environment.rewards.types.social_norm_cross.SocialNormCross class method)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.name">[1]</a>
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-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.name">(src.environment.rewards.types.social_norm_overtake.SocialNormOvertake class method)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.name">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.name">(src.environment.rewards.types.social_norm_pass.SocialNormPass class method)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.name">[1]</a>
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-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.success.Success.name">(src.environment.rewards.types.success.Success class method)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.success.Success.name">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.velocity_control.VelocityControl.name">(src.environment.rewards.types.velocity_control.VelocityControl class method)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.velocity_control.VelocityControl.name">[1]</a>
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-      </ul></li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only">negative_multiplier_only (src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario">new_scenario() (src.environment.environment_types.manual_zone.ManualZoneEnv method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.new_scenario">(src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.new_scenario">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency">new_scenario_episode_frequency (src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper">NewScenarioWrapper (class in src.environment.wrappers.new_scenario_wrapper)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.num_agents">num_agents (src.environment.environment_types.manual_zone.ManualZoneEnv attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_agents">(src.environment.ros_social_gym.RosSocialEnv attribute)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_agents">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.num_humans">num_humans (src.environment.environment_types.manual_zone.ManualZoneEnv attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_humans">(src.environment.ros_social_gym.RosSocialEnv attribute)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_humans">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.num_others">num_others (src.environment.observations.types.agents_others_distance.AgentsOthersDistance attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.num_others">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables.num_others">(src.environment.observations.types.other_agent_observables.OtherAgentObservables attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables.num_others">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others">(src.environment.observations.types.others_heading_direction.OthersHeadingDirection attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses.num_others">(src.environment.observations.types.others_poses.OthersPoses attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses.num_others">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities.num_others">(src.environment.observations.types.others_velocities.OthersVelocities attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities.num_others">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_entering">number_agents_entering (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_entering">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_exiting">number_agents_exiting (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_exiting">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="O">O</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.html#src.multi_agent_optuna.objective">objective() (in module src.multi_agent_optuna)</a>, <a href="modules/src.html#src.multi_agent_optuna.objective">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observation.Observation">Observation (class in src.environment.observations.observation)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observation.Observation">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.observation_space">observation_space() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.observation_space">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observation.Observation.observations">observations() (src.environment.observations.observation.Observation method)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observation.Observation.observations">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observer.Observer">Observer (class in src.environment.observations.observer)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observer.Observer">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.observer">observer (src.environment.environment_types.manual_zone.ManualZoneEnv attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.observer">(src.environment.ros_social_gym.RosSocialEnv attribute)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.observer">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter">on_enter (src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder attribute)</a>, <a href="modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit">on_exit (src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder attribute)</a>, <a href="modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.callbacks.html#src.environment.callbacks.callbacks.OptunaCallback">OptunaCallback (class in src.environment.callbacks.callbacks)</a>, <a href="modules/src.environment.callbacks.html#src.environment.callbacks.callbacks.OptunaCallback">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.other_robot_poses">other_robot_poses (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_poses">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_poses">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.other_robot_vels">other_robot_vels (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_vels">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_vels">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables">OtherAgentObservables (class in src.environment.observations.types.other_agent_observables)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection">OthersHeadingDirection (class in src.environment.observations.types.others_heading_direction)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses">OthersPoses (class in src.environment.observations.types.others_poses)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities">OthersVelocities (class in src.environment.observations.types.others_velocities)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="P">P</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans">plans (src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.point">point() (src.environment.environment_types.manual_zone.RvisZoneVisualization method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.point">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.utils.html#src.environment.utils.utils.poses_to_np_array">poses_to_np_array() (in module src.environment.utils.utils)</a>, <a href="modules/src.environment.utils.html#src.environment.utils.utils.poses_to_np_array">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.preferred_velocity.PreferredVelocity">PreferredVelocity (class in src.environment.rewards.types.preferred_velocity)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.preferred_velocity.PreferredVelocity">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state">previous_zone_state (src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder attribute)</a>, <a href="modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.process">process() (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse class method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.process">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.process">(src.environment.services.utmrs.UTMRSResponse class method)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.process">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.publish">publish() (src.environment.environment_types.manual_zone.RvisZoneVisualization method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.publish">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold">px_threshold (src.environment.rewards.types.social_norm_overtake.SocialNormOvertake attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold">(src.environment.rewards.types.social_norm_pass.SocialNormPass attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold">py_threshold (src.environment.rewards.types.social_norm_overtake.SocialNormOvertake attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold">(src.environment.rewards.types.social_norm_pass.SocialNormPass attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-</tr></table>
-
-<h2 id="R">R</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.rect">rect() (src.environment.environment_types.manual_zone.RvisZoneVisualization method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.rect">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observer.Observer.registered_observations">registered_observations (src.environment.observations.observer.Observer attribute)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observer.Observer.registered_observations">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.registered_rewards">registered_rewards (src.environment.rewards.rewarder.Rewarder attribute)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.registered_rewards">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold">relative_agent_to_other_angle_threshold (src.environment.rewards.types.social_norm_cross.SocialNormCross attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.render">render() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.render">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.reset">reset() (src.environment.environment_types.manual_zone.ManualZoneEnv method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.reset">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observer.Observer.reset">(src.environment.observations.observer.Observer method)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observer.Observer.reset">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reset">(src.environment.rewards.rewarder.Rewarder method)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reset">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.reset">(src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.reset">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRS.reset">(src.environment.services.utmrs.UTMRS method)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRS.reset">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset">(src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset">(src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.reset">(src.environment.wrappers.tensorboard_writer.TensorboardWriter method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.reset">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.reset">(src.environment.wrappers.time_limit.TimeLimitWrapper method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.reset">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions">reset_positions() (src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.reward.Reward">Reward (class in src.environment.rewards.reward)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.reward.Reward">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reward">reward() (src.environment.rewards.rewarder.Rewarder method)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reward">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier">reward_multiplier (src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder">Rewarder (class in src.environment.rewards.rewarder)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.rewarder">rewarder (src.environment.environment_types.manual_zone.ManualZoneEnv attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.rewarder">(src.environment.ros_social_gym.RosSocialEnv attribute)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.rewarder">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper">RewardStripper (class in src.environment.wrappers.reward_stripper)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.robot_poses">robot_poses (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_poses">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_poses">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.robot_state">robot_state (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_state">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_state">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.robot_vels">robot_vels (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_vels">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_vels">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv">RosSocialEnv (class in src.environment.ros_social_gym)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv">[1]</a>
-</li>
-      <li><a href="_site/modules/src.html#src.config_run.run">run() (in module src.config_run)</a>, <a href="modules/src.html#src.config_run.run">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization">RvisZoneVisualization (class in src.environment.environment_types.manual_zone)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="S">S</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.html#src.config_run.kinds.sacadrl">sacadrl (src.config_run.kinds attribute)</a>, <a href="modules/src.html#src.config_run.kinds.sacadrl">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario">Scenario (class in src.environment.scenarios.scenario)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.reward.Reward.score">score() (src.environment.rewards.reward.Reward method)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.reward.Reward.score">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.seed">seed() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.seed">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed">(src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed">(src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed">(src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.seed">(src.environment.wrappers.reward_stripper.RewardStripper method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.seed">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.seed">(src.environment.wrappers.tensorboard_writer.TensorboardWriter method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.seed">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.seed">(src.environment.wrappers.time_limit.TimeLimitWrapper method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.seed">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.set_vars">set_vars() (src.environment.services.utmrs.UTMRSResponse method)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.set_vars">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.set_zone_vars">set_zone_vars() (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.set_zone_vars">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observer.Observer.setup">setup() (src.environment.observations.observer.Observer method)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observer.Observer.setup">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.setup">(src.environment.rewards.rewarder.Rewarder method)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.setup">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.sim_step">sim_step() (src.environment.environment_types.manual_zone.ManualZoneEnv method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.sim_step">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.sim_step">(src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.sim_step">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross">SocialNormCross (class in src.environment.rewards.types.social_norm_cross)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake">SocialNormOvertake (class in src.environment.rewards.types.social_norm_overtake)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass">SocialNormPass (class in src.environment.rewards.types.social_norm_pass)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass">[1]</a>
-</li>
-      <li>
-    src
-
-      <ul>
-        <li><a href="_site/modules/src.html#module-src">module</a>, <a href="modules/src.html#module-src">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.config_run
-
-      <ul>
-        <li><a href="_site/modules/src.html#module-src.config_run">module</a>, <a href="modules/src.html#module-src.config_run">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#module-src.environment">module</a>, <a href="modules/src.environment.html#module-src.environment">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.callbacks
-
-      <ul>
-        <li><a href="_site/modules/src.environment.callbacks.html#module-src.environment.callbacks">module</a>, <a href="modules/src.environment.callbacks.html#module-src.environment.callbacks">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.callbacks.callbacks
-
-      <ul>
-        <li><a href="_site/modules/src.environment.callbacks.html#module-src.environment.callbacks.callbacks">module</a>, <a href="modules/src.environment.callbacks.html#module-src.environment.callbacks.callbacks">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.environment_types
-
-      <ul>
-        <li><a href="_site/modules/src.environment.environment_types.html#module-src.environment.environment_types">module</a>, <a href="modules/src.environment.environment_types.html#module-src.environment.environment_types">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.environment_types.manual_zone
-
-      <ul>
-        <li><a href="_site/modules/src.environment.environment_types.html#module-src.environment.environment_types.manual_zone">module</a>, <a href="modules/src.environment.environment_types.html#module-src.environment.environment_types.manual_zone">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.extractors
-
-      <ul>
-        <li><a href="_site/modules/src.environment.extractors.html#module-src.environment.extractors">module</a>, <a href="modules/src.environment.extractors.html#module-src.environment.extractors">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.extractors.lstm_agent_obs
-
-      <ul>
-        <li><a href="_site/modules/src.environment.extractors.html#module-src.environment.extractors.lstm_agent_obs">module</a>, <a href="modules/src.environment.extractors.html#module-src.environment.extractors.lstm_agent_obs">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations">module</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.common_observations
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations.common_observations">module</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations.common_observations">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.observation
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations.observation">module</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations.observation">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.observer
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations.observer">module</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations.observer">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.agents_goal_distance
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_goal_distance">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_goal_distance">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.agents_heading_direction
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_heading_direction">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_heading_direction">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.agents_others_distance
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_others_distance">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_others_distance">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.agents_pose
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_pose">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_pose">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.agents_preferred_velocity
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_preferred_velocity">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_preferred_velocity">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.agents_velocity
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.collision_observation
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.manual_zone
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone">module</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.manual_zone.agent_in_zone
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_in_zone">module</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_in_zone">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.manual_zone.agent_zone_current_order
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_current_order">module</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_current_order">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.manual_zone.agent_zone_priority_order
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_priority_order">module</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_priority_order">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.other_agent_observables
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.others_heading_direction
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.others_heading_direction">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.others_heading_direction">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.others_poses
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.others_poses">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.others_poses">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.others_velocities
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.others_velocities">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.others_velocities">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.success_observation
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.success_observation">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.success_observation">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.html#module-src.environment.rewards">module</a>, <a href="modules/src.environment.rewards.html#module-src.environment.rewards">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.common_rewards
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.html#module-src.environment.rewards.common_rewards">module</a>, <a href="modules/src.environment.rewards.html#module-src.environment.rewards.common_rewards">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.reward
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.html#module-src.environment.rewards.reward">module</a>, <a href="modules/src.environment.rewards.html#module-src.environment.rewards.reward">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li>
-    src.environment.rewards.rewarder
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.html#module-src.environment.rewards.rewarder">module</a>, <a href="modules/src.environment.rewards.html#module-src.environment.rewards.rewarder">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.collisions
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.collisions">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.collisions">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.existence_penalty
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.existence_penalty">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.existence_penalty">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.goal_distance
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.goal_distance_change
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance_change">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance_change">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.manual_zone
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone">module</a>, <a href="modules/src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.manual_zone.enforced_order
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone.enforced_order">module</a>, <a href="modules/src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone.enforced_order">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.preferred_velocity
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.preferred_velocity">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.preferred_velocity">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.social_norm_cross
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_cross">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_cross">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.social_norm_overtake
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_overtake">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_overtake">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.social_norm_pass
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_pass">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_pass">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.success
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.success">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.success">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.velocity_control
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.velocity_control">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.velocity_control">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.wrappers
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers">module</a>, <a href="modules/src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.wrappers.linear_weight_scheduler
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers.linear_weight_scheduler">module</a>, <a href="modules/src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers.linear_weight_scheduler">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.ros_social_gym
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#module-src.environment.ros_social_gym">module</a>, <a href="modules/src.environment.html#module-src.environment.ros_social_gym">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.scenarios
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.html#module-src.environment.scenarios">module</a>, <a href="modules/src.environment.scenarios.html#module-src.environment.scenarios">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.scenarios.common_scenarios
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.html#module-src.environment.scenarios.common_scenarios">module</a>, <a href="modules/src.environment.scenarios.html#module-src.environment.scenarios.common_scenarios">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.scenarios.scenario
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.html#module-src.environment.scenarios.scenario">module</a>, <a href="modules/src.environment.scenarios.html#module-src.environment.scenarios.scenario">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.scenarios.types
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types">module</a>, <a href="modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.scenarios.types.cycle
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types.cycle">module</a>, <a href="modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types.cycle">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.scenarios.types.graph_nav
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types.graph_nav">module</a>, <a href="modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types.graph_nav">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.scenarios.types.manual
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types.manual">module</a>, <a href="modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types.manual">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.services
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#module-src.environment.services">module</a>, <a href="modules/src.environment.services.html#module-src.environment.services">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.services.utmrs
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#module-src.environment.services.utmrs">module</a>, <a href="modules/src.environment.services.html#module-src.environment.services.utmrs">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.utils
-
-      <ul>
-        <li><a href="_site/modules/src.environment.utils.html#module-src.environment.utils">module</a>, <a href="modules/src.environment.utils.html#module-src.environment.utils">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.utils.evaluate_policy
-
-      <ul>
-        <li><a href="_site/modules/src.environment.utils.html#module-src.environment.utils.evaluate_policy">module</a>, <a href="modules/src.environment.utils.html#module-src.environment.utils.evaluate_policy">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.utils.utils
-
-      <ul>
-        <li><a href="_site/modules/src.environment.utils.html#module-src.environment.utils.utils">module</a>, <a href="modules/src.environment.utils.html#module-src.environment.utils.utils">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.wrappers
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#module-src.environment.wrappers">module</a>, <a href="modules/src.environment.wrappers.html#module-src.environment.wrappers">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.wrappers.collision_episode_ender
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#module-src.environment.wrappers.collision_episode_ender">module</a>, <a href="modules/src.environment.wrappers.html#module-src.environment.wrappers.collision_episode_ender">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.wrappers.entropy_episode_ender
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#module-src.environment.wrappers.entropy_episode_ender">module</a>, <a href="modules/src.environment.wrappers.html#module-src.environment.wrappers.entropy_episode_ender">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.wrappers.new_scenario_wrapper
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#module-src.environment.wrappers.new_scenario_wrapper">module</a>, <a href="modules/src.environment.wrappers.html#module-src.environment.wrappers.new_scenario_wrapper">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.wrappers.reward_stripper
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#module-src.environment.wrappers.reward_stripper">module</a>, <a href="modules/src.environment.wrappers.html#module-src.environment.wrappers.reward_stripper">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.wrappers.tensorboard_writer
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#module-src.environment.wrappers.tensorboard_writer">module</a>, <a href="modules/src.environment.wrappers.html#module-src.environment.wrappers.tensorboard_writer">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.wrappers.time_limit
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#module-src.environment.wrappers.time_limit">module</a>, <a href="modules/src.environment.wrappers.html#module-src.environment.wrappers.time_limit">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.multi_agent_optuna
-
-      <ul>
-        <li><a href="_site/modules/src.html#module-src.multi_agent_optuna">module</a>, <a href="modules/src.html#module-src.multi_agent_optuna">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.state">state() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.state">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.step">step() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.step">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRS.step">(src.environment.services.utmrs.UTMRS method)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRS.step">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step">(src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step">(src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.step">(src.environment.wrappers.reward_stripper.RewardStripper method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.step">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.step">(src.environment.wrappers.tensorboard_writer.TensorboardWriter method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.step">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.step">(src.environment.wrappers.time_limit.TimeLimitWrapper method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.step">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.success.Success">Success (class in src.environment.rewards.types.success)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.success.Success">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.success">success (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.success">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.success">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.success_observation.SuccessObservation">SuccessObservation (class in src.environment.observations.types.success_observation)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.success_observation.SuccessObservation">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="T">T</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter">TensorboardWriter (class in src.environment.wrappers.tensorboard_writer)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper">TimeLimitWrapper (class in src.environment.wrappers.time_limit)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold">timestep_threshold (src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="U">U</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.callbacks.html#src.environment.callbacks.callbacks.EvalCallback.update_child_locals">update_child_locals() (src.environment.callbacks.callbacks.EvalCallback method)</a>, <a href="modules/src.environment.callbacks.html#src.environment.callbacks.callbacks.EvalCallback.update_child_locals">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRS">UTMRS (class in src.environment.services.utmrs)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRS">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse">UTMRSResponse (class in src.environment.services.utmrs)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="V">V</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.velocity_control.VelocityControl">VelocityControl (class in src.environment.rewards.types.velocity_control)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.velocity_control.VelocityControl">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="W">W</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.reward.Reward.weight">weight (src.environment.rewards.reward.Reward attribute)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.reward.Reward.weight">[1]</a>
-
-      <ul>
-        <li><a href="modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.weight">(src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder attribute)</a>
-</li>
-        <li><a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.weight">(src.environment.rewards.types.social_norm_cross.SocialNormCross attribute)</a>
-</li>
-        <li><a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.weight">(src.environment.rewards.types.social_norm_overtake.SocialNormOvertake attribute)</a>
-</li>
-        <li><a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.weight">(src.environment.rewards.types.social_norm_pass.SocialNormPass attribute)</a>
+        <li><a href="_site/modules/src.html#module-src">module</a>, <a href="modules/src.html#module-src">[1]</a>
 </li>
       </ul></li>
   </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.utils.html#src.environment.utils.utils.LogFilter.write">write() (src.environment.utils.utils.LogFilter method)</a>, <a href="modules/src.environment.utils.html#src.environment.utils.utils.LogFilter.write">[1]</a>
-</li>
-  </ul></td>
 </tr></table>
 
 
diff --git a/docs/index.html b/docs/index.html
index 5fbea90a..73a07759 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Welcome to the Social Gym 2.0 documentation! &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="_static/sphinx_highlight.js"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
     <link rel="search" title="Search" href="search.html" />
@@ -26,16 +27,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="#" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="#" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -63,7 +60,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="#" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="#" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Welcome to the Social Gym 2.0 documentation!</li>
       <li class="wy-breadcrumbs-aside">
             <a href="_sources/index.rst.txt" rel="nofollow"> View page source</a>
@@ -75,8 +72,8 @@
            <div itemprop="articleBody">
              
   <section id="welcome-to-the-social-gym-2-0-documentation">
-<h1>Welcome to the Social Gym 2.0 documentation!<a class="headerlink" href="#welcome-to-the-social-gym-2-0-documentation" title="Permalink to this heading"></a></h1>
-<a class="reference internal image-reference" href="https://drive.google.com/uc?id=1-mdW21SIJiF4LUlxGxQClDlZhd5iHUDP"><img alt="https://drive.google.com/uc?id=1-mdW21SIJiF4LUlxGxQClDlZhd5iHUDP" class="align-center" src="https://drive.google.com/uc?id=1-mdW21SIJiF4LUlxGxQClDlZhd5iHUDP" style="width: 400px;" /></a>
+<h1>Welcome to the Social Gym 2.0 documentation!<a class="headerlink" href="#welcome-to-the-social-gym-2-0-documentation" title="Permalink to this headline"></a></h1>
+<a class="reference internal image-reference" href="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_sim.gif"><img alt="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_sim.gif" class="align-center" src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_sim.gif" style="width: 400px;" /></a>
 <div class="line-block">
 <div class="line"><br /></div>
 </div>
@@ -121,7 +118,7 @@ <h1>Welcome to the Social Gym 2.0 documentation!<a class="headerlink" href="#wel
 </div>
 </section>
 <section id="if-you-use-this-code-please-cite-the-following">
-<h1>If you use this code, please cite the following<a class="headerlink" href="#if-you-use-this-code-please-cite-the-following" title="Permalink to this heading"></a></h1>
+<h1>If you use this code, please cite the following<a class="headerlink" href="#if-you-use-this-code-please-cite-the-following" title="Permalink to this headline"></a></h1>
 <div class="highlight-latex notranslate"><div class="highlight"><pre><span></span>@article<span class="nb">{</span>sprague2023socialgym,
 title=<span class="nb">{</span>SOCIALGYM 2.0: Simulator for Multi-Agent Social Robot Navigation in Shared Human Spaces<span class="nb">}</span>,
 author=<span class="nb">{</span>Sprague, Zayne and Chandra, Rohan and Holtz, Jarrett and Biswas, Joydeep<span class="nb">}</span>,
@@ -141,7 +138,7 @@ <h1>If you use this code, please cite the following<a class="headerlink" href="#
 </div>
 </section>
 <section id="indices-and-tables">
-<h1>Indices and tables<a class="headerlink" href="#indices-and-tables" title="Permalink to this heading"></a></h1>
+<h1>Indices and tables<a class="headerlink" href="#indices-and-tables" title="Permalink to this headline"></a></h1>
 <ul class="simple">
 <li><p><a class="reference internal" href="genindex.html"><span class="std std-ref">Index</span></a></p></li>
 <li><p><a class="reference internal" href="py-modindex.html"><span class="std std-ref">Module Index</span></a></p></li>
diff --git a/docs/installation/advanced_usage.html b/docs/installation/advanced_usage.html
index 20340759..21233f46 100644
--- a/docs/installation/advanced_usage.html
+++ b/docs/installation/advanced_usage.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Advanced Usage &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
@@ -27,16 +28,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -90,7 +87,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Advanced Usage</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/installation/advanced_usage.md.txt" rel="nofollow"> View page source</a>
@@ -102,7 +99,7 @@
            <div itemprop="articleBody">
              
   <section id="advanced-usage">
-<h1>Advanced Usage<a class="headerlink" href="#advanced-usage" title="Permalink to this heading"></a></h1>
+<h1>Advanced Usage<a class="headerlink" href="#advanced-usage" title="Permalink to this headline"></a></h1>
 <hr class="docutils" />
 <p>Welcome to the Advanced Usage doc!  Here, we will be setting up Social Gym so that each submodule runs on it’s
 own, allowing you to set up debuggers and step through each C submodule and the python code! There’s a FAQ at the bottom about common errors you might encounter.</p>
@@ -110,7 +107,7 @@ <h1>Advanced Usage<a class="headerlink" href="#advanced-usage" title="Permalink
 <code class="docutils literal notranslate"><span class="pre">apt</span></code>.</p>
 <hr class="docutils" />
 <section id="requirements">
-<h2>Requirements<a class="headerlink" href="#requirements" title="Permalink to this heading"></a></h2>
+<h2>Requirements<a class="headerlink" href="#requirements" title="Permalink to this headline"></a></h2>
 <p>We have only tested this full process on Pycharm and CLion Professional IDEs.  However, what’s really needed
 is the ability to have a remote source or remote server that you can plug your IDE into.  Specifically,
 we are going to plug our IDE (Pycharm/CLion) into a docker container via SSH.  Our IDE’s allow us to do this
@@ -118,38 +115,38 @@ <h2>Requirements<a class="headerlink" href="#requirements" title="Permalink to t
 need to look more stuff up on how to get these to work :/</p>
 </section>
 <section id="advanced-usage-setup-buckle-up">
-<h2>Advanced Usage setup (buckle up!)<a class="headerlink" href="#advanced-usage-setup-buckle-up" title="Permalink to this heading"></a></h2>
+<h2>Advanced Usage setup (buckle up!)<a class="headerlink" href="#advanced-usage-setup-buckle-up" title="Permalink to this headline"></a></h2>
 <p>We’ve broken this tutorial into 3 parts, the first is the basic setup, the second will get the submodules
 running, and the final part will focus on the python code and running the actual simulator end to end.</p>
 <section id="part-1-setting-up-the-basic-social-gym-dependencies-and-containers">
-<h3>Part 1: Setting up the basic Social Gym dependencies and containers<a class="headerlink" href="#part-1-setting-up-the-basic-social-gym-dependencies-and-containers" title="Permalink to this heading"></a></h3>
+<h3>Part 1: Setting up the basic Social Gym dependencies and containers<a class="headerlink" href="#part-1-setting-up-the-basic-social-gym-dependencies-and-containers" title="Permalink to this headline"></a></h3>
 <section id="from-the-basic-installation-guide-follow-steps-1-5">
-<h4>1.) From the basic installation guide follow steps 1-5<a class="headerlink" href="#from-the-basic-installation-guide-follow-steps-1-5" title="Permalink to this heading"></a></h4>
+<h4>1.) From the basic installation guide follow steps 1-5<a class="headerlink" href="#from-the-basic-installation-guide-follow-steps-1-5" title="Permalink to this headline"></a></h4>
 <p>They are not repeated here in case they change at some time</p>
 </section>
 <section id="build-and-up-the-docker-containers">
-<h4>2.) Build and “up” the docker containers<a class="headerlink" href="#build-and-up-the-docker-containers" title="Permalink to this heading"></a></h4>
+<h4>2.) Build and “up” the docker containers<a class="headerlink" href="#build-and-up-the-docker-containers" title="Permalink to this headline"></a></h4>
 <p>From the root directory of the project</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>docker-compose<span class="w"> </span>build<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>docker-compose<span class="w"> </span>up
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>docker-compose build <span class="o">&amp;&amp;</span> docker-compose up
 </pre></div>
 </div>
 <p>Make sure you see an RVIS window after the <code class="docutils literal notranslate"><span class="pre">docker-up</span></code> command finishes.  If you don’t, check your logs for build
 errors.</p>
 </section>
 <section id="open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these">
-<h4>3.) Open the submodule projects <code class="docutils literal notranslate"><span class="pre">ut_multirobot_sim</span></code> and <code class="docutils literal notranslate"><span class="pre">graph_navigation</span></code> in a separate IDE window (I use CLion for these)<a class="headerlink" href="#open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these" title="Permalink to this heading"></a></h4>
+<h4>3.) Open the submodule projects <code class="docutils literal notranslate"><span class="pre">ut_multirobot_sim</span></code> and <code class="docutils literal notranslate"><span class="pre">graph_navigation</span></code> in a separate IDE window (I use CLion for these)<a class="headerlink" href="#open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these" title="Permalink to this headline"></a></h4>
 <p>Make sure you are opening them from the directory <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/submodules/ut_multirobot_sim</span></code> and
 <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/submodules/graph_navigation</span></code> – we will be running the submodules from these windows (you could also
 run them from the ssh terminal in the subsequent steps)</p>
 </section>
 </section>
 <section id="part-2-setting-up-the-submodules">
-<h3>Part 2: Setting up the submodules<a class="headerlink" href="#part-2-setting-up-the-submodules" title="Permalink to this heading"></a></h3>
+<h3>Part 2: Setting up the submodules<a class="headerlink" href="#part-2-setting-up-the-submodules" title="Permalink to this headline"></a></h3>
 <p>This part of the setup was heavily inspired by https://github.com/nocoinman/ros-docker-clion – big shoutout to this
 project :)</p>
 <section id="ssh-into-the-ros-submodules-container">
-<h4>1.) SSH into the ROS submodules container<a class="headerlink" href="#ssh-into-the-ros-submodules-container" title="Permalink to this heading"></a></h4>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh<span class="w"> </span>rosdev@localhost<span class="w"> </span>-p<span class="w"> </span><span class="m">2222</span>
+<h4>1.) SSH into the ROS submodules container<a class="headerlink" href="#ssh-into-the-ros-submodules-container" title="Permalink to this headline"></a></h4>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh rosdev@localhost -p <span class="m">2222</span>
 yes
 <span class="m">12345</span>
 </pre></div>
@@ -160,25 +157,25 @@ <h4>1.) SSH into the ROS submodules container<a class="headerlink" href="#ssh-in
 so we can set some stuff up manually before we plug our IDE into it.</p>
 </section>
 <section id="build-static-dependencies">
-<h4>2.) Build static dependencies.<a class="headerlink" href="#build-static-dependencies" title="Permalink to this heading"></a></h4>
+<h4>2.) Build static dependencies.<a class="headerlink" href="#build-static-dependencies" title="Permalink to this headline"></a></h4>
 <p>There are a few submodules that really just contain libraries or code that does not need to be ran.  We still
 need to compile them so that we can reference them in the other sobumodules.</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>~/set_paths.sh
-rosdep<span class="w"> </span>update
-<span class="nb">cd</span><span class="w"> </span>social_gym/submodules/amrl_msgs
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span> ~/set_paths.sh
+rosdep update
+<span class="nb">cd</span> social_gym/submodules/amrl_msgs
 make
-<span class="nb">cd</span><span class="w"> </span>../pedsim_ros
+<span class="nb">cd</span> ../pedsim_ros
 catkin_make
-<span class="nb">cd</span><span class="w"> </span>../
+<span class="nb">cd</span> ../
 </pre></div>
 </div>
 <p>Make sure <code class="docutils literal notranslate"><span class="pre">rosdep</span> <span class="pre">udpate</span></code> succeeds! If it fails, you won’t be able to build the submodules.</p>
 </section>
 <section id="build-the-graph-navigation-submodule">
-<h4>3.) Build the Graph Navigation submodule<a class="headerlink" href="#build-the-graph-navigation-submodule" title="Permalink to this heading"></a></h4>
+<h4>3.) Build the Graph Navigation submodule<a class="headerlink" href="#build-the-graph-navigation-submodule" title="Permalink to this headline"></a></h4>
 <p>This submodule handles low level navigation for the agents.</p>
 <p>Assuming you are starting from the <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/submodules</span></code> directory</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>graph_navigation
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> graph_navigation
 make
 </pre></div>
 </div>
@@ -189,7 +186,7 @@ <h4>3.) Build the Graph Navigation submodule<a class="headerlink" href="#build-t
 </section>
 <hr class="docutils" />
 <section id="setup-graph-navigation-with-your-ide">
-<h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-graph-navigation-with-your-ide" title="Permalink to this heading"></a></h4>
+<h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-graph-navigation-with-your-ide" title="Permalink to this headline"></a></h4>
 <p>If you have a different IDE other than CLION Commercial or Professional find out how to configure a remote host via
 ssh.  Some of this will be relevant (like setting global env variables) but most of it may be CLION specific.</p>
 <p>Before following the steps below, run</p>
@@ -222,8 +219,8 @@ <h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-g
 something in there currently, make sure to delete that.)</p>
 <p>16.) Click OK in the settings window and go back to your terminal with the SSH connection.</p>
 <p>17.) Run</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-debug/
-sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-remotedebugger/
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo rm -r cmake-build-debug/
+sudo rm -r cmake-build-remotedebugger/
 </pre></div>
 </div>
 <p>remember the password is <code class="docutils literal notranslate"><span class="pre">12345</span></code> if you have not changed it.</p>
@@ -239,9 +236,9 @@ <h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-g
 <hr class="docutils" />
 <p><em>NOTE</em>: If you are going to be using custom maps, this is one of the places you’ll have to update the name (<code class="docutils literal notranslate"><span class="pre">-map</span></code>)</p>
 <p>21.) Hit Apply and OK then hit Run.  You should see the IDE build the project and eventually produce</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/graph_navigation/cmake-build-remotedebugger/../bin/social_nav<span class="w"> </span>-service_mode<span class="o">=</span><span class="nb">true</span><span class="w"> </span>-map<span class="o">=</span>exp2/train/easy
-Loading<span class="w"> </span>/home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json...
-Loaded<span class="w"> </span>/home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json<span class="w"> </span>with<span class="w"> </span><span class="m">18</span><span class="w"> </span>states,<span class="w"> </span><span class="m">17</span><span class="w"> </span>edges
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/graph_navigation/cmake-build-remotedebugger/../bin/social_nav -service_mode<span class="o">=</span><span class="nb">true</span> -map<span class="o">=</span>exp2/train/easy
+Loading /home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json...
+Loaded /home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json with <span class="m">18</span> states, <span class="m">17</span> edges
 </pre></div>
 </div>
 <p>If you see anything other than what’s shown here (except for maybe vertices counts) double check your configuration and
@@ -249,28 +246,28 @@ <h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-g
 <p>22.) Congratulations you now have a running Graph Navigation project that you can set breakpoints on using CLION :)</p>
 </section>
 <section id="setup-ut-multirobot-sim-with-your-ide">
-<h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-ut-multirobot-sim-with-your-ide" title="Permalink to this heading"></a></h4>
+<h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-ut-multirobot-sim-with-your-ide" title="Permalink to this headline"></a></h4>
 <p>For this next step I like creating a new terminal in a new IDE window, but that’s entirely up to you.</p>
 <p>Keep those environment parameters we copied from the Graph Navigation setup for this step as well!</p>
 <p>I am going to go a bit faster here since almost all the steps are repeating what we’ve already done for Graph Nav.</p>
 <p>1.) Navigate to your UT_Multirobot_sim IDE window and open a new terminal with a new ssh connection into the same
 container <code class="docutils literal notranslate"><span class="pre">ssh</span> <span class="pre">rosdev&#64;localhost</span> <span class="pre">-p</span> <span class="pre">2222</span></code> (password is <code class="docutils literal notranslate"><span class="pre">12345</span></code> unless you changed it)</p>
 <p>2.) Set up the shell</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>social_gym/submodules/ut_multirobot_sim/
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> social_gym/submodules/ut_multirobot_sim/
 </pre></div>
 </div>
 <p>3.) Edit the source file to include a new submodule</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>vim<span class="w"> </span>~/set_paths.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>vim ~/set_paths.sh
 </pre></div>
 </div>
 <p>Uncomment the second line
 write and quit</p>
 <p>4.) Source variables.</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>./set_paths.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span> ./set_paths.sh
 </pre></div>
 </div>
 <p>5.) Update rosdep</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>rosdep<span class="w"> </span>update
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>rosdep update
 </pre></div>
 </div>
 <p>6.) Make the simulator</p>
@@ -291,8 +288,8 @@ <h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-
 <code class="docutils literal notranslate"><span class="pre">/home/rosdev/social_gym/submodules/ut_multirobot_sim</span></code></p>
 <p>12.) Click Apply and OK to close the settings window.</p>
 <p>13.) Clean the projects CMAKE configs</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-debug/
-sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-remotedebugger/
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo rm -r cmake-build-debug/
+sudo rm -r cmake-build-remotedebugger/
 </pre></div>
 </div>
 <p>14.) Go to the CMake tab on your IDE (by the terminal window tab)</p>
@@ -306,23 +303,23 @@ <h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-
 <p><code class="docutils literal notranslate"><span class="pre">Environment</span> <span class="pre">Variables</span></code> should have the pasted environment variables from <code class="docutils literal notranslate"><span class="pre">~/get_vars.sh</span></code></p>
 <p>19.) Click the Run button</p>
 <p>20.) You should see the project rebuild and then an error message</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/ut_multirobot_sim/cmake-build-debug-docremotetest/../bin/simulator<span class="w"> </span>-sim_config<span class="w"> </span>/home/rosdev/social_gym/config/gym_gen/sim_config.lua<span class="w"> </span>-scene_config<span class="w"> </span>/home/rosdev/social_gym/config/gym_gen/scene.xml<span class="w"> </span>-speedup_factor<span class="w"> </span><span class="m">1</span>.0<span class="w"> </span>--localize<span class="w"> </span>--use_pedsim
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/ut_multirobot_sim/cmake-build-debug-docremotetest/../bin/simulator -sim_config /home/rosdev/social_gym/config/gym_gen/sim_config.lua -scene_config /home/rosdev/social_gym/config/gym_gen/scene.xml -speedup_factor <span class="m">1</span>.0 --localize --use_pedsim
 
-UT<span class="w"> </span>Multi-Robot<span class="w"> </span>Simulator
+UT Multi-Robot Simulator
 
-Publish<span class="w"> </span>GoAlone<span class="w"> </span>message
-Publish<span class="w"> </span>GoAlone<span class="w"> </span>message
-ERROR:<span class="w"> </span>Unable<span class="w"> </span>to<span class="w"> </span>load<span class="w"> </span>map<span class="w"> </span>maps/closed/door/t1/closed/door/t1.vectormap.txt
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Pass<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Follow<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>GoAlone<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>.017613<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">2</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Halt<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Publishing<span class="w"> </span>Halt<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Step<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>StepUTMRS<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>StepPedsim<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
+Publish GoAlone message
+Publish GoAlone message
+ERROR: Unable to load map maps/closed/door/t1/closed/door/t1.vectormap.txt
+Run-time stats <span class="k">for</span> Pass : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> Follow : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> GoAlone : mean run <span class="nb">time</span> <span class="o">=</span> <span class="m">0</span>.017613 ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">2</span>
+Run-time stats <span class="k">for</span> Halt : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> Publishing Halt : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> Step : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> StepUTMRS : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> StepPedsim : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
 
-Process<span class="w"> </span>finished<span class="w"> </span>with<span class="w"> </span><span class="nb">exit</span><span class="w"> </span>code<span class="w"> </span><span class="m">1</span>
+Process finished with <span class="nb">exit</span> code <span class="m">1</span>
 </pre></div>
 </div>
 <p>This is okay! This means the project was built correctly but the current configuration in the python project
@@ -333,12 +330,12 @@ <h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-
 </section>
 </section>
 <section id="part-3-setting-up-python-and-running-everything">
-<h3>Part 3: Setting up Python and Running everything!<a class="headerlink" href="#part-3-setting-up-python-and-running-everything" title="Permalink to this heading"></a></h3>
+<h3>Part 3: Setting up Python and Running everything!<a class="headerlink" href="#part-3-setting-up-python-and-running-everything" title="Permalink to this headline"></a></h3>
 <section id="open-up-pycharm-to-the-root-folder-of-the-project">
-<h4>1.) Open up Pycharm to the root folder of the project<a class="headerlink" href="#open-up-pycharm-to-the-root-folder-of-the-project" title="Permalink to this heading"></a></h4>
+<h4>1.) Open up Pycharm to the root folder of the project<a class="headerlink" href="#open-up-pycharm-to-the-root-folder-of-the-project" title="Permalink to this headline"></a></h4>
 </section>
 <section id="set-up-your-ide-with-the-container-via-ssh-pycharm-specific">
-<h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="headerlink" href="#set-up-your-ide-with-the-container-via-ssh-pycharm-specific" title="Permalink to this heading"></a></h4>
+<h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="headerlink" href="#set-up-your-ide-with-the-container-via-ssh-pycharm-specific" title="Permalink to this headline"></a></h4>
 <p>Similar to the UT Multirobot Sim and Graph Navigation guides, we assume your IDE has remote host available
 and if not, there’s some useful stuff here but you may have to translate the steps for your ide.</p>
 <p>1.) Open the settings window <code class="docutils literal notranslate"><span class="pre">file</span> <span class="pre">&lt;</span> <span class="pre">settings</span></code></p>
@@ -359,27 +356,27 @@ <h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="h
 <p><code class="docutils literal notranslate"><span class="pre">Parameters</span></code> should have <code class="docutils literal notranslate"><span class="pre">-c</span> <span class="pre">./tmp_config.json</span></code></p>
 <p><code class="docutils literal notranslate"><span class="pre">Environment</span> <span class="pre">variables</span></code> should have the pasted env vars we keep getting in the previous steps.</p>
 <p>10.) Open a new ssh terminal</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh<span class="w"> </span>rosdev@localhost<span class="w"> </span>-p<span class="w"> </span><span class="m">2223</span>
-<span class="nb">cd</span><span class="w"> </span>./social_gym/submodules
-vim<span class="w"> </span>~/set_paths.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh rosdev@localhost -p <span class="m">2223</span>
+<span class="nb">cd</span> ./social_gym/submodules
+vim ~/set_paths.sh
 <span class="c1"># uncomment the second line then save the file</span>
-<span class="nb">source</span><span class="w"> </span>~/set_paths.sh
-rosdep<span class="w"> </span>update
-pip<span class="w"> </span>install<span class="w"> </span>sb3_contrib
-pip<span class="w"> </span>install<span class="w"> </span><span class="nv">supersuit</span><span class="o">==</span><span class="m">3</span>.5.0
-pip<span class="w"> </span>install<span class="w"> </span><span class="nv">gym</span><span class="o">==</span><span class="m">0</span>.26.2
+<span class="nb">source</span> ~/set_paths.sh
+rosdep update
+pip install sb3_contrib
+pip install <span class="nv">supersuit</span><span class="o">==</span><span class="m">3</span>.5.0
+pip install <span class="nv">gym</span><span class="o">==</span><span class="m">0</span>.26.2
 </pre></div>
 </div>
 <p>11.) Click run in your pycharm editor. It should hang around the input</p>
 <div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>...
-Waiting<span class="w"> </span>on<span class="w"> </span>UTMRS
-<span class="o">[</span>WARN<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.168961<span class="o">]</span>:<span class="w"> </span>wait_for_service<span class="o">(</span>/utmrsStepper<span class="o">)</span>:<span class="w"> </span>failed<span class="w"> </span>to<span class="w"> </span>contact,<span class="w"> </span>will<span class="w"> </span>keep<span class="w"> </span>trying
-QStandardPaths:<span class="w"> </span>XDG_RUNTIME_DIR<span class="w"> </span>not<span class="w"> </span>set,<span class="w"> </span>defaulting<span class="w"> </span>to<span class="w"> </span><span class="s1">&#39;/tmp/runtime-rosdev&#39;</span>
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.188148416<span class="o">]</span>:<span class="w"> </span>Updated<span class="w"> </span>sim<span class="w"> </span>with<span class="w"> </span>live<span class="w"> </span>config:<span class="w"> </span><span class="nv">Rate</span><span class="o">=</span><span class="m">40</span><span class="w"> </span>incoming<span class="w"> </span><span class="nv">rate</span><span class="o">=</span><span class="m">40</span>
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.192522299<span class="o">]</span>:<span class="w"> </span>Using<span class="w"> </span>default<span class="w"> </span>queue<span class="w"> </span>size<span class="w"> </span>of<span class="w"> </span><span class="m">10</span><span class="w"> </span><span class="k">for</span><span class="w"> </span>publisher<span class="w"> </span>queues...<span class="w"> </span>
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.199740381<span class="o">]</span>:<span class="w"> </span>Loading<span class="w"> </span>scene<span class="w"> </span><span class="o">[</span>/home/rosdev/social_gym/config/gym_gen/scene.xml<span class="o">]</span><span class="w"> </span><span class="k">for</span><span class="w"> </span>simulation
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.204534827<span class="o">]</span>:<span class="w"> </span>node<span class="w"> </span>initialized,<span class="w"> </span>now<span class="w"> </span>running<span class="w"> </span>
-Service<span class="w"> </span>Mode
+Waiting on UTMRS
+<span class="o">[</span>WARN<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.168961<span class="o">]</span>: wait_for_service<span class="o">(</span>/utmrsStepper<span class="o">)</span>: failed to contact, will keep trying
+QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to <span class="s1">&#39;/tmp/runtime-rosdev&#39;</span>
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.188148416<span class="o">]</span>: Updated sim with live config: <span class="nv">Rate</span><span class="o">=</span><span class="m">40</span> incoming <span class="nv">rate</span><span class="o">=</span><span class="m">40</span>
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.192522299<span class="o">]</span>: Using default queue size of <span class="m">10</span> <span class="k">for</span> publisher queues... 
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.199740381<span class="o">]</span>: Loading scene <span class="o">[</span>/home/rosdev/social_gym/config/gym_gen/scene.xml<span class="o">]</span> <span class="k">for</span> simulation
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.204534827<span class="o">]</span>: node initialized, now running 
+Service Mode
 </pre></div>
 </div>
 <p>This means we can fire up the UT Multirobot simulator now</p>
@@ -391,7 +388,7 @@ <h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="h
 </section>
 </section>
 <section id="faq">
-<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></a></h2>
+<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this headline"></a></h2>
 <hr class="docutils" />
 <p><strong>All my files are missing!</strong>: If at any point your files are missing or empty check out your path mappings for your
 project and make sure they are valid.  Then, do <code class="docutils literal notranslate"><span class="pre">git</span> <span class="pre">stash</span></code> for every project that has missing or empty files</p>
@@ -399,8 +396,8 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 <p>You will get tons of compile errors when you make a submodule saying “geometry” is undefined etc.  This means you have
 to do <code class="docutils literal notranslate"><span class="pre">git</span> <span class="pre">stash</span></code> anywhere a thirdparty source is being used.</p>
 <p><strong>ROSDEP errors</strong>: If you see anything during the install about ROSDEP not working correctly, make sure you are doing</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>~/set_paths.sh
-rosedep<span class="w"> </span>update
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span> ~/set_paths.sh
+rosedep update
 </pre></div>
 </div>
 <p>often – once you have built pedsim via <code class="docutils literal notranslate"><span class="pre">catkin_make</span></code>, you should remove the comment on the 2nd line of <code class="docutils literal notranslate"><span class="pre">~/set_paths.sh</span></code>
@@ -409,7 +406,7 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 <p><strong>CMAKE errors</strong>: CMake is not fun.  If you see weird issues with cmake not building or not finding stuff make sure you
 are removing the cmake folders then rebuilding.</p>
 <p><strong>Permission Issues</strong>: The easiest way to resolve weird permission issues when setting up the advanced usage is to run</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>chmod<span class="w"> </span>-R<span class="w"> </span><span class="m">777</span><span class="w"> </span>.<span class="w"> </span>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo chmod -R <span class="m">777</span> . 
 </pre></div>
 </div>
 <p>from the project root.  This effectively gives all users access to the folder (<strong>warning</strong>: this may be too open if you are working
diff --git a/docs/installation/installation.html b/docs/installation/installation.html
index 6a5e4862..51d157f8 100644
--- a/docs/installation/installation.html
+++ b/docs/installation/installation.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Installation &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
@@ -27,16 +28,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -70,7 +67,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Installation</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/installation/installation.md.txt" rel="nofollow"> View page source</a>
@@ -82,7 +79,7 @@
            <div itemprop="articleBody">
              
   <section id="installation">
-<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h1>
+<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h1>
 <p>In this doc we are going to setup Social Gym’s <code class="docutils literal notranslate"><span class="pre">config</span> <span class="pre">runner</span></code> which allows you to run <a class="reference external" href="https://github.com/ut-amrl/SocialGym2"><strong>Social Gym</strong></a> using a configuration file. If all you need to do is train, evaluate, or test your installation of Social Gym, this is the only installations tep you have to follow.  However, if you wish to contribute and develop on Social Gym, we recommend the advanced installation which goes over setting up a debugger.</p>
 <!-- ### Why are there two installation guides for Social Gym 
 
@@ -93,36 +90,36 @@ <h1>Installation<a class="headerlink" href="#installation" title="Permalink to t
 <!-- ### Let's Install Config Runner! -->
 <hr class="docutils" />
 <section id="prerequisites">
-<h2>Prerequisites<a class="headerlink" href="#prerequisites" title="Permalink to this heading"></a></h2>
+<h2>Prerequisites<a class="headerlink" href="#prerequisites" title="Permalink to this headline"></a></h2>
 <!-- You need to have installed Docker, have an NVIDIA GPU, and have installed the [**NVIDIA-container runtime**](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker). -->
 <p><strong>WARNING</strong>: The authors of this project have had numerous issues with Docker and Docker-Compose when installed via snap.  We recommend uninstalling docker and docker-compose if you have GPU-related issues with the docker images and installing them via <code class="docutils literal notranslate"><span class="pre">apt</span></code>.</p>
 <hr class="docutils" />
 </section>
 <section id="step-1-clone-the-repo-and-checkout-main">
-<h2>Step 1: Clone the repo and checkout main<a class="headerlink" href="#step-1-clone-the-repo-and-checkout-main" title="Permalink to this heading"></a></h2>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>clone<span class="w"> </span>git@github.com:ut-amrl/SocialGym2.git
-git<span class="w"> </span>checkout<span class="w"> </span>main
+<h2>Step 1: Clone the repo and checkout main<a class="headerlink" href="#step-1-clone-the-repo-and-checkout-main" title="Permalink to this headline"></a></h2>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git clone git@github.com:ut-amrl/SocialGym2.git
+git checkout main
 </pre></div>
 </div>
 <p>Although we use Docker to run Social Gym’s internals, we have scripts to set up Social Gym as well as scripts that kick
 off the process written in python (so you still need to install stuff)</p>
 </section>
 <section id="step-2-install-requirements-and-run-the-install-script">
-<h2>Step 2: Install requirements and run the install script!<a class="headerlink" href="#step-2-install-requirements-and-run-the-install-script" title="Permalink to this heading"></a></h2>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python3<span class="w"> </span>./scripts/install_config_runner.py
+<h2>Step 2: Install requirements and run the install script!<a class="headerlink" href="#step-2-install-requirements-and-run-the-install-script" title="Permalink to this headline"></a></h2>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python3 ./scripts/install_config_runner.py
 </pre></div>
 </div>
 <p>Expect this to take a while (20-40m depending on your machine, mostly for the last step.).</p>
 </section>
 <section id="step-3-run-the-config-runner">
-<h2>Step 3: Run the Config Runner!<a class="headerlink" href="#step-3-run-the-config-runner" title="Permalink to this heading"></a></h2>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python3<span class="w"> </span>config_runner/run.py<span class="w"> </span>-c<span class="w"> </span>1_31_23/door/sacadrl.json
+<h2>Step 3: Run the Config Runner!<a class="headerlink" href="#step-3-run-the-config-runner" title="Permalink to this headline"></a></h2>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python3 config_runner/run.py -c 1_31_23/door/sacadrl.json
 </pre></div>
 </div>
 <hr class="docutils" />
 <p><strong>NOTE</strong>: If you do NOT see windows, there’s a problem with the docker file.</p>
 <p>First try running</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>xhost<span class="w"> </span>+
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo xhost +
 </pre></div>
 </div>
 <p>and repeat the command.  If it still fails to show windows then try adding</p>
diff --git a/docs/installation/installation__deprecated.html b/docs/installation/installation__deprecated.html
index 3e21c335..1667e307 100644
--- a/docs/installation/installation__deprecated.html
+++ b/docs/installation/installation__deprecated.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Installation &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Installation</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/installation/installation__deprecated.md.txt" rel="nofollow"> View page source</a>
@@ -74,59 +71,59 @@
            <div itemprop="articleBody">
              
   <section id="installation">
-<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h1>
+<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h1>
 <p>In this doc we are going to setup Social Gym’s <code class="docutils literal notranslate"><span class="pre">config</span> <span class="pre">runner</span></code> which allows you to run Social Gym using a configuration
 file.  If all you need to do is train, evaluate, or test your installation of Social Gym, this is the only installation
 step you have to follow.  However, if you wish to contribute and develop on Social Gym, we recommend the more indepth
 installation guide which goes over setting up a debugger.</p>
 <section id="why-are-there-two-installation-guides-for-social-gym">
-<h2>Why are there two installation guides for Social Gym<a class="headerlink" href="#why-are-there-two-installation-guides-for-social-gym" title="Permalink to this heading"></a></h2>
+<h2>Why are there two installation guides for Social Gym<a class="headerlink" href="#why-are-there-two-installation-guides-for-social-gym" title="Permalink to this headline"></a></h2>
 <p>Social Gym uses ROS (Robot Operating System) submodules written in C, to ensure they installed correctly and can run on
 your machine, we use Docker.  However, this poses challenges for debugging both the Python code and the C code because
 everything has to communicate with each other.  To ease the process of setting Social Gym up, we separated installing
 Social Gym for running and experimenting from installing Social Gym for developing.</p>
 </section>
 <section id="let-s-install-config-runner">
-<h2>Let’s Install Config Runner!<a class="headerlink" href="#let-s-install-config-runner" title="Permalink to this heading"></a></h2>
+<h2>Let’s Install Config Runner!<a class="headerlink" href="#let-s-install-config-runner" title="Permalink to this headline"></a></h2>
 <hr class="docutils" />
 <p><strong>Note</strong>: We require you have installed Docker and Python 3.8 (version 3.8 may not be necessary but it’s what we use)</p>
 <hr class="docutils" />
 <section id="checkout-the-right-branch-eventually-this-will-be-main">
-<h3>1.) Checkout the right branch! (Eventually this will be main)<a class="headerlink" href="#checkout-the-right-branch-eventually-this-will-be-main" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>checkout<span class="w"> </span>feature/20221218_multi_agent_finishing_and_cleanup
-git<span class="w"> </span>submodule<span class="w"> </span>update<span class="w"> </span>--init<span class="w"> </span>--recursive
+<h3>1.) Checkout the right branch! (Eventually this will be main)<a class="headerlink" href="#checkout-the-right-branch-eventually-this-will-be-main" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git checkout feature/20221218_multi_agent_finishing_and_cleanup
+git submodule update --init --recursive
 </pre></div>
 </div>
 <p>Although we use Docker to run Social Gym’s internals, we have scripts to set up Social Gym as well as scripts that kick
 off the process written in python (so you still need to install stuff)</p>
 </section>
 <section id="build-vector-display-this-creates-the-environments">
-<h3>2.) Build Vector Display (this creates the environments!)<a class="headerlink" href="#build-vector-display-this-creates-the-environments" title="Permalink to this heading"></a></h3>
+<h3>2.) Build Vector Display (this creates the environments!)<a class="headerlink" href="#build-vector-display-this-creates-the-environments" title="Permalink to this headline"></a></h3>
 <p>Assuming you are starting from the ROOT_DIRECTORY of the project:</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>docker/vectordisplay
-docker<span class="w"> </span>build<span class="w"> </span>-t<span class="w">  </span>vector_display:custom<span class="w"> </span>.
-<span class="nb">cd</span><span class="w"> </span>../..
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> docker/vectordisplay
+docker build -t  vector_display:custom .
+<span class="nb">cd</span> ../..
 </pre></div>
 </div>
 <p>Expect this to take a while (15-30m depending on your machine).</p>
 </section>
 <section id="create-a-virtualenv-to-install-python-dependencies">
-<h3>3.) Create a virtualenv to install python dependencies<a class="headerlink" href="#create-a-virtualenv-to-install-python-dependencies" title="Permalink to this heading"></a></h3>
+<h3>3.) Create a virtualenv to install python dependencies<a class="headerlink" href="#create-a-virtualenv-to-install-python-dependencies" title="Permalink to this headline"></a></h3>
 <p>Assuming linux/mac style, windows have their own special flavor for activating virtualenvs.</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>virtualenv<span class="w"> </span>venv
-<span class="nb">source</span><span class="w"> </span>venv/bin/activate
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>virtualenv venv
+<span class="nb">source</span> venv/bin/activate
 </pre></div>
 </div>
 </section>
 <section id="install-python-requirements">
-<h3>4.) Install python requirements<a class="headerlink" href="#install-python-requirements" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>pip<span class="w"> </span>install<span class="w"> </span>-r<span class="w"> </span>requirements.txt
+<h3>4.) Install python requirements<a class="headerlink" href="#install-python-requirements" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>pip install -r requirements.txt
 </pre></div>
 </div>
 </section>
 <section id="create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really">
-<h3>5.) Create the Environment for Social Gym (don’t worry, this is copying files really.)<a class="headerlink" href="#create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>scripts/create_env_template.py<span class="w"> </span>-n<span class="w"> </span>exp1/train/easy
+<h3>5.) Create the Environment for Social Gym (don’t worry, this is copying files really.)<a class="headerlink" href="#create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python scripts/create_env_template.py -n exp1/train/easy
 </pre></div>
 </div>
 <p>The <code class="docutils literal notranslate"><span class="pre">--name</span></code> parameter is referencing a saved file checked in by a commit, you should expect to see two windows when
@@ -136,7 +133,7 @@ <h3>5.) Create the Environment for Social Gym (don’t worry, this is copying fi
 <hr class="docutils" />
 <p><strong>NOTE</strong>: If you do NOT see windows, there’s a problem with the docker file.</p>
 <p>First try running</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>xhost<span class="w"> </span>+
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo xhost +
 </pre></div>
 </div>
 <p>and repeat the command.  If it still fails to show windows then try adding</p>
@@ -147,17 +144,17 @@ <h3>5.) Create the Environment for Social Gym (don’t worry, this is copying fi
 </section>
 <hr class="docutils" />
 <section id="build-config-runner">
-<h3>6.) Build Config Runner<a class="headerlink" href="#build-config-runner" title="Permalink to this heading"></a></h3>
+<h3>6.) Build Config Runner<a class="headerlink" href="#build-config-runner" title="Permalink to this headline"></a></h3>
 <p>In order to run the docker container with Config Runner, you have to build the image.  This can be done via</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>chmod<span class="w"> </span>+x<span class="w"> </span>./config_runner/build.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo chmod +x ./config_runner/build.sh
 ./config_runner/build.sh
 </pre></div>
 </div>
 <p>This may take 15-30minutes depending on your machine.</p>
 </section>
 <section id="run-the-config-runner">
-<h3>7.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>config_runner/run.py<span class="w"> </span>-c<span class="w"> </span>11_20_22/sacadrl.json
+<h3>7.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python config_runner/run.py -c 11_20_22/sacadrl.json
 </pre></div>
 </div>
 <p>This should open an RVIS window (looks like a 2D grid with options on the side-panels).  It may CLOSE and re-open MANY
@@ -170,7 +167,7 @@ <h3>7.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner
 </section>
 <hr class="docutils" />
 <section id="have-fun">
-<h3>7.) Have fun!<a class="headerlink" href="#have-fun" title="Permalink to this heading"></a></h3>
+<h3>7.) Have fun!<a class="headerlink" href="#have-fun" title="Permalink to this headline"></a></h3>
 <p>You can now specify your own configurations and run your own training or evaluation jobs.  More documentation on this
 later.</p>
 <p>If you need to develop or debug Social Gym – you’ll have to follow the full installation guide on the next
diff --git a/docs/intro/advanced_training_and_eval.html b/docs/intro/advanced_training_and_eval.html
index 0528a919..20d37414 100644
--- a/docs/intro/advanced_training_and_eval.html
+++ b/docs/intro/advanced_training_and_eval.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Advanced Training and Evaluation &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Advanced Training and Evaluation</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/intro/advanced_training_and_eval.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="advanced-training-and-evaluation">
-<h1>Advanced Training and Evaluation<a class="headerlink" href="#advanced-training-and-evaluation" title="Permalink to this heading"></a></h1>
+<h1>Advanced Training and Evaluation<a class="headerlink" href="#advanced-training-and-evaluation" title="Permalink to this headline"></a></h1>
 <p>Social Gym 2.0 uses a familiar Gym-like training loop with some important deviations, an example of training a new policy is shown below.</p>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># 1.) Create the Scenario</span>
 <span class="n">scenario</span> <span class="o">=</span> <span class="n">GraphNavscenario</span><span class="p">(</span><span class="s1">&#39;envs/scenario/hallway&#39;</span><span class="p">)</span>
diff --git a/docs/intro/features.html b/docs/intro/features.html
index 708a528b..de342091 100644
--- a/docs/intro/features.html
+++ b/docs/intro/features.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>How does SocialGym 2 work ? &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
@@ -27,16 +28,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -69,7 +66,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">How does SocialGym 2 work ?</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/intro/features.md.txt" rel="nofollow"> View page source</a>
@@ -81,19 +78,19 @@
            <div itemprop="articleBody">
              
   <section id="how-does-socialgym-2-work">
-<h1>How does SocialGym 2 work ?<a class="headerlink" href="#how-does-socialgym-2-work" title="Permalink to this heading"></a></h1>
+<h1>How does SocialGym 2 work ?<a class="headerlink" href="#how-does-socialgym-2-work" title="Permalink to this headline"></a></h1>
 <p><img alt="Overview" src="https://drive.google.com/uc?id=1TYFzAPYmlWLIgG1PnnJHpauWWh6Npdnn" /></p>
 <p>At the top of the stack is the <a class="reference external" href="https://github.com/Farama-Foundation/PettingZoo"><strong>PettingZoo</strong></a> and <a class="reference external" href="https://stable-baselines3.readthedocs.io/en/master/"><strong>Stable Baselines3</strong></a> interface. This interface uses ROS to send actions from a policy to <a class="reference external" href="https://github.com/ut-amrl/ut_multirobot_sim"><strong>UTMRS</strong></a>, a lightweight simulation engine that acts as an intermediate between the interface and the local navigation and the human crowd simulation modules. The local navigation planner is responsible converting high-level actions from the PettingZoo interface into continuous motion commands that satisfy the underlying robot dynamics and sends back the next state to the simulation engine. Each layer of the stack has a modular API that allows researchers and developers to focus on a single part of the stack at a time without having to refactor or access other parts of the stack.</p>
 <section id="read-the-paper">
-<h2>Read the paper<a class="headerlink" href="#read-the-paper" title="Permalink to this heading"></a></h2>
+<h2>Read the paper<a class="headerlink" href="#read-the-paper" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://arxiv.org/pdf/2303.05584.pdf"><strong>SOCIALGYM 2.0: Simulator for Multi-Agent Social Robot Navigation in Shared Human Spaces</strong></a></p>
 </section>
 <section id="local-navigation">
-<h2>Local Navigation<a class="headerlink" href="#local-navigation" title="Permalink to this heading"></a></h2>
+<h2>Local Navigation<a class="headerlink" href="#local-navigation" title="Permalink to this headline"></a></h2>
 <p>The local navigation algorithm in SocialGym 2.0 consists of a way-point follower and a dynamic window-based controller: We first compute a local target using the pure pursuit algorithm. We then use a dynamic window-like approach to generate a set of circular arcs from the current pose of the robot with different curvatures. We determine the optimal arc by minimizing a cost function that is a weighted linear sum of different features such as distance to goal, clearance from obstacles etc. followed by computing the optimal linear and angular velocities that steer the robot along that optimal trajectory. The linear velocity controller chooses between cruising, accelerating, and braking based on the current speed, kinodynamic parameters, and distance to the goal to achieve the optimal velocities for the robot.</p>
 </section>
 <section id="improvements-from-socialgym-1-0">
-<h2>Improvements from SocialGym 1.0<a class="headerlink" href="#improvements-from-socialgym-1-0" title="Permalink to this heading"></a></h2>
+<h2>Improvements from SocialGym 1.0<a class="headerlink" href="#improvements-from-socialgym-1-0" title="Permalink to this headline"></a></h2>
 <p>Although a lot has changed in Social Gym 2.0, most of the functionality from Social Gym 1.0 remained with small tweaks required.</p>
 <ul class="simple">
 <li><p>Multi Agent training!</p>
diff --git a/docs/intro/making_a_new_scene.html b/docs/intro/making_a_new_scene.html
index 156e83c0..a44aed94 100644
--- a/docs/intro/making_a_new_scene.html
+++ b/docs/intro/making_a_new_scene.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Social mini-games &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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>
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-        <script src="../_static/sphinx_highlight.js"></script>
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@@ -27,16 +28,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
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   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
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@@ -74,7 +71,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Social mini-games</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/intro/making_a_new_scene.md.txt" rel="nofollow"> View page source</a>
@@ -86,15 +83,15 @@
            <div itemprop="articleBody">
              
   <section id="social-mini-games">
-<h1>Social mini-games<a class="headerlink" href="#social-mini-games" title="Permalink to this heading"></a></h1>
+<h1>Social mini-games<a class="headerlink" href="#social-mini-games" title="Permalink to this headline"></a></h1>
 <p>SocialGym 2 contains the following mini-games:</p>
 <!-- | <center>Intersection</center> | <center>Roundabout</center> | <center>Doorway</center> | <center>Hallway</center> |
 | :--------------------: | :--------------------: | :--------------------: | :--------------------: |
 | ![image1](../../data/images/intersection.JPG) | ![image1](../../data/images/roundabout.png) | ![image1](../../data/images/doorway.png) | ![image1](../../data/images/hallway.png) |
  -->
-<table class="docutils align-default">
+<table class="colwidths-auto docutils align-default">
 <thead>
-<tr class="row-odd"><th class="head text-center"><p><center>Intersection</center></p></th>
+<tr class="row-odd"><th class="text-center head"><p><center>Intersection</center></p></th>
 </tr>
 </thead>
 <tbody>
@@ -102,9 +99,9 @@ <h1>Social mini-games<a class="headerlink" href="#social-mini-games" title="Perm
 </tr>
 </tbody>
 </table>
-<table class="docutils align-default">
+<table class="colwidths-auto docutils align-default">
 <thead>
-<tr class="row-odd"><th class="head text-center"><p><center>Roundabout</center></p></th>
+<tr class="row-odd"><th class="text-center head"><p><center>Roundabout</center></p></th>
 </tr>
 </thead>
 <tbody>
@@ -112,9 +109,9 @@ <h1>Social mini-games<a class="headerlink" href="#social-mini-games" title="Perm
 </tr>
 </tbody>
 </table>
-<table class="docutils align-default">
+<table class="colwidths-auto docutils align-default">
 <thead>
-<tr class="row-odd"><th class="head text-center"><p><center>Doorway</center></p></th>
+<tr class="row-odd"><th class="text-center head"><p><center>Doorway</center></p></th>
 </tr>
 </thead>
 <tbody>
@@ -122,9 +119,9 @@ <h1>Social mini-games<a class="headerlink" href="#social-mini-games" title="Perm
 </tr>
 </tbody>
 </table>
-<table class="docutils align-default">
+<table class="colwidths-auto docutils align-default">
 <thead>
-<tr class="row-odd"><th class="head text-center"><p><center>Hallway</center></p></th>
+<tr class="row-odd"><th class="text-center head"><p><center>Hallway</center></p></th>
 </tr>
 </thead>
 <tbody>
@@ -133,7 +130,7 @@ <h1>Social mini-games<a class="headerlink" href="#social-mini-games" title="Perm
 </tbody>
 </table>
 <section id="how-to-make-a-new-scene">
-<h2>How to make a new Scene<a class="headerlink" href="#how-to-make-a-new-scene" title="Permalink to this heading"></a></h2>
+<h2>How to make a new Scene<a class="headerlink" href="#how-to-make-a-new-scene" title="Permalink to this headline"></a></h2>
 <p>Scene (or environments) are what the agents are trained on.  They consist of two important objects, the first are walls
 (denoted by blue lines).  The next are navigation paths (denoted by pink/purple lines).  These are explained a bit
 below.</p>
@@ -153,24 +150,24 @@ <h2>How to make a new Scene<a class="headerlink" href="#how-to-make-a-new-scene"
 </section>
 <hr class="docutils" />
 <section id="creating-a-new-environment">
-<h2>Creating a new environment<a class="headerlink" href="#creating-a-new-environment" title="Permalink to this heading"></a></h2>
+<h2>Creating a new environment<a class="headerlink" href="#creating-a-new-environment" title="Permalink to this headline"></a></h2>
 <p>We have an easy script for creating brand new scenes!  It also allows editing scenes, or using an existing scene as a
 template for a new one.  We’ll give a brief intro into how to make a new scene below.</p>
 <section id="using-your-local-python-interpreter-of-choice-run">
-<h3>1.) Using your local python interpreter of choice, run<a class="headerlink" href="#using-your-local-python-interpreter-of-choice-run" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>scripts/create_env_template<span class="w"> </span>--name<span class="w"> </span><span class="o">{</span>NAME<span class="w"> </span>YOUR<span class="w"> </span>NEW<span class="w"> </span>ENV<span class="w"> </span>HERE<span class="o">}</span>
+<h3>1.) Using your local python interpreter of choice, run<a class="headerlink" href="#using-your-local-python-interpreter-of-choice-run" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python scripts/create_env_template --name <span class="o">{</span>NAME YOUR NEW ENV HERE<span class="o">}</span>
 </pre></div>
 </div>
 </section>
 <section id="if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly">
-<h3>2.) If you have followed the Installation guide you should see a window pop up (if not double check that Social Gym was installed correctly).<a class="headerlink" href="#if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly" title="Permalink to this heading"></a></h3>
+<h3>2.) If you have followed the Installation guide you should see a window pop up (if not double check that Social Gym was installed correctly).<a class="headerlink" href="#if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly" title="Permalink to this headline"></a></h3>
 <p>This window is the Walls editor!  It’s most likely blank on your screen, but you can add new walls by using
 <code class="docutils literal notranslate"><span class="pre">[Shift]</span> <span class="pre">+</span> <span class="pre">[Click]</span> <span class="pre">+</span> <span class="pre">Mouse</span> <span class="pre">Drag</span></code></p>
 <p>Remove walls by <code class="docutils literal notranslate"><span class="pre">[Control]</span> <span class="pre">+</span> <span class="pre">[Click]</span></code></p>
 <p>When you are satisfied with your walls, hit <code class="docutils literal notranslate"><span class="pre">[Escape]</span></code></p>
 </section>
 <section id="a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor">
-<h3>3.) A new window should have popped up that looks exactly like the last, but now we are in the Graph Navigation editor!<a class="headerlink" href="#a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor" title="Permalink to this heading"></a></h3>
+<h3>3.) A new window should have popped up that looks exactly like the last, but now we are in the Graph Navigation editor!<a class="headerlink" href="#a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor" title="Permalink to this headline"></a></h3>
 <p>The controls are the same except for one crucial difference.  In the Graph Navigation editor, you create “Nodes” that
 can connect to each other through “Edges”.  You must place “Nodes” first before you can draw an “Edge”.</p>
 <p>Create a node by hitting <code class="docutils literal notranslate"><span class="pre">[Shift]</span> <span class="pre">+</span> <span class="pre">[Click]</span></code>, Be advised - the nodes are literally the size of a pixel so they may be hard
@@ -185,7 +182,7 @@ <h3>3.) A new window should have popped up that looks exactly like the last, but
 <p>Hit <code class="docutils literal notranslate"><span class="pre">[Escape]</span></code> when done.</p>
 </section>
 <section id="your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to">
-<h3>4.) Your Scene has been created and the files are in the right spot, but now you have to update the Social Gym code to<a class="headerlink" href="#your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to" title="Permalink to this heading"></a></h3>
+<h3>4.) Your Scene has been created and the files are in the right spot, but now you have to update the Social Gym code to<a class="headerlink" href="#your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to" title="Permalink to this headline"></a></h3>
 <p>reference your new scene.  The easiest way to do this is to define a new <code class="docutils literal notranslate"><span class="pre">GraphNavScenario</span></code> scenario like so</p>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span>   <span class="c1">#...</span>
    <span class="n">scenario</span> <span class="o">=</span> <span class="n">GraphNavScenario</span><span class="p">(</span>
diff --git a/docs/intro/training_and_eval.html b/docs/intro/training_and_eval.html
index 71982644..96952c83 100644
--- a/docs/intro/training_and_eval.html
+++ b/docs/intro/training_and_eval.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Training and evaluation a policy &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
@@ -27,16 +28,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -68,7 +65,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Training and evaluation a policy</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/intro/training_and_eval.md.txt" rel="nofollow"> View page source</a>
@@ -80,54 +77,54 @@
            <div itemprop="articleBody">
              
   <section id="training-and-evaluation-a-policy">
-<h1>Training and evaluation a policy<a class="headerlink" href="#training-and-evaluation-a-policy" title="Permalink to this heading"></a></h1>
+<h1>Training and evaluation a policy<a class="headerlink" href="#training-and-evaluation-a-policy" title="Permalink to this headline"></a></h1>
 <p>Training a policy using multi-agent reinforcement learning is as simple as editing a config file.</p>
 <section id="edit-the-config-file-to-be-passed-to-socialgym">
-<h2>Edit the config file to be passed to SocialGym<a class="headerlink" href="#edit-the-config-file-to-be-passed-to-socialgym" title="Permalink to this heading"></a></h2>
+<h2>Edit the config file to be passed to SocialGym<a class="headerlink" href="#edit-the-config-file-to-be-passed-to-socialgym" title="Permalink to this headline"></a></h2>
 <p>To ease batch training jobs we created a wrapper class around the training and evaluation code that can be configured  via a configuration file (.yaml file). These configuration files are stored in <code class="docutils literal notranslate"><span class="pre">{PROJECT</span> <span class="pre">ROOT}/config_runner/configs</span></code>. ConfigRunner allows you train and evaluate a policy using one of these files via</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>config_runner/run.py<span class="w"> </span>-c<span class="w"> </span><span class="o">{</span>path_to_config<span class="o">}</span>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python config_runner/run.py -c <span class="o">{</span>path_to_config<span class="o">}</span>
 </pre></div>
 </div>
 <p>where the <code class="docutils literal notranslate"><span class="pre">{path_to_config}</span></code> is the relative path from <code class="docutils literal notranslate"><span class="pre">{PROJECT</span> <span class="pre">ROOT}/config_runner/configs</span></code> to a specific config file. You can run batch training jobs by either separating each unique configuration file with a white space and the <code class="docutils literal notranslate"><span class="pre">-c</span></code> flag, or you can use the <code class="docutils literal notranslate"><span class="pre">-f</span></code> flag (meaning <code class="docutils literal notranslate"><span class="pre">folder</span></code>) and point it at a folder in the <code class="docutils literal notranslate"><span class="pre">{PROJECT</span> <span class="pre">ROOT}/config_runner/configs</span></code> directory.</p>
 <p>An example of a config is shown below:</p>
-<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="p p-Indicator">{</span>
-<span class="w">  </span><span class="s">&quot;num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">3</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">35</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">70</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">]],</span>
-<span class="w">  </span><span class="s">&quot;eval_num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">7</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">10</span><span class="p p-Indicator">],</span>
-<span class="w">  </span><span class="s">&quot;train_length&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">250000</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;ending_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;eval_frequency&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">0</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;intermediate_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_algo_sb3_contrib&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_algo_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;PPO&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;MlpPolicy&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_algo_kwargs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="s">&quot;n_steps&quot;</span><span class="p p-Indicator">:</span><span class="w">  </span><span class="nv">4096</span><span class="p p-Indicator">},</span>
-<span class="w">  </span><span class="s">&quot;monitor&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;experiment_names&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;envs_door&quot;</span><span class="p p-Indicator">],</span>
-
-<span class="w">  </span><span class="s">&quot;run_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;door_ao&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;run_type&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;AO&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;device&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;cuda:0&quot;</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;other_velocities_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;agent_velocity_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;agent_velocity_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;other_velocities_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;other_poses_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;agent_pose_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;entropy_constant_penalty&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">-100000</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;entropy_constant_penalty_only_those_that_did_not_finish&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;timelimit&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;timelimit_threshold&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">3000</span>
-<span class="p p-Indicator">}</span>
+<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="p p-Indicator">{</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">3</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">35</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">70</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">]],</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;eval_num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">7</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">10</span><span class="p p-Indicator">],</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;train_length&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">250000</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;ending_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;eval_frequency&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;intermediate_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_algo_sb3_contrib&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_algo_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;PPO&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;MlpPolicy&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_algo_kwargs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="s">&quot;n_steps&quot;</span><span class="p p-Indicator">:</span><span class="w">  </span><span class="nv">4096</span><span class="p p-Indicator">},</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;monitor&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;experiment_names&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;envs_door&quot;</span><span class="p p-Indicator">],</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;run_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;door_ao&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;run_type&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;AO&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;device&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;cuda:0&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;other_velocities_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;agent_velocity_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;agent_velocity_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;other_velocities_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;other_poses_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;agent_pose_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;entropy_constant_penalty&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">-100000</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;entropy_constant_penalty_only_those_that_did_not_finish&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;timelimit&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;timelimit_threshold&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">3000</span><span class="w"></span>
+<span class="p p-Indicator">}</span><span class="w"></span>
 </pre></div>
 </div>
 </section>
 <section id="the-main-training-loop-using-the-config-file-you-just-edited">
-<h2>The main training loop using the config file you just edited<a class="headerlink" href="#the-main-training-loop-using-the-config-file-you-just-edited" title="Permalink to this heading"></a></h2>
+<h2>The main training loop using the config file you just edited<a class="headerlink" href="#the-main-training-loop-using-the-config-file-you-just-edited" title="Permalink to this headline"></a></h2>
 <p>Each attribute in the yaml configuration matches an argument passed into the <code class="docutils literal notranslate"><span class="pre">run</span></code> function in <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/src/config_run.py</span></code>. Social Gym 2.0 uses a familiar Gym-like training loop with some important deviations, an example of training a new policy using a config file is shown below.</p>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># 1.) Create the Scenario</span>
 <span class="n">scenario</span> <span class="o">=</span> <span class="n">GraphNavscenario</span><span class="p">(</span><span class="s1">&#39;envs/scenario/hallway&#39;</span><span class="p">)</span>
diff --git a/docs/intro/what_is_social_gym.html b/docs/intro/what_is_social_gym.html
index 988adda5..cc9688ce 100644
--- a/docs/intro/what_is_social_gym.html
+++ b/docs/intro/what_is_social_gym.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>What is Social Gym &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">What is Social Gym</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/intro/what_is_social_gym.md.txt" rel="nofollow"> View page source</a>
@@ -74,11 +71,11 @@
            <div itemprop="articleBody">
              
   <section id="what-is-social-gym">
-<h1>What is Social Gym<a class="headerlink" href="#what-is-social-gym" title="Permalink to this heading"></a></h1>
+<h1>What is Social Gym<a class="headerlink" href="#what-is-social-gym" title="Permalink to this headline"></a></h1>
 <p>Social Gym is a lightweight 2D simulation environment for robot social navigation.  It allows for multi-agent and
 single-agent scenarios as well as dynamic obstacles for testing complex social navigation.</p>
 <section id="social-gym-s-stack">
-<h2>Social Gym’s Stack<a class="headerlink" href="#social-gym-s-stack" title="Permalink to this heading"></a></h2>
+<h2>Social Gym’s Stack<a class="headerlink" href="#social-gym-s-stack" title="Permalink to this headline"></a></h2>
 <p>Social Gym’s foundation is in ROS (Robot Operating System) which we surface via a python API.  This allows for all the
 training, evaluation, and experimentation to be done in Python similar to Stable Baselines or PettingZoo.  However,
 because it’s built ontop of ROS, it’s also easy to extend with ROS submodules to experiment with more complex
diff --git a/docs/modules/modules.html b/docs/modules/modules.html
index dff4680b..9714951c 100644
--- a/docs/modules/modules.html
+++ b/docs/modules/modules.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/modules.rst.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="src">
-<h1>src<a class="headerlink" href="#src" title="Permalink to this heading"></a></h1>
+<h1>src<a class="headerlink" href="#src" title="Permalink to this headline"></a></h1>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.html">src package</a><ul>
@@ -82,27 +79,15 @@ <h1>src<a class="headerlink" href="#src" title="Permalink to this heading"></
 <li class="toctree-l3"><a class="reference internal" href="src.environment.html">src.environment package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#module-src.environment.ros_social_gym">src.environment.ros_social_gym module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#module-src.environment">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src-environment-ros-social-gym-module">src.environment.ros_social_gym module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.html#module-src.config_run">src.config_run module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.html#src.config_run.kinds"><code class="docutils literal notranslate"><span class="pre">kinds</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.html#src.config_run.kinds.ao"><code class="docutils literal notranslate"><span class="pre">kinds.ao</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.html#src.config_run.kinds.eo"><code class="docutils literal notranslate"><span class="pre">kinds.eo</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.html#src.config_run.kinds.sacadrl"><code class="docutils literal notranslate"><span class="pre">kinds.sacadrl</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.html#src.config_run.run"><code class="docutils literal notranslate"><span class="pre">run()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.html#module-src.multi_agent_optuna">src.multi_agent_optuna module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.html#src.multi_agent_optuna.objective"><code class="docutils literal notranslate"><span class="pre">objective()</span></code></a></li>
-</ul>
-</li>
+<li class="toctree-l2"><a class="reference internal" href="src.html#src-config-run-module">src.config_run module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.html#src-multi-agent-optuna-module">src.multi_agent_optuna module</a></li>
 <li class="toctree-l2"><a class="reference internal" href="src.html#module-src">Module contents</a></li>
 </ul>
 </li>
diff --git a/docs/modules/src.environment.callbacks.html b/docs/modules/src.environment.callbacks.html
index 4bc33d46..70eefc5d 100644
--- a/docs/modules/src.environment.callbacks.html
+++ b/docs/modules/src.environment.callbacks.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.callbacks package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.callbacks package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.callbacks.rst.txt" rel="nofollow"> View page source</a>
@@ -74,79 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-callbacks-package">
-<h1>src.environment.callbacks package<a class="headerlink" href="#src-environment-callbacks-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.callbacks package<a class="headerlink" href="#src-environment-callbacks-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.callbacks.callbacks">
-<span id="src-environment-callbacks-callbacks-module"></span><h2>src.environment.callbacks.callbacks module<a class="headerlink" href="#module-src.environment.callbacks.callbacks" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.callbacks.callbacks.EvalCallback">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.callbacks.callbacks.</span></span><span class="sig-name descname"><span class="pre">EvalCallback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.callbacks.callbacks.EvalCallback" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">EventCallback</span></code></p>
-<p>Callback for evaluating an agent.</p>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>When using multiple environments, each call to  <code class="docutils literal notranslate"><span class="pre">env.step()</span></code>
-will effectively correspond to <code class="docutils literal notranslate"><span class="pre">n_envs</span></code> steps.
-To account for that, you can use <code class="docutils literal notranslate"><span class="pre">eval_freq</span> <span class="pre">=</span> <span class="pre">max(eval_freq</span> <span class="pre">//</span> <span class="pre">n_envs,</span> <span class="pre">1)</span></code></p>
-</div>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>eval_env</strong> – The environment used for initialization</p></li>
-<li><p><strong>callback_on_new_best</strong> – Callback to trigger
-when there is a new best model according to the <code class="docutils literal notranslate"><span class="pre">mean_reward</span></code></p></li>
-<li><p><strong>callback_after_eval</strong> – Callback to trigger after every evaluation</p></li>
-<li><p><strong>n_eval_episodes</strong> – The number of episodes to test the agent</p></li>
-<li><p><strong>eval_freq</strong> – Evaluate the agent every <code class="docutils literal notranslate"><span class="pre">eval_freq</span></code> call of the callback.</p></li>
-<li><p><strong>log_path</strong> – Path to a folder where the evaluations (<code class="docutils literal notranslate"><span class="pre">evaluations.npz</span></code>)
-will be saved. It will be updated at each evaluation.</p></li>
-<li><p><strong>best_model_save_path</strong> – Path to a folder where the best model
-according to performance on the eval env will be saved.</p></li>
-<li><p><strong>deterministic</strong> – Whether the evaluation should
-use a stochastic or deterministic actions.</p></li>
-<li><p><strong>render</strong> – Whether to render or not the environment during evaluation</p></li>
-<li><p><strong>verbose</strong> – </p></li>
-<li><p><strong>warn</strong> – Passed to <code class="docutils literal notranslate"><span class="pre">evaluate_policy</span></code> (warns if <code class="docutils literal notranslate"><span class="pre">eval_env</span></code> has not been
-wrapped with a Monitor wrapper)</p></li>
-</ul>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.callbacks.callbacks.EvalCallback.update_child_locals">
-<span class="sig-name descname"><span class="pre">update_child_locals</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">locals_</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#src.environment.callbacks.callbacks.EvalCallback.update_child_locals" title="Permalink to this definition"></a></dt>
-<dd><p>Update the references to the local variables.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>locals</strong> – the local variables during rollout collection</p>
-</dd>
-</dl>
-</dd></dl>
-
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.callbacks.callbacks.OptunaCallback">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.callbacks.callbacks.</span></span><span class="sig-name descname"><span class="pre">OptunaCallback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.callbacks.callbacks.OptunaCallback" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseCallback</span></code></p>
-<p>Stop the training once a threshold in episodic reward
-has been reached (i.e. when the model is good enough).</p>
-<p>It must be used with the <code class="docutils literal notranslate"><span class="pre">EvalCallback</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>reward_threshold</strong> – Minimum expected reward per episode
-to stop training.</p></li>
-<li><p><strong>verbose</strong> – </p></li>
-</ul>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-environment-callbacks-callbacks-module">
+<h2>src.environment.callbacks.callbacks module<a class="headerlink" href="#src-environment-callbacks-callbacks-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.callbacks">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.callbacks" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/modules/src.environment.environment_types.html b/docs/modules/src.environment.environment_types.html
index 664860da..9f18f44b 100644
--- a/docs/modules/src.environment.environment_types.html
+++ b/docs/modules/src.environment.environment_types.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.environment_types package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.environment_types package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.environment_types.rst.txt" rel="nofollow"> View page source</a>
@@ -74,223 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-environment-types-package">
-<h1>src.environment.environment_types package<a class="headerlink" href="#src-environment-environment-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.environment_types package<a class="headerlink" href="#src-environment-environment-types-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.environment_types.manual_zone">
-<span id="src-environment-environment-types-manual-zone-module"></span><h2>src.environment.environment_types.manual_zone module<a class="headerlink" href="#module-src.environment.environment_types.manual_zone" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.environment_types.manual_zone.</span></span><span class="sig-name descname"><span class="pre">ManualZoneEnv</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">launch_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'/home/rosdev/social_gym/config/gym_gen/launch.launch'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">observer</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer" title="src.environment.observations.observer.Observer"><span class="pre">Observer</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rewarder</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder" title="src.environment.rewards.rewarder.Rewarder"><span class="pre">Rewarder</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scenarios</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">()</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(3,</span> <span class="pre">5)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">debug</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">visuals</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">RosSocialEnv</span></code></a></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders">
-<span class="sig-name descname"><span class="pre">agents_priority_orders</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone">
-<span class="sig-name descname"><span class="pre">build_zone</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.env_response_type">
-<span class="sig-name descname"><span class="pre">env_response_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">ClassVar</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.env_response_type" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.launch_config">
-<span class="sig-name descname"><span class="pre">launch_config</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">str</span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.launch_config" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario">
-<span class="sig-name descname"><span class="pre">new_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.num_agents">
-<span class="sig-name descname"><span class="pre">num_agents</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.num_agents" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.num_humans">
-<span class="sig-name descname"><span class="pre">num_humans</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.num_humans" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.observer">
-<span class="sig-name descname"><span class="pre">observer</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer" title="src.environment.observations.observer.Observer"><span class="pre">Observer</span></a></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.observer" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.rewarder">
-<span class="sig-name descname"><span class="pre">rewarder</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder" title="src.environment.rewards.rewarder.Rewarder"><span class="pre">Rewarder</span></a></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.rewarder" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.sim_step">
-<span class="sig-name descname"><span class="pre">sim_step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.sim_step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.environment_types.manual_zone.</span></span><span class="sig-name descname"><span class="pre">ManualZoneUTMRSResponse</span></span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><code class="xref py py-class docutils literal notranslate"><span class="pre">UTMRSResponse</span></code></a></p>
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-<dd></dd></dl>
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-<dd></dd></dl>
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-<dd></dd></dl>
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-<dd></dd></dl>
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-<dl class="py attribute">
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-<dd></dd></dl>
-
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-<dd></dd></dl>
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-<dd></dd></dl>
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-<dd></dd></dl>
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-<dd></dd></dl>
-
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-<dd></dd></dl>
-
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-<dd></dd></dl>
-
-<dl class="py method">
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-<dd></dd></dl>
-
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-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.RvisZoneVisualization">
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-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py method">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.RvisZoneVisualization.publish">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.RvisZoneVisualization.rect">
-<span class="sig-name descname"><span class="pre">rect</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">zone</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.RvisZoneVisualization.rect" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-environment-types-manual-zone-module">
+<h2>src.environment.environment_types.manual_zone module<a class="headerlink" href="#src-environment-environment-types-manual-zone-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.environment_types">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.environment_types" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
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index 230c0188..3e4f075f 100644
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+<h1>src.environment.extractors package<a class="headerlink" href="#src-environment-extractors-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.extractors.lstm_agent_obs">
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-<dd class="field-odd"><ul class="simple">
-<li><p><strong>observation_space</strong> – (gym.Space)</p></li>
-<li><p><strong>features_dim</strong> – (int) Number of features extracted.
-This corresponds to the number of unit for the last layer.</p></li>
-</ul>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.extractors.lstm_agent_obs.LSTMAgentObs.forward">
-<span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">observations</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">torch.Tensor</span></span></span><a class="headerlink" href="#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.forward" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.extractors.lstm_agent_obs.LSTMAgentObs.make_tensors">
-<span class="sig-name descname"><span class="pre">make_tensors</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">obs_dicts</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.make_tensors" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-extractors-lstm-agent-obs-module">
+<h2>src.environment.extractors.lstm_agent_obs module<a class="headerlink" href="#src-environment-extractors-lstm-agent-obs-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.extractors">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.extractors" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/modules/src.environment.html b/docs/modules/src.environment.html
index 0f9b211c..ae5c81d7 100644
--- a/docs/modules/src.environment.html
+++ b/docs/modules/src.environment.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
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         <script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
+        <script src="../_static/jquery.js"></script>
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@@ -25,16 +26,12 @@
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-
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-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
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+    <input type="text" name="q" placeholder="Search docs" />
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@@ -62,7 +59,7 @@
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           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.rst.txt" rel="nofollow"> View page source</a>
@@ -74,90 +71,27 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-package">
-<h1>src.environment package<a class="headerlink" href="#src-environment-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment package<a class="headerlink" href="#src-environment-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.callbacks.html">src.environment.callbacks package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#module-src.environment.callbacks.callbacks">src.environment.callbacks.callbacks module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.callbacks.html#src.environment.callbacks.callbacks.EvalCallback"><code class="docutils literal notranslate"><span class="pre">EvalCallback</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.callbacks.html#src.environment.callbacks.callbacks.EvalCallback.update_child_locals"><code class="docutils literal notranslate"><span class="pre">EvalCallback.update_child_locals()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.callbacks.html#src.environment.callbacks.callbacks.OptunaCallback"><code class="docutils literal notranslate"><span class="pre">OptunaCallback</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#module-src.environment.callbacks">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#src-environment-callbacks-callbacks-module">src.environment.callbacks.callbacks module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.environment_types.html">src.environment.environment_types package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#module-src.environment.environment_types.manual_zone">src.environment.environment_types.manual_zone module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.agents_priority_orders</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.build_zone()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.env_response_type"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.env_response_type</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.launch_config"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.launch_config</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.new_scenario()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.num_agents"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.num_agents</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.num_humans"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.num_humans</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.observer"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.observer</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.reset"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.rewarder"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.rewarder</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.sim_step"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.sim_step()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_current_order"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.agents_current_order</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_priority_order"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.agents_priority_order</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.collision"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.collision</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.done"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.done</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.door_pose"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.door_pose</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.door_state"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.door_state</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.entering"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.entering</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.exiting"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.exiting</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.follow_target"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.follow_target</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.goal_pose"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.goal_pose</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.human_poses"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.human_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.human_vels"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.human_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.in_zone"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.in_zone</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.local_target"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.local_target</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_entering"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.number_agents_entering</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_exiting"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.number_agents_exiting</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.other_robot_poses"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.other_robot_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.other_robot_vels"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.other_robot_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.process"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.process()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.robot_poses"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.robot_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.robot_state"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.robot_state</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.robot_vels"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.robot_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.set_zone_vars"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.set_zone_vars()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.success"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.success</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.point"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization.point()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.publish"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization.publish()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.rect"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization.rect()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#module-src.environment.environment_types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#src-environment-environment-types-manual-zone-module">src.environment.environment_types.manual_zone module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.extractors.html">src.environment.extractors package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#module-src.environment.extractors.lstm_agent_obs">src.environment.extractors.lstm_agent_obs module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs"><code class="docutils literal notranslate"><span class="pre">LSTMAgentObs</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.forward"><code class="docutils literal notranslate"><span class="pre">LSTMAgentObs.forward()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.make_tensors"><code class="docutils literal notranslate"><span class="pre">LSTMAgentObs.make_tensors()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#module-src.environment.extractors">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#src-environment-extractors-lstm-agent-obs-module">src.environment.extractors.lstm_agent_obs module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.observations.html">src.environment.observations package</a><ul>
@@ -165,48 +99,28 @@ <h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to thi
 <li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html">src.environment.observations.types package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_goal_distance">src.environment.observations.types.agents_goal_distance module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_heading_direction">src.environment.observations.types.agents_heading_direction module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_others_distance">src.environment.observations.types.agents_others_distance module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_pose">src.environment.observations.types.agents_pose module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_preferred_velocity">src.environment.observations.types.agents_preferred_velocity module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">src.environment.observations.types.agents_velocity module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">src.environment.observations.types.collision_observation module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">src.environment.observations.types.other_agent_observables module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_heading_direction">src.environment.observations.types.others_heading_direction module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_poses">src.environment.observations.types.others_poses module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_velocities">src.environment.observations.types.others_velocities module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.success_observation">src.environment.observations.types.success_observation module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-goal-distance-module">src.environment.observations.types.agents_goal_distance module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-heading-direction-module">src.environment.observations.types.agents_heading_direction module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-others-distance-module">src.environment.observations.types.agents_others_distance module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-pose-module">src.environment.observations.types.agents_pose module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-preferred-velocity-module">src.environment.observations.types.agents_preferred_velocity module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-velocity-module">src.environment.observations.types.agents_velocity module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-collision-observation-module">src.environment.observations.types.collision_observation module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-other-agent-observables-module">src.environment.observations.types.other_agent_observables module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-heading-direction-module">src.environment.observations.types.others_heading_direction module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-poses-module">src.environment.observations.types.others_poses module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-velocities-module">src.environment.observations.types.others_velocities module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-success-observation-module">src.environment.observations.types.success_observation module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations.common_observations">src.environment.observations.common_observations module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.common_observations.dsacadrl_observations"><code class="docutils literal notranslate"><span class="pre">dsacadrl_observations()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations.observation">src.environment.observations.observation module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation"><code class="docutils literal notranslate"><span class="pre">Observation</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation.name"><code class="docutils literal notranslate"><span class="pre">Observation.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation.observations"><code class="docutils literal notranslate"><span class="pre">Observation.observations()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations.observer">src.environment.observations.observer module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer"><code class="docutils literal notranslate"><span class="pre">Observer</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.arr_to_dict"><code class="docutils literal notranslate"><span class="pre">Observer.arr_to_dict()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.make_observation"><code class="docutils literal notranslate"><span class="pre">Observer.make_observation()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.registered_observations"><code class="docutils literal notranslate"><span class="pre">Observer.registered_observations</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.reset"><code class="docutils literal notranslate"><span class="pre">Observer.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.setup"><code class="docutils literal notranslate"><span class="pre">Observer.setup()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-common-observations-module">src.environment.observations.common_observations module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observation-module">src.environment.observations.observation module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observer-module">src.environment.observations.observer module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.html">src.environment.rewards package</a><ul>
@@ -214,340 +128,87 @@ <h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to thi
 <li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html">src.environment.rewards.types package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.collisions">src.environment.rewards.types.collisions module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.existence_penalty">src.environment.rewards.types.existence_penalty module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance">src.environment.rewards.types.goal_distance module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance_change">src.environment.rewards.types.goal_distance_change module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.preferred_velocity">src.environment.rewards.types.preferred_velocity module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_cross">src.environment.rewards.types.social_norm_cross module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_overtake">src.environment.rewards.types.social_norm_overtake module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_pass">src.environment.rewards.types.social_norm_pass module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.success">src.environment.rewards.types.success module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.velocity_control">src.environment.rewards.types.velocity_control module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-collisions-module">src.environment.rewards.types.collisions module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-existence-penalty-module">src.environment.rewards.types.existence_penalty module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-module">src.environment.rewards.types.goal_distance module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-change-module">src.environment.rewards.types.goal_distance_change module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-preferred-velocity-module">src.environment.rewards.types.preferred_velocity module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-cross-module">src.environment.rewards.types.social_norm_cross module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-overtake-module">src.environment.rewards.types.social_norm_overtake module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-pass-module">src.environment.rewards.types.social_norm_pass module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-success-module">src.environment.rewards.types.success module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-velocity-control-module">src.environment.rewards.types.velocity_control module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.wrappers.html">src.environment.rewards.wrappers package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers.linear_weight_scheduler">src.environment.rewards.wrappers.linear_weight_scheduler module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#src-environment-rewards-wrappers-linear-weight-scheduler-module">src.environment.rewards.wrappers.linear_weight_scheduler module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards.common_rewards">src.environment.rewards.common_rewards module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.common_rewards.dsacadrl_rewards"><code class="docutils literal notranslate"><span class="pre">dsacadrl_rewards()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards.reward">src.environment.rewards.reward module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward"><code class="docutils literal notranslate"><span class="pre">Reward</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward.name"><code class="docutils literal notranslate"><span class="pre">Reward.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward.score"><code class="docutils literal notranslate"><span class="pre">Reward.score()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward.weight"><code class="docutils literal notranslate"><span class="pre">Reward.weight</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards.rewarder">src.environment.rewards.rewarder module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder"><code class="docutils literal notranslate"><span class="pre">Rewarder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.registered_rewards"><code class="docutils literal notranslate"><span class="pre">Rewarder.registered_rewards</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reset"><code class="docutils literal notranslate"><span class="pre">Rewarder.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reward"><code class="docutils literal notranslate"><span class="pre">Rewarder.reward()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.setup"><code class="docutils literal notranslate"><span class="pre">Rewarder.setup()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-common-rewards-module">src.environment.rewards.common_rewards module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-reward-module">src.environment.rewards.reward module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-rewarder-module">src.environment.rewards.rewarder module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.scenarios.html">src.environment.scenarios package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#subpackages">Subpackages</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html">src.environment.scenarios.types package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.cycle">src.environment.scenarios.types.cycle module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.graph_nav">src.environment.scenarios.types.graph_nav module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.manual">src.environment.scenarios.types.manual module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-cycle-module">src.environment.scenarios.types.cycle module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-graph-nav-module">src.environment.scenarios.types.graph_nav module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-manual-module">src.environment.scenarios.types.manual module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios.common_scenarios">src.environment.scenarios.common_scenarios module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides"><code class="docutils literal notranslate"><span class="pre">closed_door_1__opposing_sides()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__same_goals"><code class="docutils literal notranslate"><span class="pre">closed_door_1__same_goals()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.elevator_loading"><code class="docutils literal notranslate"><span class="pre">elevator_loading()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_door"><code class="docutils literal notranslate"><span class="pre">envs_door()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_hallway"><code class="docutils literal notranslate"><span class="pre">envs_hallway()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_intersection"><code class="docutils literal notranslate"><span class="pre">envs_intersection()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_open"><code class="docutils literal notranslate"><span class="pre">envs_open()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_round_about"><code class="docutils literal notranslate"><span class="pre">envs_round_about()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp1_train_scenario"><code class="docutils literal notranslate"><span class="pre">exp1_train_scenario()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp2_train_scenario"><code class="docutils literal notranslate"><span class="pre">exp2_train_scenario()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios.scenario">src.environment.scenarios.scenario module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario"><code class="docutils literal notranslate"><span class="pre">Scenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">Scenario.generate_scenario()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.load_nav_nodes"><code class="docutils literal notranslate"><span class="pre">Scenario.load_nav_nodes()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.make_scenario"><code class="docutils literal notranslate"><span class="pre">Scenario.make_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-common-scenarios-module">src.environment.scenarios.common_scenarios module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-scenario-module">src.environment.scenarios.scenario module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.services.html">src.environment.services package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#module-src.environment.services.utmrs">src.environment.services.utmrs module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRS"><code class="docutils literal notranslate"><span class="pre">UTMRS</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRS.reset"><code class="docutils literal notranslate"><span class="pre">UTMRS.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRS.step"><code class="docutils literal notranslate"><span class="pre">UTMRS.step()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.collision"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.collision</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.done"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.done</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_pose"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.door_pose</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_state"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.door_state</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.follow_target"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.follow_target</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.goal_pose"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.goal_pose</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_poses"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.human_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_vels"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.human_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.local_target"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.local_target</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_poses"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.other_robot_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_vels"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.other_robot_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.process"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.process()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_poses"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.robot_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_state"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.robot_state</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_vels"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.robot_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.set_vars"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.set_vars()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.success"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.success</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#module-src.environment.services">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#src-environment-services-utmrs-module">src.environment.services.utmrs module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.utils.html">src.environment.utils package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils.evaluate_policy">src.environment.utils.evaluate_policy module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.evaluate_policy.evaluate_policy"><code class="docutils literal notranslate"><span class="pre">evaluate_policy()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils.utils">src.environment.utils.utils module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.LogFilter"><code class="docutils literal notranslate"><span class="pre">LogFilter</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.LogFilter.flush"><code class="docutils literal notranslate"><span class="pre">LogFilter.flush()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.LogFilter.write"><code class="docutils literal notranslate"><span class="pre">LogFilter.write()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.filter_stdout"><code class="docutils literal notranslate"><span class="pre">filter_stdout()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.get_tboard_writer"><code class="docutils literal notranslate"><span class="pre">get_tboard_writer()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.poses_to_np_array"><code class="docutils literal notranslate"><span class="pre">poses_to_np_array()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-evaluate-policy-module">src.environment.utils.evaluate_policy module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-utils-module">src.environment.utils.utils module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.wrappers.html">src.environment.wrappers package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.collision_episode_ender">src.environment.wrappers.collision_episode_ender module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder"><code class="docutils literal notranslate"><span class="pre">CollisionEpisodeEnder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed"><code class="docutils literal notranslate"><span class="pre">CollisionEpisodeEnder.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step"><code class="docutils literal notranslate"><span class="pre">CollisionEpisodeEnder.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.entropy_episode_ender">src.environment.wrappers.entropy_episode_ender module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.agent_positions</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.calculate_deltas()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.distance_delta</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.negative_multiplier_only</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.reset_positions()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.reward_multiplier</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.step()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.timestep_threshold</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.new_scenario_wrapper">src.environment.wrappers.new_scenario_wrapper module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.env</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.episode_count</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.new_scenario_episode_frequency</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.plans</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.seed()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.reward_stripper">src.environment.wrappers.reward_stripper module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper"><code class="docutils literal notranslate"><span class="pre">RewardStripper</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.seed"><code class="docutils literal notranslate"><span class="pre">RewardStripper.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.step"><code class="docutils literal notranslate"><span class="pre">RewardStripper.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.tensorboard_writer">src.environment.wrappers.tensorboard_writer module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.image_callback"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.image_callback()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.reset"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.seed"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.step"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.time_limit">src.environment.wrappers.time_limit module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.reset"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.seed"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.step"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-collision-episode-ender-module">src.environment.wrappers.collision_episode_ender module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-entropy-episode-ender-module">src.environment.wrappers.entropy_episode_ender module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-new-scenario-wrapper-module">src.environment.wrappers.new_scenario_wrapper module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-reward-stripper-module">src.environment.wrappers.reward_stripper module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-tensorboard-writer-module">src.environment.wrappers.tensorboard_writer module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-time-limit-module">src.environment.wrappers.time_limit module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.ros_social_gym">
-<span id="src-environment-ros-social-gym-module"></span><h2>src.environment.ros_social_gym module<a class="headerlink" href="#module-src.environment.ros_social_gym" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.AgentColor">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.ros_social_gym.</span></span><span class="sig-name descname"><span class="pre">AgentColor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">r</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">g</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">reward</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.AgentColor" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.ros_social_gym.</span></span><span class="sig-name descname"><span class="pre">RosSocialEnv</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">launch_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'/home/rosdev/social_gym/config/gym_gen/launch.launch'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">observer</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer" title="src.environment.observations.observer.Observer"><span class="pre">Observer</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rewarder</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder" title="src.environment.rewards.rewarder.Rewarder"><span class="pre">Rewarder</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scenarios</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">()</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(3,</span> <span class="pre">5)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">debug</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">visuals</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">ParallelEnv</span></code>, <code class="xref py py-class docutils literal notranslate"><span class="pre">EzPickle</span></code></p>
-<p>A ros-based social navigation environment for OpenAI gym supporting MultiAgent training.</p>
-<p>A lot of the documentation is taken from <a class="reference external" href="https://pettingzoo.farama.org/content/environment_creation/">https://pettingzoo.farama.org/content/environment_creation/</a> which is
-almost entirely about supporting multiple agents in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.action_space">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.calculate_reward">
-<span class="sig-name descname"><span class="pre">calculate_reward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">obs_map</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.calculate_reward" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.close">
-<span class="sig-name descname"><span class="pre">close</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.close" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.default_action">
-<span class="sig-name descname"><span class="pre">default_action</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.default_action" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.env_response_type">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.launch_config">
-<span class="sig-name descname"><span class="pre">launch_config</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">str</span></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.launch_config" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.make_observation">
-<span class="sig-name descname"><span class="pre">make_observation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">res</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.make_observation" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.metadata">
-<span class="sig-name descname"><span class="pre">metadata</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">{'name':</span> <span class="pre">'ros_social_env',</span> <span class="pre">'render_modes':</span> <span class="pre">['human']}</span></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.metadata" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.new_scenario">
-<span class="sig-name descname"><span class="pre">new_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.new_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.num_agents">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.num_humans">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.observation_space">
-<span class="sig-name descname"><span class="pre">observation_space</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">agent</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.observation_space" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.observer">
-<span class="sig-name descname"><span class="pre">observer</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer" title="src.environment.observations.observer.Observer"><span class="pre">Observer</span></a></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.observer" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.render">
-<span class="sig-name descname"><span class="pre">render</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mode</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'human'</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.render" title="Permalink to this definition"></a></dt>
-<dd><p>Depends on RVIZ for visualization, no render method</p>
-</dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.rewarder">
-<span class="sig-name descname"><span class="pre">rewarder</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder" title="src.environment.rewards.rewarder.Rewarder"><span class="pre">Rewarder</span></a></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.rewarder" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.sim_step">
-<span class="sig-name descname"><span class="pre">sim_step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.sim_step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.state">
-<span class="sig-name descname"><span class="pre">state</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span></span></span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.state" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action_dict</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-ros-social-gym-module">
+<h2>src.environment.ros_social_gym module<a class="headerlink" href="#src-environment-ros-social-gym-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/modules/src.environment.observations.html b/docs/modules/src.environment.observations.html
index ff53427c..15b7467c 100644
--- a/docs/modules/src.environment.observations.html
+++ b/docs/modules/src.environment.observations.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
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-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
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@@ -13,8 +13,9 @@
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         <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>
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-        <script src="../_static/sphinx_highlight.js"></script>
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@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
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@@ -62,7 +59,7 @@
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           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.observations package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.observations.rst.txt" rel="nofollow"> View page source</a>
@@ -74,208 +71,56 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-observations-package">
-<h1>src.environment.observations package<a class="headerlink" href="#src-environment-observations-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.observations package<a class="headerlink" href="#src-environment-observations-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.observations.types.html">src.environment.observations.types package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#subpackages">Subpackages</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.manual_zone.html">src.environment.observations.types.manual_zone package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#submodules">Submodules</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_current_order">src.environment.observations.types.manual_zone.agent_zone_current_order module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_priority_order">src.environment.observations.types.manual_zone.agent_zone_priority_order module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-in-zone-module">src.environment.observations.types.manual_zone.agent_in_zone module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-zone-current-order-module">src.environment.observations.types.manual_zone.agent_zone_current_order module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-zone-priority-order-module">src.environment.observations.types.manual_zone.agent_zone_priority_order module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_goal_distance">src.environment.observations.types.agents_goal_distance module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance"><code class="docutils literal notranslate"><span class="pre">AgentsGoalDistance</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history"><code class="docutils literal notranslate"><span class="pre">AgentsGoalDistance.history</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history_length"><code class="docutils literal notranslate"><span class="pre">AgentsGoalDistance.history_length</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.name"><code class="docutils literal notranslate"><span class="pre">AgentsGoalDistance.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_heading_direction">src.environment.observations.types.agents_heading_direction module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection"><code class="docutils literal notranslate"><span class="pre">AgentsHeadingDirection</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection.name"><code class="docutils literal notranslate"><span class="pre">AgentsHeadingDirection.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_others_distance">src.environment.observations.types.agents_others_distance module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_others_distance.AgentsOthersDistance"><code class="docutils literal notranslate"><span class="pre">AgentsOthersDistance</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.name"><code class="docutils literal notranslate"><span class="pre">AgentsOthersDistance.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.num_others"><code class="docutils literal notranslate"><span class="pre">AgentsOthersDistance.num_others</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_pose">src.environment.observations.types.agents_pose module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_pose.AgentsPose"><code class="docutils literal notranslate"><span class="pre">AgentsPose</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_pose.AgentsPose.name"><code class="docutils literal notranslate"><span class="pre">AgentsPose.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_preferred_velocity">src.environment.observations.types.agents_preferred_velocity module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity"><code class="docutils literal notranslate"><span class="pre">AgentsPreferredVelocity</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity.name"><code class="docutils literal notranslate"><span class="pre">AgentsPreferredVelocity.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">src.environment.observations.types.agents_velocity module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.history"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity.history</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.history_length"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity.history_length</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.ignore_theta"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity.ignore_theta</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.name"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">src.environment.observations.types.collision_observation module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.collision_observation.CollisionObservation"><code class="docutils literal notranslate"><span class="pre">CollisionObservation</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.collision_observation.CollisionObservation.name"><code class="docutils literal notranslate"><span class="pre">CollisionObservation.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">src.environment.observations.types.other_agent_observables module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables"><code class="docutils literal notranslate"><span class="pre">OtherAgentObservables</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables.name"><code class="docutils literal notranslate"><span class="pre">OtherAgentObservables.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables.num_others"><code class="docutils literal notranslate"><span class="pre">OtherAgentObservables.num_others</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_heading_direction">src.environment.observations.types.others_heading_direction module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection"><code class="docutils literal notranslate"><span class="pre">OthersHeadingDirection</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.name"><code class="docutils literal notranslate"><span class="pre">OthersHeadingDirection.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others"><code class="docutils literal notranslate"><span class="pre">OthersHeadingDirection.num_others</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_poses">src.environment.observations.types.others_poses module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses"><code class="docutils literal notranslate"><span class="pre">OthersPoses</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses.name"><code class="docutils literal notranslate"><span class="pre">OthersPoses.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses.num_others"><code class="docutils literal notranslate"><span class="pre">OthersPoses.num_others</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_velocities">src.environment.observations.types.others_velocities module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities"><code class="docutils literal notranslate"><span class="pre">OthersVelocities</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities.name"><code class="docutils literal notranslate"><span class="pre">OthersVelocities.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities.num_others"><code class="docutils literal notranslate"><span class="pre">OthersVelocities.num_others</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.success_observation">src.environment.observations.types.success_observation module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.success_observation.SuccessObservation"><code class="docutils literal notranslate"><span class="pre">SuccessObservation</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.success_observation.SuccessObservation.name"><code class="docutils literal notranslate"><span class="pre">SuccessObservation.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-goal-distance-module">src.environment.observations.types.agents_goal_distance module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-heading-direction-module">src.environment.observations.types.agents_heading_direction module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-others-distance-module">src.environment.observations.types.agents_others_distance module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-pose-module">src.environment.observations.types.agents_pose module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-preferred-velocity-module">src.environment.observations.types.agents_preferred_velocity module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-velocity-module">src.environment.observations.types.agents_velocity module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-collision-observation-module">src.environment.observations.types.collision_observation module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-other-agent-observables-module">src.environment.observations.types.other_agent_observables module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-heading-direction-module">src.environment.observations.types.others_heading_direction module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-poses-module">src.environment.observations.types.others_poses module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-velocities-module">src.environment.observations.types.others_velocities module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-success-observation-module">src.environment.observations.types.success_observation module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.common_observations">
-<span id="src-environment-observations-common-observations-module"></span><h2>src.environment.observations.common_observations module<a class="headerlink" href="#module-src.environment.observations.common_observations" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.observations.common_observations.dsacadrl_observations">
-<span class="sig-prename descclassname"><span class="pre">src.environment.observations.common_observations.</span></span><span class="sig-name descname"><span class="pre">dsacadrl_observations</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.common_observations.dsacadrl_observations" title="Permalink to this definition"></a></dt>
-<dd><p>Helper for building the observations needed for the D-Sacadrl Policy.</p>
-</dd></dl>
-
+<section id="src-environment-observations-common-observations-module">
+<h2>src.environment.observations.common_observations module<a class="headerlink" href="#src-environment-observations-common-observations-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.observation">
-<span id="src-environment-observations-observation-module"></span><h2>src.environment.observations.observation module<a class="headerlink" href="#module-src.environment.observations.observation" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.observation.Observation">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.observation.</span></span><span class="sig-name descname"><span class="pre">Observation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observation.Observation" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">ABC</span></code></p>
-<p>Base class for an observation.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observation.Observation.name">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observation.Observation.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observation.Observation.observations">
-<span class="sig-name descname"><span class="pre">observations</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_response</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.array</span></span></span><a class="headerlink" href="#src.environment.observations.observation.Observation.observations" title="Permalink to this definition"></a></dt>
-<dd><p>Given the environment being used in the sim and the response from the current timestep, generate a numpy array
-that can be used as an observation for the Agent (subsequently passed into the policy network).</p>
-<p>Will pad the returned observation np array to the correct length specified in the __len__ to avoid shape
-mismatch in the observation space.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>env</strong> – The RosSocialEnv class object currently being used in the sim</p></li>
-<li><p><strong>env_response</strong> – The response from the env given the timestep</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>A numpy array that contains relevant observation data for the policy network.</p>
-</dd>
-</dl>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-observation-module">
+<h2>src.environment.observations.observation module<a class="headerlink" href="#src-environment-observations-observation-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.observer">
-<span id="src-environment-observations-observer-module"></span><h2>src.environment.observations.observer module<a class="headerlink" href="#module-src.environment.observations.observer" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.observer.</span></span><span class="sig-name descname"><span class="pre">Observer</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">registered_observations</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><span class="pre">Observation</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<p>Tracks all observations made in the environment</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.arr_to_dict">
-<span class="sig-name descname"><span class="pre">arr_to_dict</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">observations</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer.arr_to_dict" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.make_observation">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.registered_observations">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.setup">
-<span class="sig-name descname"><span class="pre">setup</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer.setup" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-observer-module">
+<h2>src.environment.observations.observer module<a class="headerlink" href="#src-environment-observations-observer-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.observations" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/modules/src.environment.observations.types.html b/docs/modules/src.environment.observations.types.html
index fc4b949f..9d5c81b7 100644
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-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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@@ -13,8 +13,9 @@
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+        <script src="../_static/jquery.js"></script>
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@@ -25,16 +26,12 @@
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-
-          
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-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
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+    <input type="text" name="q" placeholder="Search docs" />
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@@ -62,7 +59,7 @@
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+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.observations.types package</li>
       <li class="wy-breadcrumbs-aside">
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@@ -74,274 +71,63 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-observations-types-package">
-<h1>src.environment.observations.types package<a class="headerlink" href="#src-environment-observations-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.observations.types package<a class="headerlink" href="#src-environment-observations-types-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.observations.types.manual_zone.html">src.environment.observations.types.manual_zone package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_in_zone">src.environment.observations.types.manual_zone.agent_in_zone module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone"><code class="docutils literal notranslate"><span class="pre">AgentInZone</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone.name"><code class="docutils literal notranslate"><span class="pre">AgentInZone.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_current_order">src.environment.observations.types.manual_zone.agent_zone_current_order module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder"><code class="docutils literal notranslate"><span class="pre">AgentZoneCurrentOrder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder.name"><code class="docutils literal notranslate"><span class="pre">AgentZoneCurrentOrder.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_priority_order">src.environment.observations.types.manual_zone.agent_zone_priority_order module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder"><code class="docutils literal notranslate"><span class="pre">AgentZonePriorityOrder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder.name"><code class="docutils literal notranslate"><span class="pre">AgentZonePriorityOrder.name()</span></code></a></li>
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-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-in-zone-module">src.environment.observations.types.manual_zone.agent_in_zone module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-zone-current-order-module">src.environment.observations.types.manual_zone.agent_zone_current_order module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-zone-priority-order-module">src.environment.observations.types.manual_zone.agent_zone_priority_order module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_goal_distance">
-<span id="src-environment-observations-types-agents-goal-distance-module"></span><h2>src.environment.observations.types.agents_goal_distance module<a class="headerlink" href="#module-src.environment.observations.types.agents_goal_distance" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_goal_distance.</span></span><span class="sig-name descname"><span class="pre">AgentsGoalDistance</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">history_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the Norm of the agents pose and the goal pose</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history">
-<span class="sig-name descname"><span class="pre">history</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">deque</span></em><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history_length">
-<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history_length" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-goal-distance-module">
+<h2>src.environment.observations.types.agents_goal_distance module<a class="headerlink" href="#src-environment-observations-types-agents-goal-distance-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_heading_direction">
-<span id="src-environment-observations-types-agents-heading-direction-module"></span><h2>src.environment.observations.types.agents_heading_direction module<a class="headerlink" href="#module-src.environment.observations.types.agents_heading_direction" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_heading_direction.</span></span><span class="sig-name descname"><span class="pre">AgentsHeadingDirection</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the heading direction of the agent ( via tan-1(vy / vx) )</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-heading-direction-module">
+<h2>src.environment.observations.types.agents_heading_direction module<a class="headerlink" href="#src-environment-observations-types-agents-heading-direction-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_others_distance">
-<span id="src-environment-observations-types-agents-others-distance-module"></span><h2>src.environment.observations.types.agents_others_distance module<a class="headerlink" href="#module-src.environment.observations.types.agents_others_distance" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_others_distance.AgentsOthersDistance">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_others_distance.</span></span><span class="sig-name descname"><span class="pre">AgentsOthersDistance</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_others_distance.AgentsOthersDistance" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Return the Normed distance between the agent and the other agents/humans</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_others_distance.AgentsOthersDistance.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_others_distance.AgentsOthersDistance.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-others-distance-module">
+<h2>src.environment.observations.types.agents_others_distance module<a class="headerlink" href="#src-environment-observations-types-agents-others-distance-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_pose">
-<span id="src-environment-observations-types-agents-pose-module"></span><h2>src.environment.observations.types.agents_pose module<a class="headerlink" href="#module-src.environment.observations.types.agents_pose" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_pose.AgentsPose">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_pose.</span></span><span class="sig-name descname"><span class="pre">AgentsPose</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_pose.AgentsPose" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the X, Y, Theta positions of the agent in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_pose.AgentsPose.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_pose.AgentsPose.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-pose-module">
+<h2>src.environment.observations.types.agents_pose module<a class="headerlink" href="#src-environment-observations-types-agents-pose-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_preferred_velocity">
-<span id="src-environment-observations-types-agents-preferred-velocity-module"></span><h2>src.environment.observations.types.agents_preferred_velocity module<a class="headerlink" href="#module-src.environment.observations.types.agents_preferred_velocity" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_preferred_velocity.</span></span><span class="sig-name descname"><span class="pre">AgentsPreferredVelocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">preferred_velocity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the preferred velocity of the agent (really just a static number)</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-preferred-velocity-module">
+<h2>src.environment.observations.types.agents_preferred_velocity module<a class="headerlink" href="#src-environment-observations-types-agents-preferred-velocity-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_velocity">
-<span id="src-environment-observations-types-agents-velocity-module"></span><h2>src.environment.observations.types.agents_velocity module<a class="headerlink" href="#module-src.environment.observations.types.agents_velocity" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_velocity.</span></span><span class="sig-name descname"><span class="pre">AgentsVelocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">history_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the vx, vy of the agent in the current timestep</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.history">
-<span class="sig-name descname"><span class="pre">history</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">deque</span></em><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.history" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.history_length">
-<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.history_length" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.ignore_theta">
-<span class="sig-name descname"><span class="pre">ignore_theta</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.ignore_theta" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-velocity-module">
+<h2>src.environment.observations.types.agents_velocity module<a class="headerlink" href="#src-environment-observations-types-agents-velocity-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.collision_observation">
-<span id="src-environment-observations-types-collision-observation-module"></span><h2>src.environment.observations.types.collision_observation module<a class="headerlink" href="#module-src.environment.observations.types.collision_observation" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.collision_observation.CollisionObservation">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.collision_observation.</span></span><span class="sig-name descname"><span class="pre">CollisionObservation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.collision_observation.CollisionObservation" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns number of collisions</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.collision_observation.CollisionObservation.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.collision_observation.CollisionObservation.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-collision-observation-module">
+<h2>src.environment.observations.types.collision_observation module<a class="headerlink" href="#src-environment-observations-types-collision-observation-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.other_agent_observables">
-<span id="src-environment-observations-types-other-agent-observables-module"></span><h2>src.environment.observations.types.other_agent_observables module<a class="headerlink" href="#module-src.environment.observations.types.other_agent_observables" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.other_agent_observables.OtherAgentObservables">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.other_agent_observables.</span></span><span class="sig-name descname"><span class="pre">OtherAgentObservables</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">pos_x</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pos_y</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pos_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">vel_x</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">vel_y</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">vel_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.other_agent_observables.OtherAgentObservables" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.other_agent_observables.OtherAgentObservables.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.other_agent_observables.OtherAgentObservables.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.other_agent_observables.OtherAgentObservables.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.other_agent_observables.OtherAgentObservables.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-other-agent-observables-module">
+<h2>src.environment.observations.types.other_agent_observables module<a class="headerlink" href="#src-environment-observations-types-other-agent-observables-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.others_heading_direction">
-<span id="src-environment-observations-types-others-heading-direction-module"></span><h2>src.environment.observations.types.others_heading_direction module<a class="headerlink" href="#module-src.environment.observations.types.others_heading_direction" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_heading_direction.OthersHeadingDirection">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.others_heading_direction.</span></span><span class="sig-name descname"><span class="pre">OthersHeadingDirection</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_heading_direction.OthersHeadingDirection" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the heading direction of every other Agent/Human ( via tan-1(vx/vy) )</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_heading_direction.OthersHeadingDirection.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-others-heading-direction-module">
+<h2>src.environment.observations.types.others_heading_direction module<a class="headerlink" href="#src-environment-observations-types-others-heading-direction-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.others_poses">
-<span id="src-environment-observations-types-others-poses-module"></span><h2>src.environment.observations.types.others_poses module<a class="headerlink" href="#module-src.environment.observations.types.others_poses" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_poses.OthersPoses">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.others_poses.</span></span><span class="sig-name descname"><span class="pre">OthersPoses</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">actuals</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_poses.OthersPoses" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the X, Y, Theta positions of the other agents/humans in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_poses.OthersPoses.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_poses.OthersPoses.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_poses.OthersPoses.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.others_poses.OthersPoses.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-others-poses-module">
+<h2>src.environment.observations.types.others_poses module<a class="headerlink" href="#src-environment-observations-types-others-poses-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.others_velocities">
-<span id="src-environment-observations-types-others-velocities-module"></span><h2>src.environment.observations.types.others_velocities module<a class="headerlink" href="#module-src.environment.observations.types.others_velocities" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_velocities.OthersVelocities">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.others_velocities.</span></span><span class="sig-name descname"><span class="pre">OthersVelocities</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_velocities.OthersVelocities" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the vx, vy, vtheta for each other agent/human in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_velocities.OthersVelocities.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_velocities.OthersVelocities.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
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-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.others_velocities.OthersVelocities.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-others-velocities-module">
+<h2>src.environment.observations.types.others_velocities module<a class="headerlink" href="#src-environment-observations-types-others-velocities-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.success_observation">
-<span id="src-environment-observations-types-success-observation-module"></span><h2>src.environment.observations.types.success_observation module<a class="headerlink" href="#module-src.environment.observations.types.success_observation" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.success_observation.SuccessObservation">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.success_observation.</span></span><span class="sig-name descname"><span class="pre">SuccessObservation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.success_observation.SuccessObservation" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns if there was a success in the episode</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.success_observation.SuccessObservation.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.success_observation.SuccessObservation.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-success-observation-module">
+<h2>src.environment.observations.types.success_observation module<a class="headerlink" href="#src-environment-observations-types-success-observation-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.observations.types" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/modules/src.environment.observations.types.manual_zone.html b/docs/modules/src.environment.observations.types.manual_zone.html
index fd110afc..e57e2adf 100644
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+++ b/docs/modules/src.environment.observations.types.manual_zone.html
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 <html class="writer-html5" lang="en" >
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-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
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     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
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     <input type="hidden" name="area" value="default" />
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@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.observations.types.manual_zone package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.observations.types.manual_zone.rst.txt" rel="nofollow"> View page source</a>
@@ -74,57 +71,21 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-observations-types-manual-zone-package">
-<h1>src.environment.observations.types.manual_zone package<a class="headerlink" href="#src-environment-observations-types-manual-zone-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.observations.types.manual_zone package<a class="headerlink" href="#src-environment-observations-types-manual-zone-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone.agent_in_zone">
-<span id="src-environment-observations-types-manual-zone-agent-in-zone-module"></span><h2>src.environment.observations.types.manual_zone.agent_in_zone module<a class="headerlink" href="#module-src.environment.observations.types.manual_zone.agent_in_zone" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.manual_zone.agent_in_zone.</span></span><span class="sig-name descname"><span class="pre">AgentInZone</span></span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Tracks if the agent is in the zone</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-manual-zone-agent-in-zone-module">
+<h2>src.environment.observations.types.manual_zone.agent_in_zone module<a class="headerlink" href="#src-environment-observations-types-manual-zone-agent-in-zone-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone.agent_zone_current_order">
-<span id="src-environment-observations-types-manual-zone-agent-zone-current-order-module"></span><h2>src.environment.observations.types.manual_zone.agent_zone_current_order module<a class="headerlink" href="#module-src.environment.observations.types.manual_zone.agent_zone_current_order" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.manual_zone.agent_zone_current_order.</span></span><span class="sig-name descname"><span class="pre">AgentZoneCurrentOrder</span></span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Tracks the current order of the agent in the zone</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-manual-zone-agent-zone-current-order-module">
+<h2>src.environment.observations.types.manual_zone.agent_zone_current_order module<a class="headerlink" href="#src-environment-observations-types-manual-zone-agent-zone-current-order-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone.agent_zone_priority_order">
-<span id="src-environment-observations-types-manual-zone-agent-zone-priority-order-module"></span><h2>src.environment.observations.types.manual_zone.agent_zone_priority_order module<a class="headerlink" href="#module-src.environment.observations.types.manual_zone.agent_zone_priority_order" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.manual_zone.agent_zone_priority_order.</span></span><span class="sig-name descname"><span class="pre">AgentZonePriorityOrder</span></span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Tracks the current order of the agent in the zone</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-manual-zone-agent-zone-priority-order-module">
+<h2>src.environment.observations.types.manual_zone.agent_zone_priority_order module<a class="headerlink" href="#src-environment-observations-types-manual-zone-agent-zone-priority-order-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.observations.types.manual_zone" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/modules/src.environment.rewards.html b/docs/modules/src.environment.rewards.html
index cf4e4ba5..3bbd05ca 100644
--- a/docs/modules/src.environment.rewards.html
+++ b/docs/modules/src.environment.rewards.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.rewards package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
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@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.rewards package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.rewards.rst.txt" rel="nofollow"> View page source</a>
@@ -74,221 +71,58 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-rewards-package">
-<h1>src.environment.rewards package<a class="headerlink" href="#src-environment-rewards-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards package<a class="headerlink" href="#src-environment-rewards-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.types.html">src.environment.rewards.types package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#subpackages">Subpackages</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html">src.environment.rewards.types.manual_zone package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone.enforced_order">src.environment.rewards.types.manual_zone.enforced_order module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src-environment-rewards-types-manual-zone-enforced-order-module">src.environment.rewards.types.manual_zone.enforced_order module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.collisions">src.environment.rewards.types.collisions module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions"><code class="docutils literal notranslate"><span class="pre">Collisions</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions.name"><code class="docutils literal notranslate"><span class="pre">Collisions.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.existence_penalty">src.environment.rewards.types.existence_penalty module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.existence_penalty.ExistencePenalty"><code class="docutils literal notranslate"><span class="pre">ExistencePenalty</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.existence_penalty.ExistencePenalty.name"><code class="docutils literal notranslate"><span class="pre">ExistencePenalty.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance">src.environment.rewards.types.goal_distance module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance.GoalDistance"><code class="docutils literal notranslate"><span class="pre">GoalDistance</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance.GoalDistance.name"><code class="docutils literal notranslate"><span class="pre">GoalDistance.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance_change">src.environment.rewards.types.goal_distance_change module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance_change.GoalDistanceChange"><code class="docutils literal notranslate"><span class="pre">GoalDistanceChange</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance_change.GoalDistanceChange.name"><code class="docutils literal notranslate"><span class="pre">GoalDistanceChange.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.preferred_velocity">src.environment.rewards.types.preferred_velocity module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.preferred_velocity.PreferredVelocity"><code class="docutils literal notranslate"><span class="pre">PreferredVelocity</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.preferred_velocity.PreferredVelocity.name"><code class="docutils literal notranslate"><span class="pre">PreferredVelocity.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_cross">src.environment.rewards.types.social_norm_cross module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross"><code class="docutils literal notranslate"><span class="pre">SocialNormCross</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.dist_to_other_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.goal_dist_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.heading_angle_thresholds</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.name"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.relative_agent_to_other_angle_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.weight"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.weight</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_overtake">src.environment.rewards.types.social_norm_overtake module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.goal_dist_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.heading_angle_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.name"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.px_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.py_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.weight"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.weight</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_pass">src.environment.rewards.types.social_norm_pass module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass"><code class="docutils literal notranslate"><span class="pre">SocialNormPass</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.goal_dist_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.heading_angle_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.name"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.px_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.py_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.weight"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.weight</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.success">src.environment.rewards.types.success module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.success.Success"><code class="docutils literal notranslate"><span class="pre">Success</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.success.Success.name"><code class="docutils literal notranslate"><span class="pre">Success.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.velocity_control">src.environment.rewards.types.velocity_control module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.velocity_control.VelocityControl"><code class="docutils literal notranslate"><span class="pre">VelocityControl</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.velocity_control.VelocityControl.name"><code class="docutils literal notranslate"><span class="pre">VelocityControl.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-collisions-module">src.environment.rewards.types.collisions module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-existence-penalty-module">src.environment.rewards.types.existence_penalty module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-module">src.environment.rewards.types.goal_distance module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-change-module">src.environment.rewards.types.goal_distance_change module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-preferred-velocity-module">src.environment.rewards.types.preferred_velocity module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-cross-module">src.environment.rewards.types.social_norm_cross module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-overtake-module">src.environment.rewards.types.social_norm_overtake module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-pass-module">src.environment.rewards.types.social_norm_pass module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-success-module">src.environment.rewards.types.success module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-velocity-control-module">src.environment.rewards.types.velocity_control module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.wrappers.html">src.environment.rewards.wrappers package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers.linear_weight_scheduler">src.environment.rewards.wrappers.linear_weight_scheduler module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.wrappers.html#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler"><code class="docutils literal notranslate"><span class="pre">LinearWeightScheduler</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler.name"><code class="docutils literal notranslate"><span class="pre">LinearWeightScheduler.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#src-environment-rewards-wrappers-linear-weight-scheduler-module">src.environment.rewards.wrappers.linear_weight_scheduler module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.common_rewards">
-<span id="src-environment-rewards-common-rewards-module"></span><h2>src.environment.rewards.common_rewards module<a class="headerlink" href="#module-src.environment.rewards.common_rewards" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.rewards.common_rewards.dsacadrl_rewards">
-<span class="sig-prename descclassname"><span class="pre">src.environment.rewards.common_rewards.</span></span><span class="sig-name descname"><span class="pre">dsacadrl_rewards</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.common_rewards.dsacadrl_rewards" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
+<section id="src-environment-rewards-common-rewards-module">
+<h2>src.environment.rewards.common_rewards module<a class="headerlink" href="#src-environment-rewards-common-rewards-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.reward">
-<span id="src-environment-rewards-reward-module"></span><h2>src.environment.rewards.reward module<a class="headerlink" href="#module-src.environment.rewards.reward" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.reward.</span></span><span class="sig-name descname"><span class="pre">Reward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.reward.Reward" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">ABC</span></code></p>
-<p>Base class for rewarding or penalizing the agent in the simulation at each timestep according to the observation
-and environment configs.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward.name">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.reward.Reward.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward.score">
-<span class="sig-name descname"><span class="pre">score</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">observation_map</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#src.environment.rewards.reward.Reward.score" title="Permalink to this definition"></a></dt>
-<dd><p>Given the current environment instantiation, the current timesteps response from the environment, and the
-data_map object, calculate a float scalar as a reward.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>env</strong> – The RosSocialEnv class object currently being used in the sim</p></li>
-<li><p><strong>env_response</strong> – The response from the env given the timestep</p></li>
-<li><p><strong>observation_map</strong> – key observation pair from the Observer class.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>A weighted float scalar representing the amount of reward of the current timestep.</p>
-</dd>
-</dl>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward.weight">
-<span class="sig-name descname"><span class="pre">weight</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.reward.Reward.weight" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-reward-module">
+<h2>src.environment.rewards.reward module<a class="headerlink" href="#src-environment-rewards-reward-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.rewarder">
-<span id="src-environment-rewards-rewarder-module"></span><h2>src.environment.rewards.rewarder module<a class="headerlink" href="#module-src.environment.rewards.rewarder" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.rewarder.</span></span><span class="sig-name descname"><span class="pre">Rewarder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">registered_rewards</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><span class="pre">Reward</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<p>Class that handles storing reward classes, calling them to sum their reward, and logging if a logger is given.</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.registered_rewards">
-<span class="sig-name descname"><span class="pre">registered_rewards</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><span class="pre">Reward</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.registered_rewards" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.reward">
-<span class="sig-name descname"><span class="pre">reward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">observation_map</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.reward" title="Permalink to this definition"></a></dt>
-<dd><p>Given the environments response for the current timestep, calculate the total reward (sum of all the registered
-reward class objects) and log the individual rewards as well as the total reward if the tensorboardX Summary
-Writer is present.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>env</strong> – The RosSocialEnv being used in the current episode</p></li>
-<li><p><strong>observation_map</strong> – Dictionary storing all the observations of the environment</p></li>
-</ul>
-</dd>
-</dl>
-</dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.setup">
-<span class="sig-name descname"><span class="pre">setup</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.setup" title="Permalink to this definition"></a></dt>
-<dd><p>Helper for reward classes that require environment knowledge before being run.</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-rewarder-module">
+<h2>src.environment.rewards.rewarder module<a class="headerlink" href="#src-environment-rewards-rewarder-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/modules/src.environment.rewards.types.html b/docs/modules/src.environment.rewards.types.html
index fe1203f2..1021ce78 100644
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+++ b/docs/modules/src.environment.rewards.types.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
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-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
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   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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@@ -13,8 +13,9 @@
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+        <script src="../_static/jquery.js"></script>
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@@ -25,16 +26,12 @@
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@@ -62,7 +59,7 @@
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@@ -74,272 +71,55 @@
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   <section id="src-environment-rewards-types-package">
-<h1>src.environment.rewards.types package<a class="headerlink" href="#src-environment-rewards-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards.types package<a class="headerlink" href="#src-environment-rewards-types-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html">src.environment.rewards.types.manual_zone package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone.enforced_order">src.environment.rewards.types.manual_zone.enforced_order module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.name"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.on_enter</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.on_exit</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.previous_zone_state</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.weight"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.weight</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src-environment-rewards-types-manual-zone-enforced-order-module">src.environment.rewards.types.manual_zone.enforced_order module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.collisions">
-<span id="src-environment-rewards-types-collisions-module"></span><h2>src.environment.rewards.types.collisions module<a class="headerlink" href="#module-src.environment.rewards.types.collisions" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.collisions.Collisions">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.collisions.</span></span><span class="sig-name descname"><span class="pre">Collisions</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.collisions.Collisions" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Penalty for when the agent collides with something in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.collisions.Collisions.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.collisions.Collisions.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-collisions-module">
+<h2>src.environment.rewards.types.collisions module<a class="headerlink" href="#src-environment-rewards-types-collisions-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.existence_penalty">
-<span id="src-environment-rewards-types-existence-penalty-module"></span><h2>src.environment.rewards.types.existence_penalty module<a class="headerlink" href="#module-src.environment.rewards.types.existence_penalty" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.existence_penalty.ExistencePenalty">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.existence_penalty.</span></span><span class="sig-name descname"><span class="pre">ExistencePenalty</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.existence_penalty.ExistencePenalty" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Penalty for every timestep that has not led to success.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.existence_penalty.ExistencePenalty.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.existence_penalty.ExistencePenalty.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-existence-penalty-module">
+<h2>src.environment.rewards.types.existence_penalty module<a class="headerlink" href="#src-environment-rewards-types-existence-penalty-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.goal_distance">
-<span id="src-environment-rewards-types-goal-distance-module"></span><h2>src.environment.rewards.types.goal_distance module<a class="headerlink" href="#module-src.environment.rewards.types.goal_distance" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance.GoalDistance">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.goal_distance.</span></span><span class="sig-name descname"><span class="pre">GoalDistance</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance.GoalDistance" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance.GoalDistance.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance.GoalDistance.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-goal-distance-module">
+<h2>src.environment.rewards.types.goal_distance module<a class="headerlink" href="#src-environment-rewards-types-goal-distance-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.goal_distance_change">
-<span id="src-environment-rewards-types-goal-distance-change-module"></span><h2>src.environment.rewards.types.goal_distance_change module<a class="headerlink" href="#module-src.environment.rewards.types.goal_distance_change" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance_change.GoalDistanceChange">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.goal_distance_change.</span></span><span class="sig-name descname"><span class="pre">GoalDistanceChange</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">clip</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance_change.GoalDistanceChange" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Simple reward that returns the change in distance to the goal per timestep as a reward.</p>
-<p>I.E.</p>
-<p>timestep 1 -&gt; 5 units to the goal, will return 0
-timestep 2 -&gt; 3 units to the goal, will return 5 - 3 -&gt; 2
-timestep 3 -&gt; 4 units to the goal, will return 3 - 4 -&gt; -1</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance_change.GoalDistanceChange.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance_change.GoalDistanceChange.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-goal-distance-change-module">
+<h2>src.environment.rewards.types.goal_distance_change module<a class="headerlink" href="#src-environment-rewards-types-goal-distance-change-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.preferred_velocity">
-<span id="src-environment-rewards-types-preferred-velocity-module"></span><h2>src.environment.rewards.types.preferred_velocity module<a class="headerlink" href="#module-src.environment.rewards.types.preferred_velocity" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.preferred_velocity.PreferredVelocity">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.preferred_velocity.</span></span><span class="sig-name descname"><span class="pre">PreferredVelocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.preferred_velocity.PreferredVelocity" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.preferred_velocity.PreferredVelocity.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.preferred_velocity.PreferredVelocity.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-preferred-velocity-module">
+<h2>src.environment.rewards.types.preferred_velocity module<a class="headerlink" href="#src-environment-rewards-types-preferred-velocity-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.social_norm_cross">
-<span id="src-environment-rewards-types-social-norm-cross-module"></span><h2>src.environment.rewards.types.social_norm_cross module<a class="headerlink" href="#module-src.environment.rewards.types.social_norm_cross" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.social_norm_cross.</span></span><span class="sig-name descname"><span class="pre">SocialNormCross</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_dist_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">3.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dist_to_other_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">relative_agent_to_other_angle_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">heading_angle_thresholds</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(-2.356194490192345,</span> <span class="pre">-0.7853981633974483)</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Social Norm Crossing Penalty as defined in <a class="reference external" href="https://arxiv.org/pdf/1703.08862.pdf">https://arxiv.org/pdf/1703.08862.pdf</a> on page 4 eq 12</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold">
-<span class="sig-name descname"><span class="pre">dist_to_other_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold">
-<span class="sig-name descname"><span class="pre">goal_dist_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds">
-<span class="sig-name descname"><span class="pre">heading_angle_thresholds</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold">
-<span class="sig-name descname"><span class="pre">relative_agent_to_other_angle_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.weight">
-<span class="sig-name descname"><span class="pre">weight</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.weight" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-social-norm-cross-module">
+<h2>src.environment.rewards.types.social_norm_cross module<a class="headerlink" href="#src-environment-rewards-types-social-norm-cross-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.social_norm_overtake">
-<span id="src-environment-rewards-types-social-norm-overtake-module"></span><h2>src.environment.rewards.types.social_norm_overtake module<a class="headerlink" href="#module-src.environment.rewards.types.social_norm_overtake" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.social_norm_overtake.</span></span><span class="sig-name descname"><span class="pre">SocialNormOvertake</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_dist_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">3.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">px_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(0,</span> <span class="pre">3)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">py_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(0,</span> <span class="pre">1)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">heading_angle_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.7853981633974483</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Social Norm Overtake Penalty as defined in <a class="reference external" href="https://arxiv.org/pdf/1703.08862.pdf">https://arxiv.org/pdf/1703.08862.pdf</a> on page 4 eq 11</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold">
-<span class="sig-name descname"><span class="pre">goal_dist_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold">
-<span class="sig-name descname"><span class="pre">heading_angle_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold">
-<span class="sig-name descname"><span class="pre">px_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold">
-<span class="sig-name descname"><span class="pre">py_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.weight">
-<span class="sig-name descname"><span class="pre">weight</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.weight" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-social-norm-overtake-module">
+<h2>src.environment.rewards.types.social_norm_overtake module<a class="headerlink" href="#src-environment-rewards-types-social-norm-overtake-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.social_norm_pass">
-<span id="src-environment-rewards-types-social-norm-pass-module"></span><h2>src.environment.rewards.types.social_norm_pass module<a class="headerlink" href="#module-src.environment.rewards.types.social_norm_pass" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.social_norm_pass.</span></span><span class="sig-name descname"><span class="pre">SocialNormPass</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_dist_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">3.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">px_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(1,</span> <span class="pre">4)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">py_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(-2,</span> <span class="pre">0)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">heading_angle_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2.356194490192345</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Social Norm Pass Penalty as defined in <a class="reference external" href="https://arxiv.org/pdf/1703.08862.pdf">https://arxiv.org/pdf/1703.08862.pdf</a> on page 4 eq 10</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold">
-<span class="sig-name descname"><span class="pre">goal_dist_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold">
-<span class="sig-name descname"><span class="pre">heading_angle_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold">
-<span class="sig-name descname"><span class="pre">px_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold">
-<span class="sig-name descname"><span class="pre">py_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.weight">
-<span class="sig-name descname"><span class="pre">weight</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.weight" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-social-norm-pass-module">
+<h2>src.environment.rewards.types.social_norm_pass module<a class="headerlink" href="#src-environment-rewards-types-social-norm-pass-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.success">
-<span id="src-environment-rewards-types-success-module"></span><h2>src.environment.rewards.types.success module<a class="headerlink" href="#module-src.environment.rewards.types.success" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.success.Success">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.success.</span></span><span class="sig-name descname"><span class="pre">Success</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.success.Success" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Reward for when the agent has successfully completed the goal in the env.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.success.Success.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.success.Success.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-success-module">
+<h2>src.environment.rewards.types.success module<a class="headerlink" href="#src-environment-rewards-types-success-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.velocity_control">
-<span id="src-environment-rewards-types-velocity-control-module"></span><h2>src.environment.rewards.types.velocity_control module<a class="headerlink" href="#module-src.environment.rewards.types.velocity_control" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.velocity_control.VelocityControl">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.velocity_control.</span></span><span class="sig-name descname"><span class="pre">VelocityControl</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.velocity_control.VelocityControl" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Penalty for punishing abrupt changes in velocity</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.velocity_control.VelocityControl.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.velocity_control.VelocityControl.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-velocity-control-module">
+<h2>src.environment.rewards.types.velocity_control module<a class="headerlink" href="#src-environment-rewards-types-velocity-control-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards.types" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/modules/src.environment.rewards.types.manual_zone.html b/docs/modules/src.environment.rewards.types.manual_zone.html
index 031a82ab..550c5cc4 100644
--- a/docs/modules/src.environment.rewards.types.manual_zone.html
+++ b/docs/modules/src.environment.rewards.types.manual_zone.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.rewards.types.manual_zone package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.rewards.types.manual_zone package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.rewards.types.manual_zone.rst.txt" rel="nofollow"> View page source</a>
@@ -74,47 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-rewards-types-manual-zone-package">
-<h1>src.environment.rewards.types.manual_zone package<a class="headerlink" href="#src-environment-rewards-types-manual-zone-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards.types.manual_zone package<a class="headerlink" href="#src-environment-rewards-types-manual-zone-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.manual_zone.enforced_order">
-<span id="src-environment-rewards-types-manual-zone-enforced-order-module"></span><h2>src.environment.rewards.types.manual_zone.enforced_order module<a class="headerlink" href="#module-src.environment.rewards.types.manual_zone.enforced_order" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.manual_zone.enforced_order.</span></span><span class="sig-name descname"><span class="pre">EnforcedOrder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">on_enter</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">on_exit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">continuous</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">weak_out_of_zone</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_any_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">incorrect_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">penalty_for_multiple_agents_entering</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter">
-<span class="sig-name descname"><span class="pre">on_enter</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit">
-<span class="sig-name descname"><span class="pre">on_exit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state">
-<span class="sig-name descname"><span class="pre">previous_zone_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.weight">
-<span class="sig-name descname"><span class="pre">weight</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.weight" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-manual-zone-enforced-order-module">
+<h2>src.environment.rewards.types.manual_zone.enforced_order module<a class="headerlink" href="#src-environment-rewards-types-manual-zone-enforced-order-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.manual_zone">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards.types.manual_zone" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/modules/src.environment.rewards.wrappers.html b/docs/modules/src.environment.rewards.wrappers.html
index b8d36810..0ce3ea42 100644
--- a/docs/modules/src.environment.rewards.wrappers.html
+++ b/docs/modules/src.environment.rewards.wrappers.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.rewards.wrappers package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.rewards.wrappers package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.rewards.wrappers.rst.txt" rel="nofollow"> View page source</a>
@@ -74,30 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-rewards-wrappers-package">
-<h1>src.environment.rewards.wrappers package<a class="headerlink" href="#src-environment-rewards-wrappers-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards.wrappers package<a class="headerlink" href="#src-environment-rewards-wrappers-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.wrappers.linear_weight_scheduler">
-<span id="src-environment-rewards-wrappers-linear-weight-scheduler-module"></span><h2>src.environment.rewards.wrappers.linear_weight_scheduler module<a class="headerlink" href="#module-src.environment.rewards.wrappers.linear_weight_scheduler" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.wrappers.linear_weight_scheduler.</span></span><span class="sig-name descname"><span class="pre">LinearWeightScheduler</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><span class="pre">Reward</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">min_weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">duration</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1000</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a>, <code class="xref py py-class docutils literal notranslate"><span class="pre">ABC</span></code></p>
-<p>linearly interpolates the weight value between min_weight and max_weight starting at min_weight then incrementally
-increasing the weight until max weight is achieved.</p>
-<p>Only works for increasing weights not decreasing - TODO - this is probably easy.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-wrappers-linear-weight-scheduler-module">
+<h2>src.environment.rewards.wrappers.linear_weight_scheduler module<a class="headerlink" href="#src-environment-rewards-wrappers-linear-weight-scheduler-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.wrappers">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards.wrappers" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/modules/src.environment.scenarios.html b/docs/modules/src.environment.scenarios.html
index 661fa681..ef4a4af5 100644
--- a/docs/modules/src.environment.scenarios.html
+++ b/docs/modules/src.environment.scenarios.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
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-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.scenarios package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
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         <script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
+        <script src="../_static/jquery.js"></script>
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-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
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     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
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-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
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-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
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   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
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-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.scenarios package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.scenarios.rst.txt" rel="nofollow"> View page source</a>
@@ -74,122 +71,33 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-scenarios-package">
-<h1>src.environment.scenarios package<a class="headerlink" href="#src-environment-scenarios-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.scenarios package<a class="headerlink" href="#src-environment-scenarios-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.scenarios.types.html">src.environment.scenarios.types package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.cycle">src.environment.scenarios.types.cycle module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario"><code class="docutils literal notranslate"><span class="pre">CycleScenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">CycleScenario.generate_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.graph_nav">src.environment.scenarios.types.graph_nav module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario"><code class="docutils literal notranslate"><span class="pre">GraphNavScenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">GraphNavScenario.generate_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.manual">src.environment.scenarios.types.manual module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario"><code class="docutils literal notranslate"><span class="pre">ManualScenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">ManualScenario.generate_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-cycle-module">src.environment.scenarios.types.cycle module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-graph-nav-module">src.environment.scenarios.types.graph_nav module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-manual-module">src.environment.scenarios.types.manual module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.common_scenarios">
-<span id="src-environment-scenarios-common-scenarios-module"></span><h2>src.environment.scenarios.common_scenarios module<a class="headerlink" href="#module-src.environment.scenarios.common_scenarios" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">closed_door_1__opposing_sides</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">task_id</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'t1'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.closed_door_1__same_goals">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">closed_door_1__same_goals</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">task_id</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'t1'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.closed_door_1__same_goals" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.elevator_loading">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">elevator_loading</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.elevator_loading" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_door">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_door</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_door" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_hallway">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_hallway</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_hallway" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_intersection">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_intersection</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_intersection" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_open">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_open</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_open" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_round_about">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_round_about</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_round_about" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.exp1_train_scenario">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">exp1_train_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">level</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'easy'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.exp1_train_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.exp2_train_scenario">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">exp2_train_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">level</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'easy'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.exp2_train_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
+<section id="src-environment-scenarios-common-scenarios-module">
+<h2>src.environment.scenarios.common_scenarios module<a class="headerlink" href="#src-environment-scenarios-common-scenarios-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.scenario">
-<span id="src-environment-scenarios-scenario-module"></span><h2>src.environment.scenarios.scenario module<a class="headerlink" href="#module-src.environment.scenarios.scenario" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.scenario.</span></span><span class="sig-name descname"><span class="pre">Scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario.load_nav_nodes">
-<span class="sig-name descname"><span class="pre">load_nav_nodes</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">nav_path</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario.load_nav_nodes" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario.make_scenario">
-<span class="sig-name descname"><span class="pre">make_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">config</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario.make_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-scenario-module">
+<h2>src.environment.scenarios.scenario module<a class="headerlink" href="#src-environment-scenarios-scenario-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.scenarios" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/modules/src.environment.scenarios.types.html b/docs/modules/src.environment.scenarios.types.html
index eedb41d8..ddd2f785 100644
--- a/docs/modules/src.environment.scenarios.types.html
+++ b/docs/modules/src.environment.scenarios.types.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.scenarios.types package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.scenarios.types package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.scenarios.types.rst.txt" rel="nofollow"> View page source</a>
@@ -74,57 +71,21 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-scenarios-types-package">
-<h1>src.environment.scenarios.types package<a class="headerlink" href="#src-environment-scenarios-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.scenarios.types package<a class="headerlink" href="#src-environment-scenarios-types-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types.cycle">
-<span id="src-environment-scenarios-types-cycle-module"></span><h2>src.environment.scenarios.types.cycle module<a class="headerlink" href="#module-src.environment.scenarios.types.cycle" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.cycle.CycleScenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.types.cycle.</span></span><span class="sig-name descname"><span class="pre">CycleScenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.cycle.CycleScenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><code class="xref py py-class docutils literal notranslate"><span class="pre">Scenario</span></code></a></p>
-<p>A simple DEBUG scenario that will cycle through all the nodes in a graph nav file choosing a new node per episode
-until it cycles.</p>
-<p>Useful for knowing which node on the graph nav is what ID for manual planning.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.cycle.CycleScenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.cycle.CycleScenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-types-cycle-module">
+<h2>src.environment.scenarios.types.cycle module<a class="headerlink" href="#src-environment-scenarios-types-cycle-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types.graph_nav">
-<span id="src-environment-scenarios-types-graph-nav-module"></span><h2>src.environment.scenarios.types.graph_nav module<a class="headerlink" href="#module-src.environment.scenarios.types.graph_nav" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.graph_nav.GraphNavScenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.types.graph_nav.</span></span><span class="sig-name descname"><span class="pre">GraphNavScenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_agent_start_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_agent_goal_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_human_start_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_human_goal_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.graph_nav.GraphNavScenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><code class="xref py py-class docutils literal notranslate"><span class="pre">Scenario</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-types-graph-nav-module">
+<h2>src.environment.scenarios.types.graph_nav module<a class="headerlink" href="#src-environment-scenarios-types-graph-nav-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types.manual">
-<span id="src-environment-scenarios-types-manual-module"></span><h2>src.environment.scenarios.types.manual module<a class="headerlink" href="#module-src.environment.scenarios.types.manual" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.manual.ManualScenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.types.manual.</span></span><span class="sig-name descname"><span class="pre">ManualScenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_paths</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">human_paths</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.manual.ManualScenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><code class="xref py py-class docutils literal notranslate"><span class="pre">Scenario</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.manual.ManualScenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.manual.ManualScenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-types-manual-module">
+<h2>src.environment.scenarios.types.manual module<a class="headerlink" href="#src-environment-scenarios-types-manual-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.scenarios.types" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/modules/src.environment.services.html b/docs/modules/src.environment.services.html
index ced07827..c7521aa7 100644
--- a/docs/modules/src.environment.services.html
+++ b/docs/modules/src.environment.services.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
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     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
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@@ -62,7 +59,7 @@
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           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.services package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.services.rst.txt" rel="nofollow"> View page source</a>
@@ -74,122 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-services-package">
-<h1>src.environment.services package<a class="headerlink" href="#src-environment-services-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.services package<a class="headerlink" href="#src-environment-services-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.services.utmrs">
-<span id="src-environment-services-utmrs-module"></span><h2>src.environment.services.utmrs module<a class="headerlink" href="#module-src.environment.services.utmrs" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRS">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.services.utmrs.</span></span><span class="sig-name descname"><span class="pre">UTMRS</span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRS" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRS.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRS.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRS.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRS.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.services.utmrs.</span></span><span class="sig-name descname"><span class="pre">UTMRSResponse</span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.collision">
-<span class="sig-name descname"><span class="pre">collision</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.collision" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.done">
-<span class="sig-name descname"><span class="pre">done</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.done" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.door_pose">
-<span class="sig-name descname"><span class="pre">door_pose</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.door_pose" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.door_state">
-<span class="sig-name descname"><span class="pre">door_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.door_state" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.follow_target">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.goal_pose">
-<span class="sig-name descname"><span class="pre">goal_pose</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.goal_pose" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.human_poses">
-<span class="sig-name descname"><span class="pre">human_poses</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.human_poses" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.human_vels">
-<span class="sig-name descname"><span class="pre">human_vels</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.human_vels" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.local_target">
-<span class="sig-name descname"><span class="pre">local_target</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.local_target" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.other_robot_poses">
-<span class="sig-name descname"><span class="pre">other_robot_poses</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.other_robot_poses" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.other_robot_vels">
-<span class="sig-name descname"><span class="pre">other_robot_vels</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.other_robot_vels" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.process">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">process</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_response</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.process" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.robot_poses">
-<span class="sig-name descname"><span class="pre">robot_poses</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.robot_poses" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.robot_state">
-<span class="sig-name descname"><span class="pre">robot_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.robot_state" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.robot_vels">
-<span class="sig-name descname"><span class="pre">robot_vels</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.robot_vels" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.set_vars">
-<span class="sig-name descname"><span class="pre">set_vars</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot_obs</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">robot_idx</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.set_vars" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.success">
-<span class="sig-name descname"><span class="pre">success</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.success" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-services-utmrs-module">
+<h2>src.environment.services.utmrs module<a class="headerlink" href="#src-environment-services-utmrs-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.services">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.services" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/modules/src.environment.utils.html b/docs/modules/src.environment.utils.html
index 536c1e34..b51f661b 100644
--- a/docs/modules/src.environment.utils.html
+++ b/docs/modules/src.environment.utils.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.utils package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
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   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
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       <li class="breadcrumb-item active">src.environment.utils package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.utils.rst.txt" rel="nofollow"> View page source</a>
@@ -74,109 +71,18 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-utils-package">
-<h1>src.environment.utils package<a class="headerlink" href="#src-environment-utils-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.utils package<a class="headerlink" href="#src-environment-utils-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.utils.evaluate_policy">
-<span id="src-environment-utils-evaluate-policy-module"></span><h2>src.environment.utils.evaluate_policy module<a class="headerlink" href="#module-src.environment.utils.evaluate_policy" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.evaluate_policy.evaluate_policy">
-<span class="sig-prename descclassname"><span class="pre">src.environment.utils.evaluate_policy.</span></span><span class="sig-name descname"><span class="pre">evaluate_policy</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">model</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">stable_baselines3.common.base_class.BaseAlgorithm</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">gym.Env</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">stable_baselines3.common.vec_env.VecEnv</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n_eval_episodes</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">10</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">deterministic</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">render</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Callable</span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">None</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">reward_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_episode_rewards</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">warn</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.utils.evaluate_policy.evaluate_policy" title="Permalink to this definition"></a></dt>
-<dd><p>SocialGym Note: This is a slightly altered variation of the Stable Baselines V3 evaluate_policy function.
-The major difference is that we check to make sure ALL dones are true (as they refer to the agents being done
-and not an environment being done).  Stable baselines expects an array of dones (similar to how PettingZoo works)
-but, StableBaselines thinks that the array is for a list of environments not a list of agents.</p>
-<p>NEW NOTE: although the above is true, other changes have come about that make this evaluate_policy fn a bit
-different.</p>
-<p>Runs policy for <code class="docutils literal notranslate"><span class="pre">n_eval_episodes</span></code> episodes and returns average reward.
-If a vector env is passed in, this divides the episodes to evaluate onto the
-different elements of the vector env. This static division of work is done to
-remove bias. See <a class="reference external" href="https://github.com/DLR-RM/stable-baselines3/issues/402">https://github.com/DLR-RM/stable-baselines3/issues/402</a> for more
-details and discussion.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>If environment has not been wrapped with <code class="docutils literal notranslate"><span class="pre">Monitor</span></code> wrapper, reward and
-episode lengths are counted as it appears with <code class="docutils literal notranslate"><span class="pre">env.step</span></code> calls. If
-the environment contains wrappers that modify rewards or episode lengths
-(e.g. reward scaling, early episode reset), these will affect the evaluation
-results as well. You can avoid this by wrapping environment with <code class="docutils literal notranslate"><span class="pre">Monitor</span></code>
-wrapper before anything else.</p>
-</div>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>model</strong> – The RL agent you want to evaluate.</p></li>
-<li><p><strong>env</strong> – The gym environment or <code class="docutils literal notranslate"><span class="pre">VecEnv</span></code> environment.</p></li>
-<li><p><strong>n_eval_episodes</strong> – Number of episode to evaluate the agent</p></li>
-<li><p><strong>deterministic</strong> – Whether to use deterministic or stochastic actions</p></li>
-<li><p><strong>render</strong> – Whether to render the environment or not</p></li>
-<li><p><strong>callback</strong> – callback function to do additional checks,
-called after each step. Gets locals() and globals() passed as parameters.</p></li>
-<li><p><strong>reward_threshold</strong> – Minimum expected reward per episode,
-this will raise an error if the performance is not met</p></li>
-<li><p><strong>return_episode_rewards</strong> – If True, a list of rewards and episode lengths
-per episode will be returned instead of the mean.</p></li>
-<li><p><strong>warn</strong> – If True (default), warns user about lack of a Monitor wrapper in the
-evaluation environment.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>Mean reward per episode, std of reward per episode.
-Returns ([float], [int]) when <code class="docutils literal notranslate"><span class="pre">return_episode_rewards</span></code> is True, first
-list containing per-episode rewards and second containing per-episode lengths
-(in number of steps).</p>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-environment-utils-evaluate-policy-module">
+<h2>src.environment.utils.evaluate_policy module<a class="headerlink" href="#src-environment-utils-evaluate-policy-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.utils.utils">
-<span id="src-environment-utils-utils-module"></span><h2>src.environment.utils.utils module<a class="headerlink" href="#module-src.environment.utils.utils" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.utils.utils.LogFilter">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">LogFilter</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">stream</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">re_pattern</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.LogFilter" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<p>Taken from <a class="reference external" href="https://stackoverflow.com/questions/34904946/how-to-filter-stdout-in-python-logging">https://stackoverflow.com/questions/34904946/how-to-filter-stdout-in-python-logging</a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.utils.utils.LogFilter.flush">
-<span class="sig-name descname"><span class="pre">flush</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.LogFilter.flush" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.utils.utils.LogFilter.write">
-<span class="sig-name descname"><span class="pre">write</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.LogFilter.write" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.utils.filter_stdout">
-<span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">filter_stdout</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">filter</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.filter_stdout" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.utils.get_tboard_writer">
-<span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">get_tboard_writer</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">log_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.get_tboard_writer" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.utils.poses_to_np_array">
-<span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">poses_to_np_array</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">poses</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.array</span></span></span><a class="headerlink" href="#src.environment.utils.utils.poses_to_np_array" title="Permalink to this definition"></a></dt>
-<dd><p>Given a list of poses, convert them into a numpy array.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>poses</strong> – List of poses</p>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>np array where the values are the [ poses[0].x, poses[0].y, poses[0].theta, …, poses[N].theta ]</p>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-environment-utils-utils-module">
+<h2>src.environment.utils.utils module<a class="headerlink" href="#src-environment-utils-utils-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.utils">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.utils" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/modules/src.environment.wrappers.html b/docs/modules/src.environment.wrappers.html
index 56604220..feb0381a 100644
--- a/docs/modules/src.environment.wrappers.html
+++ b/docs/modules/src.environment.wrappers.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.wrappers package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.wrappers package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.wrappers.rst.txt" rel="nofollow"> View page source</a>
@@ -74,231 +71,30 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-wrappers-package">
-<h1>src.environment.wrappers package<a class="headerlink" href="#src-environment-wrappers-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.wrappers package<a class="headerlink" href="#src-environment-wrappers-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.collision_episode_ender">
-<span id="src-environment-wrappers-collision-episode-ender-module"></span><h2>src.environment.wrappers.collision_episode_ender module<a class="headerlink" href="#module-src.environment.wrappers.collision_episode_ender" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.collision_episode_ender.</span></span><span class="sig-name descname"><span class="pre">CollisionEpisodeEnder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>You collide you die!</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>env</strong> – Gym environment that will be wrapped</p>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Dict</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-collision-episode-ender-module">
+<h2>src.environment.wrappers.collision_episode_ender module<a class="headerlink" href="#src-environment-wrappers-collision-episode-ender-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.entropy_episode_ender">
-<span id="src-environment-wrappers-entropy-episode-ender-module"></span><h2>src.environment.wrappers.entropy_episode_ender module<a class="headerlink" href="#module-src.environment.wrappers.entropy_episode_ender" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.entropy_episode_ender.</span></span><span class="sig-name descname"><span class="pre">EntropyEpisodeEnder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>You stop moving you die! (if all agents in an environment are no longer moving within some absolute delta over a
-set of timesteps, end the episode)</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>env</strong> – Gym environment that will be wrapped</p>
-</dd>
-</dl>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions">
-<span class="sig-name descname"><span class="pre">agent_positions</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas">
-<span class="sig-name descname"><span class="pre">calculate_deltas</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta">
-<span class="sig-name descname"><span class="pre">distance_delta</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only">
-<span class="sig-name descname"><span class="pre">negative_multiplier_only</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions">
-<span class="sig-name descname"><span class="pre">reset_positions</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier">
-<span class="sig-name descname"><span class="pre">reward_multiplier</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Dict</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold">
-<span class="sig-name descname"><span class="pre">timestep_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-entropy-episode-ender-module">
+<h2>src.environment.wrappers.entropy_episode_ender module<a class="headerlink" href="#src-environment-wrappers-entropy-episode-ender-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.new_scenario_wrapper">
-<span id="src-environment-wrappers-new-scenario-wrapper-module"></span><h2>src.environment.wrappers.new_scenario_wrapper module<a class="headerlink" href="#module-src.environment.wrappers.new_scenario_wrapper" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.new_scenario_wrapper.</span></span><span class="sig-name descname"><span class="pre">NewScenarioWrapper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env">
-<span class="sig-name descname"><span class="pre">env</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count">
-<span class="sig-name descname"><span class="pre">episode_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency">
-<span class="sig-name descname"><span class="pre">new_scenario_episode_frequency</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans">
-<span class="sig-name descname"><span class="pre">plans</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-new-scenario-wrapper-module">
+<h2>src.environment.wrappers.new_scenario_wrapper module<a class="headerlink" href="#src-environment-wrappers-new-scenario-wrapper-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.reward_stripper">
-<span id="src-environment-wrappers-reward-stripper-module"></span><h2>src.environment.wrappers.reward_stripper module<a class="headerlink" href="#module-src.environment.wrappers.reward_stripper" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.reward_stripper.RewardStripper">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.reward_stripper.</span></span><span class="sig-name descname"><span class="pre">RewardStripper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.reward_stripper.RewardStripper" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>When an agent succeeds, remove the</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>env</strong> – Gym environment that will be wrapped</p>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.reward_stripper.RewardStripper.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.reward_stripper.RewardStripper.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.reward_stripper.RewardStripper.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Dict</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.wrappers.reward_stripper.RewardStripper.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-reward-stripper-module">
+<h2>src.environment.wrappers.reward_stripper module<a class="headerlink" href="#src-environment-wrappers-reward-stripper-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.tensorboard_writer">
-<span id="src-environment-wrappers-tensorboard-writer-module"></span><h2>src.environment.wrappers.tensorboard_writer module<a class="headerlink" href="#module-src.environment.wrappers.tensorboard_writer" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter">
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-<dl class="py method">
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-<dd></dd></dl>
-
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-<dd></dd></dl>
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">actions</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.tensorboard_writer.TensorboardWriter.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-tensorboard-writer-module">
+<h2>src.environment.wrappers.tensorboard_writer module<a class="headerlink" href="#src-environment-wrappers-tensorboard-writer-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.time_limit">
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-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.time_limit.TimeLimitWrapper">
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-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.time_limit.TimeLimitWrapper.seed">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.time_limit.TimeLimitWrapper.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Dict</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.wrappers.time_limit.TimeLimitWrapper.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-time-limit-module">
+<h2>src.environment.wrappers.time_limit module<a class="headerlink" href="#src-environment-wrappers-time-limit-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.wrappers" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs/modules/src.html b/docs/modules/src.html
index 20a0262c..7eda0bf4 100644
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+++ b/docs/modules/src.html
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 <html class="writer-html5" lang="en" >
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@@ -13,8 +13,9 @@
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         <script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
+        <script src="../_static/jquery.js"></script>
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+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
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   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
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@@ -62,7 +59,7 @@
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-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
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       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.rst.txt" rel="nofollow"> View page source</a>
@@ -74,244 +71,102 @@
            <div itemprop="articleBody">
              
   <section id="src-package">
-<h1>src package<a class="headerlink" href="#src-package" title="Permalink to this heading"></a></h1>
+<h1>src package<a class="headerlink" href="#src-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
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 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.html">src.environment package</a><ul>
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+<li class="toctree-l4"><a class="reference internal" href="src.environment.callbacks.html#src-environment-callbacks-callbacks-module">src.environment.callbacks.callbacks module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.callbacks.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.environment_types.html">src.environment.environment_types package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#submodules">Submodules</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#module-src.environment.environment_types">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src-environment-environment-types-manual-zone-module">src.environment.environment_types.manual_zone module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.extractors.html">src.environment.extractors package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#submodules">Submodules</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#module-src.environment.extractors">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#src-environment-extractors-lstm-agent-obs-module">src.environment.extractors.lstm_agent_obs module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html">src.environment.observations package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#subpackages">Subpackages</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-common-observations-module">src.environment.observations.common_observations module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observation-module">src.environment.observations.observation module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observer-module">src.environment.observations.observer module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.html">src.environment.rewards package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#subpackages">Subpackages</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-common-rewards-module">src.environment.rewards.common_rewards module</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-rewarder-module">src.environment.rewards.rewarder module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#module-contents">Module contents</a></li>
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 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html">src.environment.scenarios package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#subpackages">Subpackages</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios.scenario">src.environment.scenarios.scenario module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-common-scenarios-module">src.environment.scenarios.common_scenarios module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-scenario-module">src.environment.scenarios.scenario module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.services.html">src.environment.services package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#module-src.environment.services.utmrs">src.environment.services.utmrs module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#module-src.environment.services">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src-environment-services-utmrs-module">src.environment.services.utmrs module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#module-contents">Module contents</a></li>
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 <li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html">src.environment.utils package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#submodules">Submodules</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-evaluate-policy-module">src.environment.utils.evaluate_policy module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-utils-module">src.environment.utils.utils module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#module-contents">Module contents</a></li>
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 <li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html">src.environment.wrappers package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.collision_episode_ender">src.environment.wrappers.collision_episode_ender module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.entropy_episode_ender">src.environment.wrappers.entropy_episode_ender module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.new_scenario_wrapper">src.environment.wrappers.new_scenario_wrapper module</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.time_limit">src.environment.wrappers.time_limit module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-collision-episode-ender-module">src.environment.wrappers.collision_episode_ender module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-entropy-episode-ender-module">src.environment.wrappers.entropy_episode_ender module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-new-scenario-wrapper-module">src.environment.wrappers.new_scenario_wrapper module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-reward-stripper-module">src.environment.wrappers.reward_stripper module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-tensorboard-writer-module">src.environment.wrappers.tensorboard_writer module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-time-limit-module">src.environment.wrappers.time_limit module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-contents">Module contents</a></li>
 </ul>
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 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.html#module-src.environment.ros_social_gym">src.environment.ros_social_gym module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.AgentColor"><code class="docutils literal notranslate"><span class="pre">AgentColor</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.action_space"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.action_space()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.calculate_reward"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.calculate_reward()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.close"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.close()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.default_action"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.default_action()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.env_response_type"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.env_response_type</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.launch_config"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.launch_config</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.make_observation"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.make_observation()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.metadata"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.metadata</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.new_scenario"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.new_scenario()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_agents"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.num_agents</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_humans"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.num_humans</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.observation_space"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.observation_space()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.observer"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.observer</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.render"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.render()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.reset"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.rewarder"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.rewarder</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.seed"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.sim_step"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.sim_step()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.state"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.state()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.step"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.html#module-src.environment">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.html#src-environment-ros-social-gym-module">src.environment.ros_social_gym module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.config_run">
-<span id="src-config-run-module"></span><h2>src.config_run module<a class="headerlink" href="#module-src.config_run" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.config_run.kinds">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.config_run.</span></span><span class="sig-name descname"><span class="pre">kinds</span></span><a class="headerlink" href="#src.config_run.kinds" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.config_run.kinds.ao">
-<span class="sig-name descname"><span class="pre">ao</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'AO'</span></em><a class="headerlink" href="#src.config_run.kinds.ao" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.config_run.kinds.eo">
-<span class="sig-name descname"><span class="pre">eo</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'EO'</span></em><a class="headerlink" href="#src.config_run.kinds.eo" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.config_run.kinds.sacadrl">
-<span class="sig-name descname"><span class="pre">sacadrl</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'SACADRL'</span></em><a class="headerlink" href="#src.config_run.kinds.sacadrl" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.config_run.run">
-<span class="sig-prename descclassname"><span class="pre">src.config_run.</span></span><span class="sig-name descname"><span class="pre">run</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">eval_num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">train_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100000</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">eval_frequency</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">25000</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">intermediate_eval_trials</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">25</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ending_eval_trials</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ending_eval_with_best</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'cuda:0'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">train</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">eval</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">monitor</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">local</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">existence_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">success_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">10</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">starting_collision_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_penalty_scale_duration</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">25</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_track_exit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_penalty_for_incorrect_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_weak_signal_out_of_zone</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">penalty_for_multiple_agents_entering</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_distance_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_distance_reward_clip</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_ender</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">reward_stripper</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timelimit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timelimit_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2000</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_ender</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_max_distance</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.25</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_max_timesteps</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_constant_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_constant_penalty_only_those_that_did_not_finish</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_reward_multiplier</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100000.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_multiply_negative_rewards_only</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_goal_distance_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_pose_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_pose_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_velocity_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_velocity_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_poses_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_poses_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_poses_actual_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_velocities_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_velocities_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_algo_sb3_contrib</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_algo_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'PPO'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'MlpPolicy'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_algo_kwargs</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">debug</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">experiment_names</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'envs_open'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">run_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">continue_from</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">run_type</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'SACADRL'</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.config_run.run" title="Permalink to this definition"></a></dt>
-<dd><dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>num_agents</strong> – Int or List[Int] - Either the exact number of agents to use, or an array of the format [[episode #,
-num of agents], …] which will alter the number of agents once that episode limit has been reached.  I.E. [[0, 3],
-[10, 4], [20, 5]] will initially train with 3 agents until episode 10 which will then change to 4 agents and then
-change to 5 once episode 20 is reached.</p></li>
-<li><p><strong>eval_num_agents</strong> – Int or List[Int] - Either the number of agents to evaluate on or a list of a number of agents
-to evaluate on (if list, [1, 2], evaluations will run for the number of specified episodes for 1 agent and then
-agian using 2 agents).</p></li>
-<li><p><strong>train_length</strong> – Int - Number of steps to train for.  (remember each agent requires a step, therefore 500 steps
-for training 5 agents means each agent will get 100 steps each.</p></li>
-<li><p><strong>eval_frequency</strong> – Int - Interval for running intermediate evaluation (in steps).   0&gt;= will effectively disable
-evaluation during training.</p></li>
-<li><p><strong>intermediate_eval_trials</strong> – Int - How many episodes to evaluate on during intermediate evaluation.</p></li>
-<li><p><strong>ending_eval_trials</strong> – Int - Number of episodes to evaluate for after training has completed.</p></li>
-<li><p><strong>ending_eval_with_best</strong> – Bool - After training, load up the best model seen during intermediate eval (if False,
-the most recent checkpoint will be loaded).</p></li>
-<li><p><strong>device</strong> – Str - The torch device to use (cpu/cuda:N/etc.) GPU is highly recommended.</p></li>
-<li><p><strong>partially_observable</strong> – Bool - whether or not LIDAR scans (and thus observations of the ego-agent) can be blocked
-by objects (walls/other agents/humans etc.)  If False then everything will be observable.</p></li>
-<li><p><strong>train</strong> – Bool - Run training</p></li>
-<li><p><strong>eval</strong> – Bool - Run evaluation</p></li>
-<li><p><strong>monitor</strong> – Bool - Show an RVIS window so you can watch the sim.</p></li>
-<li><p><strong>local</strong> – Bool - If you have graphnav and UTMRS running locally, this will tap the config_runner into those
-ROSModules.  Has some special requirements and isn’t recommended.</p></li>
-<li><p><strong>existence_penalty</strong> – Float - Existence Penalty amount (1 will be a reward of -1 per step).  Disabled if 0.</p></li>
-<li><p><strong>success_reward</strong> – Float - Reward amount for reaching the goal. Disabled if 0.</p></li>
-<li><p><strong>collision_penalty</strong> – Float - Penalty amount for colliding with a wall or agent (1 will be a reward of -1 per step).  Disabled if 0.</p></li>
-<li><p><strong>starting_collision_penalty</strong> – Float - Starting weight of the collision penalty if you want to scale it as training continues.</p></li>
-<li><p><strong>collision_penalty_scale_duration</strong> – Float - Number of steps to linearly scale the collision penalty from the
-starting_collision_penalty to the ending collision_penalty value over the specified number of STEPs. Disabled when 0</p></li>
-<li><p><strong>enforced_order_reward</strong> – Float - Penalty and Reward amount for entering/exiting the collision zone under specific
-conditions (controlled via other flags).</p></li>
-<li><p><strong>enforced_order_track_exit</strong> – Bool - Reward/Penalty for agents when they exit the conflict zone</p></li>
-<li><p><strong>enforced_order_penalty_for_incorrect_order</strong> – Bool - Penalty for out of order agents</p></li>
-<li><p><strong>enforced_order_weak_signal_out_of_zone</strong> – Bool - scaled (0.1 * enforced_order_reward) for agents at every
-timestep regardless of if they are in the conflict zone or not (scales to 1 once agents are in a collision zone).</p></li>
-<li><p><strong>penalty_for_multiple_agents_entering</strong> – Bool - Experimental flag that not only gives a penalty for agents out of
-order but also a penalty for when agents try to enter the conflict zone at the same time (agents are overlapping
-with the same edge of a conflict zone at the same time)</p></li>
-<li><p><strong>goal_distance_reward</strong> – Bool - include the goal distance reward.</p></li>
-<li><p><strong>goal_distance_reward_clip</strong> – Bool - clip the goal distance reward to [0, 1]</p></li>
-<li><p><strong>collision_ender</strong> – Bool - End episodes on collisions.</p></li>
-<li><p><strong>reward_stripper</strong> – Bool - When an agent succeeds and remains at the goal state, only give the at goal reward once
-and then 0 from then on (an attempt to make truncation work, truncation is not supported until <a class="reference external" href="https://github.com/DLR-RM/stable-baselines3/pull/780">https://github.com/DLR-RM/stable-baselines3/pull/780</a>
-is resolved.</p></li>
-<li><p><strong>timelimit</strong> – Bool - end episodes on a step timelimit.</p></li>
-<li><p><strong>timelimit_threshold</strong> – Int - the number of steps an episode is allowed to have (if the timelimit bool is set to True)</p></li>
-<li><p><strong>entropy_ender</strong> – Bool - End the episode if agents have not moved a sufficient amount over a length of time.</p></li>
-<li><p><strong>entropy_max_distance</strong> – Float - Distance threshold, if below during the duration of the timelimit the episode
-will end.  1 = one square in RVis (roughly 2meters)</p></li>
-<li><p><strong>entropy_max_timesteps</strong> – Int - number of timesteps that a sufficient distance must be traversed before ending the
-episode</p></li>
-<li><p><strong>entropy_reward</strong> – Bool - If an episode ends during the entropy wrapper, give a reward/penalty to agents determined
-by their final state and configuration flags.</p></li>
-<li><p><strong>entropy_constant_penalty</strong> – Int - If EntropyEnder ends an episode all agents recieve this penalty (1 is equal to -1 reward at the end of the episode).</p></li>
-<li><p><strong>entropy_constant_penalty_only_those_that_did_not_finish</strong> – Bool - Constant penalty only applies if the agents didn’t finish (reach their goal)</p></li>
-<li><p><strong>entropy_reward_multiplier</strong> – Int - instead of a constant reward, multiply the current reward (step before the episode ended)</p></li>
-<li><p><strong>entropy_multiply_negative_rewards_only</strong> – Bool - Only multiply rewards that are negative (indicating an agent was “stuck forever”)</p></li>
-<li><p><strong>collision_obs</strong> – Bool - Include the collision observation (must be true for the collision penalty)</p></li>
-<li><p><strong>agent_goal_distance_obs</strong> – Bool - Include the distance to the goal as an observation (must be true for the goal distance reward)</p></li>
-<li><p><strong>agent_pose_obs</strong> – Bool - Include the agents pose as an observation (x, y, and theta)</p></li>
-<li><p><strong>agent_pose_ignore_theta</strong> – Bool - Ignore the theta value in the pose observation (orientation)</p></li>
-<li><p><strong>agent_velocity_obs</strong> – Bool - Include the agents velocity as an observation (vx, vy, vtheta)</p></li>
-<li><p><strong>agent_velocity_ignore_theta</strong> – Bool - Ignore the theta value in the velocity observation</p></li>
-<li><p><strong>other_poses_obs</strong> – Bool - Include other agents/humans pose information (x, y, theta) as an observation</p></li>
-<li><p><strong>other_poses_ignore_theta</strong> – Bool - Ignore other agents/humans pose thetas</p></li>
-<li><p><strong>other_velocities_obs</strong> – Include other agents/humans velocities in the observation (vx, vy, vtheta)</p></li>
-<li><p><strong>other_velocities_ignore_theta</strong> – Bool - Ignore the velocity thetas of other agents</p></li>
-<li><p><strong>policy_algo_sb3_contrib</strong> – Bool - True if the policy you want to train has it’s base code in the SB3-Contrib library
-i.e. RecurrentPPO</p></li>
-<li><p><strong>policy_algo_name</strong> – Str - Name of the policy class you want to train as it appears in SB3 or SB3-Contrib</p></li>
-<li><p><strong>policy_name</strong> – Str - SB3 Policy structure (MlpPolicy for example)</p></li>
-<li><p><strong>policy_algo_kwargs</strong> – Dict - Any kwargs for the SB3 Policy.</p></li>
-<li><p><strong>debug</strong> – Bool - print statments and ALWAYS GO baseline (gives the action 0 to UTMRS for all agents all the time)</p></li>
-<li><p><strong>experiment_names</strong> – List[str] - List of scenarios currently supported by ConfigRunner (envs_door, envs_hallway,
-envs_intersection, envs_round_about, envs_open)</p></li>
-<li><p><strong>run_name</strong> – Str - Name of the run that will also be used to store tensorbaord info and checkpoints of the model
-as well as evaluation data in <cite>{PROJECT ROOT}/data/{run_name}</cite> (can be a nested folder)</p></li>
-<li><p><strong>continue_from</strong> – Str - Policy checkpoint to load from (relative path from <cite>{PROJECT ROOT}/data</cite>)</p></li>
-<li><p><strong>run_type</strong> – Str - Helper for using SACADRL or AO/EO variants. (allowed values are SACADRL, AO, EO)</p></li>
-</ul>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-config-run-module">
+<h2>src.config_run module<a class="headerlink" href="#src-config-run-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.multi_agent_optuna">
-<span id="src-multi-agent-optuna-module"></span><h2>src.multi_agent_optuna module<a class="headerlink" href="#module-src.multi_agent_optuna" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.multi_agent_optuna.objective">
-<span class="sig-prename descclassname"><span class="pre">src.multi_agent_optuna.</span></span><span class="sig-name descname"><span class="pre">objective</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">trial</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.multi_agent_optuna.objective" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
+<section id="src-multi-agent-optuna-module">
+<h2>src.multi_agent_optuna module<a class="headerlink" href="#src-multi-agent-optuna-module" title="Permalink to this headline"></a></h2>
 </section>
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"sphinx.domains.python": 3, "sphinx.domains.rst": 2, "sphinx.domains.std": 2, "sphinx": 57}, "alltitles": {"Making docs": [[0, "making-docs"]], "Uploading changes": [[0, "uploading-changes"], [48, "uploading-changes"]], "1.) Run ./build.sh": [[0, "run-build-sh"], [48, "run-build-sh"]], "2.) Run ./git_add.sh": [[0, "run-git-add-sh"], [48, "run-git-add-sh"]], "3.) The files are now staged in git, you can do": [[0, "the-files-are-now-staged-in-git-you-can-do"], [48, "the-files-are-now-staged-in-git-you-can-do"]], "Advanced Usage": [[2, "advanced-usage"], [50, "advanced-usage"]], "Requirements": [[2, "requirements"], [50, "requirements"]], "Advanced Usage setup (buckle up!)": [[2, "advanced-usage-setup-buckle-up"], [50, "advanced-usage-setup-buckle-up"]], "Part 1: Setting up the basic Social Gym dependencies and containers": [[2, "part-1-setting-up-the-basic-social-gym-dependencies-and-containers"], [50, "part-1-setting-up-the-basic-social-gym-dependencies-and-containers"]], "1.) From the basic installation guide follow steps 1-5": [[2, "from-the-basic-installation-guide-follow-steps-1-5"], [50, "from-the-basic-installation-guide-follow-steps-1-5"]], "2.) Build and \u201cup\u201d the docker containers": [[2, "build-and-up-the-docker-containers"], [50, "build-and-up-the-docker-containers"]], "3.) Open the submodule projects ut_multirobot_sim and graph_navigation in a separate IDE window (I use CLion for these)": [[2, "open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these"], [50, "open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these"]], "Part 2: Setting up the submodules": [[2, "part-2-setting-up-the-submodules"], [50, "part-2-setting-up-the-submodules"]], "1.) SSH into the ROS submodules container": [[2, "ssh-into-the-ros-submodules-container"], [50, "ssh-into-the-ros-submodules-container"]], "2.) Build static dependencies.": [[2, "build-static-dependencies"], [50, "build-static-dependencies"]], "3.) Build the Graph Navigation submodule": [[2, "build-the-graph-navigation-submodule"], [50, "build-the-graph-navigation-submodule"]], "4.) Setup Graph Navigation with your IDE": [[2, "setup-graph-navigation-with-your-ide"], [50, "setup-graph-navigation-with-your-ide"]], "5.) Setup UT Multirobot Sim with your IDE": [[2, "setup-ut-multirobot-sim-with-your-ide"], [50, "setup-ut-multirobot-sim-with-your-ide"]], "Part 3: Setting up Python and Running everything!": [[2, "part-3-setting-up-python-and-running-everything"], [50, "part-3-setting-up-python-and-running-everything"]], "1.) Open up Pycharm to the root folder of the project": [[2, "open-up-pycharm-to-the-root-folder-of-the-project"], [50, "open-up-pycharm-to-the-root-folder-of-the-project"]], "2.) Set up your IDE with the container via SSH (Pycharm Specific)": [[2, "set-up-your-ide-with-the-container-via-ssh-pycharm-specific"], [50, "set-up-your-ide-with-the-container-via-ssh-pycharm-specific"]], "FAQ": [[2, "faq"], [34, "faq"], [44, "faq"], [50, "faq"], [82, "faq"], [92, "faq"]], "Installation": [[3, "installation"], [4, "installation"], [32, "installation"], [42, "installation"], [51, "installation"], [52, "installation"], [80, "installation"], [90, "installation"]], "Why are there two installation guides for Social Gym": [[3, "why-are-there-two-installation-guides-for-social-gym"], [4, "why-are-there-two-installation-guides-for-social-gym"], [52, "why-are-there-two-installation-guides-for-social-gym"]], "Let\u2019s Install Config Runner!": [[3, "let-s-install-config-runner"], [4, "let-s-install-config-runner"], [52, "let-s-install-config-runner"]], "1.) Clone the repo and checkout main": [[3, "clone-the-repo-and-checkout-main"]], "2.) Install requirements and run the install script!": [[3, "install-requirements-and-run-the-install-script"]], "3.) Run the Config Runner!": [[3, "run-the-config-runner"]], "4.) Have fun!": [[3, "have-fun"]], "1.) Checkout the right branch! (Eventually this will be main)": [[4, "checkout-the-right-branch-eventually-this-will-be-main"], [52, "checkout-the-right-branch-eventually-this-will-be-main"]], "2.) Build Vector Display (this creates the environments!)": [[4, "build-vector-display-this-creates-the-environments"], [52, "build-vector-display-this-creates-the-environments"]], "3.) Create a virtualenv to install python dependencies": [[4, "create-a-virtualenv-to-install-python-dependencies"], [52, "create-a-virtualenv-to-install-python-dependencies"]], "4.) Install python requirements": [[4, "install-python-requirements"], [52, "install-python-requirements"]], "5.) Create the Environment for Social Gym (don\u2019t worry, this is copying files really.)": [[4, "create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really"], [52, "create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really"]], "6.) Build Config Runner": [[4, "build-config-runner"], [52, "build-config-runner"]], "7.) Run the Config Runner!": [[4, "run-the-config-runner"], [52, "run-the-config-runner"]], "7.) Have fun!": [[4, "have-fun"], [52, "have-fun"]], "Advanced Training and Evaluation": [[5, "advanced-training-and-evaluation"], [53, "advanced-training-and-evaluation"]], "What\u2019s new in Social Gym 2.0 from the original release?": [[6, "what-s-new-in-social-gym-2-0-from-the-original-release"]], "Social Gym Features": [[6, "social-gym-features"]], "How to make a new Scene": [[7, "how-to-make-a-new-scene"], [55, "how-to-make-a-new-scene"]], "Creating a new environment": [[7, "creating-a-new-environment"], [55, "creating-a-new-environment"]], "1.) Using your local python interpreter of choice, run": [[7, "using-your-local-python-interpreter-of-choice-run"], [55, "using-your-local-python-interpreter-of-choice-run"]], "2.) If you have followed the Installation guide you should see a window pop up (if not double check that Social Gym was installed correctly).": [[7, "if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly"], [55, "if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly"]], "3.) A new window should have popped up that looks exactly like the last, but now we are in the Graph Navigation editor!": [[7, "a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor"], [55, "a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor"]], "4.) Your Scene has been created and the files are in the right spot, but now you have to update the Social Gym code to": [[7, "your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to"], [55, "your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to"]], "Training and Evaluation with ConfigRunner": [[8, "training-and-evaluation-with-configrunner"]], "ConfigRunner Configurations": [[8, "configrunner-configurations"]], "What is Social Gym": [[9, "what-is-social-gym"], [57, "what-is-social-gym"]], "Social Gym\u2019s Stack": [[9, "social-gym-s-stack"], [57, "social-gym-s-stack"]], "src": [[10, "src"], [58, "src"]], "src package": [[11, "src-package"], [59, "src-package"]], "Subpackages": [[11, "subpackages"], [12, "subpackages"], [16, "subpackages"], [17, "subpackages"], [19, "subpackages"], [20, "subpackages"], [23, "subpackages"], [59, "subpackages"], [60, "subpackages"], [64, "subpackages"], [65, "subpackages"], [67, "subpackages"], [68, "subpackages"], [71, "subpackages"]], "Submodules": [[11, "submodules"], [12, "submodules"], [13, "submodules"], [14, "submodules"], [15, "submodules"], [16, "submodules"], [17, "submodules"], [18, "submodules"], [19, "submodules"], [20, "submodules"], [21, "submodules"], [22, "submodules"], [23, "submodules"], [24, "submodules"], [25, "submodules"], [26, "submodules"], [27, "submodules"], [59, "submodules"], [60, "submodules"], [61, "submodules"], [62, "submodules"], [63, "submodules"], [64, "submodules"], [65, "submodules"], [66, "submodules"], [67, "submodules"], [68, "submodules"], [69, "submodules"], [70, "submodules"], [71, "submodules"], [72, "submodules"], [73, "submodules"], [74, "submodules"], [75, "submodules"]], "src.config_run module": [[11, "module-src.config_run"], [59, "module-src.config_run"]], "src.multi_agent_optuna module": [[11, "module-src.multi_agent_optuna"], [59, "module-src.multi_agent_optuna"]], 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\ No newline at end of file
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-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../index.html" class="icon icon-home"> Social Gym 2.0
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+<h1>The MIT License (MIT)<a class="headerlink" href="#the-mit-license-mit" title="Permalink to this headline"></a></h1>
 <p>Copyright © 2016 Yoshiki Shibukawa</p>
 <p>Permission is hereby granted, free of charge, to any person obtaining a copy of this software
 and associated documentation files (the “Software”), to deal in the Software without restriction,
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-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-container &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-container</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/venv/lib/python3.8/site-packages/mdit_py_plugins/container/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-container">
-<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-container"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-container/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-container"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-container.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-container?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-container/master.svg?style=flat" /></a></p>
@@ -98,17 +95,17 @@ <h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" tit
 <p>Markup is the same as for <a class="reference external" href="http://spec.commonmark.org/0.18/#fenced-code-blocks">fenced code blocks</a>.
 Difference is, that marker use another character and content is rendered as markdown markup.</p>
 <section id="installation">
-<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h2>
+<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
-$<span class="w"> </span>bower<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$ npm install markdown-it-container --save
+$ bower install markdown-it-container --save
 </pre></div>
 </div>
 </section>
 <section id="api">
-<h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
-<span class="w">            </span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span><span class="w"> </span><span class="nx">name</span><span class="w"> </span><span class="p">[,</span><span class="w"> </span><span class="nx">options</span><span class="p">]);</span>
+<h2>API<a class="headerlink" href="#api" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="nx">name</span> <span class="p">[,</span> <span class="nx">options</span><span class="p">]);</span>
 </pre></div>
 </div>
 <p>Params:</p>
@@ -125,27 +122,27 @@ <h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="example">
-<h2>Example<a class="headerlink" href="#example" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
+<h2>Example<a class="headerlink" href="#example" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
 
-<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span><span class="w"> </span><span class="s1">&#39;spoiler&#39;</span><span class="p">,</span><span class="w"> </span><span class="p">{</span>
+<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="s1">&#39;spoiler&#39;</span><span class="p">,</span> <span class="p">{</span>
 
-<span class="w">  </span><span class="nx">validate</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="k">return</span><span class="w"> </span><span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
-<span class="w">  </span><span class="p">},</span>
+  <span class="nx">validate</span><span class="o">:</span> <span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span> <span class="p">{</span>
+    <span class="k">return</span> <span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="p">},</span>
 
-<span class="w">  </span><span class="nx">render</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">,</span><span class="w"> </span><span class="nx">idx</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="kd">var</span><span class="w"> </span><span class="nx">m</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="nx">render</span><span class="o">:</span> <span class="kd">function</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">,</span> <span class="nx">idx</span><span class="p">)</span> <span class="p">{</span>
+    <span class="kd">var</span> <span class="nx">m</span> <span class="o">=</span> <span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
 
-<span class="w">    </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span><span class="w"> </span><span class="o">===</span><span class="w"> </span><span class="mf">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// opening tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
+    <span class="k">if</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span> <span class="o">===</span> <span class="mf">1</span><span class="p">)</span> <span class="p">{</span>
+      <span class="c1">// opening tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span> <span class="o">+</span> <span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span> <span class="o">+</span> <span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
 
-<span class="w">    </span><span class="p">}</span><span class="w"> </span><span class="k">else</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// closing tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
-<span class="w">    </span><span class="p">}</span>
-<span class="w">  </span><span class="p">}</span>
+    <span class="p">}</span> <span class="k">else</span> <span class="p">{</span>
+      <span class="c1">// closing tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
+    <span class="p">}</span>
+  <span class="p">}</span>
 <span class="p">});</span>
 
 <span class="nx">console</span><span class="p">.</span><span class="nx">log</span><span class="p">(</span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;::: spoiler click me\n*content*\n:::\n&#39;</span><span class="p">));</span>
@@ -159,7 +156,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headin
 </div>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-container/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html b/docs/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html
index ba683898..28e1a1be 100644
--- a/docs/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html
+++ b/docs/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-deflist &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-deflist</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-deflist">
-<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-deflist"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-deflist"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-deflist.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-deflist?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a></p>
@@ -84,17 +81,17 @@ <h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="
 <p><strong>v2.+ requires <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> v5.+, see changelog.</strong></p>
 <p>Syntax is based on <a class="reference external" href="http://johnmacfarlane.net/pandoc/README.html#definition-lists">pandoc definition lists</a>.</p>
 <section id="install">
-<h2>Install<a class="headerlink" href="#install" title="Permalink to this heading"></a></h2>
+<h2>Install<a class="headerlink" href="#install" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
-bower<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm install markdown-it-deflist --save
+bower install markdown-it-deflist --save
 </pre></div>
 </div>
 </section>
 <section id="use">
-<h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
-<span class="w">            </span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
+<h2>Use<a class="headerlink" href="#use" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="cm">/*...*/</span><span class="p">);</span>
 </pre></div>
@@ -103,7 +100,7 @@ <h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></
 package system, module will add itself globally as <code class="docutils literal notranslate"><span class="pre">window.markdownitDeflist</span></code>.</p>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-deflist/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html b/docs/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html
index d774fdcd..d4e7c516 100644
--- a/docs/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html
+++ b/docs/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-texmath &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-texmath</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.md.txt" rel="nofollow"> View page source</a>
@@ -77,10 +74,10 @@
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/v/markdown-it-texmath.svg" /></a>
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/dt/markdown-it-texmath.svg" /></a></p>
 <section id="markdown-it-texmath">
-<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this headline"></a></h1>
 <p>Add TeX math equations to your Markdown documents rendered by <a class="reference external" href="https://github.com/markdown-it/markdown-it">markdown-it</a> parser. <a class="reference external" href="https://github.com/Khan/KaTeX">KaTeX</a> is used as a fast math renderer.</p>
 <section id="features">
-<h2>Features<a class="headerlink" href="#features" title="Permalink to this heading"></a></h2>
+<h2>Features<a class="headerlink" href="#features" title="Permalink to this headline"></a></h2>
 <p>Simplify the process of authoring markdown documents containing math formulas.
 This extension is a comfortable tool for scientists, engineers and students with markdown as their first choice document format.</p>
 <ul class="simple">
@@ -129,27 +126,27 @@ <h2>Features<a class="headerlink" href="#features" title="Permalink to this head
 </ul>
 </section>
 <section id="show-me">
-<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this heading"></a></h2>
+<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this headline"></a></h2>
 <p>View a <a class="reference external" href="https://goessner.github.io/markdown-it-texmath/index.html">test table</a>.</p>
 <p><a class="reference external" href="https://goessner.github.io/markdown-it-texmath/markdown-it-texmath-demo.html">try it out …</a></p>
 </section>
 <section id="use-with-node-js">
-<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this heading"></a></h2>
+<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this headline"></a></h2>
 <p>Install the extension. Verify having <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> and <code class="docutils literal notranslate"><span class="pre">katex</span></code> already installed .</p>
 <div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">npm</span> <span class="n">install</span> <span class="n">markdown</span><span class="o">-</span><span class="n">it</span><span class="o">-</span><span class="n">texmath</span>
 </pre></div>
 </div>
 <p>Use it with JavaScript.</p>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span><span class="w"> </span><span class="nx">kt</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span> <span class="nx">kt</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
+    <span class="nx">tm</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
+    <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity \(e^{i\pi}+1=0\) is a beautiful formula in $\\RR 2$.&#39;</span><span class="p">)</span>
 </pre></div>
 </div>
 </section>
 <section id="use-in-browser">
-<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this heading"></a></h2>
+<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this headline"></a></h2>
 <div class="highlight-html notranslate"><div class="highlight"><pre><span></span><span class="p">&lt;</span><span class="nt">html</span><span class="p">&gt;</span>
 <span class="p">&lt;</span><span class="nt">head</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">meta</span> <span class="na">charset</span><span class="o">=</span><span class="s">&#39;utf-8&#39;</span><span class="p">&gt;</span>
@@ -162,20 +159,20 @@ <h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink
 <span class="p">&lt;</span><span class="nt">body</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">div</span> <span class="na">id</span><span class="o">=</span><span class="s">&quot;out&quot;</span><span class="p">&gt;&lt;/</span><span class="nt">div</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">script</span><span class="p">&gt;</span>
-<span class="w">    </span><span class="kd">let</span><span class="w"> </span><span class="nx">md</span><span class="p">;</span>
-<span class="w">    </span><span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span><span class="w"> </span><span class="p">()</span><span class="w"> </span><span class="p">=&gt;</span><span class="w"> </span><span class="p">{</span>
-<span class="w">        </span><span class="kd">const</span><span class="w"> </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
-<span class="w">        </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
-<span class="w">        </span><span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
-<span class="w">    </span><span class="p">})</span>
-<span class="w">  </span><span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
+    <span class="kd">let</span> <span class="nx">md</span><span class="p">;</span>
+    <span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span> <span class="p">()</span> <span class="p">=&gt;</span> <span class="p">{</span>
+        <span class="kd">const</span> <span class="nx">tm</span> <span class="o">=</span> <span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
+        <span class="nx">md</span> <span class="o">=</span> <span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+        <span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span> <span class="o">=</span> <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
+    <span class="p">})</span>
+  <span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">body</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">html</span><span class="p">&gt;</span>
 </pre></div>
 </div>
 </section>
 <section id="cdn">
-<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></a></h2>
+<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this headline"></a></h2>
 <p>Use following links for <code class="docutils literal notranslate"><span class="pre">texmath.js</span></code> and <code class="docutils literal notranslate"><span class="pre">texmath.css</span></code></p>
 <ul class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">https://gitcdn.xyz/cdn/goessner/markdown-it-texmath/master/texmath.js</span></code></p></li>
@@ -183,18 +180,18 @@ <h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="dependencies">
-<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this heading"></a></h2>
+<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><a class="reference external" href="https://github.com/markdown-it/markdown-it"><code class="docutils literal notranslate"><span class="pre">markdown-it</span></code></a>: Markdown parser done right. Fast and easy to extend.</p></li>
 <li><p><a class="reference external" href="https://github.com/Khan/KaTeX"><code class="docutils literal notranslate"><span class="pre">katex</span></code></a>: This is where credits for fast rendering TeX math in HTML go to.</p></li>
 </ul>
 </section>
 <section id="todo">
-<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this heading"></a></h2>
+<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this headline"></a></h2>
 <p>nothing yet</p>
 </section>
 <section id="faq">
-<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></a></h2>
+<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> with React Native does not work, why ?</strong></p>
 <ul>
@@ -204,66 +201,66 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="changelog">
-<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this heading"></a></h2>
+<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this headline"></a></h2>
 <section id="on-october-04-2019">
-<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://docs.julialang.org/en/v1/stdlib/Markdown/">Julia Markdown</a> on <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/15">request</a>.</p></li>
 </ul>
 </section>
 <section id="on-february-07-2019">
-<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">rendering bug with brackets delimiters</a>.</p></li>
 </ul>
 </section>
 <section id="on-january-20-2019">
-<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove pathological <a class="reference external" href="https://github.com/goessner/mdmath/issues/50">bug within blockquotes</a>.</p></li>
 </ul>
 </section>
 <section id="on-november-11-2018">
-<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for Tex macros (https://katex.org/docs/supported.html#macros) .</p></li>
 <li><p>Bug with <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">brackets delimiters</a> .</p></li>
 </ul>
 </section>
 <section id="on-september-07-2018">
-<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://kramdown.gettalong.org/">Kramdown</a> .</p></li>
 </ul>
 </section>
 <section id="on-august-15-2018">
-<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Fatal blockquote bug investigated. Implemented workaround to vscode bug, which has finally gone with vscode 1.26.0 .</p></li>
 </ul>
 </section>
 <section id="on-january-05-2018">
-<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Escaped underscore bug removed.</p></li>
 </ul>
 </section>
 <section id="on-november-06-2017">
-<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Backslash bug removed.</p></li>
 </ul>
 </section>
 <section id="on-september-27-2017">
-<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Modifying the <code class="docutils literal notranslate"><span class="pre">block</span></code> mode regular expression with <code class="docutils literal notranslate"><span class="pre">gitlab</span></code> delimiters, so removing the <code class="docutils literal notranslate"><span class="pre">newline</span></code> bug.</p></li>
 </ul>
 </section>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
-<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <a class="reference internal" href="#./license.txt"><span class="xref myst">MIT License</span></a></p>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
+<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <span class="xref myst">MIT License</span></p>
 <p>© <a class="reference external" href="https://github.com/goessner">Stefan Gössner</a></p>
 </section>
 </section>
diff --git a/docs/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html b/docs/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
index 8f48723a..ac2e1e87 100644
--- a/docs/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
+++ b/docs/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
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+<h1>The MIT License (MIT)<a class="headerlink" href="#the-mit-license-mit" title="Permalink to this headline"></a></h1>
 <p>Copyright © 2016 Yoshiki Shibukawa</p>
 <p>Permission is hereby granted, free of charge, to any person obtaining a copy of this software
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-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-container</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/venv/lib64/python3.8/site-packages/mdit_py_plugins/container/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-container">
-<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-container"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-container/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-container"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-container.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-container?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-container/master.svg?style=flat" /></a></p>
@@ -98,17 +95,17 @@ <h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" tit
 <p>Markup is the same as for <a class="reference external" href="http://spec.commonmark.org/0.18/#fenced-code-blocks">fenced code blocks</a>.
 Difference is, that marker use another character and content is rendered as markdown markup.</p>
 <section id="installation">
-<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h2>
+<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
-$<span class="w"> </span>bower<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$ npm install markdown-it-container --save
+$ bower install markdown-it-container --save
 </pre></div>
 </div>
 </section>
 <section id="api">
-<h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
-<span class="w">            </span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span><span class="w"> </span><span class="nx">name</span><span class="w"> </span><span class="p">[,</span><span class="w"> </span><span class="nx">options</span><span class="p">]);</span>
+<h2>API<a class="headerlink" href="#api" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="nx">name</span> <span class="p">[,</span> <span class="nx">options</span><span class="p">]);</span>
 </pre></div>
 </div>
 <p>Params:</p>
@@ -125,27 +122,27 @@ <h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="example">
-<h2>Example<a class="headerlink" href="#example" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
+<h2>Example<a class="headerlink" href="#example" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
 
-<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span><span class="w"> </span><span class="s1">&#39;spoiler&#39;</span><span class="p">,</span><span class="w"> </span><span class="p">{</span>
+<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="s1">&#39;spoiler&#39;</span><span class="p">,</span> <span class="p">{</span>
 
-<span class="w">  </span><span class="nx">validate</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="k">return</span><span class="w"> </span><span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
-<span class="w">  </span><span class="p">},</span>
+  <span class="nx">validate</span><span class="o">:</span> <span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span> <span class="p">{</span>
+    <span class="k">return</span> <span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="p">},</span>
 
-<span class="w">  </span><span class="nx">render</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">,</span><span class="w"> </span><span class="nx">idx</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="kd">var</span><span class="w"> </span><span class="nx">m</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="nx">render</span><span class="o">:</span> <span class="kd">function</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">,</span> <span class="nx">idx</span><span class="p">)</span> <span class="p">{</span>
+    <span class="kd">var</span> <span class="nx">m</span> <span class="o">=</span> <span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
 
-<span class="w">    </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span><span class="w"> </span><span class="o">===</span><span class="w"> </span><span class="mf">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// opening tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
+    <span class="k">if</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span> <span class="o">===</span> <span class="mf">1</span><span class="p">)</span> <span class="p">{</span>
+      <span class="c1">// opening tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span> <span class="o">+</span> <span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span> <span class="o">+</span> <span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
 
-<span class="w">    </span><span class="p">}</span><span class="w"> </span><span class="k">else</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// closing tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
-<span class="w">    </span><span class="p">}</span>
-<span class="w">  </span><span class="p">}</span>
+    <span class="p">}</span> <span class="k">else</span> <span class="p">{</span>
+      <span class="c1">// closing tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
+    <span class="p">}</span>
+  <span class="p">}</span>
 <span class="p">});</span>
 
 <span class="nx">console</span><span class="p">.</span><span class="nx">log</span><span class="p">(</span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;::: spoiler click me\n*content*\n:::\n&#39;</span><span class="p">));</span>
@@ -159,7 +156,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headin
 </div>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-container/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html b/docs/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html
index e5ed5fcb..c58a8ccc 100644
--- a/docs/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html
+++ b/docs/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-deflist &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-deflist</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-deflist">
-<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-deflist"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-deflist"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-deflist.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-deflist?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a></p>
@@ -84,17 +81,17 @@ <h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="
 <p><strong>v2.+ requires <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> v5.+, see changelog.</strong></p>
 <p>Syntax is based on <a class="reference external" href="http://johnmacfarlane.net/pandoc/README.html#definition-lists">pandoc definition lists</a>.</p>
 <section id="install">
-<h2>Install<a class="headerlink" href="#install" title="Permalink to this heading"></a></h2>
+<h2>Install<a class="headerlink" href="#install" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
-bower<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm install markdown-it-deflist --save
+bower install markdown-it-deflist --save
 </pre></div>
 </div>
 </section>
 <section id="use">
-<h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
-<span class="w">            </span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
+<h2>Use<a class="headerlink" href="#use" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="cm">/*...*/</span><span class="p">);</span>
 </pre></div>
@@ -103,7 +100,7 @@ <h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></
 package system, module will add itself globally as <code class="docutils literal notranslate"><span class="pre">window.markdownitDeflist</span></code>.</p>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-deflist/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html b/docs/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html
index 1f4a89d0..bc00444d 100644
--- a/docs/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html
+++ b/docs/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-texmath &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-texmath</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.md.txt" rel="nofollow"> View page source</a>
@@ -77,10 +74,10 @@
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/v/markdown-it-texmath.svg" /></a>
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/dt/markdown-it-texmath.svg" /></a></p>
 <section id="markdown-it-texmath">
-<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this headline"></a></h1>
 <p>Add TeX math equations to your Markdown documents rendered by <a class="reference external" href="https://github.com/markdown-it/markdown-it">markdown-it</a> parser. <a class="reference external" href="https://github.com/Khan/KaTeX">KaTeX</a> is used as a fast math renderer.</p>
 <section id="features">
-<h2>Features<a class="headerlink" href="#features" title="Permalink to this heading"></a></h2>
+<h2>Features<a class="headerlink" href="#features" title="Permalink to this headline"></a></h2>
 <p>Simplify the process of authoring markdown documents containing math formulas.
 This extension is a comfortable tool for scientists, engineers and students with markdown as their first choice document format.</p>
 <ul class="simple">
@@ -129,27 +126,27 @@ <h2>Features<a class="headerlink" href="#features" title="Permalink to this head
 </ul>
 </section>
 <section id="show-me">
-<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this heading"></a></h2>
+<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this headline"></a></h2>
 <p>View a <a class="reference external" href="https://goessner.github.io/markdown-it-texmath/index.html">test table</a>.</p>
 <p><a class="reference external" href="https://goessner.github.io/markdown-it-texmath/markdown-it-texmath-demo.html">try it out …</a></p>
 </section>
 <section id="use-with-node-js">
-<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this heading"></a></h2>
+<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this headline"></a></h2>
 <p>Install the extension. Verify having <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> and <code class="docutils literal notranslate"><span class="pre">katex</span></code> already installed .</p>
 <div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">npm</span> <span class="n">install</span> <span class="n">markdown</span><span class="o">-</span><span class="n">it</span><span class="o">-</span><span class="n">texmath</span>
 </pre></div>
 </div>
 <p>Use it with JavaScript.</p>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span><span class="w"> </span><span class="nx">kt</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span> <span class="nx">kt</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
+    <span class="nx">tm</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
+    <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity \(e^{i\pi}+1=0\) is a beautiful formula in $\\RR 2$.&#39;</span><span class="p">)</span>
 </pre></div>
 </div>
 </section>
 <section id="use-in-browser">
-<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this heading"></a></h2>
+<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this headline"></a></h2>
 <div class="highlight-html notranslate"><div class="highlight"><pre><span></span><span class="p">&lt;</span><span class="nt">html</span><span class="p">&gt;</span>
 <span class="p">&lt;</span><span class="nt">head</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">meta</span> <span class="na">charset</span><span class="o">=</span><span class="s">&#39;utf-8&#39;</span><span class="p">&gt;</span>
@@ -162,20 +159,20 @@ <h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink
 <span class="p">&lt;</span><span class="nt">body</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">div</span> <span class="na">id</span><span class="o">=</span><span class="s">&quot;out&quot;</span><span class="p">&gt;&lt;/</span><span class="nt">div</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">script</span><span class="p">&gt;</span>
-<span class="w">    </span><span class="kd">let</span><span class="w"> </span><span class="nx">md</span><span class="p">;</span>
-<span class="w">    </span><span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span><span class="w"> </span><span class="p">()</span><span class="w"> </span><span class="p">=&gt;</span><span class="w"> </span><span class="p">{</span>
-<span class="w">        </span><span class="kd">const</span><span class="w"> </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
-<span class="w">        </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
-<span class="w">        </span><span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
-<span class="w">    </span><span class="p">})</span>
-<span class="w">  </span><span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
+    <span class="kd">let</span> <span class="nx">md</span><span class="p">;</span>
+    <span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span> <span class="p">()</span> <span class="p">=&gt;</span> <span class="p">{</span>
+        <span class="kd">const</span> <span class="nx">tm</span> <span class="o">=</span> <span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
+        <span class="nx">md</span> <span class="o">=</span> <span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+        <span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span> <span class="o">=</span> <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
+    <span class="p">})</span>
+  <span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">body</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">html</span><span class="p">&gt;</span>
 </pre></div>
 </div>
 </section>
 <section id="cdn">
-<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></a></h2>
+<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this headline"></a></h2>
 <p>Use following links for <code class="docutils literal notranslate"><span class="pre">texmath.js</span></code> and <code class="docutils literal notranslate"><span class="pre">texmath.css</span></code></p>
 <ul class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">https://gitcdn.xyz/cdn/goessner/markdown-it-texmath/master/texmath.js</span></code></p></li>
@@ -183,18 +180,18 @@ <h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="dependencies">
-<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this heading"></a></h2>
+<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><a class="reference external" href="https://github.com/markdown-it/markdown-it"><code class="docutils literal notranslate"><span class="pre">markdown-it</span></code></a>: Markdown parser done right. Fast and easy to extend.</p></li>
 <li><p><a class="reference external" href="https://github.com/Khan/KaTeX"><code class="docutils literal notranslate"><span class="pre">katex</span></code></a>: This is where credits for fast rendering TeX math in HTML go to.</p></li>
 </ul>
 </section>
 <section id="todo">
-<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this heading"></a></h2>
+<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this headline"></a></h2>
 <p>nothing yet</p>
 </section>
 <section id="faq">
-<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></a></h2>
+<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> with React Native does not work, why ?</strong></p>
 <ul>
@@ -204,66 +201,66 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="changelog">
-<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this heading"></a></h2>
+<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this headline"></a></h2>
 <section id="on-october-04-2019">
-<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://docs.julialang.org/en/v1/stdlib/Markdown/">Julia Markdown</a> on <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/15">request</a>.</p></li>
 </ul>
 </section>
 <section id="on-february-07-2019">
-<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">rendering bug with brackets delimiters</a>.</p></li>
 </ul>
 </section>
 <section id="on-january-20-2019">
-<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove pathological <a class="reference external" href="https://github.com/goessner/mdmath/issues/50">bug within blockquotes</a>.</p></li>
 </ul>
 </section>
 <section id="on-november-11-2018">
-<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for Tex macros (https://katex.org/docs/supported.html#macros) .</p></li>
 <li><p>Bug with <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">brackets delimiters</a> .</p></li>
 </ul>
 </section>
 <section id="on-september-07-2018">
-<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://kramdown.gettalong.org/">Kramdown</a> .</p></li>
 </ul>
 </section>
 <section id="on-august-15-2018">
-<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Fatal blockquote bug investigated. Implemented workaround to vscode bug, which has finally gone with vscode 1.26.0 .</p></li>
 </ul>
 </section>
 <section id="on-january-05-2018">
-<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Escaped underscore bug removed.</p></li>
 </ul>
 </section>
 <section id="on-november-06-2017">
-<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Backslash bug removed.</p></li>
 </ul>
 </section>
 <section id="on-september-27-2017">
-<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Modifying the <code class="docutils literal notranslate"><span class="pre">block</span></code> mode regular expression with <code class="docutils literal notranslate"><span class="pre">gitlab</span></code> delimiters, so removing the <code class="docutils literal notranslate"><span class="pre">newline</span></code> bug.</p></li>
 </ul>
 </section>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
-<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <a class="reference internal" href="#./license.txt"><span class="xref myst">MIT License</span></a></p>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
+<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <span class="xref myst">MIT License</span></p>
 <p>© <a class="reference external" href="https://github.com/goessner">Stefan Gössner</a></p>
 </section>
 </section>
diff --git a/docs/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html b/docs/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
index 16d6fd29..88b9ac2b 100644
--- a/docs/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
+++ b/docs/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8" class="logo" alt="Logo"/>
+            <a href="../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../../../_sources/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html b/docs/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html
index 0a3e5aa9..9b33c248 100644
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+            <a href="../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
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index 840cdbfc..5b973bad 100644
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+            <a href="../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
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index f894cd86..92d46361 100644
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diff --git a/docs_src/_build/html/_site/contributing/making_docs.html b/docs_src/_build/html/_site/contributing/making_docs.html
index 2d838b39..e4322bf5 100644
--- a/docs_src/_build/html/_site/contributing/making_docs.html
+++ b/docs_src/_build/html/_site/contributing/making_docs.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Making docs &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Making docs</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/contributing/making_docs.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="making-docs">
-<h1>Making docs<a class="headerlink" href="#making-docs" title="Permalink to this heading"></a></h1>
+<h1>Making docs<a class="headerlink" href="#making-docs" title="Permalink to this headline"></a></h1>
 <p>The source code for all the documentation can be found in <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/docs_src</span></code></p>
 <p>We use <a class="reference external" href="https://www.sphinx-doc.org/en/master/">Sphinx</a> to create our documentation and host it in Github Pages.</p>
 <p>Check out <code class="docutils literal notranslate"><span class="pre">docs_src/index.rst</span></code> for the layout of the pages (starting on line 6).  That file will point to the source doc
@@ -86,17 +83,17 @@ <h1>Making docs<a class="headerlink" href="#making-docs" title="Permalink to thi
 as you save files.) The service is usually hosted on http://127.0.0.1:8000 but it will also tell you where the local
 version of the site is.</p>
 <section id="uploading-changes">
-<h2>Uploading changes<a class="headerlink" href="#uploading-changes" title="Permalink to this heading"></a></h2>
+<h2>Uploading changes<a class="headerlink" href="#uploading-changes" title="Permalink to this headline"></a></h2>
 <section id="run-build-sh">
-<h3>1.) Run <code class="docutils literal notranslate"><span class="pre">./build.sh</span></code><a class="headerlink" href="#run-build-sh" title="Permalink to this heading"></a></h3>
+<h3>1.) Run <code class="docutils literal notranslate"><span class="pre">./build.sh</span></code><a class="headerlink" href="#run-build-sh" title="Permalink to this headline"></a></h3>
 </section>
 <section id="run-git-add-sh">
-<h3>2.) Run <code class="docutils literal notranslate"><span class="pre">./git_add.sh</span></code><a class="headerlink" href="#run-git-add-sh" title="Permalink to this heading"></a></h3>
+<h3>2.) Run <code class="docutils literal notranslate"><span class="pre">./git_add.sh</span></code><a class="headerlink" href="#run-git-add-sh" title="Permalink to this headline"></a></h3>
 </section>
 <section id="the-files-are-now-staged-in-git-you-can-do">
-<h3>3.) The files are now staged in git, you can do<a class="headerlink" href="#the-files-are-now-staged-in-git-you-can-do" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>commit<span class="w"> </span>-m<span class="w"> </span><span class="s2">&quot;Doc changes&quot;</span>
-git<span class="w"> </span>push
+<h3>3.) The files are now staged in git, you can do<a class="headerlink" href="#the-files-are-now-staged-in-git-you-can-do" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git commit -m <span class="s2">&quot;Doc changes&quot;</span>
+git push
 </pre></div>
 </div>
 <p>and the website should update within the next 5-10minutes.</p>
diff --git a/docs_src/_build/html/_site/index.html b/docs_src/_build/html/_site/index.html
index 034ed34c..468d4645 100644
--- a/docs_src/_build/html/_site/index.html
+++ b/docs_src/_build/html/_site/index.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Welcome to the Social Gym 2.0 documentation! &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Welcome to the Social Gym 2.0 documentation!</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/_site/index.rst.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="welcome-to-the-social-gym-2-0-documentation">
-<h1>Welcome to the Social Gym 2.0 documentation!<a class="headerlink" href="#welcome-to-the-social-gym-2-0-documentation" title="Permalink to this heading"></a></h1>
+<h1>Welcome to the Social Gym 2.0 documentation!<a class="headerlink" href="#welcome-to-the-social-gym-2-0-documentation" title="Permalink to this headline"></a></h1>
 <p>(Find the GitHub link at <a class="reference external" href="https://github.com/ut-amrl/social_gym">https://github.com/ut-amrl/social_gym</a>)</p>
 <a class="reference internal image-reference" href="https://obj.umiacs.umd.edu/badue-accepted/sim_demo.gif"><img alt="https://obj.umiacs.umd.edu/badue-accepted/sim_demo.gif" class="align-center" src="https://obj.umiacs.umd.edu/badue-accepted/sim_demo.gif" style="width: 400px;" /></a>
 <div class="line-block">
@@ -116,7 +113,7 @@ <h1>Welcome to the Social Gym 2.0 documentation!<a class="headerlink" href="#wel
 </div>
 </section>
 <section id="indices-and-tables">
-<h1>Indices and tables<a class="headerlink" href="#indices-and-tables" title="Permalink to this heading"></a></h1>
+<h1>Indices and tables<a class="headerlink" href="#indices-and-tables" title="Permalink to this headline"></a></h1>
 <ul class="simple">
 <li><p><a class="reference internal" href="../genindex.html"><span class="std std-ref">Index</span></a></p></li>
 <li><p><a class="reference internal" href="../py-modindex.html"><span class="std std-ref">Module Index</span></a></p></li>
diff --git a/docs_src/_build/html/_site/installation/advanced_usage.html b/docs_src/_build/html/_site/installation/advanced_usage.html
index bf2a5730..8a7fee0d 100644
--- a/docs_src/_build/html/_site/installation/advanced_usage.html
+++ b/docs_src/_build/html/_site/installation/advanced_usage.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Advanced Usage &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Advanced Usage</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/installation/advanced_usage.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="advanced-usage">
-<h1>Advanced Usage<a class="headerlink" href="#advanced-usage" title="Permalink to this heading"></a></h1>
+<h1>Advanced Usage<a class="headerlink" href="#advanced-usage" title="Permalink to this headline"></a></h1>
 <hr class="docutils" />
 <p>There’s a FAQ at the bottom (maybe worth reading first).  Expect this process to take about 3-6 hours :/</p>
 <p><strong>WARNING</strong>: The authors of this project have had numerous issues with Docker and Docker-Compose when installed via snap.  We
@@ -84,7 +81,7 @@ <h1>Advanced Usage<a class="headerlink" href="#advanced-usage" title="Permalink
 <p>Welcome to the Advanced Usage doc!  Here, we will be setting up Social Gym so that each submodule runs on it’s
 own, allowing you to set up debuggers and step through each C submodule and the python code!</p>
 <section id="requirements">
-<h2>Requirements<a class="headerlink" href="#requirements" title="Permalink to this heading"></a></h2>
+<h2>Requirements<a class="headerlink" href="#requirements" title="Permalink to this headline"></a></h2>
 <p>We have only tested this full process on Pycharm and CLion Professional IDEs.  However, what’s really needed
 is the ability to have a remote source or remote server that you can plug your IDE into.  Specifically,
 we are going to plug our IDE (Pycharm/CLion) into a docker container via SSH.  Our IDE’s allow us to do this
@@ -92,38 +89,38 @@ <h2>Requirements<a class="headerlink" href="#requirements" title="Permalink to t
 need to look more stuff up on how to get these to work :/</p>
 </section>
 <section id="advanced-usage-setup-buckle-up">
-<h2>Advanced Usage setup (buckle up!)<a class="headerlink" href="#advanced-usage-setup-buckle-up" title="Permalink to this heading"></a></h2>
+<h2>Advanced Usage setup (buckle up!)<a class="headerlink" href="#advanced-usage-setup-buckle-up" title="Permalink to this headline"></a></h2>
 <p>We’ve broken this tutorial into 3 parts, the first is the basic setup, the second will get the submodules
 running, and the final part will focus on the python code and running the actual simulator end to end.</p>
 <section id="part-1-setting-up-the-basic-social-gym-dependencies-and-containers">
-<h3>Part 1: Setting up the basic Social Gym dependencies and containers<a class="headerlink" href="#part-1-setting-up-the-basic-social-gym-dependencies-and-containers" title="Permalink to this heading"></a></h3>
+<h3>Part 1: Setting up the basic Social Gym dependencies and containers<a class="headerlink" href="#part-1-setting-up-the-basic-social-gym-dependencies-and-containers" title="Permalink to this headline"></a></h3>
 <section id="from-the-basic-installation-guide-follow-steps-1-5">
-<h4>1.) From the basic installation guide follow steps 1-5<a class="headerlink" href="#from-the-basic-installation-guide-follow-steps-1-5" title="Permalink to this heading"></a></h4>
+<h4>1.) From the basic installation guide follow steps 1-5<a class="headerlink" href="#from-the-basic-installation-guide-follow-steps-1-5" title="Permalink to this headline"></a></h4>
 <p>They are not repeated here in case they change at some time</p>
 </section>
 <section id="build-and-up-the-docker-containers">
-<h4>2.) Build and “up” the docker containers<a class="headerlink" href="#build-and-up-the-docker-containers" title="Permalink to this heading"></a></h4>
+<h4>2.) Build and “up” the docker containers<a class="headerlink" href="#build-and-up-the-docker-containers" title="Permalink to this headline"></a></h4>
 <p>From the root directory of the project</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>docker-compose<span class="w"> </span>build<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>docker-compose<span class="w"> </span>up
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>docker-compose build <span class="o">&amp;&amp;</span> docker-compose up
 </pre></div>
 </div>
 <p>Make sure you see an RVIS window after the <code class="docutils literal notranslate"><span class="pre">docker-up</span></code> command finishes.  If you don’t, check your logs for build
 errors.</p>
 </section>
 <section id="open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these">
-<h4>3.) Open the submodule projects <code class="docutils literal notranslate"><span class="pre">ut_multirobot_sim</span></code> and <code class="docutils literal notranslate"><span class="pre">graph_navigation</span></code> in a separate IDE window (I use CLion for these)<a class="headerlink" href="#open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these" title="Permalink to this heading"></a></h4>
+<h4>3.) Open the submodule projects <code class="docutils literal notranslate"><span class="pre">ut_multirobot_sim</span></code> and <code class="docutils literal notranslate"><span class="pre">graph_navigation</span></code> in a separate IDE window (I use CLion for these)<a class="headerlink" href="#open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these" title="Permalink to this headline"></a></h4>
 <p>Make sure you are opening them from the directory <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/submodules/ut_multirobot_sim</span></code> and
 <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/submodules/graph_navigation</span></code> – we will be running the submodules from these windows (you could also
 run them from the ssh terminal in the subsequent steps)</p>
 </section>
 </section>
 <section id="part-2-setting-up-the-submodules">
-<h3>Part 2: Setting up the submodules<a class="headerlink" href="#part-2-setting-up-the-submodules" title="Permalink to this heading"></a></h3>
+<h3>Part 2: Setting up the submodules<a class="headerlink" href="#part-2-setting-up-the-submodules" title="Permalink to this headline"></a></h3>
 <p>This part of the setup was heavily inspired by https://github.com/nocoinman/ros-docker-clion – big shoutout to this
 project :)</p>
 <section id="ssh-into-the-ros-submodules-container">
-<h4>1.) SSH into the ROS submodules container<a class="headerlink" href="#ssh-into-the-ros-submodules-container" title="Permalink to this heading"></a></h4>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh<span class="w"> </span>rosdev@localhost<span class="w"> </span>-p<span class="w"> </span><span class="m">2222</span>
+<h4>1.) SSH into the ROS submodules container<a class="headerlink" href="#ssh-into-the-ros-submodules-container" title="Permalink to this headline"></a></h4>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh rosdev@localhost -p <span class="m">2222</span>
 yes
 <span class="m">12345</span>
 </pre></div>
@@ -134,25 +131,25 @@ <h4>1.) SSH into the ROS submodules container<a class="headerlink" href="#ssh-in
 so we can set some stuff up manually before we plug our IDE into it.</p>
 </section>
 <section id="build-static-dependencies">
-<h4>2.) Build static dependencies.<a class="headerlink" href="#build-static-dependencies" title="Permalink to this heading"></a></h4>
+<h4>2.) Build static dependencies.<a class="headerlink" href="#build-static-dependencies" title="Permalink to this headline"></a></h4>
 <p>There are a few submodules that really just contain libraries or code that does not need to be ran.  We still
 need to compile them so that we can reference them in the other sobumodules.</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>~/set_paths.sh
-rosdep<span class="w"> </span>update
-<span class="nb">cd</span><span class="w"> </span>social_gym/submodules/amrl_msgs
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span> ~/set_paths.sh
+rosdep update
+<span class="nb">cd</span> social_gym/submodules/amrl_msgs
 make
-<span class="nb">cd</span><span class="w"> </span>../pedsim_ros
+<span class="nb">cd</span> ../pedsim_ros
 catkin_make
-<span class="nb">cd</span><span class="w"> </span>../
+<span class="nb">cd</span> ../
 </pre></div>
 </div>
 <p>Make sure <code class="docutils literal notranslate"><span class="pre">rosdep</span> <span class="pre">udpate</span></code> succeeds! If it fails, you won’t be able to build the submodules.</p>
 </section>
 <section id="build-the-graph-navigation-submodule">
-<h4>3.) Build the Graph Navigation submodule<a class="headerlink" href="#build-the-graph-navigation-submodule" title="Permalink to this heading"></a></h4>
+<h4>3.) Build the Graph Navigation submodule<a class="headerlink" href="#build-the-graph-navigation-submodule" title="Permalink to this headline"></a></h4>
 <p>This submodule handles low level navigation for the agents.</p>
 <p>Assuming you are starting from the <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/submodules</span></code> directory</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>graph_navigation
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> graph_navigation
 make
 </pre></div>
 </div>
@@ -163,7 +160,7 @@ <h4>3.) Build the Graph Navigation submodule<a class="headerlink" href="#build-t
 </section>
 <hr class="docutils" />
 <section id="setup-graph-navigation-with-your-ide">
-<h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-graph-navigation-with-your-ide" title="Permalink to this heading"></a></h4>
+<h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-graph-navigation-with-your-ide" title="Permalink to this headline"></a></h4>
 <p>If you have a different IDE other than CLION Commercial or Professional find out how to configure a remote host via
 ssh.  Some of this will be relevant (like setting global env variables) but most of it may be CLION specific.</p>
 <p>Before following the steps below, run</p>
@@ -196,8 +193,8 @@ <h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-g
 something in there currently, make sure to delete that.)</p>
 <p>16.) Click OK in the settings window and go back to your terminal with the SSH connection.</p>
 <p>17.) Run</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-debug/
-sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-remotedebugger/
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo rm -r cmake-build-debug/
+sudo rm -r cmake-build-remotedebugger/
 </pre></div>
 </div>
 <p>remember the password is <code class="docutils literal notranslate"><span class="pre">12345</span></code> if you have not changed it.</p>
@@ -213,9 +210,9 @@ <h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-g
 <hr class="docutils" />
 <p><em>NOTE</em>: If you are going to be using custom maps, this is one of the places you’ll have to update the name (<code class="docutils literal notranslate"><span class="pre">-map</span></code>)</p>
 <p>21.) Hit Apply and OK then hit Run.  You should see the IDE build the project and eventually produce</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/graph_navigation/cmake-build-remotedebugger/../bin/social_nav<span class="w"> </span>-service_mode<span class="o">=</span><span class="nb">true</span><span class="w"> </span>-map<span class="o">=</span>exp2/train/easy
-Loading<span class="w"> </span>/home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json...
-Loaded<span class="w"> </span>/home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json<span class="w"> </span>with<span class="w"> </span><span class="m">18</span><span class="w"> </span>states,<span class="w"> </span><span class="m">17</span><span class="w"> </span>edges
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/graph_navigation/cmake-build-remotedebugger/../bin/social_nav -service_mode<span class="o">=</span><span class="nb">true</span> -map<span class="o">=</span>exp2/train/easy
+Loading /home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json...
+Loaded /home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json with <span class="m">18</span> states, <span class="m">17</span> edges
 </pre></div>
 </div>
 <p>If you see anything other than what’s shown here (except for maybe vertices counts) double check your configuration and
@@ -223,28 +220,28 @@ <h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-g
 <p>22.) Congratulations you now have a running Graph Navigation project that you can set breakpoints on using CLION :)</p>
 </section>
 <section id="setup-ut-multirobot-sim-with-your-ide">
-<h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-ut-multirobot-sim-with-your-ide" title="Permalink to this heading"></a></h4>
+<h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-ut-multirobot-sim-with-your-ide" title="Permalink to this headline"></a></h4>
 <p>For this next step I like creating a new terminal in a new IDE window, but that’s entirely up to you.</p>
 <p>Keep those environment parameters we copied from the Graph Navigation setup for this step as well!</p>
 <p>I am going to go a bit faster here since almost all the steps are repeating what we’ve already done for Graph Nav.</p>
 <p>1.) Navigate to your UT_Multirobot_sim IDE window and open a new terminal with a new ssh connection into the same
 container <code class="docutils literal notranslate"><span class="pre">ssh</span> <span class="pre">rosdev&#64;localhost</span> <span class="pre">-p</span> <span class="pre">2222</span></code> (password is <code class="docutils literal notranslate"><span class="pre">12345</span></code> unless you changed it)</p>
 <p>2.) Set up the shell</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>social_gym/submodules/ut_multirobot_sim/
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> social_gym/submodules/ut_multirobot_sim/
 </pre></div>
 </div>
 <p>3.) Edit the source file to include a new submodule</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>vim<span class="w"> </span>~/set_paths.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>vim ~/set_paths.sh
 </pre></div>
 </div>
 <p>Uncomment the second line
 write and quit</p>
 <p>4.) Source variables.</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>./set_paths.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span> ./set_paths.sh
 </pre></div>
 </div>
 <p>5.) Update rosdep</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>rosdep<span class="w"> </span>update
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>rosdep update
 </pre></div>
 </div>
 <p>6.) Make the simulator</p>
@@ -265,8 +262,8 @@ <h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-
 <code class="docutils literal notranslate"><span class="pre">/home/rosdev/social_gym/submodules/ut_multirobot_sim</span></code></p>
 <p>12.) Click Apply and OK to close the settings window.</p>
 <p>13.) Clean the projects CMAKE configs</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-debug/
-sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-remotedebugger/
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo rm -r cmake-build-debug/
+sudo rm -r cmake-build-remotedebugger/
 </pre></div>
 </div>
 <p>14.) Go to the CMake tab on your IDE (by the terminal window tab)</p>
@@ -280,23 +277,23 @@ <h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-
 <p><code class="docutils literal notranslate"><span class="pre">Environment</span> <span class="pre">Variables</span></code> should have the pasted environment variables from <code class="docutils literal notranslate"><span class="pre">~/get_vars.sh</span></code></p>
 <p>19.) Click the Run button</p>
 <p>20.) You should see the project rebuild and then an error message</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/ut_multirobot_sim/cmake-build-debug-docremotetest/../bin/simulator<span class="w"> </span>-sim_config<span class="w"> </span>/home/rosdev/social_gym/config/gym_gen/sim_config.lua<span class="w"> </span>-scene_config<span class="w"> </span>/home/rosdev/social_gym/config/gym_gen/scene.xml<span class="w"> </span>-speedup_factor<span class="w"> </span><span class="m">1</span>.0<span class="w"> </span>--localize<span class="w"> </span>--use_pedsim
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/ut_multirobot_sim/cmake-build-debug-docremotetest/../bin/simulator -sim_config /home/rosdev/social_gym/config/gym_gen/sim_config.lua -scene_config /home/rosdev/social_gym/config/gym_gen/scene.xml -speedup_factor <span class="m">1</span>.0 --localize --use_pedsim
 
-UT<span class="w"> </span>Multi-Robot<span class="w"> </span>Simulator
+UT Multi-Robot Simulator
 
-Publish<span class="w"> </span>GoAlone<span class="w"> </span>message
-Publish<span class="w"> </span>GoAlone<span class="w"> </span>message
-ERROR:<span class="w"> </span>Unable<span class="w"> </span>to<span class="w"> </span>load<span class="w"> </span>map<span class="w"> </span>maps/closed/door/t1/closed/door/t1.vectormap.txt
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Pass<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Follow<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>GoAlone<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>.017613<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">2</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Halt<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Publishing<span class="w"> </span>Halt<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Step<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>StepUTMRS<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>StepPedsim<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
+Publish GoAlone message
+Publish GoAlone message
+ERROR: Unable to load map maps/closed/door/t1/closed/door/t1.vectormap.txt
+Run-time stats <span class="k">for</span> Pass : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> Follow : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> GoAlone : mean run <span class="nb">time</span> <span class="o">=</span> <span class="m">0</span>.017613 ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">2</span>
+Run-time stats <span class="k">for</span> Halt : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> Publishing Halt : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> Step : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> StepUTMRS : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> StepPedsim : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
 
-Process<span class="w"> </span>finished<span class="w"> </span>with<span class="w"> </span><span class="nb">exit</span><span class="w"> </span>code<span class="w"> </span><span class="m">1</span>
+Process finished with <span class="nb">exit</span> code <span class="m">1</span>
 </pre></div>
 </div>
 <p>This is okay! This means the project was built correctly but the current configuration in the python project
@@ -307,12 +304,12 @@ <h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-
 </section>
 </section>
 <section id="part-3-setting-up-python-and-running-everything">
-<h3>Part 3: Setting up Python and Running everything!<a class="headerlink" href="#part-3-setting-up-python-and-running-everything" title="Permalink to this heading"></a></h3>
+<h3>Part 3: Setting up Python and Running everything!<a class="headerlink" href="#part-3-setting-up-python-and-running-everything" title="Permalink to this headline"></a></h3>
 <section id="open-up-pycharm-to-the-root-folder-of-the-project">
-<h4>1.) Open up Pycharm to the root folder of the project<a class="headerlink" href="#open-up-pycharm-to-the-root-folder-of-the-project" title="Permalink to this heading"></a></h4>
+<h4>1.) Open up Pycharm to the root folder of the project<a class="headerlink" href="#open-up-pycharm-to-the-root-folder-of-the-project" title="Permalink to this headline"></a></h4>
 </section>
 <section id="set-up-your-ide-with-the-container-via-ssh-pycharm-specific">
-<h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="headerlink" href="#set-up-your-ide-with-the-container-via-ssh-pycharm-specific" title="Permalink to this heading"></a></h4>
+<h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="headerlink" href="#set-up-your-ide-with-the-container-via-ssh-pycharm-specific" title="Permalink to this headline"></a></h4>
 <p>Similar to the UT Multirobot Sim and Graph Navigation guides, we assume your IDE has remote host available
 and if not, there’s some useful stuff here but you may have to translate the steps for your ide.</p>
 <p>1.) Open the settings window <code class="docutils literal notranslate"><span class="pre">file</span> <span class="pre">&lt;</span> <span class="pre">settings</span></code></p>
@@ -333,27 +330,27 @@ <h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="h
 <p><code class="docutils literal notranslate"><span class="pre">Parameters</span></code> should have <code class="docutils literal notranslate"><span class="pre">-c</span> <span class="pre">./tmp_config.json</span></code></p>
 <p><code class="docutils literal notranslate"><span class="pre">Environment</span> <span class="pre">variables</span></code> should have the pasted env vars we keep getting in the previous steps.</p>
 <p>10.) Open a new ssh terminal</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh<span class="w"> </span>rosdev@localhost<span class="w"> </span>-p<span class="w"> </span><span class="m">2223</span>
-<span class="nb">cd</span><span class="w"> </span>./social_gym/submodules
-vim<span class="w"> </span>~/set_paths.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh rosdev@localhost -p <span class="m">2223</span>
+<span class="nb">cd</span> ./social_gym/submodules
+vim ~/set_paths.sh
 <span class="c1"># uncomment the second line then save the file</span>
-<span class="nb">source</span><span class="w"> </span>~/set_paths.sh
-rosdep<span class="w"> </span>update
-pip<span class="w"> </span>install<span class="w"> </span>sb3_contrib
-pip<span class="w"> </span>install<span class="w"> </span><span class="nv">supersuit</span><span class="o">==</span><span class="m">3</span>.5.0
-pip<span class="w"> </span>install<span class="w"> </span><span class="nv">gym</span><span class="o">==</span><span class="m">0</span>.26.2
+<span class="nb">source</span> ~/set_paths.sh
+rosdep update
+pip install sb3_contrib
+pip install <span class="nv">supersuit</span><span class="o">==</span><span class="m">3</span>.5.0
+pip install <span class="nv">gym</span><span class="o">==</span><span class="m">0</span>.26.2
 </pre></div>
 </div>
 <p>11.) Click run in your pycharm editor. It should hang around the input</p>
 <div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>...
-Waiting<span class="w"> </span>on<span class="w"> </span>UTMRS
-<span class="o">[</span>WARN<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.168961<span class="o">]</span>:<span class="w"> </span>wait_for_service<span class="o">(</span>/utmrsStepper<span class="o">)</span>:<span class="w"> </span>failed<span class="w"> </span>to<span class="w"> </span>contact,<span class="w"> </span>will<span class="w"> </span>keep<span class="w"> </span>trying
-QStandardPaths:<span class="w"> </span>XDG_RUNTIME_DIR<span class="w"> </span>not<span class="w"> </span>set,<span class="w"> </span>defaulting<span class="w"> </span>to<span class="w"> </span><span class="s1">&#39;/tmp/runtime-rosdev&#39;</span>
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.188148416<span class="o">]</span>:<span class="w"> </span>Updated<span class="w"> </span>sim<span class="w"> </span>with<span class="w"> </span>live<span class="w"> </span>config:<span class="w"> </span><span class="nv">Rate</span><span class="o">=</span><span class="m">40</span><span class="w"> </span>incoming<span class="w"> </span><span class="nv">rate</span><span class="o">=</span><span class="m">40</span>
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.192522299<span class="o">]</span>:<span class="w"> </span>Using<span class="w"> </span>default<span class="w"> </span>queue<span class="w"> </span>size<span class="w"> </span>of<span class="w"> </span><span class="m">10</span><span class="w"> </span><span class="k">for</span><span class="w"> </span>publisher<span class="w"> </span>queues...<span class="w"> </span>
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.199740381<span class="o">]</span>:<span class="w"> </span>Loading<span class="w"> </span>scene<span class="w"> </span><span class="o">[</span>/home/rosdev/social_gym/config/gym_gen/scene.xml<span class="o">]</span><span class="w"> </span><span class="k">for</span><span class="w"> </span>simulation
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.204534827<span class="o">]</span>:<span class="w"> </span>node<span class="w"> </span>initialized,<span class="w"> </span>now<span class="w"> </span>running<span class="w"> </span>
-Service<span class="w"> </span>Mode
+Waiting on UTMRS
+<span class="o">[</span>WARN<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.168961<span class="o">]</span>: wait_for_service<span class="o">(</span>/utmrsStepper<span class="o">)</span>: failed to contact, will keep trying
+QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to <span class="s1">&#39;/tmp/runtime-rosdev&#39;</span>
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.188148416<span class="o">]</span>: Updated sim with live config: <span class="nv">Rate</span><span class="o">=</span><span class="m">40</span> incoming <span class="nv">rate</span><span class="o">=</span><span class="m">40</span>
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.192522299<span class="o">]</span>: Using default queue size of <span class="m">10</span> <span class="k">for</span> publisher queues... 
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.199740381<span class="o">]</span>: Loading scene <span class="o">[</span>/home/rosdev/social_gym/config/gym_gen/scene.xml<span class="o">]</span> <span class="k">for</span> simulation
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.204534827<span class="o">]</span>: node initialized, now running 
+Service Mode
 </pre></div>
 </div>
 <p>This means we can fire up the UT Multirobot simulator now</p>
@@ -365,7 +362,7 @@ <h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="h
 </section>
 </section>
 <section id="faq">
-<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></a></h2>
+<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this headline"></a></h2>
 <hr class="docutils" />
 <p><strong>All my files are missing!</strong>: If at any point your files are missing or empty check out your path mappings for your
 project and make sure they are valid.  Then, do <code class="docutils literal notranslate"><span class="pre">git</span> <span class="pre">stash</span></code> for every project that has missing or empty files</p>
@@ -373,8 +370,8 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 <p>You will get tons of compile errors when you make a submodule saying “geometry” is undefined etc.  This means you have
 to do <code class="docutils literal notranslate"><span class="pre">git</span> <span class="pre">stash</span></code> anywhere a thirdparty source is being used.</p>
 <p><strong>ROSDEP errors</strong>: If you see anything during the install about ROSDEP not working correctly, make sure you are doing</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>~/set_paths.sh
-rosedep<span class="w"> </span>update
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span> ~/set_paths.sh
+rosedep update
 </pre></div>
 </div>
 <p>often – once you have built pedsim via <code class="docutils literal notranslate"><span class="pre">catkin_make</span></code>, you should remove the comment on the 2nd line of <code class="docutils literal notranslate"><span class="pre">~/set_paths.sh</span></code>
@@ -383,7 +380,7 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 <p><strong>CMAKE errors</strong>: CMake is not fun.  If you see weird issues with cmake not building or not finding stuff make sure you
 are removing the cmake folders then rebuilding.</p>
 <p><strong>Permission Issues</strong>: The easiest way to resolve weird permission issues when setting up the advanced usage is to run</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>chmod<span class="w"> </span>-R<span class="w"> </span><span class="m">777</span><span class="w"> </span>.<span class="w"> </span>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo chmod -R <span class="m">777</span> . 
 </pre></div>
 </div>
 <p>from the project root.  This effectively gives all users access to the folder (<strong>warning</strong>: this may be too open if you are working
diff --git a/docs_src/_build/html/_site/installation/installation.html b/docs_src/_build/html/_site/installation/installation.html
index 0b2ae09c..b59a5359 100644
--- a/docs_src/_build/html/_site/installation/installation.html
+++ b/docs_src/_build/html/_site/installation/installation.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Installation &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Installation</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/installation/installation.md.txt" rel="nofollow"> View page source</a>
@@ -74,20 +71,20 @@
            <div itemprop="articleBody">
              
   <section id="installation">
-<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h1>
+<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h1>
 <p>In this doc we are going to setup Social Gym’s <code class="docutils literal notranslate"><span class="pre">config</span> <span class="pre">runner</span></code> which allows you to run Social Gym using a configuration
 file.  If all you need to do is train, evaluate, or test your installation of Social Gym, this is the only installation
 step you have to follow.  However, if you wish to contribute and develop on Social Gym, we recommend the more indepth
 installation guide which goes over setting up a debugger.</p>
 <section id="why-are-there-two-installation-guides-for-social-gym">
-<h2>Why are there two installation guides for Social Gym<a class="headerlink" href="#why-are-there-two-installation-guides-for-social-gym" title="Permalink to this heading"></a></h2>
+<h2>Why are there two installation guides for Social Gym<a class="headerlink" href="#why-are-there-two-installation-guides-for-social-gym" title="Permalink to this headline"></a></h2>
 <p>Social Gym uses ROS (Robot Operating System) submodules written in C, to ensure they installed correctly and can run on
 your machine, we use Docker.  However, this poses challenges for debugging both the Python code and the C code because
 everything has to communicate with each other.  To ease the process of setting Social Gym up, we separated installing
 Social Gym for running and experimenting from installing Social Gym for developing.</p>
 </section>
 <section id="let-s-install-config-runner">
-<h2>Let’s Install Config Runner!<a class="headerlink" href="#let-s-install-config-runner" title="Permalink to this heading"></a></h2>
+<h2>Let’s Install Config Runner!<a class="headerlink" href="#let-s-install-config-runner" title="Permalink to this headline"></a></h2>
 <hr class="docutils" />
 <p><strong>Note</strong>: We require you have installed Docker and Python 3.8 (version 3.8 may not be necessary but it’s what we use)</p>
 <p><strong>WARNING</strong>: The authors of this project have had numerous issues with Docker and Docker-Compose when installed via snap.  We
@@ -95,24 +92,24 @@ <h2>Let’s Install Config Runner!<a class="headerlink" href="#let-s-install-con
 <code class="docutils literal notranslate"><span class="pre">apt</span></code>.</p>
 <hr class="docutils" />
 <section id="clone-the-repo-and-checkout-main">
-<h3>1.) Clone the repo and checkout main<a class="headerlink" href="#clone-the-repo-and-checkout-main" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>clone<span class="w"> </span>git@github.com:ut-amrl/social_gym.git
-git<span class="w"> </span>checkout<span class="w"> </span>main
+<h3>1.) Clone the repo and checkout main<a class="headerlink" href="#clone-the-repo-and-checkout-main" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git clone git@github.com:ut-amrl/social_gym.git
+git checkout main
 </pre></div>
 </div>
 <p>Although we use Docker to run Social Gym’s internals, we have scripts to set up Social Gym as well as scripts that kick
 off the process written in python (so you still need to install stuff)</p>
 </section>
 <section id="install-requirements-and-run-the-install-script">
-<h3>2.) Install requirements and run the install script!<a class="headerlink" href="#install-requirements-and-run-the-install-script" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>./scripts/install_config_runner.py
+<h3>2.) Install requirements and run the install script!<a class="headerlink" href="#install-requirements-and-run-the-install-script" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python ./scripts/install_config_runner.py
 </pre></div>
 </div>
 <p>Expect this to take a while (20-40m depending on your machine, mostly for the last step.).</p>
 </section>
 <section id="run-the-config-runner">
-<h3>3.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>config_runner/run.py<span class="w"> </span>-c<span class="w"> </span>1_31_23/door/sacadrl.json
+<h3>3.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python config_runner/run.py -c 1_31_23/door/sacadrl.json
 </pre></div>
 </div>
 <p>This should open an RVIS window (looks like a 2D grid with options on the side-panels).  It may CLOSE and re-open MANY
@@ -122,7 +119,7 @@ <h3>3.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner
 <hr class="docutils" />
 <p><strong>NOTE</strong>: If you do NOT see windows, there’s a problem with the docker file.</p>
 <p>First try running</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>xhost<span class="w"> </span>+
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo xhost +
 </pre></div>
 </div>
 <p>and repeat the command.  If it still fails to show windows then try adding</p>
@@ -133,7 +130,7 @@ <h3>3.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner
 </section>
 <hr class="docutils" />
 <section id="have-fun">
-<h3>4.) Have fun!<a class="headerlink" href="#have-fun" title="Permalink to this heading"></a></h3>
+<h3>4.) Have fun!<a class="headerlink" href="#have-fun" title="Permalink to this headline"></a></h3>
 <p>You can now specify your own configurations and run your own training or evaluation jobs.  More documentation on this
 later.</p>
 <p>If you need to develop or debug Social Gym – you’ll have to follow the full installation guide on the next
diff --git a/docs_src/_build/html/_site/installation/installation__deprecated.html b/docs_src/_build/html/_site/installation/installation__deprecated.html
index 54c3ee76..c69ad3ed 100644
--- a/docs_src/_build/html/_site/installation/installation__deprecated.html
+++ b/docs_src/_build/html/_site/installation/installation__deprecated.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Installation &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Installation</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/installation/installation__deprecated.md.txt" rel="nofollow"> View page source</a>
@@ -74,59 +71,59 @@
            <div itemprop="articleBody">
              
   <section id="installation">
-<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h1>
+<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h1>
 <p>In this doc we are going to setup Social Gym’s <code class="docutils literal notranslate"><span class="pre">config</span> <span class="pre">runner</span></code> which allows you to run Social Gym using a configuration
 file.  If all you need to do is train, evaluate, or test your installation of Social Gym, this is the only installation
 step you have to follow.  However, if you wish to contribute and develop on Social Gym, we recommend the more indepth
 installation guide which goes over setting up a debugger.</p>
 <section id="why-are-there-two-installation-guides-for-social-gym">
-<h2>Why are there two installation guides for Social Gym<a class="headerlink" href="#why-are-there-two-installation-guides-for-social-gym" title="Permalink to this heading"></a></h2>
+<h2>Why are there two installation guides for Social Gym<a class="headerlink" href="#why-are-there-two-installation-guides-for-social-gym" title="Permalink to this headline"></a></h2>
 <p>Social Gym uses ROS (Robot Operating System) submodules written in C, to ensure they installed correctly and can run on
 your machine, we use Docker.  However, this poses challenges for debugging both the Python code and the C code because
 everything has to communicate with each other.  To ease the process of setting Social Gym up, we separated installing
 Social Gym for running and experimenting from installing Social Gym for developing.</p>
 </section>
 <section id="let-s-install-config-runner">
-<h2>Let’s Install Config Runner!<a class="headerlink" href="#let-s-install-config-runner" title="Permalink to this heading"></a></h2>
+<h2>Let’s Install Config Runner!<a class="headerlink" href="#let-s-install-config-runner" title="Permalink to this headline"></a></h2>
 <hr class="docutils" />
 <p><strong>Note</strong>: We require you have installed Docker and Python 3.8 (version 3.8 may not be necessary but it’s what we use)</p>
 <hr class="docutils" />
 <section id="checkout-the-right-branch-eventually-this-will-be-main">
-<h3>1.) Checkout the right branch! (Eventually this will be main)<a class="headerlink" href="#checkout-the-right-branch-eventually-this-will-be-main" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>checkout<span class="w"> </span>feature/20221218_multi_agent_finishing_and_cleanup
-git<span class="w"> </span>submodule<span class="w"> </span>update<span class="w"> </span>--init<span class="w"> </span>--recursive
+<h3>1.) Checkout the right branch! (Eventually this will be main)<a class="headerlink" href="#checkout-the-right-branch-eventually-this-will-be-main" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git checkout feature/20221218_multi_agent_finishing_and_cleanup
+git submodule update --init --recursive
 </pre></div>
 </div>
 <p>Although we use Docker to run Social Gym’s internals, we have scripts to set up Social Gym as well as scripts that kick
 off the process written in python (so you still need to install stuff)</p>
 </section>
 <section id="build-vector-display-this-creates-the-environments">
-<h3>2.) Build Vector Display (this creates the environments!)<a class="headerlink" href="#build-vector-display-this-creates-the-environments" title="Permalink to this heading"></a></h3>
+<h3>2.) Build Vector Display (this creates the environments!)<a class="headerlink" href="#build-vector-display-this-creates-the-environments" title="Permalink to this headline"></a></h3>
 <p>Assuming you are starting from the ROOT_DIRECTORY of the project:</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>docker/vectordisplay
-docker<span class="w"> </span>build<span class="w"> </span>-t<span class="w">  </span>vector_display:custom<span class="w"> </span>.
-<span class="nb">cd</span><span class="w"> </span>../..
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> docker/vectordisplay
+docker build -t  vector_display:custom .
+<span class="nb">cd</span> ../..
 </pre></div>
 </div>
 <p>Expect this to take a while (15-30m depending on your machine).</p>
 </section>
 <section id="create-a-virtualenv-to-install-python-dependencies">
-<h3>3.) Create a virtualenv to install python dependencies<a class="headerlink" href="#create-a-virtualenv-to-install-python-dependencies" title="Permalink to this heading"></a></h3>
+<h3>3.) Create a virtualenv to install python dependencies<a class="headerlink" href="#create-a-virtualenv-to-install-python-dependencies" title="Permalink to this headline"></a></h3>
 <p>Assuming linux/mac style, windows have their own special flavor for activating virtualenvs.</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>virtualenv<span class="w"> </span>venv
-<span class="nb">source</span><span class="w"> </span>venv/bin/activate
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>virtualenv venv
+<span class="nb">source</span> venv/bin/activate
 </pre></div>
 </div>
 </section>
 <section id="install-python-requirements">
-<h3>4.) Install python requirements<a class="headerlink" href="#install-python-requirements" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>pip<span class="w"> </span>install<span class="w"> </span>-r<span class="w"> </span>requirements.txt
+<h3>4.) Install python requirements<a class="headerlink" href="#install-python-requirements" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>pip install -r requirements.txt
 </pre></div>
 </div>
 </section>
 <section id="create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really">
-<h3>5.) Create the Environment for Social Gym (don’t worry, this is copying files really.)<a class="headerlink" href="#create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>scripts/create_env_template.py<span class="w"> </span>-n<span class="w"> </span>exp1/train/easy
+<h3>5.) Create the Environment for Social Gym (don’t worry, this is copying files really.)<a class="headerlink" href="#create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python scripts/create_env_template.py -n exp1/train/easy
 </pre></div>
 </div>
 <p>The <code class="docutils literal notranslate"><span class="pre">--name</span></code> parameter is referencing a saved file checked in by a commit, you should expect to see two windows when
@@ -136,7 +133,7 @@ <h3>5.) Create the Environment for Social Gym (don’t worry, this is copying fi
 <hr class="docutils" />
 <p><strong>NOTE</strong>: If you do NOT see windows, there’s a problem with the docker file.</p>
 <p>First try running</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>xhost<span class="w"> </span>+
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo xhost +
 </pre></div>
 </div>
 <p>and repeat the command.  If it still fails to show windows then try adding</p>
@@ -147,17 +144,17 @@ <h3>5.) Create the Environment for Social Gym (don’t worry, this is copying fi
 </section>
 <hr class="docutils" />
 <section id="build-config-runner">
-<h3>6.) Build Config Runner<a class="headerlink" href="#build-config-runner" title="Permalink to this heading"></a></h3>
+<h3>6.) Build Config Runner<a class="headerlink" href="#build-config-runner" title="Permalink to this headline"></a></h3>
 <p>In order to run the docker container with Config Runner, you have to build the image.  This can be done via</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>chmod<span class="w"> </span>+x<span class="w"> </span>./config_runner/build.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo chmod +x ./config_runner/build.sh
 ./config_runner/build.sh
 </pre></div>
 </div>
 <p>This may take 15-30minutes depending on your machine.</p>
 </section>
 <section id="run-the-config-runner">
-<h3>7.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>config_runner/run.py<span class="w"> </span>-c<span class="w"> </span>11_20_22/sacadrl.json
+<h3>7.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python config_runner/run.py -c 11_20_22/sacadrl.json
 </pre></div>
 </div>
 <p>This should open an RVIS window (looks like a 2D grid with options on the side-panels).  It may CLOSE and re-open MANY
@@ -170,7 +167,7 @@ <h3>7.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner
 </section>
 <hr class="docutils" />
 <section id="have-fun">
-<h3>7.) Have fun!<a class="headerlink" href="#have-fun" title="Permalink to this heading"></a></h3>
+<h3>7.) Have fun!<a class="headerlink" href="#have-fun" title="Permalink to this headline"></a></h3>
 <p>You can now specify your own configurations and run your own training or evaluation jobs.  More documentation on this
 later.</p>
 <p>If you need to develop or debug Social Gym – you’ll have to follow the full installation guide on the next
diff --git a/docs_src/_build/html/_site/intro/advanced_training_and_eval.html b/docs_src/_build/html/_site/intro/advanced_training_and_eval.html
index d826117b..f79a6701 100644
--- a/docs_src/_build/html/_site/intro/advanced_training_and_eval.html
+++ b/docs_src/_build/html/_site/intro/advanced_training_and_eval.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Advanced Training and Evaluation &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Advanced Training and Evaluation</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/intro/advanced_training_and_eval.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="advanced-training-and-evaluation">
-<h1>Advanced Training and Evaluation<a class="headerlink" href="#advanced-training-and-evaluation" title="Permalink to this heading"></a></h1>
+<h1>Advanced Training and Evaluation<a class="headerlink" href="#advanced-training-and-evaluation" title="Permalink to this headline"></a></h1>
 <p>Social Gym 2.0 uses a familiar Gym-like training loop with some important deviations, an example of training a new
 policy is shown below.</p>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># 1.) Create the Scenario</span>
diff --git a/docs_src/_build/html/_site/intro/features.html b/docs_src/_build/html/_site/intro/features.html
index a7bc0587..cbede1df 100644
--- a/docs_src/_build/html/_site/intro/features.html
+++ b/docs_src/_build/html/_site/intro/features.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>What’s new in Social Gym 2.0 from the original release? &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">What’s new in Social Gym 2.0 from the original release?</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/intro/features.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="what-s-new-in-social-gym-2-0-from-the-original-release">
-<h1>What’s new in Social Gym 2.0 from the original release?<a class="headerlink" href="#what-s-new-in-social-gym-2-0-from-the-original-release" title="Permalink to this heading"></a></h1>
+<h1>What’s new in Social Gym 2.0 from the original release?<a class="headerlink" href="#what-s-new-in-social-gym-2-0-from-the-original-release" title="Permalink to this headline"></a></h1>
 <p>Social Gym 2.0 focused on multiagent training, enhanced feature extraction and policy modeling, modular control over
 environments and training, as well as various quality of life improvements to make training, evaluating, experimenting,
 and developing easier!</p>
@@ -86,7 +83,7 @@ <h1>What’s new in Social Gym 2.0 from the original release?<a class="headerlin
 required. An itemized list of features are below with indicators (*) for new features!</p>
 </section>
 <section id="social-gym-features">
-<h1>Social Gym Features<a class="headerlink" href="#social-gym-features" title="Permalink to this heading"></a></h1>
+<h1>Social Gym Features<a class="headerlink" href="#social-gym-features" title="Permalink to this headline"></a></h1>
 <ul class="simple">
 <li><p>Multi Agent training! *</p>
 <ul>
diff --git a/docs_src/_build/html/_site/intro/making_a_new_scene.html b/docs_src/_build/html/_site/intro/making_a_new_scene.html
index 99b07447..f33856a2 100644
--- a/docs_src/_build/html/_site/intro/making_a_new_scene.html
+++ b/docs_src/_build/html/_site/intro/making_a_new_scene.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>How to make a new Scene &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">How to make a new Scene</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/intro/making_a_new_scene.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="how-to-make-a-new-scene">
-<h1>How to make a new Scene<a class="headerlink" href="#how-to-make-a-new-scene" title="Permalink to this heading"></a></h1>
+<h1>How to make a new Scene<a class="headerlink" href="#how-to-make-a-new-scene" title="Permalink to this headline"></a></h1>
 <p>Scene (or environments) are what the agents are trained on.  They consist of two important objects, the first are walls
 (denoted by blue lines).  The next are navigation paths (denoted by pink/purple lines).  These are explained a bit
 below.</p>
@@ -93,24 +90,24 @@ <h1>How to make a new Scene<a class="headerlink" href="#how-to-make-a-new-scene"
 effectively!</p>
 <hr class="docutils" />
 <section id="creating-a-new-environment">
-<h2>Creating a new environment<a class="headerlink" href="#creating-a-new-environment" title="Permalink to this heading"></a></h2>
+<h2>Creating a new environment<a class="headerlink" href="#creating-a-new-environment" title="Permalink to this headline"></a></h2>
 <p>We have an easy script for creating brand new scenes!  It also allows editing scenes, or using an existing scene as a
 template for a new one.  We’ll give a brief intro into how to make a new scene below.</p>
 <section id="using-your-local-python-interpreter-of-choice-run">
-<h3>1.) Using your local python interpreter of choice, run<a class="headerlink" href="#using-your-local-python-interpreter-of-choice-run" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>scripts/create_env_template<span class="w"> </span>--name<span class="w"> </span><span class="o">{</span>NAME<span class="w"> </span>YOUR<span class="w"> </span>NEW<span class="w"> </span>ENV<span class="w"> </span>HERE<span class="o">}</span>
+<h3>1.) Using your local python interpreter of choice, run<a class="headerlink" href="#using-your-local-python-interpreter-of-choice-run" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python scripts/create_env_template --name <span class="o">{</span>NAME YOUR NEW ENV HERE<span class="o">}</span>
 </pre></div>
 </div>
 </section>
 <section id="if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly">
-<h3>2.) If you have followed the Installation guide you should see a window pop up (if not double check that Social Gym was installed correctly).<a class="headerlink" href="#if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly" title="Permalink to this heading"></a></h3>
+<h3>2.) If you have followed the Installation guide you should see a window pop up (if not double check that Social Gym was installed correctly).<a class="headerlink" href="#if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly" title="Permalink to this headline"></a></h3>
 <p>This window is the Walls editor!  It’s most likely blank on your screen, but you can add new walls by using
 <code class="docutils literal notranslate"><span class="pre">[Shift]</span> <span class="pre">+</span> <span class="pre">[Click]</span> <span class="pre">+</span> <span class="pre">Mouse</span> <span class="pre">Drag</span></code></p>
 <p>Remove walls by <code class="docutils literal notranslate"><span class="pre">[Control]</span> <span class="pre">+</span> <span class="pre">[Click]</span></code></p>
 <p>When you are satisfied with your walls, hit <code class="docutils literal notranslate"><span class="pre">[Escape]</span></code></p>
 </section>
 <section id="a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor">
-<h3>3.) A new window should have popped up that looks exactly like the last, but now we are in the Graph Navigation editor!<a class="headerlink" href="#a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor" title="Permalink to this heading"></a></h3>
+<h3>3.) A new window should have popped up that looks exactly like the last, but now we are in the Graph Navigation editor!<a class="headerlink" href="#a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor" title="Permalink to this headline"></a></h3>
 <p>The controls are the same except for one crucial difference.  In the Graph Navigation editor, you create “Nodes” that
 can connect to each other through “Edges”.  You must place “Nodes” first before you can draw an “Edge”.</p>
 <p>Create a node by hitting <code class="docutils literal notranslate"><span class="pre">[Shift]</span> <span class="pre">+</span> <span class="pre">[Click]</span></code>, Be advised - the nodes are literally the size of a pixel so they may be hard
@@ -125,7 +122,7 @@ <h3>3.) A new window should have popped up that looks exactly like the last, but
 <p>Hit <code class="docutils literal notranslate"><span class="pre">[Escape]</span></code> when done.</p>
 </section>
 <section id="your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to">
-<h3>4.) Your Scene has been created and the files are in the right spot, but now you have to update the Social Gym code to<a class="headerlink" href="#your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to" title="Permalink to this heading"></a></h3>
+<h3>4.) Your Scene has been created and the files are in the right spot, but now you have to update the Social Gym code to<a class="headerlink" href="#your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to" title="Permalink to this headline"></a></h3>
 <p>reference your new scene.  The easiest way to do this is to define a new <code class="docutils literal notranslate"><span class="pre">GraphNavScenario</span></code> scenario like so</p>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span>   <span class="c1">#...</span>
    <span class="n">scenario</span> <span class="o">=</span> <span class="n">GraphNavScenario</span><span class="p">(</span>
diff --git a/docs_src/_build/html/_site/intro/training_and_eval.html b/docs_src/_build/html/_site/intro/training_and_eval.html
index cef9f026..dc169563 100644
--- a/docs_src/_build/html/_site/intro/training_and_eval.html
+++ b/docs_src/_build/html/_site/intro/training_and_eval.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Training and Evaluation with ConfigRunner &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Training and Evaluation with ConfigRunner</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/intro/training_and_eval.md.txt" rel="nofollow"> View page source</a>
@@ -74,56 +71,56 @@
            <div itemprop="articleBody">
              
   <section id="training-and-evaluation-with-configrunner">
-<h1>Training and Evaluation with ConfigRunner<a class="headerlink" href="#training-and-evaluation-with-configrunner" title="Permalink to this heading"></a></h1>
+<h1>Training and Evaluation with ConfigRunner<a class="headerlink" href="#training-and-evaluation-with-configrunner" title="Permalink to this headline"></a></h1>
 <p>To ease batch training jobs we created a wrapper class around the training and evaluation code that can be configured
 via a configuration file (.yaml file)</p>
 <p>These configuration files are stored in <code class="docutils literal notranslate"><span class="pre">{PROJECT</span> <span class="pre">ROOT}/config_runner/configs</span></code></p>
 <p>ConfigRunner allows you train and evaluate a policy using one of these files via</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>config_runner/run.py<span class="w"> </span>-c<span class="w"> </span><span class="o">{</span>path_to_config<span class="o">}</span>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python config_runner/run.py -c <span class="o">{</span>path_to_config<span class="o">}</span>
 </pre></div>
 </div>
 <p>where the <code class="docutils literal notranslate"><span class="pre">{path_to_config}</span></code> is the relative path from <code class="docutils literal notranslate"><span class="pre">{PROJECT</span> <span class="pre">ROOT}/config_runner/configs</span></code> to a specific config file.</p>
 <p>You can run batch training jobs by either separating each unique configuration file with a white space and the <code class="docutils literal notranslate"><span class="pre">-c</span></code> flag, or you can
 use the <code class="docutils literal notranslate"><span class="pre">-f</span></code> flag (meaning <code class="docutils literal notranslate"><span class="pre">folder</span></code>) and point it at a folder in the <code class="docutils literal notranslate"><span class="pre">{PROJECT</span> <span class="pre">ROOT}/config_runner/configs</span></code> directory.</p>
 <p>An example of a config is shown below:</p>
-<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="p p-Indicator">{</span>
-<span class="w">  </span><span class="s">&quot;num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">3</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">35</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">70</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">]],</span>
-<span class="w">  </span><span class="s">&quot;eval_num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">7</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">10</span><span class="p p-Indicator">],</span>
-<span class="w">  </span><span class="s">&quot;train_length&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">250000</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;ending_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;eval_frequency&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">0</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;intermediate_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_algo_sb3_contrib&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_algo_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;PPO&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;MlpPolicy&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_algo_kwargs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="s">&quot;n_steps&quot;</span><span class="p p-Indicator">:</span><span class="w">  </span><span class="nv">4096</span><span class="p p-Indicator">},</span>
-<span class="w">  </span><span class="s">&quot;monitor&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;experiment_names&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;envs_door&quot;</span><span class="p p-Indicator">],</span>
-
-<span class="w">  </span><span class="s">&quot;run_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;door_ao&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;run_type&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;AO&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;device&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;cuda:0&quot;</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;other_velocities_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;agent_velocity_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;agent_velocity_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;other_velocities_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;other_poses_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;agent_pose_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;entropy_constant_penalty&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">-100000</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;entropy_constant_penalty_only_those_that_did_not_finish&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;timelimit&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;timelimit_threshold&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">3000</span>
-<span class="p p-Indicator">}</span>
+<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="p p-Indicator">{</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">3</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">35</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">70</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">]],</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;eval_num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">7</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">10</span><span class="p p-Indicator">],</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;train_length&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">250000</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;ending_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;eval_frequency&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;intermediate_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_algo_sb3_contrib&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_algo_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;PPO&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;MlpPolicy&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_algo_kwargs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="s">&quot;n_steps&quot;</span><span class="p p-Indicator">:</span><span class="w">  </span><span class="nv">4096</span><span class="p p-Indicator">},</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;monitor&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;experiment_names&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;envs_door&quot;</span><span class="p p-Indicator">],</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;run_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;door_ao&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;run_type&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;AO&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;device&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;cuda:0&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;other_velocities_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;agent_velocity_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;agent_velocity_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;other_velocities_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;other_poses_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;agent_pose_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;entropy_constant_penalty&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">-100000</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;entropy_constant_penalty_only_those_that_did_not_finish&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;timelimit&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;timelimit_threshold&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">3000</span><span class="w"></span>
+<span class="p p-Indicator">}</span><span class="w"></span>
 </pre></div>
 </div>
 </section>
 <section id="configrunner-configurations">
-<h1>ConfigRunner Configurations<a class="headerlink" href="#configrunner-configurations" title="Permalink to this heading"></a></h1>
+<h1>ConfigRunner Configurations<a class="headerlink" href="#configrunner-configurations" title="Permalink to this headline"></a></h1>
 <p>Each attribute in the yaml configuration matches an argument passed into the <code class="docutils literal notranslate"><span class="pre">run</span></code> function in <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/src/config_run.py</span></code></p>
 <p>They are described in details in the file <code class="docutils literal notranslate"><span class="pre">{PROJECT</span> <span class="pre">ROOT}/src/config_run.py</span></code></p>
 </section>
diff --git a/docs_src/_build/html/_site/intro/what_is_social_gym.html b/docs_src/_build/html/_site/intro/what_is_social_gym.html
index 4e562782..84761d11 100644
--- a/docs_src/_build/html/_site/intro/what_is_social_gym.html
+++ b/docs_src/_build/html/_site/intro/what_is_social_gym.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>What is Social Gym &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">What is Social Gym</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/intro/what_is_social_gym.md.txt" rel="nofollow"> View page source</a>
@@ -74,11 +71,11 @@
            <div itemprop="articleBody">
              
   <section id="what-is-social-gym">
-<h1>What is Social Gym<a class="headerlink" href="#what-is-social-gym" title="Permalink to this heading"></a></h1>
+<h1>What is Social Gym<a class="headerlink" href="#what-is-social-gym" title="Permalink to this headline"></a></h1>
 <p>Social Gym is a lightweight 2D simulation environment for robot social navigation.  It allows for multi-agent and
 single-agent scenarios as well as dynamic obstacles for testing complex social navigation.</p>
 <section id="social-gym-s-stack">
-<h2>Social Gym’s Stack<a class="headerlink" href="#social-gym-s-stack" title="Permalink to this heading"></a></h2>
+<h2>Social Gym’s Stack<a class="headerlink" href="#social-gym-s-stack" title="Permalink to this headline"></a></h2>
 <p>Social Gym’s foundation is in ROS (Robot Operating System) which we surface via a python API.  This allows for all the
 training, evaluation, and experimentation to be done in Python similar to Stable Baselines or PettingZoo.  However,
 because it’s built ontop of ROS, it’s also easy to extend with ROS submodules to experiment with more complex
diff --git a/docs_src/_build/html/_site/modules/modules.html b/docs_src/_build/html/_site/modules/modules.html
index 2675f005..5b087e20 100644
--- a/docs_src/_build/html/_site/modules/modules.html
+++ b/docs_src/_build/html/_site/modules/modules.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/modules.rst.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="src">
-<h1>src<a class="headerlink" href="#src" title="Permalink to this heading"></a></h1>
+<h1>src<a class="headerlink" href="#src" title="Permalink to this headline"></a></h1>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.html">src package</a><ul>
@@ -82,27 +79,15 @@ <h1>src<a class="headerlink" href="#src" title="Permalink to this heading"></
 <li class="toctree-l3"><a class="reference internal" href="src.environment.html">src.environment package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#module-src.environment.ros_social_gym">src.environment.ros_social_gym module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#module-src.environment">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src-environment-ros-social-gym-module">src.environment.ros_social_gym module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.html#module-src.config_run">src.config_run module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.html#src.config_run.kinds"><code class="docutils literal notranslate"><span class="pre">kinds</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.html#src.config_run.kinds.ao"><code class="docutils literal notranslate"><span class="pre">kinds.ao</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.html#src.config_run.kinds.eo"><code class="docutils literal notranslate"><span class="pre">kinds.eo</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.html#src.config_run.kinds.sacadrl"><code class="docutils literal notranslate"><span class="pre">kinds.sacadrl</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.html#src.config_run.run"><code class="docutils literal notranslate"><span class="pre">run()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.html#module-src.multi_agent_optuna">src.multi_agent_optuna module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.html#src.multi_agent_optuna.objective"><code class="docutils literal notranslate"><span class="pre">objective()</span></code></a></li>
-</ul>
-</li>
+<li class="toctree-l2"><a class="reference internal" href="src.html#src-config-run-module">src.config_run module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.html#src-multi-agent-optuna-module">src.multi_agent_optuna module</a></li>
 <li class="toctree-l2"><a class="reference internal" href="src.html#module-src">Module contents</a></li>
 </ul>
 </li>
diff --git a/docs_src/_build/html/_site/modules/src.environment.callbacks.html b/docs_src/_build/html/_site/modules/src.environment.callbacks.html
index c771f99c..b82caaac 100644
--- a/docs_src/_build/html/_site/modules/src.environment.callbacks.html
+++ b/docs_src/_build/html/_site/modules/src.environment.callbacks.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.callbacks package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.callbacks package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.callbacks.rst.txt" rel="nofollow"> View page source</a>
@@ -74,79 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-callbacks-package">
-<h1>src.environment.callbacks package<a class="headerlink" href="#src-environment-callbacks-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.callbacks package<a class="headerlink" href="#src-environment-callbacks-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.callbacks.callbacks">
-<span id="src-environment-callbacks-callbacks-module"></span><h2>src.environment.callbacks.callbacks module<a class="headerlink" href="#module-src.environment.callbacks.callbacks" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.callbacks.callbacks.EvalCallback">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.callbacks.callbacks.</span></span><span class="sig-name descname"><span class="pre">EvalCallback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.callbacks.callbacks.EvalCallback" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">EventCallback</span></code></p>
-<p>Callback for evaluating an agent.</p>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>When using multiple environments, each call to  <code class="docutils literal notranslate"><span class="pre">env.step()</span></code>
-will effectively correspond to <code class="docutils literal notranslate"><span class="pre">n_envs</span></code> steps.
-To account for that, you can use <code class="docutils literal notranslate"><span class="pre">eval_freq</span> <span class="pre">=</span> <span class="pre">max(eval_freq</span> <span class="pre">//</span> <span class="pre">n_envs,</span> <span class="pre">1)</span></code></p>
-</div>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>eval_env</strong> – The environment used for initialization</p></li>
-<li><p><strong>callback_on_new_best</strong> – Callback to trigger
-when there is a new best model according to the <code class="docutils literal notranslate"><span class="pre">mean_reward</span></code></p></li>
-<li><p><strong>callback_after_eval</strong> – Callback to trigger after every evaluation</p></li>
-<li><p><strong>n_eval_episodes</strong> – The number of episodes to test the agent</p></li>
-<li><p><strong>eval_freq</strong> – Evaluate the agent every <code class="docutils literal notranslate"><span class="pre">eval_freq</span></code> call of the callback.</p></li>
-<li><p><strong>log_path</strong> – Path to a folder where the evaluations (<code class="docutils literal notranslate"><span class="pre">evaluations.npz</span></code>)
-will be saved. It will be updated at each evaluation.</p></li>
-<li><p><strong>best_model_save_path</strong> – Path to a folder where the best model
-according to performance on the eval env will be saved.</p></li>
-<li><p><strong>deterministic</strong> – Whether the evaluation should
-use a stochastic or deterministic actions.</p></li>
-<li><p><strong>render</strong> – Whether to render or not the environment during evaluation</p></li>
-<li><p><strong>verbose</strong> – </p></li>
-<li><p><strong>warn</strong> – Passed to <code class="docutils literal notranslate"><span class="pre">evaluate_policy</span></code> (warns if <code class="docutils literal notranslate"><span class="pre">eval_env</span></code> has not been
-wrapped with a Monitor wrapper)</p></li>
-</ul>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.callbacks.callbacks.EvalCallback.update_child_locals">
-<span class="sig-name descname"><span class="pre">update_child_locals</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">locals_</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#src.environment.callbacks.callbacks.EvalCallback.update_child_locals" title="Permalink to this definition"></a></dt>
-<dd><p>Update the references to the local variables.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>locals</strong> – the local variables during rollout collection</p>
-</dd>
-</dl>
-</dd></dl>
-
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.callbacks.callbacks.OptunaCallback">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.callbacks.callbacks.</span></span><span class="sig-name descname"><span class="pre">OptunaCallback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.callbacks.callbacks.OptunaCallback" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseCallback</span></code></p>
-<p>Stop the training once a threshold in episodic reward
-has been reached (i.e. when the model is good enough).</p>
-<p>It must be used with the <code class="docutils literal notranslate"><span class="pre">EvalCallback</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>reward_threshold</strong> – Minimum expected reward per episode
-to stop training.</p></li>
-<li><p><strong>verbose</strong> – </p></li>
-</ul>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-environment-callbacks-callbacks-module">
+<h2>src.environment.callbacks.callbacks module<a class="headerlink" href="#src-environment-callbacks-callbacks-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.callbacks">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.callbacks" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/_site/modules/src.environment.environment_types.html b/docs_src/_build/html/_site/modules/src.environment.environment_types.html
index 42cf4646..2dbb6d96 100644
--- a/docs_src/_build/html/_site/modules/src.environment.environment_types.html
+++ b/docs_src/_build/html/_site/modules/src.environment.environment_types.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.environment_types package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.environment_types package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.environment_types.rst.txt" rel="nofollow"> View page source</a>
@@ -74,118 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-environment-types-package">
-<h1>src.environment.environment_types package<a class="headerlink" href="#src-environment-environment-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.environment_types package<a class="headerlink" href="#src-environment-environment-types-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.environment_types.manual_zone">
-<span id="src-environment-environment-types-manual-zone-module"></span><h2>src.environment.environment_types.manual_zone module<a class="headerlink" href="#module-src.environment.environment_types.manual_zone" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.environment_types.manual_zone.</span></span><span class="sig-name descname"><span class="pre">ManualZoneEnv</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">launch_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'/home/rosdev/social_gym/config/gym_gen/launch.launch'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">observer</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observer.Observer" title="src.environment.observations.observer.Observer"><span class="pre">Observer</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rewarder</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder" title="src.environment.rewards.rewarder.Rewarder"><span class="pre">Rewarder</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scenarios</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">()</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(3,</span> <span class="pre">5)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">debug</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">visuals</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">RosSocialEnv</span></code></a></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders">
-<span class="sig-name descname"><span class="pre">agents_priority_orders</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone">
-<span class="sig-name descname"><span class="pre">build_zone</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario">
-<span class="sig-name descname"><span class="pre">new_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.sim_step">
-<span class="sig-name descname"><span class="pre">sim_step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.sim_step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.environment_types.manual_zone.</span></span><span class="sig-name descname"><span class="pre">ManualZoneUTMRSResponse</span></span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><code class="xref py py-class docutils literal notranslate"><span class="pre">UTMRSResponse</span></code></a></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_current_order">
-<span class="sig-name descname"><span class="pre">agents_current_order</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_current_order" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_priority_order">
-<span class="sig-name descname"><span class="pre">agents_priority_order</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_priority_order" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.entering">
-<span class="sig-name descname"><span class="pre">entering</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.entering" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.exiting">
-<span class="sig-name descname"><span class="pre">exiting</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.exiting" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.in_zone">
-<span class="sig-name descname"><span class="pre">in_zone</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.in_zone" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_entering">
-<span class="sig-name descname"><span class="pre">number_agents_entering</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_entering" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_exiting">
-<span class="sig-name descname"><span class="pre">number_agents_exiting</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_exiting" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.process">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">process</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_response</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv" title="src.environment.environment_types.manual_zone.ManualZoneEnv"><span class="pre">ManualZoneEnv</span></a></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.process" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.set_zone_vars">
-<span class="sig-name descname"><span class="pre">set_zone_vars</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot_idx</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv" title="src.environment.environment_types.manual_zone.ManualZoneEnv"><span class="pre">ManualZoneEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">others</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse" title="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse"><span class="pre">ManualZoneUTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.set_zone_vars" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.RvisZoneVisualization">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.environment_types.manual_zone.</span></span><span class="sig-name descname"><span class="pre">RvisZoneVisualization</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">zone</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.RvisZoneVisualization" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.RvisZoneVisualization.point">
-<span class="sig-name descname"><span class="pre">point</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">points</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.RvisZoneVisualization.point" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.RvisZoneVisualization.publish">
-<span class="sig-name descname"><span class="pre">publish</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.RvisZoneVisualization.publish" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.RvisZoneVisualization.rect">
-<span class="sig-name descname"><span class="pre">rect</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">zone</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.RvisZoneVisualization.rect" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-environment-types-manual-zone-module">
+<h2>src.environment.environment_types.manual_zone module<a class="headerlink" href="#src-environment-environment-types-manual-zone-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.environment_types">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.environment_types" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/_site/modules/src.environment.extractors.html b/docs_src/_build/html/_site/modules/src.environment.extractors.html
index fa32454b..4f9282ac 100644
--- a/docs_src/_build/html/_site/modules/src.environment.extractors.html
+++ b/docs_src/_build/html/_site/modules/src.environment.extractors.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.extractors package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.extractors package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.extractors.rst.txt" rel="nofollow"> View page source</a>
@@ -74,40 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-extractors-package">
-<h1>src.environment.extractors package<a class="headerlink" href="#src-environment-extractors-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.extractors package<a class="headerlink" href="#src-environment-extractors-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.extractors.lstm_agent_obs">
-<span id="src-environment-extractors-lstm-agent-obs-module"></span><h2>src.environment.extractors.lstm_agent_obs module<a class="headerlink" href="#module-src.environment.extractors.lstm_agent_obs" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.extractors.lstm_agent_obs.LSTMAgentObs">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.extractors.lstm_agent_obs.</span></span><span class="sig-name descname"><span class="pre">LSTMAgentObs</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.extractors.lstm_agent_obs.LSTMAgentObs" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseFeaturesExtractor</span></code></p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>observation_space</strong> – (gym.Space)</p></li>
-<li><p><strong>features_dim</strong> – (int) Number of features extracted.
-This corresponds to the number of unit for the last layer.</p></li>
-</ul>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.extractors.lstm_agent_obs.LSTMAgentObs.forward">
-<span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">observations</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">torch.Tensor</span></span></span><a class="headerlink" href="#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.forward" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.extractors.lstm_agent_obs.LSTMAgentObs.make_tensors">
-<span class="sig-name descname"><span class="pre">make_tensors</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">obs_dicts</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.make_tensors" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-extractors-lstm-agent-obs-module">
+<h2>src.environment.extractors.lstm_agent_obs module<a class="headerlink" href="#src-environment-extractors-lstm-agent-obs-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.extractors">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.extractors" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/_site/modules/src.environment.html b/docs_src/_build/html/_site/modules/src.environment.html
index 4e613551..d84207f5 100644
--- a/docs_src/_build/html/_site/modules/src.environment.html
+++ b/docs_src/_build/html/_site/modules/src.environment.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.rst.txt" rel="nofollow"> View page source</a>
@@ -74,69 +71,27 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-package">
-<h1>src.environment package<a class="headerlink" href="#src-environment-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment package<a class="headerlink" href="#src-environment-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.callbacks.html">src.environment.callbacks package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#module-src.environment.callbacks.callbacks">src.environment.callbacks.callbacks module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.callbacks.html#src.environment.callbacks.callbacks.EvalCallback"><code class="docutils literal notranslate"><span class="pre">EvalCallback</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.callbacks.html#src.environment.callbacks.callbacks.EvalCallback.update_child_locals"><code class="docutils literal notranslate"><span class="pre">EvalCallback.update_child_locals()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.callbacks.html#src.environment.callbacks.callbacks.OptunaCallback"><code class="docutils literal notranslate"><span class="pre">OptunaCallback</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#module-src.environment.callbacks">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#src-environment-callbacks-callbacks-module">src.environment.callbacks.callbacks module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.environment_types.html">src.environment.environment_types package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#module-src.environment.environment_types.manual_zone">src.environment.environment_types.manual_zone module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.agents_priority_orders</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.build_zone()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.new_scenario()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.reset"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.sim_step"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.sim_step()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_current_order"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.agents_current_order</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_priority_order"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.agents_priority_order</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.entering"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.entering</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.exiting"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.exiting</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.in_zone"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.in_zone</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_entering"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.number_agents_entering</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_exiting"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.number_agents_exiting</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.process"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.process()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.set_zone_vars"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.set_zone_vars()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.point"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization.point()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.publish"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization.publish()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.rect"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization.rect()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#module-src.environment.environment_types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#src-environment-environment-types-manual-zone-module">src.environment.environment_types.manual_zone module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.extractors.html">src.environment.extractors package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#module-src.environment.extractors.lstm_agent_obs">src.environment.extractors.lstm_agent_obs module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs"><code class="docutils literal notranslate"><span class="pre">LSTMAgentObs</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.forward"><code class="docutils literal notranslate"><span class="pre">LSTMAgentObs.forward()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.make_tensors"><code class="docutils literal notranslate"><span class="pre">LSTMAgentObs.make_tensors()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#module-src.environment.extractors">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#src-environment-extractors-lstm-agent-obs-module">src.environment.extractors.lstm_agent_obs module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.observations.html">src.environment.observations package</a><ul>
@@ -144,48 +99,28 @@ <h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to thi
 <li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html">src.environment.observations.types package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_goal_distance">src.environment.observations.types.agents_goal_distance module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_heading_direction">src.environment.observations.types.agents_heading_direction module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_others_distance">src.environment.observations.types.agents_others_distance module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_pose">src.environment.observations.types.agents_pose module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_preferred_velocity">src.environment.observations.types.agents_preferred_velocity module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">src.environment.observations.types.agents_velocity module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">src.environment.observations.types.collision_observation module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">src.environment.observations.types.other_agent_observables module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_heading_direction">src.environment.observations.types.others_heading_direction module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_poses">src.environment.observations.types.others_poses module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_velocities">src.environment.observations.types.others_velocities module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.success_observation">src.environment.observations.types.success_observation module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-goal-distance-module">src.environment.observations.types.agents_goal_distance module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-heading-direction-module">src.environment.observations.types.agents_heading_direction module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-others-distance-module">src.environment.observations.types.agents_others_distance module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-pose-module">src.environment.observations.types.agents_pose module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-preferred-velocity-module">src.environment.observations.types.agents_preferred_velocity module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-velocity-module">src.environment.observations.types.agents_velocity module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-collision-observation-module">src.environment.observations.types.collision_observation module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-other-agent-observables-module">src.environment.observations.types.other_agent_observables module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-heading-direction-module">src.environment.observations.types.others_heading_direction module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-poses-module">src.environment.observations.types.others_poses module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-velocities-module">src.environment.observations.types.others_velocities module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-success-observation-module">src.environment.observations.types.success_observation module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations.common_observations">src.environment.observations.common_observations module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.common_observations.dsacadrl_observations"><code class="docutils literal notranslate"><span class="pre">dsacadrl_observations()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations.observation">src.environment.observations.observation module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation"><code class="docutils literal notranslate"><span class="pre">Observation</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation.name"><code class="docutils literal notranslate"><span class="pre">Observation.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation.observations"><code class="docutils literal notranslate"><span class="pre">Observation.observations()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations.observer">src.environment.observations.observer module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer"><code class="docutils literal notranslate"><span class="pre">Observer</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.arr_to_dict"><code class="docutils literal notranslate"><span class="pre">Observer.arr_to_dict()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.make_observation"><code class="docutils literal notranslate"><span class="pre">Observer.make_observation()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.registered_observations"><code class="docutils literal notranslate"><span class="pre">Observer.registered_observations</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.reset"><code class="docutils literal notranslate"><span class="pre">Observer.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.setup"><code class="docutils literal notranslate"><span class="pre">Observer.setup()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-common-observations-module">src.environment.observations.common_observations module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observation-module">src.environment.observations.observation module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observer-module">src.environment.observations.observer module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.html">src.environment.rewards package</a><ul>
@@ -193,340 +128,87 @@ <h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to thi
 <li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html">src.environment.rewards.types package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.collisions">src.environment.rewards.types.collisions module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.existence_penalty">src.environment.rewards.types.existence_penalty module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance">src.environment.rewards.types.goal_distance module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance_change">src.environment.rewards.types.goal_distance_change module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.preferred_velocity">src.environment.rewards.types.preferred_velocity module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_cross">src.environment.rewards.types.social_norm_cross module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_overtake">src.environment.rewards.types.social_norm_overtake module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_pass">src.environment.rewards.types.social_norm_pass module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.success">src.environment.rewards.types.success module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.velocity_control">src.environment.rewards.types.velocity_control module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-collisions-module">src.environment.rewards.types.collisions module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-existence-penalty-module">src.environment.rewards.types.existence_penalty module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-module">src.environment.rewards.types.goal_distance module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-change-module">src.environment.rewards.types.goal_distance_change module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-preferred-velocity-module">src.environment.rewards.types.preferred_velocity module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-cross-module">src.environment.rewards.types.social_norm_cross module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-overtake-module">src.environment.rewards.types.social_norm_overtake module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-pass-module">src.environment.rewards.types.social_norm_pass module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-success-module">src.environment.rewards.types.success module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-velocity-control-module">src.environment.rewards.types.velocity_control module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.wrappers.html">src.environment.rewards.wrappers package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers.linear_weight_scheduler">src.environment.rewards.wrappers.linear_weight_scheduler module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#src-environment-rewards-wrappers-linear-weight-scheduler-module">src.environment.rewards.wrappers.linear_weight_scheduler module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards.common_rewards">src.environment.rewards.common_rewards module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.common_rewards.dsacadrl_rewards"><code class="docutils literal notranslate"><span class="pre">dsacadrl_rewards()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards.reward">src.environment.rewards.reward module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward"><code class="docutils literal notranslate"><span class="pre">Reward</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward.name"><code class="docutils literal notranslate"><span class="pre">Reward.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward.score"><code class="docutils literal notranslate"><span class="pre">Reward.score()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward.weight"><code class="docutils literal notranslate"><span class="pre">Reward.weight</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards.rewarder">src.environment.rewards.rewarder module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder"><code class="docutils literal notranslate"><span class="pre">Rewarder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.registered_rewards"><code class="docutils literal notranslate"><span class="pre">Rewarder.registered_rewards</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reset"><code class="docutils literal notranslate"><span class="pre">Rewarder.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reward"><code class="docutils literal notranslate"><span class="pre">Rewarder.reward()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.setup"><code class="docutils literal notranslate"><span class="pre">Rewarder.setup()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-common-rewards-module">src.environment.rewards.common_rewards module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-reward-module">src.environment.rewards.reward module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-rewarder-module">src.environment.rewards.rewarder module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.scenarios.html">src.environment.scenarios package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#subpackages">Subpackages</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html">src.environment.scenarios.types package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.cycle">src.environment.scenarios.types.cycle module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.graph_nav">src.environment.scenarios.types.graph_nav module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.manual">src.environment.scenarios.types.manual module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-cycle-module">src.environment.scenarios.types.cycle module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-graph-nav-module">src.environment.scenarios.types.graph_nav module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-manual-module">src.environment.scenarios.types.manual module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios.common_scenarios">src.environment.scenarios.common_scenarios module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides"><code class="docutils literal notranslate"><span class="pre">closed_door_1__opposing_sides()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__same_goals"><code class="docutils literal notranslate"><span class="pre">closed_door_1__same_goals()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.elevator_loading"><code class="docutils literal notranslate"><span class="pre">elevator_loading()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_door"><code class="docutils literal notranslate"><span class="pre">envs_door()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_hallway"><code class="docutils literal notranslate"><span class="pre">envs_hallway()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_intersection"><code class="docutils literal notranslate"><span class="pre">envs_intersection()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_open"><code class="docutils literal notranslate"><span class="pre">envs_open()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_round_about"><code class="docutils literal notranslate"><span class="pre">envs_round_about()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp1_train_scenario"><code class="docutils literal notranslate"><span class="pre">exp1_train_scenario()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp2_train_scenario"><code class="docutils literal notranslate"><span class="pre">exp2_train_scenario()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios.scenario">src.environment.scenarios.scenario module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario"><code class="docutils literal notranslate"><span class="pre">Scenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">Scenario.generate_scenario()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.load_nav_nodes"><code class="docutils literal notranslate"><span class="pre">Scenario.load_nav_nodes()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.make_scenario"><code class="docutils literal notranslate"><span class="pre">Scenario.make_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-common-scenarios-module">src.environment.scenarios.common_scenarios module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-scenario-module">src.environment.scenarios.scenario module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.services.html">src.environment.services package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#module-src.environment.services.utmrs">src.environment.services.utmrs module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRS"><code class="docutils literal notranslate"><span class="pre">UTMRS</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRS.reset"><code class="docutils literal notranslate"><span class="pre">UTMRS.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRS.step"><code class="docutils literal notranslate"><span class="pre">UTMRS.step()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.collision"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.collision</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.done"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.done</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_pose"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.door_pose</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_state"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.door_state</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.follow_target"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.follow_target</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.goal_pose"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.goal_pose</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_poses"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.human_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_vels"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.human_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.local_target"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.local_target</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_poses"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.other_robot_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_vels"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.other_robot_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.process"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.process()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_poses"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.robot_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_state"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.robot_state</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_vels"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.robot_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.set_vars"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.set_vars()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.success"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.success</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#module-src.environment.services">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#src-environment-services-utmrs-module">src.environment.services.utmrs module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.utils.html">src.environment.utils package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils.evaluate_policy">src.environment.utils.evaluate_policy module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.evaluate_policy.evaluate_policy"><code class="docutils literal notranslate"><span class="pre">evaluate_policy()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils.utils">src.environment.utils.utils module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.LogFilter"><code class="docutils literal notranslate"><span class="pre">LogFilter</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.LogFilter.flush"><code class="docutils literal notranslate"><span class="pre">LogFilter.flush()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.LogFilter.write"><code class="docutils literal notranslate"><span class="pre">LogFilter.write()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.filter_stdout"><code class="docutils literal notranslate"><span class="pre">filter_stdout()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.get_tboard_writer"><code class="docutils literal notranslate"><span class="pre">get_tboard_writer()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.poses_to_np_array"><code class="docutils literal notranslate"><span class="pre">poses_to_np_array()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-evaluate-policy-module">src.environment.utils.evaluate_policy module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-utils-module">src.environment.utils.utils module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.wrappers.html">src.environment.wrappers package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.collision_episode_ender">src.environment.wrappers.collision_episode_ender module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder"><code class="docutils literal notranslate"><span class="pre">CollisionEpisodeEnder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed"><code class="docutils literal notranslate"><span class="pre">CollisionEpisodeEnder.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step"><code class="docutils literal notranslate"><span class="pre">CollisionEpisodeEnder.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.entropy_episode_ender">src.environment.wrappers.entropy_episode_ender module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.agent_positions</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.calculate_deltas()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.distance_delta</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.negative_multiplier_only</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.reset_positions()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.reward_multiplier</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.step()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.timestep_threshold</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.new_scenario_wrapper">src.environment.wrappers.new_scenario_wrapper module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.env</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.episode_count</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.new_scenario_episode_frequency</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.plans</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.seed()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.reward_stripper">src.environment.wrappers.reward_stripper module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper"><code class="docutils literal notranslate"><span class="pre">RewardStripper</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.seed"><code class="docutils literal notranslate"><span class="pre">RewardStripper.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.step"><code class="docutils literal notranslate"><span class="pre">RewardStripper.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.tensorboard_writer">src.environment.wrappers.tensorboard_writer module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.image_callback"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.image_callback()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.reset"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.seed"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.step"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.time_limit">src.environment.wrappers.time_limit module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.reset"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.seed"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.step"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-collision-episode-ender-module">src.environment.wrappers.collision_episode_ender module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-entropy-episode-ender-module">src.environment.wrappers.entropy_episode_ender module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-new-scenario-wrapper-module">src.environment.wrappers.new_scenario_wrapper module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-reward-stripper-module">src.environment.wrappers.reward_stripper module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-tensorboard-writer-module">src.environment.wrappers.tensorboard_writer module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-time-limit-module">src.environment.wrappers.time_limit module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.ros_social_gym">
-<span id="src-environment-ros-social-gym-module"></span><h2>src.environment.ros_social_gym module<a class="headerlink" href="#module-src.environment.ros_social_gym" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.AgentColor">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.ros_social_gym.</span></span><span class="sig-name descname"><span class="pre">AgentColor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">r</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">g</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">reward</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.AgentColor" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.ros_social_gym.</span></span><span class="sig-name descname"><span class="pre">RosSocialEnv</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">launch_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'/home/rosdev/social_gym/config/gym_gen/launch.launch'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">observer</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observer.Observer" title="src.environment.observations.observer.Observer"><span class="pre">Observer</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rewarder</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder" title="src.environment.rewards.rewarder.Rewarder"><span class="pre">Rewarder</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scenarios</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">()</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(3,</span> <span class="pre">5)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">debug</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">visuals</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">ParallelEnv</span></code>, <code class="xref py py-class docutils literal notranslate"><span class="pre">EzPickle</span></code></p>
-<p>A ros-based social navigation environment for OpenAI gym supporting MultiAgent training.</p>
-<p>A lot of the documentation is taken from <a class="reference external" href="https://pettingzoo.farama.org/content/environment_creation/">https://pettingzoo.farama.org/content/environment_creation/</a> which is
-almost entirely about supporting multiple agents in the environment.</p>
-<dl class="py method">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.state">
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-<dd></dd></dl>
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-</dd></dl>
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+<section id="src-environment-ros-social-gym-module">
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 </section>
 
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 <li class="toctree-l1"><a class="reference internal" href="src.environment.observations.types.html">src.environment.observations.types package</a><ul>
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-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">src.environment.observations.types.agents_velocity module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.history"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity.history</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.history_length"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity.history_length</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.ignore_theta"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity.ignore_theta</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.name"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">src.environment.observations.types.collision_observation module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.collision_observation.CollisionObservation"><code class="docutils literal notranslate"><span class="pre">CollisionObservation</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.collision_observation.CollisionObservation.name"><code class="docutils literal notranslate"><span class="pre">CollisionObservation.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">src.environment.observations.types.other_agent_observables module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables"><code class="docutils literal notranslate"><span class="pre">OtherAgentObservables</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables.name"><code class="docutils literal notranslate"><span class="pre">OtherAgentObservables.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables.num_others"><code class="docutils literal notranslate"><span class="pre">OtherAgentObservables.num_others</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_heading_direction">src.environment.observations.types.others_heading_direction module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection"><code class="docutils literal notranslate"><span class="pre">OthersHeadingDirection</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.name"><code class="docutils literal notranslate"><span class="pre">OthersHeadingDirection.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others"><code class="docutils literal notranslate"><span class="pre">OthersHeadingDirection.num_others</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_poses">src.environment.observations.types.others_poses module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses"><code class="docutils literal notranslate"><span class="pre">OthersPoses</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses.name"><code class="docutils literal notranslate"><span class="pre">OthersPoses.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses.num_others"><code class="docutils literal notranslate"><span class="pre">OthersPoses.num_others</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_velocities">src.environment.observations.types.others_velocities module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities"><code class="docutils literal notranslate"><span class="pre">OthersVelocities</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities.name"><code class="docutils literal notranslate"><span class="pre">OthersVelocities.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities.num_others"><code class="docutils literal notranslate"><span class="pre">OthersVelocities.num_others</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.success_observation">src.environment.observations.types.success_observation module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.success_observation.SuccessObservation"><code class="docutils literal notranslate"><span class="pre">SuccessObservation</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.success_observation.SuccessObservation.name"><code class="docutils literal notranslate"><span class="pre">SuccessObservation.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-goal-distance-module">src.environment.observations.types.agents_goal_distance module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-heading-direction-module">src.environment.observations.types.agents_heading_direction module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-others-distance-module">src.environment.observations.types.agents_others_distance module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-pose-module">src.environment.observations.types.agents_pose module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-preferred-velocity-module">src.environment.observations.types.agents_preferred_velocity module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-velocity-module">src.environment.observations.types.agents_velocity module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-collision-observation-module">src.environment.observations.types.collision_observation module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-other-agent-observables-module">src.environment.observations.types.other_agent_observables module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-heading-direction-module">src.environment.observations.types.others_heading_direction module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-poses-module">src.environment.observations.types.others_poses module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-velocities-module">src.environment.observations.types.others_velocities module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-success-observation-module">src.environment.observations.types.success_observation module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.common_observations">
-<span id="src-environment-observations-common-observations-module"></span><h2>src.environment.observations.common_observations module<a class="headerlink" href="#module-src.environment.observations.common_observations" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.observations.common_observations.dsacadrl_observations">
-<span class="sig-prename descclassname"><span class="pre">src.environment.observations.common_observations.</span></span><span class="sig-name descname"><span class="pre">dsacadrl_observations</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.common_observations.dsacadrl_observations" title="Permalink to this definition"></a></dt>
-<dd><p>Helper for building the observations needed for the D-Sacadrl Policy.</p>
-</dd></dl>
-
+<section id="src-environment-observations-common-observations-module">
+<h2>src.environment.observations.common_observations module<a class="headerlink" href="#src-environment-observations-common-observations-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.observation">
-<span id="src-environment-observations-observation-module"></span><h2>src.environment.observations.observation module<a class="headerlink" href="#module-src.environment.observations.observation" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.observation.Observation">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.observation.</span></span><span class="sig-name descname"><span class="pre">Observation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observation.Observation" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">ABC</span></code></p>
-<p>Base class for an observation.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observation.Observation.name">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observation.Observation.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observation.Observation.observations">
-<span class="sig-name descname"><span class="pre">observations</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_response</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.array</span></span></span><a class="headerlink" href="#src.environment.observations.observation.Observation.observations" title="Permalink to this definition"></a></dt>
-<dd><p>Given the environment being used in the sim and the response from the current timestep, generate a numpy array
-that can be used as an observation for the Agent (subsequently passed into the policy network).</p>
-<p>Will pad the returned observation np array to the correct length specified in the __len__ to avoid shape
-mismatch in the observation space.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>env</strong> – The RosSocialEnv class object currently being used in the sim</p></li>
-<li><p><strong>env_response</strong> – The response from the env given the timestep</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>A numpy array that contains relevant observation data for the policy network.</p>
-</dd>
-</dl>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-observation-module">
+<h2>src.environment.observations.observation module<a class="headerlink" href="#src-environment-observations-observation-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.observer">
-<span id="src-environment-observations-observer-module"></span><h2>src.environment.observations.observer module<a class="headerlink" href="#module-src.environment.observations.observer" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.observer.</span></span><span class="sig-name descname"><span class="pre">Observer</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">registered_observations</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><span class="pre">Observation</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<p>Tracks all observations made in the environment</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.arr_to_dict">
-<span class="sig-name descname"><span class="pre">arr_to_dict</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">observations</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer.arr_to_dict" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.make_observation">
-<span class="sig-name descname"><span class="pre">make_observation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_response</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">any</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.observations.observer.Observer.make_observation" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.registered_observations">
-<span class="sig-name descname"><span class="pre">registered_observations</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><span class="pre">Observation</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.observations.observer.Observer.registered_observations" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.setup">
-<span class="sig-name descname"><span class="pre">setup</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer.setup" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-observer-module">
+<h2>src.environment.observations.observer module<a class="headerlink" href="#src-environment-observations-observer-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.observations" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/_site/modules/src.environment.observations.types.html b/docs_src/_build/html/_site/modules/src.environment.observations.types.html
index 51910d17..fb438e38 100644
--- a/docs_src/_build/html/_site/modules/src.environment.observations.types.html
+++ b/docs_src/_build/html/_site/modules/src.environment.observations.types.html
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+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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@@ -13,8 +13,9 @@
   <![endif]-->
   
         <script data-url_root="../../" id="documentation_options" src="../../_static/documentation_options.js"></script>
+        <script src="../../_static/jquery.js"></script>
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-        <script src="../../_static/sphinx_highlight.js"></script>
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     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.observations.types package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.observations.types.rst.txt" rel="nofollow"> View page source</a>
@@ -74,274 +71,63 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-observations-types-package">
-<h1>src.environment.observations.types package<a class="headerlink" href="#src-environment-observations-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.observations.types package<a class="headerlink" href="#src-environment-observations-types-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.observations.types.manual_zone.html">src.environment.observations.types.manual_zone package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_in_zone">src.environment.observations.types.manual_zone.agent_in_zone module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone"><code class="docutils literal notranslate"><span class="pre">AgentInZone</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone.name"><code class="docutils literal notranslate"><span class="pre">AgentInZone.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_current_order">src.environment.observations.types.manual_zone.agent_zone_current_order module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder"><code class="docutils literal notranslate"><span class="pre">AgentZoneCurrentOrder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder.name"><code class="docutils literal notranslate"><span class="pre">AgentZoneCurrentOrder.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_priority_order">src.environment.observations.types.manual_zone.agent_zone_priority_order module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder"><code class="docutils literal notranslate"><span class="pre">AgentZonePriorityOrder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder.name"><code class="docutils literal notranslate"><span class="pre">AgentZonePriorityOrder.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-in-zone-module">src.environment.observations.types.manual_zone.agent_in_zone module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-zone-current-order-module">src.environment.observations.types.manual_zone.agent_zone_current_order module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-zone-priority-order-module">src.environment.observations.types.manual_zone.agent_zone_priority_order module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_goal_distance">
-<span id="src-environment-observations-types-agents-goal-distance-module"></span><h2>src.environment.observations.types.agents_goal_distance module<a class="headerlink" href="#module-src.environment.observations.types.agents_goal_distance" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_goal_distance.</span></span><span class="sig-name descname"><span class="pre">AgentsGoalDistance</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">history_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the Norm of the agents pose and the goal pose</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history">
-<span class="sig-name descname"><span class="pre">history</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">deque</span></em><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history_length">
-<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history_length" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-goal-distance-module">
+<h2>src.environment.observations.types.agents_goal_distance module<a class="headerlink" href="#src-environment-observations-types-agents-goal-distance-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_heading_direction">
-<span id="src-environment-observations-types-agents-heading-direction-module"></span><h2>src.environment.observations.types.agents_heading_direction module<a class="headerlink" href="#module-src.environment.observations.types.agents_heading_direction" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_heading_direction.</span></span><span class="sig-name descname"><span class="pre">AgentsHeadingDirection</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the heading direction of the agent ( via tan-1(vy / vx) )</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-heading-direction-module">
+<h2>src.environment.observations.types.agents_heading_direction module<a class="headerlink" href="#src-environment-observations-types-agents-heading-direction-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_others_distance">
-<span id="src-environment-observations-types-agents-others-distance-module"></span><h2>src.environment.observations.types.agents_others_distance module<a class="headerlink" href="#module-src.environment.observations.types.agents_others_distance" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_others_distance.AgentsOthersDistance">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_others_distance.</span></span><span class="sig-name descname"><span class="pre">AgentsOthersDistance</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_others_distance.AgentsOthersDistance" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Return the Normed distance between the agent and the other agents/humans</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_others_distance.AgentsOthersDistance.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_others_distance.AgentsOthersDistance.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-others-distance-module">
+<h2>src.environment.observations.types.agents_others_distance module<a class="headerlink" href="#src-environment-observations-types-agents-others-distance-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_pose">
-<span id="src-environment-observations-types-agents-pose-module"></span><h2>src.environment.observations.types.agents_pose module<a class="headerlink" href="#module-src.environment.observations.types.agents_pose" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_pose.AgentsPose">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_pose.</span></span><span class="sig-name descname"><span class="pre">AgentsPose</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_pose.AgentsPose" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the X, Y, Theta positions of the agent in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_pose.AgentsPose.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_pose.AgentsPose.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-pose-module">
+<h2>src.environment.observations.types.agents_pose module<a class="headerlink" href="#src-environment-observations-types-agents-pose-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_preferred_velocity">
-<span id="src-environment-observations-types-agents-preferred-velocity-module"></span><h2>src.environment.observations.types.agents_preferred_velocity module<a class="headerlink" href="#module-src.environment.observations.types.agents_preferred_velocity" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_preferred_velocity.</span></span><span class="sig-name descname"><span class="pre">AgentsPreferredVelocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">preferred_velocity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the preferred velocity of the agent (really just a static number)</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-preferred-velocity-module">
+<h2>src.environment.observations.types.agents_preferred_velocity module<a class="headerlink" href="#src-environment-observations-types-agents-preferred-velocity-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_velocity">
-<span id="src-environment-observations-types-agents-velocity-module"></span><h2>src.environment.observations.types.agents_velocity module<a class="headerlink" href="#module-src.environment.observations.types.agents_velocity" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_velocity.</span></span><span class="sig-name descname"><span class="pre">AgentsVelocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">history_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the vx, vy of the agent in the current timestep</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.history">
-<span class="sig-name descname"><span class="pre">history</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">deque</span></em><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.history" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.history_length">
-<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.history_length" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.ignore_theta">
-<span class="sig-name descname"><span class="pre">ignore_theta</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.ignore_theta" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-velocity-module">
+<h2>src.environment.observations.types.agents_velocity module<a class="headerlink" href="#src-environment-observations-types-agents-velocity-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.collision_observation">
-<span id="src-environment-observations-types-collision-observation-module"></span><h2>src.environment.observations.types.collision_observation module<a class="headerlink" href="#module-src.environment.observations.types.collision_observation" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.collision_observation.CollisionObservation">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.collision_observation.</span></span><span class="sig-name descname"><span class="pre">CollisionObservation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.collision_observation.CollisionObservation" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns number of collisions</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.collision_observation.CollisionObservation.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.collision_observation.CollisionObservation.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-collision-observation-module">
+<h2>src.environment.observations.types.collision_observation module<a class="headerlink" href="#src-environment-observations-types-collision-observation-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.other_agent_observables">
-<span id="src-environment-observations-types-other-agent-observables-module"></span><h2>src.environment.observations.types.other_agent_observables module<a class="headerlink" href="#module-src.environment.observations.types.other_agent_observables" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.other_agent_observables.OtherAgentObservables">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.other_agent_observables.</span></span><span class="sig-name descname"><span class="pre">OtherAgentObservables</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">pos_x</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pos_y</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pos_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">vel_x</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">vel_y</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">vel_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.other_agent_observables.OtherAgentObservables" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.other_agent_observables.OtherAgentObservables.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.other_agent_observables.OtherAgentObservables.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.other_agent_observables.OtherAgentObservables.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.other_agent_observables.OtherAgentObservables.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-other-agent-observables-module">
+<h2>src.environment.observations.types.other_agent_observables module<a class="headerlink" href="#src-environment-observations-types-other-agent-observables-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.others_heading_direction">
-<span id="src-environment-observations-types-others-heading-direction-module"></span><h2>src.environment.observations.types.others_heading_direction module<a class="headerlink" href="#module-src.environment.observations.types.others_heading_direction" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_heading_direction.OthersHeadingDirection">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.others_heading_direction.</span></span><span class="sig-name descname"><span class="pre">OthersHeadingDirection</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_heading_direction.OthersHeadingDirection" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the heading direction of every other Agent/Human ( via tan-1(vx/vy) )</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_heading_direction.OthersHeadingDirection.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-others-heading-direction-module">
+<h2>src.environment.observations.types.others_heading_direction module<a class="headerlink" href="#src-environment-observations-types-others-heading-direction-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.others_poses">
-<span id="src-environment-observations-types-others-poses-module"></span><h2>src.environment.observations.types.others_poses module<a class="headerlink" href="#module-src.environment.observations.types.others_poses" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_poses.OthersPoses">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.others_poses.</span></span><span class="sig-name descname"><span class="pre">OthersPoses</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">actuals</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_poses.OthersPoses" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the X, Y, Theta positions of the other agents/humans in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_poses.OthersPoses.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_poses.OthersPoses.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_poses.OthersPoses.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.others_poses.OthersPoses.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-others-poses-module">
+<h2>src.environment.observations.types.others_poses module<a class="headerlink" href="#src-environment-observations-types-others-poses-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.others_velocities">
-<span id="src-environment-observations-types-others-velocities-module"></span><h2>src.environment.observations.types.others_velocities module<a class="headerlink" href="#module-src.environment.observations.types.others_velocities" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_velocities.OthersVelocities">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.others_velocities.</span></span><span class="sig-name descname"><span class="pre">OthersVelocities</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_velocities.OthersVelocities" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the vx, vy, vtheta for each other agent/human in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_velocities.OthersVelocities.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_velocities.OthersVelocities.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_velocities.OthersVelocities.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.others_velocities.OthersVelocities.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-others-velocities-module">
+<h2>src.environment.observations.types.others_velocities module<a class="headerlink" href="#src-environment-observations-types-others-velocities-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.success_observation">
-<span id="src-environment-observations-types-success-observation-module"></span><h2>src.environment.observations.types.success_observation module<a class="headerlink" href="#module-src.environment.observations.types.success_observation" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.success_observation.SuccessObservation">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.success_observation.</span></span><span class="sig-name descname"><span class="pre">SuccessObservation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.success_observation.SuccessObservation" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns if there was a success in the episode</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.success_observation.SuccessObservation.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.success_observation.SuccessObservation.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-success-observation-module">
+<h2>src.environment.observations.types.success_observation module<a class="headerlink" href="#src-environment-observations-types-success-observation-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.observations.types" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/_site/modules/src.environment.observations.types.manual_zone.html b/docs_src/_build/html/_site/modules/src.environment.observations.types.manual_zone.html
index 24780e3d..d3099a02 100644
--- a/docs_src/_build/html/_site/modules/src.environment.observations.types.manual_zone.html
+++ b/docs_src/_build/html/_site/modules/src.environment.observations.types.manual_zone.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.observations.types.manual_zone package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
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           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.observations.types.manual_zone package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.observations.types.manual_zone.rst.txt" rel="nofollow"> View page source</a>
@@ -74,57 +71,21 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-observations-types-manual-zone-package">
-<h1>src.environment.observations.types.manual_zone package<a class="headerlink" href="#src-environment-observations-types-manual-zone-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.observations.types.manual_zone package<a class="headerlink" href="#src-environment-observations-types-manual-zone-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone.agent_in_zone">
-<span id="src-environment-observations-types-manual-zone-agent-in-zone-module"></span><h2>src.environment.observations.types.manual_zone.agent_in_zone module<a class="headerlink" href="#module-src.environment.observations.types.manual_zone.agent_in_zone" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.manual_zone.agent_in_zone.</span></span><span class="sig-name descname"><span class="pre">AgentInZone</span></span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Tracks if the agent is in the zone</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-manual-zone-agent-in-zone-module">
+<h2>src.environment.observations.types.manual_zone.agent_in_zone module<a class="headerlink" href="#src-environment-observations-types-manual-zone-agent-in-zone-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone.agent_zone_current_order">
-<span id="src-environment-observations-types-manual-zone-agent-zone-current-order-module"></span><h2>src.environment.observations.types.manual_zone.agent_zone_current_order module<a class="headerlink" href="#module-src.environment.observations.types.manual_zone.agent_zone_current_order" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.manual_zone.agent_zone_current_order.</span></span><span class="sig-name descname"><span class="pre">AgentZoneCurrentOrder</span></span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Tracks the current order of the agent in the zone</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-manual-zone-agent-zone-current-order-module">
+<h2>src.environment.observations.types.manual_zone.agent_zone_current_order module<a class="headerlink" href="#src-environment-observations-types-manual-zone-agent-zone-current-order-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone.agent_zone_priority_order">
-<span id="src-environment-observations-types-manual-zone-agent-zone-priority-order-module"></span><h2>src.environment.observations.types.manual_zone.agent_zone_priority_order module<a class="headerlink" href="#module-src.environment.observations.types.manual_zone.agent_zone_priority_order" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.manual_zone.agent_zone_priority_order.</span></span><span class="sig-name descname"><span class="pre">AgentZonePriorityOrder</span></span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Tracks the current order of the agent in the zone</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-manual-zone-agent-zone-priority-order-module">
+<h2>src.environment.observations.types.manual_zone.agent_zone_priority_order module<a class="headerlink" href="#src-environment-observations-types-manual-zone-agent-zone-priority-order-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.observations.types.manual_zone" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/_site/modules/src.environment.rewards.html b/docs_src/_build/html/_site/modules/src.environment.rewards.html
index 0f34f614..c961bf14 100644
--- a/docs_src/_build/html/_site/modules/src.environment.rewards.html
+++ b/docs_src/_build/html/_site/modules/src.environment.rewards.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.rewards package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.rewards package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.rewards.rst.txt" rel="nofollow"> View page source</a>
@@ -74,218 +71,58 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-rewards-package">
-<h1>src.environment.rewards package<a class="headerlink" href="#src-environment-rewards-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards package<a class="headerlink" href="#src-environment-rewards-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.types.html">src.environment.rewards.types package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#subpackages">Subpackages</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html">src.environment.rewards.types.manual_zone package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone.enforced_order">src.environment.rewards.types.manual_zone.enforced_order module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src-environment-rewards-types-manual-zone-enforced-order-module">src.environment.rewards.types.manual_zone.enforced_order module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.collisions">src.environment.rewards.types.collisions module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions"><code class="docutils literal notranslate"><span class="pre">Collisions</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions.name"><code class="docutils literal notranslate"><span class="pre">Collisions.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.existence_penalty">src.environment.rewards.types.existence_penalty module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.existence_penalty.ExistencePenalty"><code class="docutils literal notranslate"><span class="pre">ExistencePenalty</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.existence_penalty.ExistencePenalty.name"><code class="docutils literal notranslate"><span class="pre">ExistencePenalty.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance">src.environment.rewards.types.goal_distance module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance.GoalDistance"><code class="docutils literal notranslate"><span class="pre">GoalDistance</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance.GoalDistance.name"><code class="docutils literal notranslate"><span class="pre">GoalDistance.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance_change">src.environment.rewards.types.goal_distance_change module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance_change.GoalDistanceChange"><code class="docutils literal notranslate"><span class="pre">GoalDistanceChange</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance_change.GoalDistanceChange.name"><code class="docutils literal notranslate"><span class="pre">GoalDistanceChange.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.preferred_velocity">src.environment.rewards.types.preferred_velocity module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.preferred_velocity.PreferredVelocity"><code class="docutils literal notranslate"><span class="pre">PreferredVelocity</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.preferred_velocity.PreferredVelocity.name"><code class="docutils literal notranslate"><span class="pre">PreferredVelocity.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_cross">src.environment.rewards.types.social_norm_cross module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross"><code class="docutils literal notranslate"><span class="pre">SocialNormCross</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.dist_to_other_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.goal_dist_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.heading_angle_thresholds</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.name"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.relative_agent_to_other_angle_threshold</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_overtake">src.environment.rewards.types.social_norm_overtake module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.goal_dist_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.heading_angle_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.name"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.px_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.py_threshold</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_pass">src.environment.rewards.types.social_norm_pass module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass"><code class="docutils literal notranslate"><span class="pre">SocialNormPass</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.goal_dist_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.heading_angle_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.name"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.px_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.py_threshold</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.success">src.environment.rewards.types.success module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.success.Success"><code class="docutils literal notranslate"><span class="pre">Success</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.success.Success.name"><code class="docutils literal notranslate"><span class="pre">Success.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.velocity_control">src.environment.rewards.types.velocity_control module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.velocity_control.VelocityControl"><code class="docutils literal notranslate"><span class="pre">VelocityControl</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.velocity_control.VelocityControl.name"><code class="docutils literal notranslate"><span class="pre">VelocityControl.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-collisions-module">src.environment.rewards.types.collisions module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-existence-penalty-module">src.environment.rewards.types.existence_penalty module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-module">src.environment.rewards.types.goal_distance module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-change-module">src.environment.rewards.types.goal_distance_change module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-preferred-velocity-module">src.environment.rewards.types.preferred_velocity module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-cross-module">src.environment.rewards.types.social_norm_cross module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-overtake-module">src.environment.rewards.types.social_norm_overtake module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-pass-module">src.environment.rewards.types.social_norm_pass module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-success-module">src.environment.rewards.types.success module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-velocity-control-module">src.environment.rewards.types.velocity_control module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.wrappers.html">src.environment.rewards.wrappers package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers.linear_weight_scheduler">src.environment.rewards.wrappers.linear_weight_scheduler module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.wrappers.html#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler"><code class="docutils literal notranslate"><span class="pre">LinearWeightScheduler</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler.name"><code class="docutils literal notranslate"><span class="pre">LinearWeightScheduler.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#src-environment-rewards-wrappers-linear-weight-scheduler-module">src.environment.rewards.wrappers.linear_weight_scheduler module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.common_rewards">
-<span id="src-environment-rewards-common-rewards-module"></span><h2>src.environment.rewards.common_rewards module<a class="headerlink" href="#module-src.environment.rewards.common_rewards" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.rewards.common_rewards.dsacadrl_rewards">
-<span class="sig-prename descclassname"><span class="pre">src.environment.rewards.common_rewards.</span></span><span class="sig-name descname"><span class="pre">dsacadrl_rewards</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.common_rewards.dsacadrl_rewards" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
+<section id="src-environment-rewards-common-rewards-module">
+<h2>src.environment.rewards.common_rewards module<a class="headerlink" href="#src-environment-rewards-common-rewards-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.reward">
-<span id="src-environment-rewards-reward-module"></span><h2>src.environment.rewards.reward module<a class="headerlink" href="#module-src.environment.rewards.reward" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.reward.</span></span><span class="sig-name descname"><span class="pre">Reward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.reward.Reward" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">ABC</span></code></p>
-<p>Base class for rewarding or penalizing the agent in the simulation at each timestep according to the observation
-and environment configs.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward.name">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.reward.Reward.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward.score">
-<span class="sig-name descname"><span class="pre">score</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">observation_map</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#src.environment.rewards.reward.Reward.score" title="Permalink to this definition"></a></dt>
-<dd><p>Given the current environment instantiation, the current timesteps response from the environment, and the
-data_map object, calculate a float scalar as a reward.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>env</strong> – The RosSocialEnv class object currently being used in the sim</p></li>
-<li><p><strong>env_response</strong> – The response from the env given the timestep</p></li>
-<li><p><strong>observation_map</strong> – key observation pair from the Observer class.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>A weighted float scalar representing the amount of reward of the current timestep.</p>
-</dd>
-</dl>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward.weight">
-<span class="sig-name descname"><span class="pre">weight</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.reward.Reward.weight" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-reward-module">
+<h2>src.environment.rewards.reward module<a class="headerlink" href="#src-environment-rewards-reward-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.rewarder">
-<span id="src-environment-rewards-rewarder-module"></span><h2>src.environment.rewards.rewarder module<a class="headerlink" href="#module-src.environment.rewards.rewarder" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.rewarder.</span></span><span class="sig-name descname"><span class="pre">Rewarder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">registered_rewards</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><span class="pre">Reward</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<p>Class that handles storing reward classes, calling them to sum their reward, and logging if a logger is given.</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.registered_rewards">
-<span class="sig-name descname"><span class="pre">registered_rewards</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><span class="pre">Reward</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.registered_rewards" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.reward">
-<span class="sig-name descname"><span class="pre">reward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">observation_map</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.reward" title="Permalink to this definition"></a></dt>
-<dd><p>Given the environments response for the current timestep, calculate the total reward (sum of all the registered
-reward class objects) and log the individual rewards as well as the total reward if the tensorboardX Summary
-Writer is present.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>env</strong> – The RosSocialEnv being used in the current episode</p></li>
-<li><p><strong>observation_map</strong> – Dictionary storing all the observations of the environment</p></li>
-</ul>
-</dd>
-</dl>
-</dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.setup">
-<span class="sig-name descname"><span class="pre">setup</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.setup" title="Permalink to this definition"></a></dt>
-<dd><p>Helper for reward classes that require environment knowledge before being run.</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-rewarder-module">
+<h2>src.environment.rewards.rewarder module<a class="headerlink" href="#src-environment-rewards-rewarder-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/_site/modules/src.environment.rewards.types.html b/docs_src/_build/html/_site/modules/src.environment.rewards.types.html
index 3ffed1a6..3cca8782 100644
--- a/docs_src/_build/html/_site/modules/src.environment.rewards.types.html
+++ b/docs_src/_build/html/_site/modules/src.environment.rewards.types.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.rewards.types package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.rewards.types package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.rewards.types.rst.txt" rel="nofollow"> View page source</a>
@@ -74,256 +71,55 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-rewards-types-package">
-<h1>src.environment.rewards.types package<a class="headerlink" href="#src-environment-rewards-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards.types package<a class="headerlink" href="#src-environment-rewards-types-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html">src.environment.rewards.types.manual_zone package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone.enforced_order">src.environment.rewards.types.manual_zone.enforced_order module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.name"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.on_enter</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.on_exit</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.previous_zone_state</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src-environment-rewards-types-manual-zone-enforced-order-module">src.environment.rewards.types.manual_zone.enforced_order module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.collisions">
-<span id="src-environment-rewards-types-collisions-module"></span><h2>src.environment.rewards.types.collisions module<a class="headerlink" href="#module-src.environment.rewards.types.collisions" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.collisions.Collisions">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.collisions.</span></span><span class="sig-name descname"><span class="pre">Collisions</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.collisions.Collisions" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Penalty for when the agent collides with something in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.collisions.Collisions.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.collisions.Collisions.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-collisions-module">
+<h2>src.environment.rewards.types.collisions module<a class="headerlink" href="#src-environment-rewards-types-collisions-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.existence_penalty">
-<span id="src-environment-rewards-types-existence-penalty-module"></span><h2>src.environment.rewards.types.existence_penalty module<a class="headerlink" href="#module-src.environment.rewards.types.existence_penalty" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.existence_penalty.ExistencePenalty">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.existence_penalty.</span></span><span class="sig-name descname"><span class="pre">ExistencePenalty</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.existence_penalty.ExistencePenalty" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Penalty for every timestep that has not led to success.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.existence_penalty.ExistencePenalty.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.existence_penalty.ExistencePenalty.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-existence-penalty-module">
+<h2>src.environment.rewards.types.existence_penalty module<a class="headerlink" href="#src-environment-rewards-types-existence-penalty-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.goal_distance">
-<span id="src-environment-rewards-types-goal-distance-module"></span><h2>src.environment.rewards.types.goal_distance module<a class="headerlink" href="#module-src.environment.rewards.types.goal_distance" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance.GoalDistance">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.goal_distance.</span></span><span class="sig-name descname"><span class="pre">GoalDistance</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance.GoalDistance" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance.GoalDistance.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance.GoalDistance.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-goal-distance-module">
+<h2>src.environment.rewards.types.goal_distance module<a class="headerlink" href="#src-environment-rewards-types-goal-distance-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.goal_distance_change">
-<span id="src-environment-rewards-types-goal-distance-change-module"></span><h2>src.environment.rewards.types.goal_distance_change module<a class="headerlink" href="#module-src.environment.rewards.types.goal_distance_change" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance_change.GoalDistanceChange">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.goal_distance_change.</span></span><span class="sig-name descname"><span class="pre">GoalDistanceChange</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">clip</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance_change.GoalDistanceChange" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Simple reward that returns the change in distance to the goal per timestep as a reward.</p>
-<p>I.E.</p>
-<p>timestep 1 -&gt; 5 units to the goal, will return 0
-timestep 2 -&gt; 3 units to the goal, will return 5 - 3 -&gt; 2
-timestep 3 -&gt; 4 units to the goal, will return 3 - 4 -&gt; -1</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance_change.GoalDistanceChange.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance_change.GoalDistanceChange.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-goal-distance-change-module">
+<h2>src.environment.rewards.types.goal_distance_change module<a class="headerlink" href="#src-environment-rewards-types-goal-distance-change-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.preferred_velocity">
-<span id="src-environment-rewards-types-preferred-velocity-module"></span><h2>src.environment.rewards.types.preferred_velocity module<a class="headerlink" href="#module-src.environment.rewards.types.preferred_velocity" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.preferred_velocity.PreferredVelocity">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.preferred_velocity.</span></span><span class="sig-name descname"><span class="pre">PreferredVelocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.preferred_velocity.PreferredVelocity" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.preferred_velocity.PreferredVelocity.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.preferred_velocity.PreferredVelocity.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-preferred-velocity-module">
+<h2>src.environment.rewards.types.preferred_velocity module<a class="headerlink" href="#src-environment-rewards-types-preferred-velocity-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.social_norm_cross">
-<span id="src-environment-rewards-types-social-norm-cross-module"></span><h2>src.environment.rewards.types.social_norm_cross module<a class="headerlink" href="#module-src.environment.rewards.types.social_norm_cross" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.social_norm_cross.</span></span><span class="sig-name descname"><span class="pre">SocialNormCross</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_dist_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">3.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dist_to_other_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">relative_agent_to_other_angle_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">heading_angle_thresholds</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(-2.356194490192345,</span> <span class="pre">-0.7853981633974483)</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Social Norm Crossing Penalty as defined in <a class="reference external" href="https://arxiv.org/pdf/1703.08862.pdf">https://arxiv.org/pdf/1703.08862.pdf</a> on page 4 eq 12</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold">
-<span class="sig-name descname"><span class="pre">dist_to_other_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold">
-<span class="sig-name descname"><span class="pre">goal_dist_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds">
-<span class="sig-name descname"><span class="pre">heading_angle_thresholds</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold">
-<span class="sig-name descname"><span class="pre">relative_agent_to_other_angle_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-social-norm-cross-module">
+<h2>src.environment.rewards.types.social_norm_cross module<a class="headerlink" href="#src-environment-rewards-types-social-norm-cross-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.social_norm_overtake">
-<span id="src-environment-rewards-types-social-norm-overtake-module"></span><h2>src.environment.rewards.types.social_norm_overtake module<a class="headerlink" href="#module-src.environment.rewards.types.social_norm_overtake" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.social_norm_overtake.</span></span><span class="sig-name descname"><span class="pre">SocialNormOvertake</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_dist_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">3.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">px_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(0,</span> <span class="pre">3)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">py_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(0,</span> <span class="pre">1)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">heading_angle_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.7853981633974483</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Social Norm Overtake Penalty as defined in <a class="reference external" href="https://arxiv.org/pdf/1703.08862.pdf">https://arxiv.org/pdf/1703.08862.pdf</a> on page 4 eq 11</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold">
-<span class="sig-name descname"><span class="pre">goal_dist_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold">
-<span class="sig-name descname"><span class="pre">heading_angle_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold">
-<span class="sig-name descname"><span class="pre">px_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold">
-<span class="sig-name descname"><span class="pre">py_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-social-norm-overtake-module">
+<h2>src.environment.rewards.types.social_norm_overtake module<a class="headerlink" href="#src-environment-rewards-types-social-norm-overtake-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.social_norm_pass">
-<span id="src-environment-rewards-types-social-norm-pass-module"></span><h2>src.environment.rewards.types.social_norm_pass module<a class="headerlink" href="#module-src.environment.rewards.types.social_norm_pass" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.social_norm_pass.</span></span><span class="sig-name descname"><span class="pre">SocialNormPass</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_dist_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">3.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">px_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(1,</span> <span class="pre">4)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">py_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(-2,</span> <span class="pre">0)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">heading_angle_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2.356194490192345</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Social Norm Pass Penalty as defined in <a class="reference external" href="https://arxiv.org/pdf/1703.08862.pdf">https://arxiv.org/pdf/1703.08862.pdf</a> on page 4 eq 10</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold">
-<span class="sig-name descname"><span class="pre">goal_dist_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold">
-<span class="sig-name descname"><span class="pre">heading_angle_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold">
-<span class="sig-name descname"><span class="pre">px_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold">
-<span class="sig-name descname"><span class="pre">py_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-social-norm-pass-module">
+<h2>src.environment.rewards.types.social_norm_pass module<a class="headerlink" href="#src-environment-rewards-types-social-norm-pass-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.success">
-<span id="src-environment-rewards-types-success-module"></span><h2>src.environment.rewards.types.success module<a class="headerlink" href="#module-src.environment.rewards.types.success" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.success.Success">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.success.</span></span><span class="sig-name descname"><span class="pre">Success</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.success.Success" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Reward for when the agent has successfully completed the goal in the env.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.success.Success.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.success.Success.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-success-module">
+<h2>src.environment.rewards.types.success module<a class="headerlink" href="#src-environment-rewards-types-success-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.velocity_control">
-<span id="src-environment-rewards-types-velocity-control-module"></span><h2>src.environment.rewards.types.velocity_control module<a class="headerlink" href="#module-src.environment.rewards.types.velocity_control" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.velocity_control.VelocityControl">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.velocity_control.</span></span><span class="sig-name descname"><span class="pre">VelocityControl</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.velocity_control.VelocityControl" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Penalty for punishing abrupt changes in velocity</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.velocity_control.VelocityControl.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.velocity_control.VelocityControl.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-velocity-control-module">
+<h2>src.environment.rewards.types.velocity_control module<a class="headerlink" href="#src-environment-rewards-types-velocity-control-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards.types" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/_site/modules/src.environment.rewards.types.manual_zone.html b/docs_src/_build/html/_site/modules/src.environment.rewards.types.manual_zone.html
index 82234168..cde1db5a 100644
--- a/docs_src/_build/html/_site/modules/src.environment.rewards.types.manual_zone.html
+++ b/docs_src/_build/html/_site/modules/src.environment.rewards.types.manual_zone.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.rewards.types.manual_zone package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.rewards.types.manual_zone package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.rewards.types.manual_zone.rst.txt" rel="nofollow"> View page source</a>
@@ -74,42 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-rewards-types-manual-zone-package">
-<h1>src.environment.rewards.types.manual_zone package<a class="headerlink" href="#src-environment-rewards-types-manual-zone-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards.types.manual_zone package<a class="headerlink" href="#src-environment-rewards-types-manual-zone-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.manual_zone.enforced_order">
-<span id="src-environment-rewards-types-manual-zone-enforced-order-module"></span><h2>src.environment.rewards.types.manual_zone.enforced_order module<a class="headerlink" href="#module-src.environment.rewards.types.manual_zone.enforced_order" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.manual_zone.enforced_order.</span></span><span class="sig-name descname"><span class="pre">EnforcedOrder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">on_enter</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">on_exit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">continuous</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">weak_out_of_zone</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_any_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">incorrect_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">penalty_for_multiple_agents_entering</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter">
-<span class="sig-name descname"><span class="pre">on_enter</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit">
-<span class="sig-name descname"><span class="pre">on_exit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state">
-<span class="sig-name descname"><span class="pre">previous_zone_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-manual-zone-enforced-order-module">
+<h2>src.environment.rewards.types.manual_zone.enforced_order module<a class="headerlink" href="#src-environment-rewards-types-manual-zone-enforced-order-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.manual_zone">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards.types.manual_zone" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/_site/modules/src.environment.rewards.wrappers.html b/docs_src/_build/html/_site/modules/src.environment.rewards.wrappers.html
index c6dd9229..e14f4979 100644
--- a/docs_src/_build/html/_site/modules/src.environment.rewards.wrappers.html
+++ b/docs_src/_build/html/_site/modules/src.environment.rewards.wrappers.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.rewards.wrappers package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.rewards.wrappers package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.rewards.wrappers.rst.txt" rel="nofollow"> View page source</a>
@@ -74,30 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-rewards-wrappers-package">
-<h1>src.environment.rewards.wrappers package<a class="headerlink" href="#src-environment-rewards-wrappers-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards.wrappers package<a class="headerlink" href="#src-environment-rewards-wrappers-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.wrappers.linear_weight_scheduler">
-<span id="src-environment-rewards-wrappers-linear-weight-scheduler-module"></span><h2>src.environment.rewards.wrappers.linear_weight_scheduler module<a class="headerlink" href="#module-src.environment.rewards.wrappers.linear_weight_scheduler" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.wrappers.linear_weight_scheduler.</span></span><span class="sig-name descname"><span class="pre">LinearWeightScheduler</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><span class="pre">Reward</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">min_weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">duration</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1000</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a>, <code class="xref py py-class docutils literal notranslate"><span class="pre">ABC</span></code></p>
-<p>linearly interpolates the weight value between min_weight and max_weight starting at min_weight then incrementally
-increasing the weight until max weight is achieved.</p>
-<p>Only works for increasing weights not decreasing - TODO - this is probably easy.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-wrappers-linear-weight-scheduler-module">
+<h2>src.environment.rewards.wrappers.linear_weight_scheduler module<a class="headerlink" href="#src-environment-rewards-wrappers-linear-weight-scheduler-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.wrappers">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards.wrappers" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/_site/modules/src.environment.scenarios.html b/docs_src/_build/html/_site/modules/src.environment.scenarios.html
index e5a2ca5d..597cd3e8 100644
--- a/docs_src/_build/html/_site/modules/src.environment.scenarios.html
+++ b/docs_src/_build/html/_site/modules/src.environment.scenarios.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.scenarios package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.scenarios package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.scenarios.rst.txt" rel="nofollow"> View page source</a>
@@ -74,122 +71,33 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-scenarios-package">
-<h1>src.environment.scenarios package<a class="headerlink" href="#src-environment-scenarios-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.scenarios package<a class="headerlink" href="#src-environment-scenarios-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.scenarios.types.html">src.environment.scenarios.types package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.cycle">src.environment.scenarios.types.cycle module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario"><code class="docutils literal notranslate"><span class="pre">CycleScenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">CycleScenario.generate_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.graph_nav">src.environment.scenarios.types.graph_nav module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario"><code class="docutils literal notranslate"><span class="pre">GraphNavScenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">GraphNavScenario.generate_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.manual">src.environment.scenarios.types.manual module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario"><code class="docutils literal notranslate"><span class="pre">ManualScenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">ManualScenario.generate_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-cycle-module">src.environment.scenarios.types.cycle module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-graph-nav-module">src.environment.scenarios.types.graph_nav module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-manual-module">src.environment.scenarios.types.manual module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.common_scenarios">
-<span id="src-environment-scenarios-common-scenarios-module"></span><h2>src.environment.scenarios.common_scenarios module<a class="headerlink" href="#module-src.environment.scenarios.common_scenarios" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">closed_door_1__opposing_sides</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">task_id</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'t1'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.closed_door_1__same_goals">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">closed_door_1__same_goals</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">task_id</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'t1'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.closed_door_1__same_goals" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.elevator_loading">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">elevator_loading</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.elevator_loading" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_door">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_door</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_door" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_hallway">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_hallway</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_hallway" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_intersection">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_intersection</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_intersection" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_open">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_open</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_open" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_round_about">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_round_about</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_round_about" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.exp1_train_scenario">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">exp1_train_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">level</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'easy'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.exp1_train_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.exp2_train_scenario">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">exp2_train_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">level</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'easy'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.exp2_train_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
+<section id="src-environment-scenarios-common-scenarios-module">
+<h2>src.environment.scenarios.common_scenarios module<a class="headerlink" href="#src-environment-scenarios-common-scenarios-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.scenario">
-<span id="src-environment-scenarios-scenario-module"></span><h2>src.environment.scenarios.scenario module<a class="headerlink" href="#module-src.environment.scenarios.scenario" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.scenario.</span></span><span class="sig-name descname"><span class="pre">Scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario.load_nav_nodes">
-<span class="sig-name descname"><span class="pre">load_nav_nodes</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">nav_path</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario.load_nav_nodes" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario.make_scenario">
-<span class="sig-name descname"><span class="pre">make_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">config</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario.make_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-scenario-module">
+<h2>src.environment.scenarios.scenario module<a class="headerlink" href="#src-environment-scenarios-scenario-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.scenarios" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/_site/modules/src.environment.scenarios.types.html b/docs_src/_build/html/_site/modules/src.environment.scenarios.types.html
index 3623ed74..d229ceb4 100644
--- a/docs_src/_build/html/_site/modules/src.environment.scenarios.types.html
+++ b/docs_src/_build/html/_site/modules/src.environment.scenarios.types.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.scenarios.types package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.scenarios.types package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.scenarios.types.rst.txt" rel="nofollow"> View page source</a>
@@ -74,57 +71,21 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-scenarios-types-package">
-<h1>src.environment.scenarios.types package<a class="headerlink" href="#src-environment-scenarios-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.scenarios.types package<a class="headerlink" href="#src-environment-scenarios-types-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types.cycle">
-<span id="src-environment-scenarios-types-cycle-module"></span><h2>src.environment.scenarios.types.cycle module<a class="headerlink" href="#module-src.environment.scenarios.types.cycle" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.cycle.CycleScenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.types.cycle.</span></span><span class="sig-name descname"><span class="pre">CycleScenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.cycle.CycleScenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><code class="xref py py-class docutils literal notranslate"><span class="pre">Scenario</span></code></a></p>
-<p>A simple DEBUG scenario that will cycle through all the nodes in a graph nav file choosing a new node per episode
-until it cycles.</p>
-<p>Useful for knowing which node on the graph nav is what ID for manual planning.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.cycle.CycleScenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.cycle.CycleScenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-types-cycle-module">
+<h2>src.environment.scenarios.types.cycle module<a class="headerlink" href="#src-environment-scenarios-types-cycle-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types.graph_nav">
-<span id="src-environment-scenarios-types-graph-nav-module"></span><h2>src.environment.scenarios.types.graph_nav module<a class="headerlink" href="#module-src.environment.scenarios.types.graph_nav" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.graph_nav.GraphNavScenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.types.graph_nav.</span></span><span class="sig-name descname"><span class="pre">GraphNavScenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_agent_start_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_agent_goal_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_human_start_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_human_goal_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.graph_nav.GraphNavScenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><code class="xref py py-class docutils literal notranslate"><span class="pre">Scenario</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-types-graph-nav-module">
+<h2>src.environment.scenarios.types.graph_nav module<a class="headerlink" href="#src-environment-scenarios-types-graph-nav-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types.manual">
-<span id="src-environment-scenarios-types-manual-module"></span><h2>src.environment.scenarios.types.manual module<a class="headerlink" href="#module-src.environment.scenarios.types.manual" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.manual.ManualScenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.types.manual.</span></span><span class="sig-name descname"><span class="pre">ManualScenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_paths</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">human_paths</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.manual.ManualScenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="../../modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><code class="xref py py-class docutils literal notranslate"><span class="pre">Scenario</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.manual.ManualScenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.manual.ManualScenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-types-manual-module">
+<h2>src.environment.scenarios.types.manual module<a class="headerlink" href="#src-environment-scenarios-types-manual-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.scenarios.types" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/_site/modules/src.environment.services.html b/docs_src/_build/html/_site/modules/src.environment.services.html
index 0f4e16a4..f78f2f1f 100644
--- a/docs_src/_build/html/_site/modules/src.environment.services.html
+++ b/docs_src/_build/html/_site/modules/src.environment.services.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.services package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.services package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.services.rst.txt" rel="nofollow"> View page source</a>
@@ -74,122 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-services-package">
-<h1>src.environment.services package<a class="headerlink" href="#src-environment-services-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.services package<a class="headerlink" href="#src-environment-services-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.services.utmrs">
-<span id="src-environment-services-utmrs-module"></span><h2>src.environment.services.utmrs module<a class="headerlink" href="#module-src.environment.services.utmrs" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRS">
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-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRS.reset">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRS.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRS.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse">
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-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.collision">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.done">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.door_pose">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.door_state">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.follow_target">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.goal_pose">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.human_poses">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.human_vels">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.local_target">
-<span class="sig-name descname"><span class="pre">local_target</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.local_target" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.other_robot_poses">
-<span class="sig-name descname"><span class="pre">other_robot_poses</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.other_robot_poses" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.other_robot_vels">
-<span class="sig-name descname"><span class="pre">other_robot_vels</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.other_robot_vels" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.process">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">process</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_response</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.process" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.robot_poses">
-<span class="sig-name descname"><span class="pre">robot_poses</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.robot_poses" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.robot_state">
-<span class="sig-name descname"><span class="pre">robot_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.robot_state" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.robot_vels">
-<span class="sig-name descname"><span class="pre">robot_vels</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.robot_vels" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.set_vars">
-<span class="sig-name descname"><span class="pre">set_vars</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot_obs</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">robot_idx</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.set_vars" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.success">
-<span class="sig-name descname"><span class="pre">success</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.success" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-services-utmrs-module">
+<h2>src.environment.services.utmrs module<a class="headerlink" href="#src-environment-services-utmrs-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.services">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.services" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/_site/modules/src.environment.utils.html b/docs_src/_build/html/_site/modules/src.environment.utils.html
index 45953fda..05114d3f 100644
--- a/docs_src/_build/html/_site/modules/src.environment.utils.html
+++ b/docs_src/_build/html/_site/modules/src.environment.utils.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.utils package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
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           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.utils package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.utils.rst.txt" rel="nofollow"> View page source</a>
@@ -74,109 +71,18 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-utils-package">
-<h1>src.environment.utils package<a class="headerlink" href="#src-environment-utils-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.utils package<a class="headerlink" href="#src-environment-utils-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.utils.evaluate_policy">
-<span id="src-environment-utils-evaluate-policy-module"></span><h2>src.environment.utils.evaluate_policy module<a class="headerlink" href="#module-src.environment.utils.evaluate_policy" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.evaluate_policy.evaluate_policy">
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</span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">10</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">deterministic</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">render</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Callable</span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">None</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">reward_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_episode_rewards</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">warn</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.utils.evaluate_policy.evaluate_policy" title="Permalink to this definition"></a></dt>
-<dd><p>SocialGym Note: This is a slightly altered variation of the Stable Baselines V3 evaluate_policy function.
-The major difference is that we check to make sure ALL dones are true (as they refer to the agents being done
-and not an environment being done).  Stable baselines expects an array of dones (similar to how PettingZoo works)
-but, StableBaselines thinks that the array is for a list of environments not a list of agents.</p>
-<p>NEW NOTE: although the above is true, other changes have come about that make this evaluate_policy fn a bit
-different.</p>
-<p>Runs policy for <code class="docutils literal notranslate"><span class="pre">n_eval_episodes</span></code> episodes and returns average reward.
-If a vector env is passed in, this divides the episodes to evaluate onto the
-different elements of the vector env. This static division of work is done to
-remove bias. See <a class="reference external" href="https://github.com/DLR-RM/stable-baselines3/issues/402">https://github.com/DLR-RM/stable-baselines3/issues/402</a> for more
-details and discussion.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>If environment has not been wrapped with <code class="docutils literal notranslate"><span class="pre">Monitor</span></code> wrapper, reward and
-episode lengths are counted as it appears with <code class="docutils literal notranslate"><span class="pre">env.step</span></code> calls. If
-the environment contains wrappers that modify rewards or episode lengths
-(e.g. reward scaling, early episode reset), these will affect the evaluation
-results as well. You can avoid this by wrapping environment with <code class="docutils literal notranslate"><span class="pre">Monitor</span></code>
-wrapper before anything else.</p>
-</div>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>model</strong> – The RL agent you want to evaluate.</p></li>
-<li><p><strong>env</strong> – The gym environment or <code class="docutils literal notranslate"><span class="pre">VecEnv</span></code> environment.</p></li>
-<li><p><strong>n_eval_episodes</strong> – Number of episode to evaluate the agent</p></li>
-<li><p><strong>deterministic</strong> – Whether to use deterministic or stochastic actions</p></li>
-<li><p><strong>render</strong> – Whether to render the environment or not</p></li>
-<li><p><strong>callback</strong> – callback function to do additional checks,
-called after each step. Gets locals() and globals() passed as parameters.</p></li>
-<li><p><strong>reward_threshold</strong> – Minimum expected reward per episode,
-this will raise an error if the performance is not met</p></li>
-<li><p><strong>return_episode_rewards</strong> – If True, a list of rewards and episode lengths
-per episode will be returned instead of the mean.</p></li>
-<li><p><strong>warn</strong> – If True (default), warns user about lack of a Monitor wrapper in the
-evaluation environment.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>Mean reward per episode, std of reward per episode.
-Returns ([float], [int]) when <code class="docutils literal notranslate"><span class="pre">return_episode_rewards</span></code> is True, first
-list containing per-episode rewards and second containing per-episode lengths
-(in number of steps).</p>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-environment-utils-evaluate-policy-module">
+<h2>src.environment.utils.evaluate_policy module<a class="headerlink" href="#src-environment-utils-evaluate-policy-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.utils.utils">
-<span id="src-environment-utils-utils-module"></span><h2>src.environment.utils.utils module<a class="headerlink" href="#module-src.environment.utils.utils" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.utils.utils.LogFilter">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">LogFilter</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">stream</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">re_pattern</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.LogFilter" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<p>Taken from <a class="reference external" href="https://stackoverflow.com/questions/34904946/how-to-filter-stdout-in-python-logging">https://stackoverflow.com/questions/34904946/how-to-filter-stdout-in-python-logging</a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.utils.utils.LogFilter.flush">
-<span class="sig-name descname"><span class="pre">flush</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.LogFilter.flush" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.utils.utils.LogFilter.write">
-<span class="sig-name descname"><span class="pre">write</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.LogFilter.write" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.utils.filter_stdout">
-<span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">filter_stdout</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">filter</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.filter_stdout" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.utils.get_tboard_writer">
-<span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">get_tboard_writer</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">log_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.get_tboard_writer" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.utils.poses_to_np_array">
-<span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">poses_to_np_array</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">poses</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.array</span></span></span><a class="headerlink" href="#src.environment.utils.utils.poses_to_np_array" title="Permalink to this definition"></a></dt>
-<dd><p>Given a list of poses, convert them into a numpy array.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>poses</strong> – List of poses</p>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>np array where the values are the [ poses[0].x, poses[0].y, poses[0].theta, …, poses[N].theta ]</p>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-environment-utils-utils-module">
+<h2>src.environment.utils.utils module<a class="headerlink" href="#src-environment-utils-utils-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.utils">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.utils" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/_site/modules/src.environment.wrappers.html b/docs_src/_build/html/_site/modules/src.environment.wrappers.html
index 3eaae1b1..3f3c91a4 100644
--- a/docs_src/_build/html/_site/modules/src.environment.wrappers.html
+++ b/docs_src/_build/html/_site/modules/src.environment.wrappers.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.wrappers package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../_static/sphinx_highlight.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.wrappers package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.environment.wrappers.rst.txt" rel="nofollow"> View page source</a>
@@ -74,231 +71,30 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-wrappers-package">
-<h1>src.environment.wrappers package<a class="headerlink" href="#src-environment-wrappers-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.wrappers package<a class="headerlink" href="#src-environment-wrappers-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.collision_episode_ender">
-<span id="src-environment-wrappers-collision-episode-ender-module"></span><h2>src.environment.wrappers.collision_episode_ender module<a class="headerlink" href="#module-src.environment.wrappers.collision_episode_ender" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.collision_episode_ender.</span></span><span class="sig-name descname"><span class="pre">CollisionEpisodeEnder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>You collide you die!</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>env</strong> – Gym environment that will be wrapped</p>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Dict</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-collision-episode-ender-module">
+<h2>src.environment.wrappers.collision_episode_ender module<a class="headerlink" href="#src-environment-wrappers-collision-episode-ender-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.entropy_episode_ender">
-<span id="src-environment-wrappers-entropy-episode-ender-module"></span><h2>src.environment.wrappers.entropy_episode_ender module<a class="headerlink" href="#module-src.environment.wrappers.entropy_episode_ender" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.entropy_episode_ender.</span></span><span class="sig-name descname"><span class="pre">EntropyEpisodeEnder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>You stop moving you die! (if all agents in an environment are no longer moving within some absolute delta over a
-set of timesteps, end the episode)</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>env</strong> – Gym environment that will be wrapped</p>
-</dd>
-</dl>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions">
-<span class="sig-name descname"><span class="pre">agent_positions</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas">
-<span class="sig-name descname"><span class="pre">calculate_deltas</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta">
-<span class="sig-name descname"><span class="pre">distance_delta</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only">
-<span class="sig-name descname"><span class="pre">negative_multiplier_only</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions">
-<span class="sig-name descname"><span class="pre">reset_positions</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier">
-<span class="sig-name descname"><span class="pre">reward_multiplier</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Dict</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold">
-<span class="sig-name descname"><span class="pre">timestep_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-entropy-episode-ender-module">
+<h2>src.environment.wrappers.entropy_episode_ender module<a class="headerlink" href="#src-environment-wrappers-entropy-episode-ender-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.new_scenario_wrapper">
-<span id="src-environment-wrappers-new-scenario-wrapper-module"></span><h2>src.environment.wrappers.new_scenario_wrapper module<a class="headerlink" href="#module-src.environment.wrappers.new_scenario_wrapper" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.new_scenario_wrapper.</span></span><span class="sig-name descname"><span class="pre">NewScenarioWrapper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env">
-<span class="sig-name descname"><span class="pre">env</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="../../modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count">
-<span class="sig-name descname"><span class="pre">episode_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency">
-<span class="sig-name descname"><span class="pre">new_scenario_episode_frequency</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans">
-<span class="sig-name descname"><span class="pre">plans</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-new-scenario-wrapper-module">
+<h2>src.environment.wrappers.new_scenario_wrapper module<a class="headerlink" href="#src-environment-wrappers-new-scenario-wrapper-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.reward_stripper">
-<span id="src-environment-wrappers-reward-stripper-module"></span><h2>src.environment.wrappers.reward_stripper module<a class="headerlink" href="#module-src.environment.wrappers.reward_stripper" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.reward_stripper.RewardStripper">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.reward_stripper.</span></span><span class="sig-name descname"><span class="pre">RewardStripper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.reward_stripper.RewardStripper" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>When an agent succeeds, remove the</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>env</strong> – Gym environment that will be wrapped</p>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.reward_stripper.RewardStripper.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.reward_stripper.RewardStripper.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.reward_stripper.RewardStripper.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Dict</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.wrappers.reward_stripper.RewardStripper.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-reward-stripper-module">
+<h2>src.environment.wrappers.reward_stripper module<a class="headerlink" href="#src-environment-wrappers-reward-stripper-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.tensorboard_writer">
-<span id="src-environment-wrappers-tensorboard-writer-module"></span><h2>src.environment.wrappers.tensorboard_writer module<a class="headerlink" href="#module-src.environment.wrappers.tensorboard_writer" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.tensorboard_writer.</span></span><span class="sig-name descname"><span class="pre">TensorboardWriter</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.tensorboard_writer.TensorboardWriter" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>Handles tensorboard recording of the environments</p>
-<p>Can record video of each episode, the rewards at each timestep, and overall env information per episode.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter.image_callback">
-<span class="sig-name descname"><span class="pre">image_callback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">msg</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.tensorboard_writer.TensorboardWriter.image_callback" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.tensorboard_writer.TensorboardWriter.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.tensorboard_writer.TensorboardWriter.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">actions</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.tensorboard_writer.TensorboardWriter.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-tensorboard-writer-module">
+<h2>src.environment.wrappers.tensorboard_writer module<a class="headerlink" href="#src-environment-wrappers-tensorboard-writer-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.time_limit">
-<span id="src-environment-wrappers-time-limit-module"></span><h2>src.environment.wrappers.time_limit module<a class="headerlink" href="#module-src.environment.wrappers.time_limit" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.time_limit.TimeLimitWrapper">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.time_limit.</span></span><span class="sig-name descname"><span class="pre">TimeLimitWrapper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.time_limit.TimeLimitWrapper" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>Limit the maximum number of steps per episode.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>env</strong> – Gym environment that will be wrapped</p></li>
-<li><p><strong>max_steps</strong> – Max number of steps per episode</p></li>
-</ul>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.time_limit.TimeLimitWrapper.reset">
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-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-time-limit-module">
+<h2>src.environment.wrappers.time_limit module<a class="headerlink" href="#src-environment-wrappers-time-limit-module" title="Permalink to this headline"></a></h2>
 </section>
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-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.wrappers" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
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diff --git a/docs_src/_build/html/_site/modules/src.html b/docs_src/_build/html/_site/modules/src.html
index a9f8db88..e55ff3e4 100644
--- a/docs_src/_build/html/_site/modules/src.html
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 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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>
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@@ -25,16 +26,12 @@
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-
-          
-          
-          <a href="../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
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   <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
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           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../_sources/_site/modules/src.rst.txt" rel="nofollow"> View page source</a>
@@ -74,244 +71,102 @@
            <div itemprop="articleBody">
              
   <section id="src-package">
-<h1>src package<a class="headerlink" href="#src-package" title="Permalink to this heading"></a></h1>
+<h1>src package<a class="headerlink" href="#src-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.callbacks.html#module-src.environment.callbacks">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.callbacks.html#src-environment-callbacks-callbacks-module">src.environment.callbacks.callbacks module</a></li>
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 </li>
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+<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src-environment-environment-types-manual-zone-module">src.environment.environment_types.manual_zone module</a></li>
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 </li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#module-src.environment.extractors">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#src-environment-extractors-lstm-agent-obs-module">src.environment.extractors.lstm_agent_obs module</a></li>
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 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html">src.environment.observations package</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-common-observations-module">src.environment.observations.common_observations module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observation-module">src.environment.observations.observation module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observer-module">src.environment.observations.observer module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#module-contents">Module contents</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-common-rewards-module">src.environment.rewards.common_rewards module</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-common-scenarios-module">src.environment.scenarios.common_scenarios module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-scenario-module">src.environment.scenarios.scenario module</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-evaluate-policy-module">src.environment.utils.evaluate_policy module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-utils-module">src.environment.utils.utils module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#module-contents">Module contents</a></li>
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 <li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html">src.environment.wrappers package</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.collision_episode_ender">src.environment.wrappers.collision_episode_ender module</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-collision-episode-ender-module">src.environment.wrappers.collision_episode_ender module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-entropy-episode-ender-module">src.environment.wrappers.entropy_episode_ender module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-new-scenario-wrapper-module">src.environment.wrappers.new_scenario_wrapper module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-reward-stripper-module">src.environment.wrappers.reward_stripper module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-tensorboard-writer-module">src.environment.wrappers.tensorboard_writer module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-time-limit-module">src.environment.wrappers.time_limit module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-contents">Module contents</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="src.environment.html#module-src.environment.ros_social_gym">src.environment.ros_social_gym module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.AgentColor"><code class="docutils literal notranslate"><span class="pre">AgentColor</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.action_space"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.action_space()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.calculate_reward"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.calculate_reward()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.close"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.close()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.default_action"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.default_action()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.env_response_type"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.env_response_type</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.launch_config"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.launch_config</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.make_observation"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.make_observation()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.metadata"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.metadata</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.new_scenario"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.new_scenario()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_agents"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.num_agents</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_humans"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.num_humans</span></code></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="src.environment.html#module-src.environment">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.html#src-environment-ros-social-gym-module">src.environment.ros_social_gym module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.config_run">
-<span id="src-config-run-module"></span><h2>src.config_run module<a class="headerlink" href="#module-src.config_run" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.config_run.kinds">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.config_run.</span></span><span class="sig-name descname"><span class="pre">kinds</span></span><a class="headerlink" href="#src.config_run.kinds" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.config_run.kinds.ao">
-<span class="sig-name descname"><span class="pre">ao</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'AO'</span></em><a class="headerlink" href="#src.config_run.kinds.ao" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.config_run.kinds.eo">
-<span class="sig-name descname"><span class="pre">eo</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'EO'</span></em><a class="headerlink" href="#src.config_run.kinds.eo" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.config_run.kinds.sacadrl">
-<span class="sig-name descname"><span class="pre">sacadrl</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'SACADRL'</span></em><a class="headerlink" href="#src.config_run.kinds.sacadrl" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.config_run.run">
-<span class="sig-prename descclassname"><span class="pre">src.config_run.</span></span><span class="sig-name descname"><span class="pre">run</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">eval_num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">train_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100000</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">eval_frequency</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">25000</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">intermediate_eval_trials</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">25</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ending_eval_trials</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ending_eval_with_best</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'cuda:0'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">train</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">eval</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">monitor</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">local</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">existence_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">success_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">10</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">starting_collision_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_penalty_scale_duration</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">25</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_track_exit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_penalty_for_incorrect_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_weak_signal_out_of_zone</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">penalty_for_multiple_agents_entering</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_distance_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_distance_reward_clip</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_ender</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">reward_stripper</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timelimit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timelimit_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2000</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_ender</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_max_distance</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.25</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_max_timesteps</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_constant_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_constant_penalty_only_those_that_did_not_finish</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_reward_multiplier</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100000.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_multiply_negative_rewards_only</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_goal_distance_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_pose_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_pose_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_velocity_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_velocity_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_poses_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_poses_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_poses_actual_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_velocities_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_velocities_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_algo_sb3_contrib</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_algo_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'PPO'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'MlpPolicy'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_algo_kwargs</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">debug</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">experiment_names</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'envs_open'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">run_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">continue_from</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">run_type</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'SACADRL'</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.config_run.run" title="Permalink to this definition"></a></dt>
-<dd><dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>num_agents</strong> – Int or List[Int] - Either the exact number of agents to use, or an array of the format [[episode #,
-num of agents], …] which will alter the number of agents once that episode limit has been reached.  I.E. [[0, 3],
-[10, 4], [20, 5]] will initially train with 3 agents until episode 10 which will then change to 4 agents and then
-change to 5 once episode 20 is reached.</p></li>
-<li><p><strong>eval_num_agents</strong> – Int or List[Int] - Either the number of agents to evaluate on or a list of a number of agents
-to evaluate on (if list, [1, 2], evaluations will run for the number of specified episodes for 1 agent and then
-agian using 2 agents).</p></li>
-<li><p><strong>train_length</strong> – Int - Number of steps to train for.  (remember each agent requires a step, therefore 500 steps
-for training 5 agents means each agent will get 100 steps each.</p></li>
-<li><p><strong>eval_frequency</strong> – Int - Interval for running intermediate evaluation (in steps).   0&gt;= will effectively disable
-evaluation during training.</p></li>
-<li><p><strong>intermediate_eval_trials</strong> – Int - How many episodes to evaluate on during intermediate evaluation.</p></li>
-<li><p><strong>ending_eval_trials</strong> – Int - Number of episodes to evaluate for after training has completed.</p></li>
-<li><p><strong>ending_eval_with_best</strong> – Bool - After training, load up the best model seen during intermediate eval (if False,
-the most recent checkpoint will be loaded).</p></li>
-<li><p><strong>device</strong> – Str - The torch device to use (cpu/cuda:N/etc.) GPU is highly recommended.</p></li>
-<li><p><strong>partially_observable</strong> – Bool - whether or not LIDAR scans (and thus observations of the ego-agent) can be blocked
-by objects (walls/other agents/humans etc.)  If False then everything will be observable.</p></li>
-<li><p><strong>train</strong> – Bool - Run training</p></li>
-<li><p><strong>eval</strong> – Bool - Run evaluation</p></li>
-<li><p><strong>monitor</strong> – Bool - Show an RVIS window so you can watch the sim.</p></li>
-<li><p><strong>local</strong> – Bool - If you have graphnav and UTMRS running locally, this will tap the config_runner into those
-ROSModules.  Has some special requirements and isn’t recommended.</p></li>
-<li><p><strong>existence_penalty</strong> – Float - Existence Penalty amount (1 will be a reward of -1 per step).  Disabled if 0.</p></li>
-<li><p><strong>success_reward</strong> – Float - Reward amount for reaching the goal. Disabled if 0.</p></li>
-<li><p><strong>collision_penalty</strong> – Float - Penalty amount for colliding with a wall or agent (1 will be a reward of -1 per step).  Disabled if 0.</p></li>
-<li><p><strong>starting_collision_penalty</strong> – Float - Starting weight of the collision penalty if you want to scale it as training continues.</p></li>
-<li><p><strong>collision_penalty_scale_duration</strong> – Float - Number of steps to linearly scale the collision penalty from the
-starting_collision_penalty to the ending collision_penalty value over the specified number of STEPs. Disabled when 0</p></li>
-<li><p><strong>enforced_order_reward</strong> – Float - Penalty and Reward amount for entering/exiting the collision zone under specific
-conditions (controlled via other flags).</p></li>
-<li><p><strong>enforced_order_track_exit</strong> – Bool - Reward/Penalty for agents when they exit the conflict zone</p></li>
-<li><p><strong>enforced_order_penalty_for_incorrect_order</strong> – Bool - Penalty for out of order agents</p></li>
-<li><p><strong>enforced_order_weak_signal_out_of_zone</strong> – Bool - scaled (0.1 * enforced_order_reward) for agents at every
-timestep regardless of if they are in the conflict zone or not (scales to 1 once agents are in a collision zone).</p></li>
-<li><p><strong>penalty_for_multiple_agents_entering</strong> – Bool - Experimental flag that not only gives a penalty for agents out of
-order but also a penalty for when agents try to enter the conflict zone at the same time (agents are overlapping
-with the same edge of a conflict zone at the same time)</p></li>
-<li><p><strong>goal_distance_reward</strong> – Bool - include the goal distance reward.</p></li>
-<li><p><strong>goal_distance_reward_clip</strong> – Bool - clip the goal distance reward to [0, 1]</p></li>
-<li><p><strong>collision_ender</strong> – Bool - End episodes on collisions.</p></li>
-<li><p><strong>reward_stripper</strong> – Bool - When an agent succeeds and remains at the goal state, only give the at goal reward once
-and then 0 from then on (an attempt to make truncation work, truncation is not supported until <a class="reference external" href="https://github.com/DLR-RM/stable-baselines3/pull/780">https://github.com/DLR-RM/stable-baselines3/pull/780</a>
-is resolved.</p></li>
-<li><p><strong>timelimit</strong> – Bool - end episodes on a step timelimit.</p></li>
-<li><p><strong>timelimit_threshold</strong> – Int - the number of steps an episode is allowed to have (if the timelimit bool is set to True)</p></li>
-<li><p><strong>entropy_ender</strong> – Bool - End the episode if agents have not moved a sufficient amount over a length of time.</p></li>
-<li><p><strong>entropy_max_distance</strong> – Float - Distance threshold, if below during the duration of the timelimit the episode
-will end.  1 = one square in RVis (roughly 2meters)</p></li>
-<li><p><strong>entropy_max_timesteps</strong> – Int - number of timesteps that a sufficient distance must be traversed before ending the
-episode</p></li>
-<li><p><strong>entropy_reward</strong> – Bool - If an episode ends during the entropy wrapper, give a reward/penalty to agents determined
-by their final state and configuration flags.</p></li>
-<li><p><strong>entropy_constant_penalty</strong> – Int - If EntropyEnder ends an episode all agents recieve this penalty (1 is equal to -1 reward at the end of the episode).</p></li>
-<li><p><strong>entropy_constant_penalty_only_those_that_did_not_finish</strong> – Bool - Constant penalty only applies if the agents didn’t finish (reach their goal)</p></li>
-<li><p><strong>entropy_reward_multiplier</strong> – Int - instead of a constant reward, multiply the current reward (step before the episode ended)</p></li>
-<li><p><strong>entropy_multiply_negative_rewards_only</strong> – Bool - Only multiply rewards that are negative (indicating an agent was “stuck forever”)</p></li>
-<li><p><strong>collision_obs</strong> – Bool - Include the collision observation (must be true for the collision penalty)</p></li>
-<li><p><strong>agent_goal_distance_obs</strong> – Bool - Include the distance to the goal as an observation (must be true for the goal distance reward)</p></li>
-<li><p><strong>agent_pose_obs</strong> – Bool - Include the agents pose as an observation (x, y, and theta)</p></li>
-<li><p><strong>agent_pose_ignore_theta</strong> – Bool - Ignore the theta value in the pose observation (orientation)</p></li>
-<li><p><strong>agent_velocity_obs</strong> – Bool - Include the agents velocity as an observation (vx, vy, vtheta)</p></li>
-<li><p><strong>agent_velocity_ignore_theta</strong> – Bool - Ignore the theta value in the velocity observation</p></li>
-<li><p><strong>other_poses_obs</strong> – Bool - Include other agents/humans pose information (x, y, theta) as an observation</p></li>
-<li><p><strong>other_poses_ignore_theta</strong> – Bool - Ignore other agents/humans pose thetas</p></li>
-<li><p><strong>other_velocities_obs</strong> – Include other agents/humans velocities in the observation (vx, vy, vtheta)</p></li>
-<li><p><strong>other_velocities_ignore_theta</strong> – Bool - Ignore the velocity thetas of other agents</p></li>
-<li><p><strong>policy_algo_sb3_contrib</strong> – Bool - True if the policy you want to train has it’s base code in the SB3-Contrib library
-i.e. RecurrentPPO</p></li>
-<li><p><strong>policy_algo_name</strong> – Str - Name of the policy class you want to train as it appears in SB3 or SB3-Contrib</p></li>
-<li><p><strong>policy_name</strong> – Str - SB3 Policy structure (MlpPolicy for example)</p></li>
-<li><p><strong>policy_algo_kwargs</strong> – Dict - Any kwargs for the SB3 Policy.</p></li>
-<li><p><strong>debug</strong> – Bool - print statments and ALWAYS GO baseline (gives the action 0 to UTMRS for all agents all the time)</p></li>
-<li><p><strong>experiment_names</strong> – List[str] - List of scenarios currently supported by ConfigRunner (envs_door, envs_hallway,
-envs_intersection, envs_round_about, envs_open)</p></li>
-<li><p><strong>run_name</strong> – Str - Name of the run that will also be used to store tensorbaord info and checkpoints of the model
-as well as evaluation data in <cite>{PROJECT ROOT}/data/{run_name}</cite> (can be a nested folder)</p></li>
-<li><p><strong>continue_from</strong> – Str - Policy checkpoint to load from (relative path from <cite>{PROJECT ROOT}/data</cite>)</p></li>
-<li><p><strong>run_type</strong> – Str - Helper for using SACADRL or AO/EO variants. (allowed values are SACADRL, AO, EO)</p></li>
-</ul>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-config-run-module">
+<h2>src.config_run module<a class="headerlink" href="#src-config-run-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.multi_agent_optuna">
-<span id="src-multi-agent-optuna-module"></span><h2>src.multi_agent_optuna module<a class="headerlink" href="#module-src.multi_agent_optuna" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.multi_agent_optuna.objective">
-<span class="sig-prename descclassname"><span class="pre">src.multi_agent_optuna.</span></span><span class="sig-name descname"><span class="pre">objective</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">trial</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.multi_agent_optuna.objective" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
+<section id="src-multi-agent-optuna-module">
+<h2>src.multi_agent_optuna module<a class="headerlink" href="#src-multi-agent-optuna-module" title="Permalink to this headline"></a></h2>
 </section>
 <section id="module-src">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src" title="Permalink to this heading"></a></h2>
+<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/Jinja2-3.1.2.dist-info/LICENSE.html b/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/Jinja2-3.1.2.dist-info/LICENSE.html
index 53f55a76..3ae8f93e 100644
--- a/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/Jinja2-3.1.2.dist-info/LICENSE.html
+++ b/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/Jinja2-3.1.2.dist-info/LICENSE.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/_site/venv/lib/python3.8/site-packages/Jinja2-3.1.2.dist-info/LICENSE.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/MarkupSafe-2.1.2.dist-info/LICENSE.html b/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/MarkupSafe-2.1.2.dist-info/LICENSE.html
index 0ec71a2c..b90f78ae 100644
--- a/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/MarkupSafe-2.1.2.dist-info/LICENSE.html
+++ b/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/MarkupSafe-2.1.2.dist-info/LICENSE.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/_site/venv/lib/python3.8/site-packages/MarkupSafe-2.1.2.dist-info/LICENSE.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/idna-3.4.dist-info/LICENSE.html b/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/idna-3.4.dist-info/LICENSE.html
index 12e47d2c..acb8fe5a 100644
--- a/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/idna-3.4.dist-info/LICENSE.html
+++ b/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/idna-3.4.dist-info/LICENSE.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/_site/venv/lib/python3.8/site-packages/idna-3.4.dist-info/LICENSE.md.txt" rel="nofollow"> View page source</a>
diff --git a/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html b/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html
index 1b61ef4f..5d601593 100644
--- a/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html
+++ b/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>The MIT License (MIT) &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">The MIT License (MIT)</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/_site/venv/lib/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.rst.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="the-mit-license-mit">
-<h1>The MIT License (MIT)<a class="headerlink" href="#the-mit-license-mit" title="Permalink to this heading"></a></h1>
+<h1>The MIT License (MIT)<a class="headerlink" href="#the-mit-license-mit" title="Permalink to this headline"></a></h1>
 <p>Copyright © 2016 Yoshiki Shibukawa</p>
 <p>Permission is hereby granted, free of charge, to any person obtaining a copy of this software
 and associated documentation files (the “Software”), to deal in the Software without restriction,
diff --git a/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/container/README.html b/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/container/README.html
index d0acf50c..d944d70c 100644
--- a/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/container/README.html
+++ b/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/container/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-container &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-container</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../_sources/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/container/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-container">
-<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-container"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-container/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-container"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-container.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-container?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-container/master.svg?style=flat" /></a></p>
@@ -98,17 +95,17 @@ <h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" tit
 <p>Markup is the same as for <a class="reference external" href="http://spec.commonmark.org/0.18/#fenced-code-blocks">fenced code blocks</a>.
 Difference is, that marker use another character and content is rendered as markdown markup.</p>
 <section id="installation">
-<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h2>
+<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
-$<span class="w"> </span>bower<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$ npm install markdown-it-container --save
+$ bower install markdown-it-container --save
 </pre></div>
 </div>
 </section>
 <section id="api">
-<h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
-<span class="w">            </span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span><span class="w"> </span><span class="nx">name</span><span class="w"> </span><span class="p">[,</span><span class="w"> </span><span class="nx">options</span><span class="p">]);</span>
+<h2>API<a class="headerlink" href="#api" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="nx">name</span> <span class="p">[,</span> <span class="nx">options</span><span class="p">]);</span>
 </pre></div>
 </div>
 <p>Params:</p>
@@ -125,27 +122,27 @@ <h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="example">
-<h2>Example<a class="headerlink" href="#example" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
+<h2>Example<a class="headerlink" href="#example" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
 
-<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span><span class="w"> </span><span class="s1">&#39;spoiler&#39;</span><span class="p">,</span><span class="w"> </span><span class="p">{</span>
+<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="s1">&#39;spoiler&#39;</span><span class="p">,</span> <span class="p">{</span>
 
-<span class="w">  </span><span class="nx">validate</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="k">return</span><span class="w"> </span><span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
-<span class="w">  </span><span class="p">},</span>
+  <span class="nx">validate</span><span class="o">:</span> <span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span> <span class="p">{</span>
+    <span class="k">return</span> <span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="p">},</span>
 
-<span class="w">  </span><span class="nx">render</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">,</span><span class="w"> </span><span class="nx">idx</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="kd">var</span><span class="w"> </span><span class="nx">m</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="nx">render</span><span class="o">:</span> <span class="kd">function</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">,</span> <span class="nx">idx</span><span class="p">)</span> <span class="p">{</span>
+    <span class="kd">var</span> <span class="nx">m</span> <span class="o">=</span> <span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
 
-<span class="w">    </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span><span class="w"> </span><span class="o">===</span><span class="w"> </span><span class="mf">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// opening tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
+    <span class="k">if</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span> <span class="o">===</span> <span class="mf">1</span><span class="p">)</span> <span class="p">{</span>
+      <span class="c1">// opening tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span> <span class="o">+</span> <span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span> <span class="o">+</span> <span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
 
-<span class="w">    </span><span class="p">}</span><span class="w"> </span><span class="k">else</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// closing tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
-<span class="w">    </span><span class="p">}</span>
-<span class="w">  </span><span class="p">}</span>
+    <span class="p">}</span> <span class="k">else</span> <span class="p">{</span>
+      <span class="c1">// closing tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
+    <span class="p">}</span>
+  <span class="p">}</span>
 <span class="p">});</span>
 
 <span class="nx">console</span><span class="p">.</span><span class="nx">log</span><span class="p">(</span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;::: spoiler click me\n*content*\n:::\n&#39;</span><span class="p">));</span>
@@ -159,7 +156,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headin
 </div>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-container/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html b/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html
index d721f777..4c58735f 100644
--- a/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html
+++ b/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-deflist &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-deflist</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../_sources/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-deflist">
-<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-deflist"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-deflist"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-deflist.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-deflist?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a></p>
@@ -84,17 +81,17 @@ <h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="
 <p><strong>v2.+ requires <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> v5.+, see changelog.</strong></p>
 <p>Syntax is based on <a class="reference external" href="http://johnmacfarlane.net/pandoc/README.html#definition-lists">pandoc definition lists</a>.</p>
 <section id="install">
-<h2>Install<a class="headerlink" href="#install" title="Permalink to this heading"></a></h2>
+<h2>Install<a class="headerlink" href="#install" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
-bower<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm install markdown-it-deflist --save
+bower install markdown-it-deflist --save
 </pre></div>
 </div>
 </section>
 <section id="use">
-<h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
-<span class="w">            </span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
+<h2>Use<a class="headerlink" href="#use" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="cm">/*...*/</span><span class="p">);</span>
 </pre></div>
@@ -103,7 +100,7 @@ <h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></
 package system, module will add itself globally as <code class="docutils literal notranslate"><span class="pre">window.markdownitDeflist</span></code>.</p>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-deflist/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html b/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html
index f8824e70..afc19a3c 100644
--- a/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html
+++ b/docs_src/_build/html/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-texmath &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-texmath</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../_sources/_site/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.md.txt" rel="nofollow"> View page source</a>
@@ -77,10 +74,10 @@
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/v/markdown-it-texmath.svg" /></a>
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/dt/markdown-it-texmath.svg" /></a></p>
 <section id="markdown-it-texmath">
-<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this headline"></a></h1>
 <p>Add TeX math equations to your Markdown documents rendered by <a class="reference external" href="https://github.com/markdown-it/markdown-it">markdown-it</a> parser. <a class="reference external" href="https://github.com/Khan/KaTeX">KaTeX</a> is used as a fast math renderer.</p>
 <section id="features">
-<h2>Features<a class="headerlink" href="#features" title="Permalink to this heading"></a></h2>
+<h2>Features<a class="headerlink" href="#features" title="Permalink to this headline"></a></h2>
 <p>Simplify the process of authoring markdown documents containing math formulas.
 This extension is a comfortable tool for scientists, engineers and students with markdown as their first choice document format.</p>
 <ul class="simple">
@@ -129,27 +126,27 @@ <h2>Features<a class="headerlink" href="#features" title="Permalink to this head
 </ul>
 </section>
 <section id="show-me">
-<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this heading"></a></h2>
+<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this headline"></a></h2>
 <p>View a <a class="reference external" href="https://goessner.github.io/markdown-it-texmath/index.html">test table</a>.</p>
 <p><a class="reference external" href="https://goessner.github.io/markdown-it-texmath/markdown-it-texmath-demo.html">try it out …</a></p>
 </section>
 <section id="use-with-node-js">
-<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this heading"></a></h2>
+<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this headline"></a></h2>
 <p>Install the extension. Verify having <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> and <code class="docutils literal notranslate"><span class="pre">katex</span></code> already installed .</p>
 <div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">npm</span> <span class="n">install</span> <span class="n">markdown</span><span class="o">-</span><span class="n">it</span><span class="o">-</span><span class="n">texmath</span>
 </pre></div>
 </div>
 <p>Use it with JavaScript.</p>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span><span class="w"> </span><span class="nx">kt</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span> <span class="nx">kt</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
+    <span class="nx">tm</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
+    <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity \(e^{i\pi}+1=0\) is a beautiful formula in $\\RR 2$.&#39;</span><span class="p">)</span>
 </pre></div>
 </div>
 </section>
 <section id="use-in-browser">
-<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this heading"></a></h2>
+<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this headline"></a></h2>
 <div class="highlight-html notranslate"><div class="highlight"><pre><span></span><span class="p">&lt;</span><span class="nt">html</span><span class="p">&gt;</span>
 <span class="p">&lt;</span><span class="nt">head</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">meta</span> <span class="na">charset</span><span class="o">=</span><span class="s">&#39;utf-8&#39;</span><span class="p">&gt;</span>
@@ -162,20 +159,20 @@ <h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink
 <span class="p">&lt;</span><span class="nt">body</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">div</span> <span class="na">id</span><span class="o">=</span><span class="s">&quot;out&quot;</span><span class="p">&gt;&lt;/</span><span class="nt">div</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">script</span><span class="p">&gt;</span>
-<span class="w">    </span><span class="kd">let</span><span class="w"> </span><span class="nx">md</span><span class="p">;</span>
-<span class="w">    </span><span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span><span class="w"> </span><span class="p">()</span><span class="w"> </span><span class="p">=&gt;</span><span class="w"> </span><span class="p">{</span>
-<span class="w">        </span><span class="kd">const</span><span class="w"> </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
-<span class="w">        </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
-<span class="w">        </span><span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
-<span class="w">    </span><span class="p">})</span>
-<span class="w">  </span><span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
+    <span class="kd">let</span> <span class="nx">md</span><span class="p">;</span>
+    <span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span> <span class="p">()</span> <span class="p">=&gt;</span> <span class="p">{</span>
+        <span class="kd">const</span> <span class="nx">tm</span> <span class="o">=</span> <span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
+        <span class="nx">md</span> <span class="o">=</span> <span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+        <span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span> <span class="o">=</span> <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
+    <span class="p">})</span>
+  <span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">body</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">html</span><span class="p">&gt;</span>
 </pre></div>
 </div>
 </section>
 <section id="cdn">
-<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></a></h2>
+<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this headline"></a></h2>
 <p>Use following links for <code class="docutils literal notranslate"><span class="pre">texmath.js</span></code> and <code class="docutils literal notranslate"><span class="pre">texmath.css</span></code></p>
 <ul class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">https://gitcdn.xyz/cdn/goessner/markdown-it-texmath/master/texmath.js</span></code></p></li>
@@ -183,18 +180,18 @@ <h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="dependencies">
-<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this heading"></a></h2>
+<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><a class="reference external" href="https://github.com/markdown-it/markdown-it"><code class="docutils literal notranslate"><span class="pre">markdown-it</span></code></a>: Markdown parser done right. Fast and easy to extend.</p></li>
 <li><p><a class="reference external" href="https://github.com/Khan/KaTeX"><code class="docutils literal notranslate"><span class="pre">katex</span></code></a>: This is where credits for fast rendering TeX math in HTML go to.</p></li>
 </ul>
 </section>
 <section id="todo">
-<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this heading"></a></h2>
+<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this headline"></a></h2>
 <p>nothing yet</p>
 </section>
 <section id="faq">
-<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></a></h2>
+<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> with React Native does not work, why ?</strong></p>
 <ul>
@@ -204,66 +201,66 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="changelog">
-<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this heading"></a></h2>
+<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this headline"></a></h2>
 <section id="on-october-04-2019">
-<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://docs.julialang.org/en/v1/stdlib/Markdown/">Julia Markdown</a> on <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/15">request</a>.</p></li>
 </ul>
 </section>
 <section id="on-february-07-2019">
-<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">rendering bug with brackets delimiters</a>.</p></li>
 </ul>
 </section>
 <section id="on-january-20-2019">
-<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove pathological <a class="reference external" href="https://github.com/goessner/mdmath/issues/50">bug within blockquotes</a>.</p></li>
 </ul>
 </section>
 <section id="on-november-11-2018">
-<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for Tex macros (https://katex.org/docs/supported.html#macros) .</p></li>
 <li><p>Bug with <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">brackets delimiters</a> .</p></li>
 </ul>
 </section>
 <section id="on-september-07-2018">
-<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://kramdown.gettalong.org/">Kramdown</a> .</p></li>
 </ul>
 </section>
 <section id="on-august-15-2018">
-<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Fatal blockquote bug investigated. Implemented workaround to vscode bug, which has finally gone with vscode 1.26.0 .</p></li>
 </ul>
 </section>
 <section id="on-january-05-2018">
-<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Escaped underscore bug removed.</p></li>
 </ul>
 </section>
 <section id="on-november-06-2017">
-<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Backslash bug removed.</p></li>
 </ul>
 </section>
 <section id="on-september-27-2017">
-<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Modifying the <code class="docutils literal notranslate"><span class="pre">block</span></code> mode regular expression with <code class="docutils literal notranslate"><span class="pre">gitlab</span></code> delimiters, so removing the <code class="docutils literal notranslate"><span class="pre">newline</span></code> bug.</p></li>
 </ul>
 </section>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
-<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <a class="reference internal" href="#./license.txt"><span class="xref myst">MIT License</span></a></p>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
+<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <span class="xref myst">MIT License</span></p>
 <p>© <a class="reference external" href="https://github.com/goessner">Stefan Gössner</a></p>
 </section>
 </section>
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+            <a href="../../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
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+            <a href="../../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
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+            <a href="../../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
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     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/idna-3.4.dist-info/LICENSE.md.txt" rel="nofollow"> View page source</a>
diff --git a/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html b/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html
index f405e3aa..8a7abb22 100644
--- a/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html
+++ b/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>The MIT License (MIT) &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">The MIT License (MIT)</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/imagesize-1.4.1.dist-info/LICENSE.rst.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="the-mit-license-mit">
-<h1>The MIT License (MIT)<a class="headerlink" href="#the-mit-license-mit" title="Permalink to this heading"></a></h1>
+<h1>The MIT License (MIT)<a class="headerlink" href="#the-mit-license-mit" title="Permalink to this headline"></a></h1>
 <p>Copyright © 2016 Yoshiki Shibukawa</p>
 <p>Permission is hereby granted, free of charge, to any person obtaining a copy of this software
 and associated documentation files (the “Software”), to deal in the Software without restriction,
diff --git a/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/container/README.html b/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/container/README.html
index 9bc2c7a3..eb67c28f 100644
--- a/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/container/README.html
+++ b/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/container/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-container &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-container</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/container/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-container">
-<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-container"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-container/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-container"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-container.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-container?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-container/master.svg?style=flat" /></a></p>
@@ -98,17 +95,17 @@ <h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" tit
 <p>Markup is the same as for <a class="reference external" href="http://spec.commonmark.org/0.18/#fenced-code-blocks">fenced code blocks</a>.
 Difference is, that marker use another character and content is rendered as markdown markup.</p>
 <section id="installation">
-<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h2>
+<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
-$<span class="w"> </span>bower<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$ npm install markdown-it-container --save
+$ bower install markdown-it-container --save
 </pre></div>
 </div>
 </section>
 <section id="api">
-<h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
-<span class="w">            </span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span><span class="w"> </span><span class="nx">name</span><span class="w"> </span><span class="p">[,</span><span class="w"> </span><span class="nx">options</span><span class="p">]);</span>
+<h2>API<a class="headerlink" href="#api" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="nx">name</span> <span class="p">[,</span> <span class="nx">options</span><span class="p">]);</span>
 </pre></div>
 </div>
 <p>Params:</p>
@@ -125,27 +122,27 @@ <h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="example">
-<h2>Example<a class="headerlink" href="#example" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
+<h2>Example<a class="headerlink" href="#example" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
 
-<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span><span class="w"> </span><span class="s1">&#39;spoiler&#39;</span><span class="p">,</span><span class="w"> </span><span class="p">{</span>
+<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="s1">&#39;spoiler&#39;</span><span class="p">,</span> <span class="p">{</span>
 
-<span class="w">  </span><span class="nx">validate</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="k">return</span><span class="w"> </span><span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
-<span class="w">  </span><span class="p">},</span>
+  <span class="nx">validate</span><span class="o">:</span> <span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span> <span class="p">{</span>
+    <span class="k">return</span> <span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="p">},</span>
 
-<span class="w">  </span><span class="nx">render</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">,</span><span class="w"> </span><span class="nx">idx</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="kd">var</span><span class="w"> </span><span class="nx">m</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="nx">render</span><span class="o">:</span> <span class="kd">function</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">,</span> <span class="nx">idx</span><span class="p">)</span> <span class="p">{</span>
+    <span class="kd">var</span> <span class="nx">m</span> <span class="o">=</span> <span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
 
-<span class="w">    </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span><span class="w"> </span><span class="o">===</span><span class="w"> </span><span class="mf">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// opening tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
+    <span class="k">if</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span> <span class="o">===</span> <span class="mf">1</span><span class="p">)</span> <span class="p">{</span>
+      <span class="c1">// opening tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span> <span class="o">+</span> <span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span> <span class="o">+</span> <span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
 
-<span class="w">    </span><span class="p">}</span><span class="w"> </span><span class="k">else</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// closing tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
-<span class="w">    </span><span class="p">}</span>
-<span class="w">  </span><span class="p">}</span>
+    <span class="p">}</span> <span class="k">else</span> <span class="p">{</span>
+      <span class="c1">// closing tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
+    <span class="p">}</span>
+  <span class="p">}</span>
 <span class="p">});</span>
 
 <span class="nx">console</span><span class="p">.</span><span class="nx">log</span><span class="p">(</span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;::: spoiler click me\n*content*\n:::\n&#39;</span><span class="p">));</span>
@@ -159,7 +156,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headin
 </div>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-container/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html b/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html
index 7b3ccaff..3e35366f 100644
--- a/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html
+++ b/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-deflist &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-deflist</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-deflist">
-<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-deflist"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-deflist"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-deflist.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-deflist?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a></p>
@@ -84,17 +81,17 @@ <h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="
 <p><strong>v2.+ requires <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> v5.+, see changelog.</strong></p>
 <p>Syntax is based on <a class="reference external" href="http://johnmacfarlane.net/pandoc/README.html#definition-lists">pandoc definition lists</a>.</p>
 <section id="install">
-<h2>Install<a class="headerlink" href="#install" title="Permalink to this heading"></a></h2>
+<h2>Install<a class="headerlink" href="#install" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
-bower<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm install markdown-it-deflist --save
+bower install markdown-it-deflist --save
 </pre></div>
 </div>
 </section>
 <section id="use">
-<h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
-<span class="w">            </span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
+<h2>Use<a class="headerlink" href="#use" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="cm">/*...*/</span><span class="p">);</span>
 </pre></div>
@@ -103,7 +100,7 @@ <h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></
 package system, module will add itself globally as <code class="docutils literal notranslate"><span class="pre">window.markdownitDeflist</span></code>.</p>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-deflist/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html b/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html
index bd46d39a..974b0939 100644
--- a/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html
+++ b/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-texmath &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-texmath</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.md.txt" rel="nofollow"> View page source</a>
@@ -77,10 +74,10 @@
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/v/markdown-it-texmath.svg" /></a>
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/dt/markdown-it-texmath.svg" /></a></p>
 <section id="markdown-it-texmath">
-<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this headline"></a></h1>
 <p>Add TeX math equations to your Markdown documents rendered by <a class="reference external" href="https://github.com/markdown-it/markdown-it">markdown-it</a> parser. <a class="reference external" href="https://github.com/Khan/KaTeX">KaTeX</a> is used as a fast math renderer.</p>
 <section id="features">
-<h2>Features<a class="headerlink" href="#features" title="Permalink to this heading"></a></h2>
+<h2>Features<a class="headerlink" href="#features" title="Permalink to this headline"></a></h2>
 <p>Simplify the process of authoring markdown documents containing math formulas.
 This extension is a comfortable tool for scientists, engineers and students with markdown as their first choice document format.</p>
 <ul class="simple">
@@ -129,27 +126,27 @@ <h2>Features<a class="headerlink" href="#features" title="Permalink to this head
 </ul>
 </section>
 <section id="show-me">
-<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this heading"></a></h2>
+<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this headline"></a></h2>
 <p>View a <a class="reference external" href="https://goessner.github.io/markdown-it-texmath/index.html">test table</a>.</p>
 <p><a class="reference external" href="https://goessner.github.io/markdown-it-texmath/markdown-it-texmath-demo.html">try it out …</a></p>
 </section>
 <section id="use-with-node-js">
-<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this heading"></a></h2>
+<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this headline"></a></h2>
 <p>Install the extension. Verify having <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> and <code class="docutils literal notranslate"><span class="pre">katex</span></code> already installed .</p>
 <div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">npm</span> <span class="n">install</span> <span class="n">markdown</span><span class="o">-</span><span class="n">it</span><span class="o">-</span><span class="n">texmath</span>
 </pre></div>
 </div>
 <p>Use it with JavaScript.</p>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span><span class="w"> </span><span class="nx">kt</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span> <span class="nx">kt</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
+    <span class="nx">tm</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
+    <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity \(e^{i\pi}+1=0\) is a beautiful formula in $\\RR 2$.&#39;</span><span class="p">)</span>
 </pre></div>
 </div>
 </section>
 <section id="use-in-browser">
-<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this heading"></a></h2>
+<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this headline"></a></h2>
 <div class="highlight-html notranslate"><div class="highlight"><pre><span></span><span class="p">&lt;</span><span class="nt">html</span><span class="p">&gt;</span>
 <span class="p">&lt;</span><span class="nt">head</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">meta</span> <span class="na">charset</span><span class="o">=</span><span class="s">&#39;utf-8&#39;</span><span class="p">&gt;</span>
@@ -162,20 +159,20 @@ <h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink
 <span class="p">&lt;</span><span class="nt">body</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">div</span> <span class="na">id</span><span class="o">=</span><span class="s">&quot;out&quot;</span><span class="p">&gt;&lt;/</span><span class="nt">div</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">script</span><span class="p">&gt;</span>
-<span class="w">    </span><span class="kd">let</span><span class="w"> </span><span class="nx">md</span><span class="p">;</span>
-<span class="w">    </span><span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span><span class="w"> </span><span class="p">()</span><span class="w"> </span><span class="p">=&gt;</span><span class="w"> </span><span class="p">{</span>
-<span class="w">        </span><span class="kd">const</span><span class="w"> </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
-<span class="w">        </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
-<span class="w">        </span><span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
-<span class="w">    </span><span class="p">})</span>
-<span class="w">  </span><span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
+    <span class="kd">let</span> <span class="nx">md</span><span class="p">;</span>
+    <span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span> <span class="p">()</span> <span class="p">=&gt;</span> <span class="p">{</span>
+        <span class="kd">const</span> <span class="nx">tm</span> <span class="o">=</span> <span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
+        <span class="nx">md</span> <span class="o">=</span> <span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+        <span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span> <span class="o">=</span> <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
+    <span class="p">})</span>
+  <span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">body</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">html</span><span class="p">&gt;</span>
 </pre></div>
 </div>
 </section>
 <section id="cdn">
-<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></a></h2>
+<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this headline"></a></h2>
 <p>Use following links for <code class="docutils literal notranslate"><span class="pre">texmath.js</span></code> and <code class="docutils literal notranslate"><span class="pre">texmath.css</span></code></p>
 <ul class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">https://gitcdn.xyz/cdn/goessner/markdown-it-texmath/master/texmath.js</span></code></p></li>
@@ -183,18 +180,18 @@ <h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="dependencies">
-<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this heading"></a></h2>
+<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><a class="reference external" href="https://github.com/markdown-it/markdown-it"><code class="docutils literal notranslate"><span class="pre">markdown-it</span></code></a>: Markdown parser done right. Fast and easy to extend.</p></li>
 <li><p><a class="reference external" href="https://github.com/Khan/KaTeX"><code class="docutils literal notranslate"><span class="pre">katex</span></code></a>: This is where credits for fast rendering TeX math in HTML go to.</p></li>
 </ul>
 </section>
 <section id="todo">
-<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this heading"></a></h2>
+<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this headline"></a></h2>
 <p>nothing yet</p>
 </section>
 <section id="faq">
-<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></a></h2>
+<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> with React Native does not work, why ?</strong></p>
 <ul>
@@ -204,66 +201,66 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="changelog">
-<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this heading"></a></h2>
+<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this headline"></a></h2>
 <section id="on-october-04-2019">
-<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://docs.julialang.org/en/v1/stdlib/Markdown/">Julia Markdown</a> on <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/15">request</a>.</p></li>
 </ul>
 </section>
 <section id="on-february-07-2019">
-<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">rendering bug with brackets delimiters</a>.</p></li>
 </ul>
 </section>
 <section id="on-january-20-2019">
-<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove pathological <a class="reference external" href="https://github.com/goessner/mdmath/issues/50">bug within blockquotes</a>.</p></li>
 </ul>
 </section>
 <section id="on-november-11-2018">
-<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for Tex macros (https://katex.org/docs/supported.html#macros) .</p></li>
 <li><p>Bug with <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">brackets delimiters</a> .</p></li>
 </ul>
 </section>
 <section id="on-september-07-2018">
-<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://kramdown.gettalong.org/">Kramdown</a> .</p></li>
 </ul>
 </section>
 <section id="on-august-15-2018">
-<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Fatal blockquote bug investigated. Implemented workaround to vscode bug, which has finally gone with vscode 1.26.0 .</p></li>
 </ul>
 </section>
 <section id="on-january-05-2018">
-<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Escaped underscore bug removed.</p></li>
 </ul>
 </section>
 <section id="on-november-06-2017">
-<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Backslash bug removed.</p></li>
 </ul>
 </section>
 <section id="on-september-27-2017">
-<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Modifying the <code class="docutils literal notranslate"><span class="pre">block</span></code> mode regular expression with <code class="docutils literal notranslate"><span class="pre">gitlab</span></code> delimiters, so removing the <code class="docutils literal notranslate"><span class="pre">newline</span></code> bug.</p></li>
 </ul>
 </section>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
-<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <a class="reference internal" href="#./license.txt"><span class="xref myst">MIT License</span></a></p>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
+<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <span class="xref myst">MIT License</span></p>
 <p>© <a class="reference external" href="https://github.com/goessner">Stefan Gössner</a></p>
 </section>
 </section>
diff --git a/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html b/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
index 8efedf55..1081b73e 100644
--- a/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
+++ b/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html b/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html
index 77481319..e0528f40 100644
--- a/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html
+++ b/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html b/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html
index e93857db..a7591151 100644
--- a/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html
+++ b/docs_src/_build/html/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../../../../_sources/_site/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs_src/_build/html/_sources/index.rst.txt b/docs_src/_build/html/_sources/index.rst.txt
index 44793619..659d919a 100644
--- a/docs_src/_build/html/_sources/index.rst.txt
+++ b/docs_src/_build/html/_sources/index.rst.txt
@@ -4,7 +4,7 @@ Welcome to the Social Gym 2.0 documentation!
 .. (Find the GitHub link at https://github.com/ut-amrl/social_gym https://obj.umiacs.umd.edu/badue-accepted/sim_demo.gif)
 
 
-.. image:: https://drive.google.com/uc?id=1-mdW21SIJiF4LUlxGxQClDlZhd5iHUDP
+.. image:: https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_sim.gif 
   :width: 400
   :align: center
 
diff --git a/docs_src/_build/html/_static/basic.css b/docs_src/_build/html/_static/basic.css
index 7577acb1..603f6a87 100644
--- a/docs_src/_build/html/_static/basic.css
+++ b/docs_src/_build/html/_static/basic.css
@@ -4,7 +4,7 @@
  *
  * Sphinx stylesheet -- basic theme.
  *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS.
  * :license: BSD, see LICENSE for details.
  *
  */
@@ -222,7 +222,7 @@ table.modindextable td {
 /* -- general body styles --------------------------------------------------- */
 
 div.body {
-    min-width: 360px;
+    min-width: 450px;
     max-width: 800px;
 }
 
@@ -237,6 +237,16 @@ a.headerlink {
     visibility: hidden;
 }
 
+a.brackets:before,
+span.brackets > a:before{
+    content: "[";
+}
+
+a.brackets:after,
+span.brackets > a:after {
+    content: "]";
+}
+
 h1:hover > a.headerlink,
 h2:hover > a.headerlink,
 h3:hover > a.headerlink,
@@ -325,16 +335,12 @@ p.sidebar-title {
     font-weight: bold;
 }
 
-nav.contents,
-aside.topic,
 div.admonition, div.topic, blockquote {
     clear: left;
 }
 
 /* -- topics ---------------------------------------------------------------- */
 
-nav.contents,
-aside.topic,
 div.topic {
     border: 1px solid #ccc;
     padding: 7px;
@@ -373,8 +379,6 @@ div.body p.centered {
 
 div.sidebar > :last-child,
 aside.sidebar > :last-child,
-nav.contents > :last-child,
-aside.topic > :last-child,
 div.topic > :last-child,
 div.admonition > :last-child {
     margin-bottom: 0;
@@ -382,8 +386,6 @@ div.admonition > :last-child {
 
 div.sidebar::after,
 aside.sidebar::after,
-nav.contents::after,
-aside.topic::after,
 div.topic::after,
 div.admonition::after,
 blockquote::after {
@@ -426,6 +428,10 @@ table.docutils td, table.docutils th {
     border-bottom: 1px solid #aaa;
 }
 
+table.footnote td, table.footnote th {
+    border: 0 !important;
+}
+
 th {
     text-align: left;
     padding-right: 5px;
@@ -609,26 +615,19 @@ ul.simple p {
     margin-bottom: 0;
 }
 
-aside.footnote > span,
-div.citation > span {
+dl.footnote > dt,
+dl.citation > dt {
     float: left;
+    margin-right: 0.5em;
 }
-aside.footnote > span:last-of-type,
-div.citation > span:last-of-type {
-  padding-right: 0.5em;
-}
-aside.footnote > p {
-  margin-left: 2em;
-}
-div.citation > p {
-  margin-left: 4em;
-}
-aside.footnote > p:last-of-type,
-div.citation > p:last-of-type {
+
+dl.footnote > dd,
+dl.citation > dd {
     margin-bottom: 0em;
 }
-aside.footnote > p:last-of-type:after,
-div.citation > p:last-of-type:after {
+
+dl.footnote > dd:after,
+dl.citation > dd:after {
     content: "";
     clear: both;
 }
@@ -645,6 +644,10 @@ dl.field-list > dt {
     padding-right: 5px;
 }
 
+dl.field-list > dt:after {
+    content: ":";
+}
+
 dl.field-list > dd {
     padding-left: 0.5em;
     margin-top: 0em;
@@ -754,7 +757,6 @@ span.pre {
     -ms-hyphens: none;
     -webkit-hyphens: none;
     hyphens: none;
-    white-space: nowrap;
 }
 
 div[class*="highlight-"] {
diff --git a/docs_src/_build/html/_static/css/theme.css b/docs_src/_build/html/_static/css/theme.css
index c03c88f0..09a1af86 100644
--- a/docs_src/_build/html/_static/css/theme.css
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format("woff2"),url(fonts/Roboto-Slab-Bold.woff?bed5564a116b05148e3b3bea6fb1162a) format("woff");font-display:block}
\ No newline at end of file
diff --git a/docs_src/_build/html/_static/doctools.js b/docs_src/_build/html/_static/doctools.js
index d06a71d7..8cbf1b16 100644
--- a/docs_src/_build/html/_static/doctools.js
+++ b/docs_src/_build/html/_static/doctools.js
@@ -2,155 +2,322 @@
  * doctools.js
  * ~~~~~~~~~~~
  *
- * Base JavaScript utilities for all Sphinx HTML documentation.
+ * Sphinx JavaScript utilities for all documentation.
  *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS.
  * :license: BSD, see LICENSE for details.
  *
  */
-"use strict";
-
-const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([
-  "TEXTAREA",
-  "INPUT",
-  "SELECT",
-  "BUTTON",
-]);
-
-const _ready = (callback) => {
-  if (document.readyState !== "loading") {
-    callback();
-  } else {
-    document.addEventListener("DOMContentLoaded", callback);
+
+/**
+ * select a different prefix for underscore
+ */
+$u = _.noConflict();
+
+/**
+ * make the code below compatible with browsers without
+ * an installed firebug like debugger
+if (!window.console || !console.firebug) {
+  var names = ["log", "debug", "info", "warn", "error", "assert", "dir",
+    "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace",
+    "profile", "profileEnd"];
+  window.console = {};
+  for (var i = 0; i < names.length; ++i)
+    window.console[names[i]] = function() {};
+}
+ */
+
+/**
+ * small helper function to urldecode strings
+ *
+ * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL
+ */
+jQuery.urldecode = function(x) {
+  if (!x) {
+    return x
+  }
+  return decodeURIComponent(x.replace(/\+/g, ' '));
+};
+
+/**
+ * small helper function to urlencode strings
+ */
+jQuery.urlencode = encodeURIComponent;
+
+/**
+ * This function returns the parsed url parameters of the
+ * current request. Multiple values per key are supported,
+ * it will always return arrays of strings for the value parts.
+ */
+jQuery.getQueryParameters = function(s) {
+  if (typeof s === 'undefined')
+    s = document.location.search;
+  var parts = s.substr(s.indexOf('?') + 1).split('&');
+  var result = {};
+  for (var i = 0; i < parts.length; i++) {
+    var tmp = parts[i].split('=', 2);
+    var key = jQuery.urldecode(tmp[0]);
+    var value = jQuery.urldecode(tmp[1]);
+    if (key in result)
+      result[key].push(value);
+    else
+      result[key] = [value];
   }
+  return result;
 };
 
+/**
+ * highlight a given string on a jquery object by wrapping it in
+ * span elements with the given class name.
+ */
+jQuery.fn.highlightText = function(text, className) {
+  function highlight(node, addItems) {
+    if (node.nodeType === 3) {
+      var val = node.nodeValue;
+      var pos = val.toLowerCase().indexOf(text);
+      if (pos >= 0 &&
+          !jQuery(node.parentNode).hasClass(className) &&
+          !jQuery(node.parentNode).hasClass("nohighlight")) {
+        var span;
+        var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg");
+        if (isInSVG) {
+          span = document.createElementNS("http://www.w3.org/2000/svg", "tspan");
+        } else {
+          span = document.createElement("span");
+          span.className = className;
+        }
+        span.appendChild(document.createTextNode(val.substr(pos, text.length)));
+        node.parentNode.insertBefore(span, node.parentNode.insertBefore(
+          document.createTextNode(val.substr(pos + text.length)),
+          node.nextSibling));
+        node.nodeValue = val.substr(0, pos);
+        if (isInSVG) {
+          var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect");
+          var bbox = node.parentElement.getBBox();
+          rect.x.baseVal.value = bbox.x;
+          rect.y.baseVal.value = bbox.y;
+          rect.width.baseVal.value = bbox.width;
+          rect.height.baseVal.value = bbox.height;
+          rect.setAttribute('class', className);
+          addItems.push({
+              "parent": node.parentNode,
+              "target": rect});
+        }
+      }
+    }
+    else if (!jQuery(node).is("button, select, textarea")) {
+      jQuery.each(node.childNodes, function() {
+        highlight(this, addItems);
+      });
+    }
+  }
+  var addItems = [];
+  var result = this.each(function() {
+    highlight(this, addItems);
+  });
+  for (var i = 0; i < addItems.length; ++i) {
+    jQuery(addItems[i].parent).before(addItems[i].target);
+  }
+  return result;
+};
+
+/*
+ * backward compatibility for jQuery.browser
+ * This will be supported until firefox bug is fixed.
+ */
+if (!jQuery.browser) {
+  jQuery.uaMatch = function(ua) {
+    ua = ua.toLowerCase();
+
+    var match = /(chrome)[ \/]([\w.]+)/.exec(ua) ||
+      /(webkit)[ \/]([\w.]+)/.exec(ua) ||
+      /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) ||
+      /(msie) ([\w.]+)/.exec(ua) ||
+      ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) ||
+      [];
+
+    return {
+      browser: match[ 1 ] || "",
+      version: match[ 2 ] || "0"
+    };
+  };
+  jQuery.browser = {};
+  jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true;
+}
+
 /**
  * Small JavaScript module for the documentation.
  */
-const Documentation = {
-  init: () => {
-    Documentation.initDomainIndexTable();
-    Documentation.initOnKeyListeners();
+var Documentation = {
+
+  init : function() {
+    this.fixFirefoxAnchorBug();
+    this.highlightSearchWords();
+    this.initIndexTable();
+    if (DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) {
+      this.initOnKeyListeners();
+    }
   },
 
   /**
    * i18n support
    */
-  TRANSLATIONS: {},
-  PLURAL_EXPR: (n) => (n === 1 ? 0 : 1),
-  LOCALE: "unknown",
+  TRANSLATIONS : {},
+  PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; },
+  LOCALE : 'unknown',
 
   // gettext and ngettext don't access this so that the functions
   // can safely bound to a different name (_ = Documentation.gettext)
-  gettext: (string) => {
-    const translated = Documentation.TRANSLATIONS[string];
-    switch (typeof translated) {
-      case "undefined":
-        return string; // no translation
-      case "string":
-        return translated; // translation exists
-      default:
-        return translated[0]; // (singular, plural) translation tuple exists
-    }
+  gettext : function(string) {
+    var translated = Documentation.TRANSLATIONS[string];
+    if (typeof translated === 'undefined')
+      return string;
+    return (typeof translated === 'string') ? translated : translated[0];
   },
 
-  ngettext: (singular, plural, n) => {
-    const translated = Documentation.TRANSLATIONS[singular];
-    if (typeof translated !== "undefined")
-      return translated[Documentation.PLURAL_EXPR(n)];
-    return n === 1 ? singular : plural;
+  ngettext : function(singular, plural, n) {
+    var translated = Documentation.TRANSLATIONS[singular];
+    if (typeof translated === 'undefined')
+      return (n == 1) ? singular : plural;
+    return translated[Documentation.PLURALEXPR(n)];
   },
 
-  addTranslations: (catalog) => {
-    Object.assign(Documentation.TRANSLATIONS, catalog.messages);
-    Documentation.PLURAL_EXPR = new Function(
-      "n",
-      `return (${catalog.plural_expr})`
-    );
-    Documentation.LOCALE = catalog.locale;
+  addTranslations : function(catalog) {
+    for (var key in catalog.messages)
+      this.TRANSLATIONS[key] = catalog.messages[key];
+    this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')');
+    this.LOCALE = catalog.locale;
   },
 
   /**
-   * helper function to focus on search bar
+   * add context elements like header anchor links
    */
-  focusSearchBar: () => {
-    document.querySelectorAll("input[name=q]")[0]?.focus();
+  addContextElements : function() {
+    $('div[id] > :header:first').each(function() {
+      $('<a class="headerlink">\u00B6</a>').
+      attr('href', '#' + this.id).
+      attr('title', _('Permalink to this headline')).
+      appendTo(this);
+    });
+    $('dt[id]').each(function() {
+      $('<a class="headerlink">\u00B6</a>').
+      attr('href', '#' + this.id).
+      attr('title', _('Permalink to this definition')).
+      appendTo(this);
+    });
   },
 
   /**
-   * Initialise the domain index toggle buttons
+   * workaround a firefox stupidity
+   * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075
    */
-  initDomainIndexTable: () => {
-    const toggler = (el) => {
-      const idNumber = el.id.substr(7);
-      const toggledRows = document.querySelectorAll(`tr.cg-${idNumber}`);
-      if (el.src.substr(-9) === "minus.png") {
-        el.src = `${el.src.substr(0, el.src.length - 9)}plus.png`;
-        toggledRows.forEach((el) => (el.style.display = "none"));
-      } else {
-        el.src = `${el.src.substr(0, el.src.length - 8)}minus.png`;
-        toggledRows.forEach((el) => (el.style.display = ""));
+  fixFirefoxAnchorBug : function() {
+    if (document.location.hash && $.browser.mozilla)
+      window.setTimeout(function() {
+        document.location.href += '';
+      }, 10);
+  },
+
+  /**
+   * highlight the search words provided in the url in the text
+   */
+  highlightSearchWords : function() {
+    var params = $.getQueryParameters();
+    var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : [];
+    if (terms.length) {
+      var body = $('div.body');
+      if (!body.length) {
+        body = $('body');
       }
-    };
+      window.setTimeout(function() {
+        $.each(terms, function() {
+          body.highlightText(this.toLowerCase(), 'highlighted');
+        });
+      }, 10);
+      $('<p class="highlight-link"><a href="javascript:Documentation.' +
+        'hideSearchWords()">' + _('Hide Search Matches') + '</a></p>')
+          .appendTo($('#searchbox'));
+    }
+  },
+
+  /**
+   * init the domain index toggle buttons
+   */
+  initIndexTable : function() {
+    var togglers = $('img.toggler').click(function() {
+      var src = $(this).attr('src');
+      var idnum = $(this).attr('id').substr(7);
+      $('tr.cg-' + idnum).toggle();
+      if (src.substr(-9) === 'minus.png')
+        $(this).attr('src', src.substr(0, src.length-9) + 'plus.png');
+      else
+        $(this).attr('src', src.substr(0, src.length-8) + 'minus.png');
+    }).css('display', '');
+    if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) {
+        togglers.click();
+    }
+  },
 
-    const togglerElements = document.querySelectorAll("img.toggler");
-    togglerElements.forEach((el) =>
-      el.addEventListener("click", (event) => toggler(event.currentTarget))
-    );
-    togglerElements.forEach((el) => (el.style.display = ""));
-    if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler);
+  /**
+   * helper function to hide the search marks again
+   */
+  hideSearchWords : function() {
+    $('#searchbox .highlight-link').fadeOut(300);
+    $('span.highlighted').removeClass('highlighted');
   },
 
-  initOnKeyListeners: () => {
-    // only install a listener if it is really needed
-    if (
-      !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS &&
-      !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS
-    )
-      return;
-
-    document.addEventListener("keydown", (event) => {
-      // bail for input elements
-      if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return;
-      // bail with special keys
-      if (event.altKey || event.ctrlKey || event.metaKey) return;
-
-      if (!event.shiftKey) {
-        switch (event.key) {
-          case "ArrowLeft":
-            if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
-
-            const prevLink = document.querySelector('link[rel="prev"]');
-            if (prevLink && prevLink.href) {
-              window.location.href = prevLink.href;
-              event.preventDefault();
+  /**
+   * make the url absolute
+   */
+  makeURL : function(relativeURL) {
+    return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL;
+  },
+
+  /**
+   * get the current relative url
+   */
+  getCurrentURL : function() {
+    var path = document.location.pathname;
+    var parts = path.split(/\//);
+    $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() {
+      if (this === '..')
+        parts.pop();
+    });
+    var url = parts.join('/');
+    return path.substring(url.lastIndexOf('/') + 1, path.length - 1);
+  },
+
+  initOnKeyListeners: function() {
+    $(document).keydown(function(event) {
+      var activeElementType = document.activeElement.tagName;
+      // don't navigate when in search box, textarea, dropdown or button
+      if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT'
+          && activeElementType !== 'BUTTON' && !event.altKey && !event.ctrlKey && !event.metaKey
+          && !event.shiftKey) {
+        switch (event.keyCode) {
+          case 37: // left
+            var prevHref = $('link[rel="prev"]').prop('href');
+            if (prevHref) {
+              window.location.href = prevHref;
+              return false;
             }
             break;
-          case "ArrowRight":
-            if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
-
-            const nextLink = document.querySelector('link[rel="next"]');
-            if (nextLink && nextLink.href) {
-              window.location.href = nextLink.href;
-              event.preventDefault();
+          case 39: // right
+            var nextHref = $('link[rel="next"]').prop('href');
+            if (nextHref) {
+              window.location.href = nextHref;
+              return false;
             }
             break;
         }
       }
-
-      // some keyboard layouts may need Shift to get /
-      switch (event.key) {
-        case "/":
-          if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) break;
-          Documentation.focusSearchBar();
-          event.preventDefault();
-      }
     });
-  },
+  }
 };
 
 // quick alias for translations
-const _ = Documentation.gettext;
+_ = Documentation.gettext;
 
-_ready(Documentation.init);
+$(document).ready(function() {
+  Documentation.init();
+});
diff --git a/docs_src/_build/html/_static/documentation_options.js b/docs_src/_build/html/_static/documentation_options.js
index b57ae3b8..2fa8c97f 100644
--- a/docs_src/_build/html/_static/documentation_options.js
+++ b/docs_src/_build/html/_static/documentation_options.js
@@ -1,14 +1,12 @@
 var DOCUMENTATION_OPTIONS = {
     URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'),
     VERSION: '',
-    LANGUAGE: 'en',
+    LANGUAGE: 'None',
     COLLAPSE_INDEX: false,
     BUILDER: 'html',
     FILE_SUFFIX: '.html',
     LINK_SUFFIX: '.html',
     HAS_SOURCE: true,
     SOURCELINK_SUFFIX: '.txt',
-    NAVIGATION_WITH_KEYS: false,
-    SHOW_SEARCH_SUMMARY: true,
-    ENABLE_SEARCH_SHORTCUTS: true,
+    NAVIGATION_WITH_KEYS: false
 };
\ No newline at end of file
diff --git a/docs_src/_build/html/_static/language_data.js b/docs_src/_build/html/_static/language_data.js
index 250f5665..863704b3 100644
--- a/docs_src/_build/html/_static/language_data.js
+++ b/docs_src/_build/html/_static/language_data.js
@@ -5,12 +5,12 @@
  * This script contains the language-specific data used by searchtools.js,
  * namely the list of stopwords, stemmer, scorer and splitter.
  *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS.
  * :license: BSD, see LICENSE for details.
  *
  */
 
-var stopwords = ["a", "and", "are", "as", "at", "be", "but", "by", "for", "if", "in", "into", "is", "it", "near", "no", "not", "of", "on", "or", "such", "that", "the", "their", "then", "there", "these", "they", "this", "to", "was", "will", "with"];
+var stopwords = ["a","and","are","as","at","be","but","by","for","if","in","into","is","it","near","no","not","of","on","or","such","that","the","their","then","there","these","they","this","to","was","will","with"];
 
 
 /* Non-minified version is copied as a separate JS file, is available */
@@ -197,3 +197,101 @@ var Stemmer = function() {
   }
 }
 
+
+
+
+var splitChars = (function() {
+    var result = {};
+    var singles = [96, 180, 187, 191, 215, 247, 749, 885, 903, 907, 909, 930, 1014, 1648,
+         1748, 1809, 2416, 2473, 2481, 2526, 2601, 2609, 2612, 2615, 2653, 2702,
+         2706, 2729, 2737, 2740, 2857, 2865, 2868, 2910, 2928, 2948, 2961, 2971,
+         2973, 3085, 3089, 3113, 3124, 3213, 3217, 3241, 3252, 3295, 3341, 3345,
+         3369, 3506, 3516, 3633, 3715, 3721, 3736, 3744, 3748, 3750, 3756, 3761,
+         3781, 3912, 4239, 4347, 4681, 4695, 4697, 4745, 4785, 4799, 4801, 4823,
+         4881, 5760, 5901, 5997, 6313, 7405, 8024, 8026, 8028, 8030, 8117, 8125,
+         8133, 8181, 8468, 8485, 8487, 8489, 8494, 8527, 11311, 11359, 11687, 11695,
+         11703, 11711, 11719, 11727, 11735, 12448, 12539, 43010, 43014, 43019, 43587,
+         43696, 43713, 64286, 64297, 64311, 64317, 64319, 64322, 64325, 65141];
+    var i, j, start, end;
+    for (i = 0; i < singles.length; i++) {
+        result[singles[i]] = true;
+    }
+    var ranges = [[0, 47], [58, 64], [91, 94], [123, 169], [171, 177], [182, 184], [706, 709],
+         [722, 735], [741, 747], [751, 879], [888, 889], [894, 901], [1154, 1161],
+         [1318, 1328], [1367, 1368], [1370, 1376], [1416, 1487], [1515, 1519], [1523, 1568],
+         [1611, 1631], [1642, 1645], [1750, 1764], [1767, 1773], [1789, 1790], [1792, 1807],
+         [1840, 1868], [1958, 1968], [1970, 1983], [2027, 2035], [2038, 2041], [2043, 2047],
+         [2070, 2073], [2075, 2083], [2085, 2087], [2089, 2307], [2362, 2364], [2366, 2383],
+         [2385, 2391], [2402, 2405], [2419, 2424], [2432, 2436], [2445, 2446], [2449, 2450],
+         [2483, 2485], [2490, 2492], [2494, 2509], [2511, 2523], [2530, 2533], [2546, 2547],
+         [2554, 2564], [2571, 2574], [2577, 2578], [2618, 2648], [2655, 2661], [2672, 2673],
+         [2677, 2692], [2746, 2748], [2750, 2767], [2769, 2783], [2786, 2789], [2800, 2820],
+         [2829, 2830], [2833, 2834], [2874, 2876], [2878, 2907], [2914, 2917], [2930, 2946],
+         [2955, 2957], [2966, 2968], [2976, 2978], [2981, 2983], [2987, 2989], [3002, 3023],
+         [3025, 3045], [3059, 3076], [3130, 3132], [3134, 3159], [3162, 3167], [3170, 3173],
+         [3184, 3191], [3199, 3204], [3258, 3260], [3262, 3293], [3298, 3301], [3312, 3332],
+         [3386, 3388], [3390, 3423], [3426, 3429], [3446, 3449], [3456, 3460], [3479, 3481],
+         [3518, 3519], [3527, 3584], [3636, 3647], [3655, 3663], [3674, 3712], [3717, 3718],
+         [3723, 3724], [3726, 3731], [3752, 3753], [3764, 3772], [3774, 3775], [3783, 3791],
+         [3802, 3803], [3806, 3839], [3841, 3871], [3892, 3903], [3949, 3975], [3980, 4095],
+         [4139, 4158], [4170, 4175], [4182, 4185], [4190, 4192], [4194, 4196], [4199, 4205],
+         [4209, 4212], [4226, 4237], [4250, 4255], [4294, 4303], [4349, 4351], [4686, 4687],
+         [4702, 4703], [4750, 4751], [4790, 4791], [4806, 4807], [4886, 4887], [4955, 4968],
+         [4989, 4991], [5008, 5023], [5109, 5120], [5741, 5742], [5787, 5791], [5867, 5869],
+         [5873, 5887], [5906, 5919], [5938, 5951], [5970, 5983], [6001, 6015], [6068, 6102],
+         [6104, 6107], [6109, 6111], [6122, 6127], [6138, 6159], [6170, 6175], [6264, 6271],
+         [6315, 6319], [6390, 6399], [6429, 6469], [6510, 6511], [6517, 6527], [6572, 6592],
+         [6600, 6607], [6619, 6655], [6679, 6687], [6741, 6783], [6794, 6799], [6810, 6822],
+         [6824, 6916], [6964, 6980], [6988, 6991], [7002, 7042], [7073, 7085], [7098, 7167],
+         [7204, 7231], [7242, 7244], [7294, 7400], [7410, 7423], [7616, 7679], [7958, 7959],
+         [7966, 7967], [8006, 8007], [8014, 8015], [8062, 8063], [8127, 8129], [8141, 8143],
+         [8148, 8149], [8156, 8159], [8173, 8177], [8189, 8303], [8306, 8307], [8314, 8318],
+         [8330, 8335], [8341, 8449], [8451, 8454], [8456, 8457], [8470, 8472], [8478, 8483],
+         [8506, 8507], [8512, 8516], [8522, 8525], [8586, 9311], [9372, 9449], [9472, 10101],
+         [10132, 11263], [11493, 11498], [11503, 11516], [11518, 11519], [11558, 11567],
+         [11622, 11630], [11632, 11647], [11671, 11679], [11743, 11822], [11824, 12292],
+         [12296, 12320], [12330, 12336], [12342, 12343], [12349, 12352], [12439, 12444],
+         [12544, 12548], [12590, 12592], [12687, 12689], [12694, 12703], [12728, 12783],
+         [12800, 12831], [12842, 12880], [12896, 12927], [12938, 12976], [12992, 13311],
+         [19894, 19967], [40908, 40959], [42125, 42191], [42238, 42239], [42509, 42511],
+         [42540, 42559], [42592, 42593], [42607, 42622], [42648, 42655], [42736, 42774],
+         [42784, 42785], [42889, 42890], [42893, 43002], [43043, 43055], [43062, 43071],
+         [43124, 43137], [43188, 43215], [43226, 43249], [43256, 43258], [43260, 43263],
+         [43302, 43311], [43335, 43359], [43389, 43395], [43443, 43470], [43482, 43519],
+         [43561, 43583], [43596, 43599], [43610, 43615], [43639, 43641], [43643, 43647],
+         [43698, 43700], [43703, 43704], [43710, 43711], [43715, 43738], [43742, 43967],
+         [44003, 44015], [44026, 44031], [55204, 55215], [55239, 55242], [55292, 55295],
+         [57344, 63743], [64046, 64047], [64110, 64111], [64218, 64255], [64263, 64274],
+         [64280, 64284], [64434, 64466], [64830, 64847], [64912, 64913], [64968, 65007],
+         [65020, 65135], [65277, 65295], [65306, 65312], [65339, 65344], [65371, 65381],
+         [65471, 65473], [65480, 65481], [65488, 65489], [65496, 65497]];
+    for (i = 0; i < ranges.length; i++) {
+        start = ranges[i][0];
+        end = ranges[i][1];
+        for (j = start; j <= end; j++) {
+            result[j] = true;
+        }
+    }
+    return result;
+})();
+
+function splitQuery(query) {
+    var result = [];
+    var start = -1;
+    for (var i = 0; i < query.length; i++) {
+        if (splitChars[query.charCodeAt(i)]) {
+            if (start !== -1) {
+                result.push(query.slice(start, i));
+                start = -1;
+            }
+        } else if (start === -1) {
+            start = i;
+        }
+    }
+    if (start !== -1) {
+        result.push(query.slice(start));
+    }
+    return result;
+}
+
+
diff --git a/docs_src/_build/html/_static/searchtools.js b/docs_src/_build/html/_static/searchtools.js
index 97d56a74..7dbc787d 100644
--- a/docs_src/_build/html/_static/searchtools.js
+++ b/docs_src/_build/html/_static/searchtools.js
@@ -4,24 +4,22 @@
  *
  * Sphinx JavaScript utilities for the full-text search.
  *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS.
  * :license: BSD, see LICENSE for details.
  *
  */
-"use strict";
 
-/**
- * Simple result scoring code.
- */
-if (typeof Scorer === "undefined") {
+if (!Scorer) {
+  /**
+   * Simple result scoring code.
+   */
   var Scorer = {
     // Implement the following function to further tweak the score for each result
-    // The function takes a result array [docname, title, anchor, descr, score, filename]
+    // The function takes a result array [filename, title, anchor, descr, score]
     // and returns the new score.
     /*
-    score: result => {
-      const [docname, title, anchor, descr, score, filename] = result
-      return score
+    score: function(result) {
+      return result[4];
     },
     */
 
@@ -30,11 +28,9 @@ if (typeof Scorer === "undefined") {
     // or matches in the last dotted part of the object name
     objPartialMatch: 6,
     // Additive scores depending on the priority of the object
-    objPrio: {
-      0: 15, // used to be importantResults
-      1: 5, // used to be objectResults
-      2: -5, // used to be unimportantResults
-    },
+    objPrio: {0:  15,   // used to be importantResults
+              1:  5,   // used to be objectResults
+              2: -5},  // used to be unimportantResults
     //  Used when the priority is not in the mapping.
     objPrioDefault: 0,
 
@@ -43,495 +39,459 @@ if (typeof Scorer === "undefined") {
     partialTitle: 7,
     // query found in terms
     term: 5,
-    partialTerm: 2,
+    partialTerm: 2
   };
 }
 
-const _removeChildren = (element) => {
-  while (element && element.lastChild) element.removeChild(element.lastChild);
-};
-
-/**
- * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions#escaping
- */
-const _escapeRegExp = (string) =>
-  string.replace(/[.*+\-?^${}()|[\]\\]/g, "\\$&"); // $& means the whole matched string
-
-const _displayItem = (item, searchTerms) => {
-  const docBuilder = DOCUMENTATION_OPTIONS.BUILDER;
-  const docUrlRoot = DOCUMENTATION_OPTIONS.URL_ROOT;
-  const docFileSuffix = DOCUMENTATION_OPTIONS.FILE_SUFFIX;
-  const docLinkSuffix = DOCUMENTATION_OPTIONS.LINK_SUFFIX;
-  const showSearchSummary = DOCUMENTATION_OPTIONS.SHOW_SEARCH_SUMMARY;
-
-  const [docName, title, anchor, descr, score, _filename] = item;
-
-  let listItem = document.createElement("li");
-  let requestUrl;
-  let linkUrl;
-  if (docBuilder === "dirhtml") {
-    // dirhtml builder
-    let dirname = docName + "/";
-    if (dirname.match(/\/index\/$/))
-      dirname = dirname.substring(0, dirname.length - 6);
-    else if (dirname === "index/") dirname = "";
-    requestUrl = docUrlRoot + dirname;
-    linkUrl = requestUrl;
-  } else {
-    // normal html builders
-    requestUrl = docUrlRoot + docName + docFileSuffix;
-    linkUrl = docName + docLinkSuffix;
+if (!splitQuery) {
+  function splitQuery(query) {
+    return query.split(/\s+/);
   }
-  let linkEl = listItem.appendChild(document.createElement("a"));
-  linkEl.href = linkUrl + anchor;
-  linkEl.dataset.score = score;
-  linkEl.innerHTML = title;
-  if (descr)
-    listItem.appendChild(document.createElement("span")).innerHTML =
-      " (" + descr + ")";
-  else if (showSearchSummary)
-    fetch(requestUrl)
-      .then((responseData) => responseData.text())
-      .then((data) => {
-        if (data)
-          listItem.appendChild(
-            Search.makeSearchSummary(data, searchTerms)
-          );
-      });
-  Search.output.appendChild(listItem);
-};
-const _finishSearch = (resultCount) => {
-  Search.stopPulse();
-  Search.title.innerText = _("Search Results");
-  if (!resultCount)
-    Search.status.innerText = Documentation.gettext(
-      "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories."
-    );
-  else
-    Search.status.innerText = _(
-      `Search finished, found ${resultCount} page(s) matching the search query.`
-    );
-};
-const _displayNextItem = (
-  results,
-  resultCount,
-  searchTerms
-) => {
-  // results left, load the summary and display it
-  // this is intended to be dynamic (don't sub resultsCount)
-  if (results.length) {
-    _displayItem(results.pop(), searchTerms);
-    setTimeout(
-      () => _displayNextItem(results, resultCount, searchTerms),
-      5
-    );
-  }
-  // search finished, update title and status message
-  else _finishSearch(resultCount);
-};
-
-/**
- * Default splitQuery function. Can be overridden in ``sphinx.search`` with a
- * custom function per language.
- *
- * The regular expression works by splitting the string on consecutive characters
- * that are not Unicode letters, numbers, underscores, or emoji characters.
- * This is the same as ``\W+`` in Python, preserving the surrogate pair area.
- */
-if (typeof splitQuery === "undefined") {
-  var splitQuery = (query) => query
-      .split(/[^\p{Letter}\p{Number}_\p{Emoji_Presentation}]+/gu)
-      .filter(term => term)  // remove remaining empty strings
 }
 
 /**
  * Search Module
  */
-const Search = {
-  _index: null,
-  _queued_query: null,
-  _pulse_status: -1,
-
-  htmlToText: (htmlString) => {
-    const htmlElement = new DOMParser().parseFromString(htmlString, 'text/html');
-    htmlElement.querySelectorAll(".headerlink").forEach((el) => { el.remove() });
-    const docContent = htmlElement.querySelector('[role="main"]');
-    if (docContent !== undefined) return docContent.textContent;
-    console.warn(
-      "Content block not found. Sphinx search tries to obtain it via '[role=main]'. Could you check your theme or template."
-    );
-    return "";
+var Search = {
+
+  _index : null,
+  _queued_query : null,
+  _pulse_status : -1,
+
+  htmlToText : function(htmlString) {
+      var virtualDocument = document.implementation.createHTMLDocument('virtual');
+      var htmlElement = $(htmlString, virtualDocument);
+      htmlElement.find('.headerlink').remove();
+      docContent = htmlElement.find('[role=main]')[0];
+      if(docContent === undefined) {
+          console.warn("Content block not found. Sphinx search tries to obtain it " +
+                       "via '[role=main]'. Could you check your theme or template.");
+          return "";
+      }
+      return docContent.textContent || docContent.innerText;
   },
 
-  init: () => {
-    const query = new URLSearchParams(window.location.search).get("q");
-    document
-      .querySelectorAll('input[name="q"]')
-      .forEach((el) => (el.value = query));
-    if (query) Search.performSearch(query);
+  init : function() {
+      var params = $.getQueryParameters();
+      if (params.q) {
+          var query = params.q[0];
+          $('input[name="q"]')[0].value = query;
+          this.performSearch(query);
+      }
   },
 
-  loadIndex: (url) =>
-    (document.body.appendChild(document.createElement("script")).src = url),
+  loadIndex : function(url) {
+    $.ajax({type: "GET", url: url, data: null,
+            dataType: "script", cache: true,
+            complete: function(jqxhr, textstatus) {
+              if (textstatus != "success") {
+                document.getElementById("searchindexloader").src = url;
+              }
+            }});
+  },
 
-  setIndex: (index) => {
-    Search._index = index;
-    if (Search._queued_query !== null) {
-      const query = Search._queued_query;
-      Search._queued_query = null;
-      Search.query(query);
+  setIndex : function(index) {
+    var q;
+    this._index = index;
+    if ((q = this._queued_query) !== null) {
+      this._queued_query = null;
+      Search.query(q);
     }
   },
 
-  hasIndex: () => Search._index !== null,
-
-  deferQuery: (query) => (Search._queued_query = query),
+  hasIndex : function() {
+      return this._index !== null;
+  },
 
-  stopPulse: () => (Search._pulse_status = -1),
+  deferQuery : function(query) {
+      this._queued_query = query;
+  },
 
-  startPulse: () => {
-    if (Search._pulse_status >= 0) return;
+  stopPulse : function() {
+      this._pulse_status = 0;
+  },
 
-    const pulse = () => {
+  startPulse : function() {
+    if (this._pulse_status >= 0)
+        return;
+    function pulse() {
+      var i;
       Search._pulse_status = (Search._pulse_status + 1) % 4;
-      Search.dots.innerText = ".".repeat(Search._pulse_status);
-      if (Search._pulse_status >= 0) window.setTimeout(pulse, 500);
-    };
+      var dotString = '';
+      for (i = 0; i < Search._pulse_status; i++)
+        dotString += '.';
+      Search.dots.text(dotString);
+      if (Search._pulse_status > -1)
+        window.setTimeout(pulse, 500);
+    }
     pulse();
   },
 
   /**
    * perform a search for something (or wait until index is loaded)
    */
-  performSearch: (query) => {
+  performSearch : function(query) {
     // create the required interface elements
-    const searchText = document.createElement("h2");
-    searchText.textContent = _("Searching");
-    const searchSummary = document.createElement("p");
-    searchSummary.classList.add("search-summary");
-    searchSummary.innerText = "";
-    const searchList = document.createElement("ul");
-    searchList.classList.add("search");
-
-    const out = document.getElementById("search-results");
-    Search.title = out.appendChild(searchText);
-    Search.dots = Search.title.appendChild(document.createElement("span"));
-    Search.status = out.appendChild(searchSummary);
-    Search.output = out.appendChild(searchList);
-
-    const searchProgress = document.getElementById("search-progress");
-    // Some themes don't use the search progress node
-    if (searchProgress) {
-      searchProgress.innerText = _("Preparing search...");
-    }
-    Search.startPulse();
+    this.out = $('#search-results');
+    this.title = $('<h2>' + _('Searching') + '</h2>').appendTo(this.out);
+    this.dots = $('<span></span>').appendTo(this.title);
+    this.status = $('<p class="search-summary">&nbsp;</p>').appendTo(this.out);
+    this.output = $('<ul class="search"/>').appendTo(this.out);
+
+    $('#search-progress').text(_('Preparing search...'));
+    this.startPulse();
 
     // index already loaded, the browser was quick!
-    if (Search.hasIndex()) Search.query(query);
-    else Search.deferQuery(query);
+    if (this.hasIndex())
+      this.query(query);
+    else
+      this.deferQuery(query);
   },
 
   /**
    * execute search (requires search index to be loaded)
    */
-  query: (query) => {
-    const filenames = Search._index.filenames;
-    const docNames = Search._index.docnames;
-    const titles = Search._index.titles;
-    const allTitles = Search._index.alltitles;
-    const indexEntries = Search._index.indexentries;
-
-    // stem the search terms and add them to the correct list
-    const stemmer = new Stemmer();
-    const searchTerms = new Set();
-    const excludedTerms = new Set();
-    const highlightTerms = new Set();
-    const objectTerms = new Set(splitQuery(query.toLowerCase().trim()));
-    splitQuery(query.trim()).forEach((queryTerm) => {
-      const queryTermLower = queryTerm.toLowerCase();
-
-      // maybe skip this "word"
-      // stopwords array is from language_data.js
-      if (
-        stopwords.indexOf(queryTermLower) !== -1 ||
-        queryTerm.match(/^\d+$/)
-      )
-        return;
+  query : function(query) {
+    var i;
+
+    // stem the searchterms and add them to the correct list
+    var stemmer = new Stemmer();
+    var searchterms = [];
+    var excluded = [];
+    var hlterms = [];
+    var tmp = splitQuery(query);
+    var objectterms = [];
+    for (i = 0; i < tmp.length; i++) {
+      if (tmp[i] !== "") {
+          objectterms.push(tmp[i].toLowerCase());
+      }
 
+      if ($u.indexOf(stopwords, tmp[i].toLowerCase()) != -1 || tmp[i] === "") {
+        // skip this "word"
+        continue;
+      }
       // stem the word
-      let word = stemmer.stemWord(queryTermLower);
+      var word = stemmer.stemWord(tmp[i].toLowerCase());
+      // prevent stemmer from cutting word smaller than two chars
+      if(word.length < 3 && tmp[i].length >= 3) {
+        word = tmp[i];
+      }
+      var toAppend;
       // select the correct list
-      if (word[0] === "-") excludedTerms.add(word.substr(1));
+      if (word[0] == '-') {
+        toAppend = excluded;
+        word = word.substr(1);
+      }
       else {
-        searchTerms.add(word);
-        highlightTerms.add(queryTermLower);
+        toAppend = searchterms;
+        hlterms.push(tmp[i].toLowerCase());
       }
-    });
-
-    if (SPHINX_HIGHLIGHT_ENABLED) {  // set in sphinx_highlight.js
-      localStorage.setItem("sphinx_highlight_terms", [...highlightTerms].join(" "))
+      // only add if not already in the list
+      if (!$u.contains(toAppend, word))
+        toAppend.push(word);
     }
+    var highlightstring = '?highlight=' + $.urlencode(hlterms.join(" "));
 
-    // console.debug("SEARCH: searching for:");
-    // console.info("required: ", [...searchTerms]);
-    // console.info("excluded: ", [...excludedTerms]);
-
-    // array of [docname, title, anchor, descr, score, filename]
-    let results = [];
-    _removeChildren(document.getElementById("search-progress"));
-
-    const queryLower = query.toLowerCase();
-    for (const [title, foundTitles] of Object.entries(allTitles)) {
-      if (title.toLowerCase().includes(queryLower) && (queryLower.length >= title.length/2)) {
-        for (const [file, id] of foundTitles) {
-          let score = Math.round(100 * queryLower.length / title.length)
-          results.push([
-            docNames[file],
-            titles[file] !== title ? `${titles[file]} > ${title}` : title,
-            id !== null ? "#" + id : "",
-            null,
-            score,
-            filenames[file],
-          ]);
-        }
-      }
-    }
+    // console.debug('SEARCH: searching for:');
+    // console.info('required: ', searchterms);
+    // console.info('excluded: ', excluded);
 
-    // search for explicit entries in index directives
-    for (const [entry, foundEntries] of Object.entries(indexEntries)) {
-      if (entry.includes(queryLower) && (queryLower.length >= entry.length/2)) {
-        for (const [file, id] of foundEntries) {
-          let score = Math.round(100 * queryLower.length / entry.length)
-          results.push([
-            docNames[file],
-            titles[file],
-            id ? "#" + id : "",
-            null,
-            score,
-            filenames[file],
-          ]);
-        }
-      }
-    }
+    // prepare search
+    var terms = this._index.terms;
+    var titleterms = this._index.titleterms;
+
+    // array of [filename, title, anchor, descr, score]
+    var results = [];
+    $('#search-progress').empty();
 
     // lookup as object
-    objectTerms.forEach((term) =>
-      results.push(...Search.performObjectSearch(term, objectTerms))
-    );
+    for (i = 0; i < objectterms.length; i++) {
+      var others = [].concat(objectterms.slice(0, i),
+                             objectterms.slice(i+1, objectterms.length));
+      results = results.concat(this.performObjectSearch(objectterms[i], others));
+    }
 
     // lookup as search terms in fulltext
-    results.push(...Search.performTermsSearch(searchTerms, excludedTerms));
+    results = results.concat(this.performTermsSearch(searchterms, excluded, terms, titleterms));
 
     // let the scorer override scores with a custom scoring function
-    if (Scorer.score) results.forEach((item) => (item[4] = Scorer.score(item)));
+    if (Scorer.score) {
+      for (i = 0; i < results.length; i++)
+        results[i][4] = Scorer.score(results[i]);
+    }
 
     // now sort the results by score (in opposite order of appearance, since the
     // display function below uses pop() to retrieve items) and then
     // alphabetically
-    results.sort((a, b) => {
-      const leftScore = a[4];
-      const rightScore = b[4];
-      if (leftScore === rightScore) {
+    results.sort(function(a, b) {
+      var left = a[4];
+      var right = b[4];
+      if (left > right) {
+        return 1;
+      } else if (left < right) {
+        return -1;
+      } else {
         // same score: sort alphabetically
-        const leftTitle = a[1].toLowerCase();
-        const rightTitle = b[1].toLowerCase();
-        if (leftTitle === rightTitle) return 0;
-        return leftTitle > rightTitle ? -1 : 1; // inverted is intentional
+        left = a[1].toLowerCase();
+        right = b[1].toLowerCase();
+        return (left > right) ? -1 : ((left < right) ? 1 : 0);
       }
-      return leftScore > rightScore ? 1 : -1;
     });
 
-    // remove duplicate search results
-    // note the reversing of results, so that in the case of duplicates, the highest-scoring entry is kept
-    let seen = new Set();
-    results = results.reverse().reduce((acc, result) => {
-      let resultStr = result.slice(0, 4).concat([result[5]]).map(v => String(v)).join(',');
-      if (!seen.has(resultStr)) {
-        acc.push(result);
-        seen.add(resultStr);
-      }
-      return acc;
-    }, []);
-
-    results = results.reverse();
-
     // for debugging
     //Search.lastresults = results.slice();  // a copy
-    // console.info("search results:", Search.lastresults);
+    //console.info('search results:', Search.lastresults);
 
     // print the results
-    _displayNextItem(results, results.length, searchTerms);
+    var resultCount = results.length;
+    function displayNextItem() {
+      // results left, load the summary and display it
+      if (results.length) {
+        var item = results.pop();
+        var listItem = $('<li></li>');
+        var requestUrl = "";
+        var linkUrl = "";
+        if (DOCUMENTATION_OPTIONS.BUILDER === 'dirhtml') {
+          // dirhtml builder
+          var dirname = item[0] + '/';
+          if (dirname.match(/\/index\/$/)) {
+            dirname = dirname.substring(0, dirname.length-6);
+          } else if (dirname == 'index/') {
+            dirname = '';
+          }
+          requestUrl = DOCUMENTATION_OPTIONS.URL_ROOT + dirname;
+          linkUrl = requestUrl;
+
+        } else {
+          // normal html builders
+          requestUrl = DOCUMENTATION_OPTIONS.URL_ROOT + item[0] + DOCUMENTATION_OPTIONS.FILE_SUFFIX;
+          linkUrl = item[0] + DOCUMENTATION_OPTIONS.LINK_SUFFIX;
+        }
+        listItem.append($('<a/>').attr('href',
+            linkUrl +
+            highlightstring + item[2]).html(item[1]));
+        if (item[3]) {
+          listItem.append($('<span> (' + item[3] + ')</span>'));
+          Search.output.append(listItem);
+          setTimeout(function() {
+            displayNextItem();
+          }, 5);
+        } else if (DOCUMENTATION_OPTIONS.HAS_SOURCE) {
+          $.ajax({url: requestUrl,
+                  dataType: "text",
+                  complete: function(jqxhr, textstatus) {
+                    var data = jqxhr.responseText;
+                    if (data !== '' && data !== undefined) {
+                      var summary = Search.makeSearchSummary(data, searchterms, hlterms);
+                      if (summary) {
+                        listItem.append(summary);
+                      }
+                    }
+                    Search.output.append(listItem);
+                    setTimeout(function() {
+                      displayNextItem();
+                    }, 5);
+                  }});
+        } else {
+          // no source available, just display title
+          Search.output.append(listItem);
+          setTimeout(function() {
+            displayNextItem();
+          }, 5);
+        }
+      }
+      // search finished, update title and status message
+      else {
+        Search.stopPulse();
+        Search.title.text(_('Search Results'));
+        if (!resultCount)
+          Search.status.text(_('Your search did not match any documents. Please make sure that all words are spelled correctly and that you\'ve selected enough categories.'));
+        else
+            Search.status.text(_('Search finished, found %s page(s) matching the search query.').replace('%s', resultCount));
+        Search.status.fadeIn(500);
+      }
+    }
+    displayNextItem();
   },
 
   /**
    * search for object names
    */
-  performObjectSearch: (object, objectTerms) => {
-    const filenames = Search._index.filenames;
-    const docNames = Search._index.docnames;
-    const objects = Search._index.objects;
-    const objNames = Search._index.objnames;
-    const titles = Search._index.titles;
-
-    const results = [];
-
-    const objectSearchCallback = (prefix, match) => {
-      const name = match[4]
-      const fullname = (prefix ? prefix + "." : "") + name;
-      const fullnameLower = fullname.toLowerCase();
-      if (fullnameLower.indexOf(object) < 0) return;
-
-      let score = 0;
-      const parts = fullnameLower.split(".");
-
-      // check for different match types: exact matches of full name or
-      // "last name" (i.e. last dotted part)
-      if (fullnameLower === object || parts.slice(-1)[0] === object)
-        score += Scorer.objNameMatch;
-      else if (parts.slice(-1)[0].indexOf(object) > -1)
-        score += Scorer.objPartialMatch; // matches in last name
-
-      const objName = objNames[match[1]][2];
-      const title = titles[match[0]];
-
-      // If more than one term searched for, we require other words to be
-      // found in the name/title/description
-      const otherTerms = new Set(objectTerms);
-      otherTerms.delete(object);
-      if (otherTerms.size > 0) {
-        const haystack = `${prefix} ${name} ${objName} ${title}`.toLowerCase();
-        if (
-          [...otherTerms].some((otherTerm) => haystack.indexOf(otherTerm) < 0)
-        )
-          return;
+  performObjectSearch : function(object, otherterms) {
+    var filenames = this._index.filenames;
+    var docnames = this._index.docnames;
+    var objects = this._index.objects;
+    var objnames = this._index.objnames;
+    var titles = this._index.titles;
+
+    var i;
+    var results = [];
+
+    for (var prefix in objects) {
+      if (!(objects[prefix] instanceof Array)) {
+        objects[prefix] = Object.entries(objects[prefix]).map(([name, match]) => [...match, name]);
       }
+      for (var iMatch = 0; iMatch != objects[prefix].length; ++iMatch) {
+        var match = objects[prefix][iMatch];
+        var name = match[4];
+        var fullname = (prefix ? prefix + '.' : '') + name;
+        var fullnameLower = fullname.toLowerCase()
+        if (fullnameLower.indexOf(object) > -1) {
+          var score = 0;
+          var parts = fullnameLower.split('.');
+          // check for different match types: exact matches of full name or
+          // "last name" (i.e. last dotted part)
+          if (fullnameLower == object || parts[parts.length - 1] == object) {
+            score += Scorer.objNameMatch;
+          // matches in last name
+          } else if (parts[parts.length - 1].indexOf(object) > -1) {
+            score += Scorer.objPartialMatch;
+          }
+          var objname = objnames[match[1]][2];
+          var title = titles[match[0]];
+          // If more than one term searched for, we require other words to be
+          // found in the name/title/description
+          if (otherterms.length > 0) {
+            var haystack = (prefix + ' ' + name + ' ' +
+                            objname + ' ' + title).toLowerCase();
+            var allfound = true;
+            for (i = 0; i < otherterms.length; i++) {
+              if (haystack.indexOf(otherterms[i]) == -1) {
+                allfound = false;
+                break;
+              }
+            }
+            if (!allfound) {
+              continue;
+            }
+          }
+          var descr = objname + _(', in ') + title;
+
+          var anchor = match[3];
+          if (anchor === '')
+            anchor = fullname;
+          else if (anchor == '-')
+            anchor = objnames[match[1]][1] + '-' + fullname;
+          // add custom score for some objects according to scorer
+          if (Scorer.objPrio.hasOwnProperty(match[2])) {
+            score += Scorer.objPrio[match[2]];
+          } else {
+            score += Scorer.objPrioDefault;
+          }
+          results.push([docnames[match[0]], fullname, '#'+anchor, descr, score, filenames[match[0]]]);
+        }
+      }
+    }
 
-      let anchor = match[3];
-      if (anchor === "") anchor = fullname;
-      else if (anchor === "-") anchor = objNames[match[1]][1] + "-" + fullname;
-
-      const descr = objName + _(", in ") + title;
-
-      // add custom score for some objects according to scorer
-      if (Scorer.objPrio.hasOwnProperty(match[2]))
-        score += Scorer.objPrio[match[2]];
-      else score += Scorer.objPrioDefault;
-
-      results.push([
-        docNames[match[0]],
-        fullname,
-        "#" + anchor,
-        descr,
-        score,
-        filenames[match[0]],
-      ]);
-    };
-    Object.keys(objects).forEach((prefix) =>
-      objects[prefix].forEach((array) =>
-        objectSearchCallback(prefix, array)
-      )
-    );
     return results;
   },
 
+  /**
+   * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions
+   */
+  escapeRegExp : function(string) {
+    return string.replace(/[.*+\-?^${}()|[\]\\]/g, '\\$&'); // $& means the whole matched string
+  },
+
   /**
    * search for full-text terms in the index
    */
-  performTermsSearch: (searchTerms, excludedTerms) => {
-    // prepare search
-    const terms = Search._index.terms;
-    const titleTerms = Search._index.titleterms;
-    const filenames = Search._index.filenames;
-    const docNames = Search._index.docnames;
-    const titles = Search._index.titles;
+  performTermsSearch : function(searchterms, excluded, terms, titleterms) {
+    var docnames = this._index.docnames;
+    var filenames = this._index.filenames;
+    var titles = this._index.titles;
 
-    const scoreMap = new Map();
-    const fileMap = new Map();
+    var i, j, file;
+    var fileMap = {};
+    var scoreMap = {};
+    var results = [];
 
     // perform the search on the required terms
-    searchTerms.forEach((word) => {
-      const files = [];
-      const arr = [
-        { files: terms[word], score: Scorer.term },
-        { files: titleTerms[word], score: Scorer.title },
+    for (i = 0; i < searchterms.length; i++) {
+      var word = searchterms[i];
+      var files = [];
+      var _o = [
+        {files: terms[word], score: Scorer.term},
+        {files: titleterms[word], score: Scorer.title}
       ];
       // add support for partial matches
       if (word.length > 2) {
-        const escapedWord = _escapeRegExp(word);
-        Object.keys(terms).forEach((term) => {
-          if (term.match(escapedWord) && !terms[word])
-            arr.push({ files: terms[term], score: Scorer.partialTerm });
-        });
-        Object.keys(titleTerms).forEach((term) => {
-          if (term.match(escapedWord) && !titleTerms[word])
-            arr.push({ files: titleTerms[word], score: Scorer.partialTitle });
-        });
+        var word_regex = this.escapeRegExp(word);
+        for (var w in terms) {
+          if (w.match(word_regex) && !terms[word]) {
+            _o.push({files: terms[w], score: Scorer.partialTerm})
+          }
+        }
+        for (var w in titleterms) {
+          if (w.match(word_regex) && !titleterms[word]) {
+              _o.push({files: titleterms[w], score: Scorer.partialTitle})
+          }
+        }
       }
 
       // no match but word was a required one
-      if (arr.every((record) => record.files === undefined)) return;
-
+      if ($u.every(_o, function(o){return o.files === undefined;})) {
+        break;
+      }
       // found search word in contents
-      arr.forEach((record) => {
-        if (record.files === undefined) return;
-
-        let recordFiles = record.files;
-        if (recordFiles.length === undefined) recordFiles = [recordFiles];
-        files.push(...recordFiles);
-
-        // set score for the word in each file
-        recordFiles.forEach((file) => {
-          if (!scoreMap.has(file)) scoreMap.set(file, {});
-          scoreMap.get(file)[word] = record.score;
-        });
+      $u.each(_o, function(o) {
+        var _files = o.files;
+        if (_files === undefined)
+          return
+
+        if (_files.length === undefined)
+          _files = [_files];
+        files = files.concat(_files);
+
+        // set score for the word in each file to Scorer.term
+        for (j = 0; j < _files.length; j++) {
+          file = _files[j];
+          if (!(file in scoreMap))
+            scoreMap[file] = {};
+          scoreMap[file][word] = o.score;
+        }
       });
 
       // create the mapping
-      files.forEach((file) => {
-        if (fileMap.has(file) && fileMap.get(file).indexOf(word) === -1)
-          fileMap.get(file).push(word);
-        else fileMap.set(file, [word]);
-      });
-    });
+      for (j = 0; j < files.length; j++) {
+        file = files[j];
+        if (file in fileMap && fileMap[file].indexOf(word) === -1)
+          fileMap[file].push(word);
+        else
+          fileMap[file] = [word];
+      }
+    }
 
     // now check if the files don't contain excluded terms
-    const results = [];
-    for (const [file, wordList] of fileMap) {
-      // check if all requirements are matched
+    for (file in fileMap) {
+      var valid = true;
 
-      // as search terms with length < 3 are discarded
-      const filteredTermCount = [...searchTerms].filter(
-        (term) => term.length > 2
-      ).length;
+      // check if all requirements are matched
+      var filteredTermCount = // as search terms with length < 3 are discarded: ignore
+        searchterms.filter(function(term){return term.length > 2}).length
       if (
-        wordList.length !== searchTerms.size &&
-        wordList.length !== filteredTermCount
-      )
-        continue;
+        fileMap[file].length != searchterms.length &&
+        fileMap[file].length != filteredTermCount
+      ) continue;
 
       // ensure that none of the excluded terms is in the search result
-      if (
-        [...excludedTerms].some(
-          (term) =>
-            terms[term] === file ||
-            titleTerms[term] === file ||
-            (terms[term] || []).includes(file) ||
-            (titleTerms[term] || []).includes(file)
-        )
-      )
-        break;
+      for (i = 0; i < excluded.length; i++) {
+        if (terms[excluded[i]] == file ||
+            titleterms[excluded[i]] == file ||
+            $u.contains(terms[excluded[i]] || [], file) ||
+            $u.contains(titleterms[excluded[i]] || [], file)) {
+          valid = false;
+          break;
+        }
+      }
 
-      // select one (max) score for the file.
-      const score = Math.max(...wordList.map((w) => scoreMap.get(file)[w]));
-      // add result to the result list
-      results.push([
-        docNames[file],
-        titles[file],
-        "",
-        null,
-        score,
-        filenames[file],
-      ]);
+      // if we have still a valid result we can add it to the result list
+      if (valid) {
+        // select one (max) score for the file.
+        // for better ranking, we should calculate ranking by using words statistics like basic tf-idf...
+        var score = $u.max($u.map(fileMap[file], function(w){return scoreMap[file][w]}));
+        results.push([docnames[file], titles[file], '', null, score, filenames[file]]);
+      }
     }
     return results;
   },
@@ -539,28 +499,34 @@ const Search = {
   /**
    * helper function to return a node containing the
    * search summary for a given text. keywords is a list
-   * of stemmed words.
+   * of stemmed words, hlwords is the list of normal, unstemmed
+   * words. the first one is used to find the occurrence, the
+   * latter for highlighting it.
    */
-  makeSearchSummary: (htmlText, keywords) => {
-    const text = Search.htmlToText(htmlText);
-    if (text === "") return null;
-
-    const textLower = text.toLowerCase();
-    const actualStartPosition = [...keywords]
-      .map((k) => textLower.indexOf(k.toLowerCase()))
-      .filter((i) => i > -1)
-      .slice(-1)[0];
-    const startWithContext = Math.max(actualStartPosition - 120, 0);
-
-    const top = startWithContext === 0 ? "" : "...";
-    const tail = startWithContext + 240 < text.length ? "..." : "";
-
-    let summary = document.createElement("p");
-    summary.classList.add("context");
-    summary.textContent = top + text.substr(startWithContext, 240).trim() + tail;
-
-    return summary;
-  },
+  makeSearchSummary : function(htmlText, keywords, hlwords) {
+    var text = Search.htmlToText(htmlText);
+    if (text == "") {
+      return null;
+    }
+    var textLower = text.toLowerCase();
+    var start = 0;
+    $.each(keywords, function() {
+      var i = textLower.indexOf(this.toLowerCase());
+      if (i > -1)
+        start = i;
+    });
+    start = Math.max(start - 120, 0);
+    var excerpt = ((start > 0) ? '...' : '') +
+      $.trim(text.substr(start, 240)) +
+      ((start + 240 - text.length) ? '...' : '');
+    var rv = $('<p class="context"></p>').text(excerpt);
+    $.each(hlwords, function() {
+      rv = rv.highlightText(this, 'highlighted');
+    });
+    return rv;
+  }
 };
 
-_ready(Search.init);
+$(document).ready(function() {
+  Search.init();
+});
diff --git a/docs_src/_build/html/contributing/making_docs.html b/docs_src/_build/html/contributing/making_docs.html
index 3a342081..48510f5d 100644
--- a/docs_src/_build/html/contributing/making_docs.html
+++ b/docs_src/_build/html/contributing/making_docs.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Updating docs &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
@@ -26,16 +27,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -71,7 +68,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Updating docs</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/contributing/making_docs.md.txt" rel="nofollow"> View page source</a>
@@ -83,7 +80,7 @@
            <div itemprop="articleBody">
              
   <section id="updating-docs">
-<h1>Updating docs<a class="headerlink" href="#updating-docs" title="Permalink to this heading"></a></h1>
+<h1>Updating docs<a class="headerlink" href="#updating-docs" title="Permalink to this headline"></a></h1>
 <p>The source code for all the documentation can be found in <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/docs_src</span></code></p>
 <p>We use <a class="reference external" href="https://www.sphinx-doc.org/en/master/">Sphinx</a> to create our documentation and host it in Github Pages.</p>
 <p>Check out <code class="docutils literal notranslate"><span class="pre">docs_src/index.rst</span></code> for the layout of the pages (starting on line 6).  That file will point to the source doc
@@ -95,17 +92,17 @@ <h1>Updating docs<a class="headerlink" href="#updating-docs" title="Permalink to
 as you save files.) The service is usually hosted on http://127.0.0.1:8000 but it will also tell you where the local
 version of the site is.</p>
 <section id="uploading-changes">
-<h2>Uploading changes<a class="headerlink" href="#uploading-changes" title="Permalink to this heading"></a></h2>
+<h2>Uploading changes<a class="headerlink" href="#uploading-changes" title="Permalink to this headline"></a></h2>
 <section id="run-build-sh">
-<h3>1.) Run <code class="docutils literal notranslate"><span class="pre">./build.sh</span></code><a class="headerlink" href="#run-build-sh" title="Permalink to this heading"></a></h3>
+<h3>1.) Run <code class="docutils literal notranslate"><span class="pre">./build.sh</span></code><a class="headerlink" href="#run-build-sh" title="Permalink to this headline"></a></h3>
 </section>
 <section id="run-git-add-sh">
-<h3>2.) Run <code class="docutils literal notranslate"><span class="pre">./git_add.sh</span></code><a class="headerlink" href="#run-git-add-sh" title="Permalink to this heading"></a></h3>
+<h3>2.) Run <code class="docutils literal notranslate"><span class="pre">./git_add.sh</span></code><a class="headerlink" href="#run-git-add-sh" title="Permalink to this headline"></a></h3>
 </section>
 <section id="the-files-are-now-staged-in-git-you-can-do">
-<h3>3.) The files are now staged in git, you can do<a class="headerlink" href="#the-files-are-now-staged-in-git-you-can-do" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>commit<span class="w"> </span>-m<span class="w"> </span><span class="s2">&quot;Doc changes&quot;</span>
-git<span class="w"> </span>push
+<h3>3.) The files are now staged in git, you can do<a class="headerlink" href="#the-files-are-now-staged-in-git-you-can-do" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git commit -m <span class="s2">&quot;Doc changes&quot;</span>
+git push
 </pre></div>
 </div>
 <p>and the website should update within the next 5-10minutes.</p>
diff --git a/docs_src/_build/html/genindex.html b/docs_src/_build/html/genindex.html
index 39930068..5d4904e1 100644
--- a/docs_src/_build/html/genindex.html
+++ b/docs_src/_build/html/genindex.html
@@ -12,8 +12,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="_static/sphinx_highlight.js"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="#" />
     <link rel="search" title="Search" href="search.html" /> 
@@ -24,16 +25,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -61,7 +58,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Index</li>
       <li class="wy-breadcrumbs-aside">
       </li>
@@ -75,1418 +72,34 @@
 <h1 id="index">Index</h1>
 
 <div class="genindex-jumpbox">
- <a href="#A"><strong>A</strong></a>
- | <a href="#B"><strong>B</strong></a>
- | <a href="#C"><strong>C</strong></a>
- | <a href="#D"><strong>D</strong></a>
- | <a href="#E"><strong>E</strong></a>
- | <a href="#F"><strong>F</strong></a>
- | <a href="#G"><strong>G</strong></a>
- | <a href="#H"><strong>H</strong></a>
- | <a href="#I"><strong>I</strong></a>
- | <a href="#K"><strong>K</strong></a>
- | <a href="#L"><strong>L</strong></a>
- | <a href="#M"><strong>M</strong></a>
- | <a href="#N"><strong>N</strong></a>
- | <a href="#O"><strong>O</strong></a>
- | <a href="#P"><strong>P</strong></a>
- | <a href="#R"><strong>R</strong></a>
+ <a href="#M"><strong>M</strong></a>
  | <a href="#S"><strong>S</strong></a>
- | <a href="#T"><strong>T</strong></a>
- | <a href="#U"><strong>U</strong></a>
- | <a href="#V"><strong>V</strong></a>
- | <a href="#W"><strong>W</strong></a>
  
 </div>
-<h2 id="A">A</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.action_space">action_space() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.action_space">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions">agent_positions (src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.AgentColor">AgentColor (class in src.environment.ros_social_gym)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.AgentColor">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone">AgentInZone (class in src.environment.observations.types.manual_zone.agent_in_zone)</a>, <a href="modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_current_order">agents_current_order (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_current_order">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_priority_order">agents_priority_order (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_priority_order">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders">agents_priority_orders (src.environment.environment_types.manual_zone.ManualZoneEnv attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance">AgentsGoalDistance (class in src.environment.observations.types.agents_goal_distance)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection">AgentsHeadingDirection (class in src.environment.observations.types.agents_heading_direction)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_others_distance.AgentsOthersDistance">AgentsOthersDistance (class in src.environment.observations.types.agents_others_distance)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_others_distance.AgentsOthersDistance">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_pose.AgentsPose">AgentsPose (class in src.environment.observations.types.agents_pose)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_pose.AgentsPose">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity">AgentsPreferredVelocity (class in src.environment.observations.types.agents_preferred_velocity)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity">AgentsVelocity (class in src.environment.observations.types.agents_velocity)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder">AgentZoneCurrentOrder (class in src.environment.observations.types.manual_zone.agent_zone_current_order)</a>, <a href="modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder">AgentZonePriorityOrder (class in src.environment.observations.types.manual_zone.agent_zone_priority_order)</a>, <a href="modules/src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder">[1]</a>
-</li>
-      <li><a href="_site/modules/src.html#src.config_run.kinds.ao">ao (src.config_run.kinds attribute)</a>, <a href="modules/src.html#src.config_run.kinds.ao">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observer.Observer.arr_to_dict">arr_to_dict() (src.environment.observations.observer.Observer method)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observer.Observer.arr_to_dict">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="B">B</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone">build_zone() (src.environment.environment_types.manual_zone.ManualZoneEnv method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="C">C</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas">calculate_deltas() (src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.calculate_reward">calculate_reward() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.calculate_reward">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.close">close() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.close">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides">closed_door_1__opposing_sides() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__same_goals">closed_door_1__same_goals() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__same_goals">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.collision">collision (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.collision">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.collision">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder">CollisionEpisodeEnder (class in src.environment.wrappers.collision_episode_ender)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.collision_observation.CollisionObservation">CollisionObservation (class in src.environment.observations.types.collision_observation)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.collision_observation.CollisionObservation">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions">Collisions (class in src.environment.rewards.types.collisions)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario">CycleScenario (class in src.environment.scenarios.types.cycle)</a>, <a href="modules/src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="D">D</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.default_action">default_action() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.default_action">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold">dist_to_other_threshold (src.environment.rewards.types.social_norm_cross.SocialNormCross attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta">distance_delta (src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.done">done (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.done">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.done">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.door_pose">door_pose (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_pose">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_pose">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.door_state">door_state (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_state">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_state">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.common_observations.dsacadrl_observations">dsacadrl_observations() (in module src.environment.observations.common_observations)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.common_observations.dsacadrl_observations">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.common_rewards.dsacadrl_rewards">dsacadrl_rewards() (in module src.environment.rewards.common_rewards)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.common_rewards.dsacadrl_rewards">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="E">E</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.elevator_loading">elevator_loading() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.elevator_loading">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder">EnforcedOrder (class in src.environment.rewards.types.manual_zone.enforced_order)</a>, <a href="modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.entering">entering (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.entering">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder">EntropyEpisodeEnder (class in src.environment.wrappers.entropy_episode_ender)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env">env (src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.env_response_type">env_response_type (src.environment.environment_types.manual_zone.ManualZoneEnv attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.env_response_type">(src.environment.ros_social_gym.RosSocialEnv attribute)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.env_response_type">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_door">envs_door() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_door">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_hallway">envs_hallway() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_hallway">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_intersection">envs_intersection() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_intersection">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_open">envs_open() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_open">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_round_about">envs_round_about() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_round_about">[1]</a>
-</li>
-      <li><a href="_site/modules/src.html#src.config_run.kinds.eo">eo (src.config_run.kinds attribute)</a>, <a href="modules/src.html#src.config_run.kinds.eo">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count">episode_count (src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.callbacks.html#src.environment.callbacks.callbacks.EvalCallback">EvalCallback (class in src.environment.callbacks.callbacks)</a>, <a href="modules/src.environment.callbacks.html#src.environment.callbacks.callbacks.EvalCallback">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.utils.html#src.environment.utils.evaluate_policy.evaluate_policy">evaluate_policy() (in module src.environment.utils.evaluate_policy)</a>, <a href="modules/src.environment.utils.html#src.environment.utils.evaluate_policy.evaluate_policy">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.existence_penalty.ExistencePenalty">ExistencePenalty (class in src.environment.rewards.types.existence_penalty)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.existence_penalty.ExistencePenalty">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.exiting">exiting (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.exiting">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp1_train_scenario">exp1_train_scenario() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp1_train_scenario">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp2_train_scenario">exp2_train_scenario() (in module src.environment.scenarios.common_scenarios)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp2_train_scenario">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="F">F</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.utils.html#src.environment.utils.utils.filter_stdout">filter_stdout() (in module src.environment.utils.utils)</a>, <a href="modules/src.environment.utils.html#src.environment.utils.utils.filter_stdout">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.utils.html#src.environment.utils.utils.LogFilter.flush">flush() (src.environment.utils.utils.LogFilter method)</a>, <a href="modules/src.environment.utils.html#src.environment.utils.utils.LogFilter.flush">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.follow_target">follow_target (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.follow_target">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.follow_target">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.forward">forward() (src.environment.extractors.lstm_agent_obs.LSTMAgentObs method)</a>, <a href="modules/src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.forward">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="G">G</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.generate_scenario">generate_scenario() (src.environment.scenarios.scenario.Scenario method)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.generate_scenario">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario.generate_scenario">(src.environment.scenarios.types.cycle.CycleScenario method)</a>, <a href="modules/src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario.generate_scenario">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario">(src.environment.scenarios.types.graph_nav.GraphNavScenario method)</a>, <a href="modules/src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario.generate_scenario">(src.environment.scenarios.types.manual.ManualScenario method)</a>, <a href="modules/src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario.generate_scenario">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.utils.html#src.environment.utils.utils.get_tboard_writer">get_tboard_writer() (in module src.environment.utils.utils)</a>, <a href="modules/src.environment.utils.html#src.environment.utils.utils.get_tboard_writer">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold">goal_dist_threshold (src.environment.rewards.types.social_norm_cross.SocialNormCross attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold">(src.environment.rewards.types.social_norm_overtake.SocialNormOvertake attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold">(src.environment.rewards.types.social_norm_pass.SocialNormPass attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.goal_pose">goal_pose (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.goal_pose">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.goal_pose">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.goal_distance.GoalDistance">GoalDistance (class in src.environment.rewards.types.goal_distance)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.goal_distance.GoalDistance">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.goal_distance_change.GoalDistanceChange">GoalDistanceChange (class in src.environment.rewards.types.goal_distance_change)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.goal_distance_change.GoalDistanceChange">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario">GraphNavScenario (class in src.environment.scenarios.types.graph_nav)</a>, <a href="modules/src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="H">H</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold">heading_angle_threshold (src.environment.rewards.types.social_norm_overtake.SocialNormOvertake attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold">(src.environment.rewards.types.social_norm_pass.SocialNormPass attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds">heading_angle_thresholds (src.environment.rewards.types.social_norm_cross.SocialNormCross attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history">history (src.environment.observations.types.agents_goal_distance.AgentsGoalDistance attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.history">(src.environment.observations.types.agents_velocity.AgentsVelocity attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.history">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history_length">history_length (src.environment.observations.types.agents_goal_distance.AgentsGoalDistance attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history_length">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.history_length">(src.environment.observations.types.agents_velocity.AgentsVelocity attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.history_length">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.human_poses">human_poses (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_poses">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_poses">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.human_vels">human_vels (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_vels">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_vels">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-</tr></table>
-
-<h2 id="I">I</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.ignore_theta">ignore_theta (src.environment.observations.types.agents_velocity.AgentsVelocity attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.ignore_theta">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.image_callback">image_callback() (src.environment.wrappers.tensorboard_writer.TensorboardWriter method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.image_callback">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.in_zone">in_zone (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.in_zone">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="K">K</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.html#src.config_run.kinds">kinds (class in src.config_run)</a>, <a href="modules/src.html#src.config_run.kinds">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="L">L</h2>
+<h2 id="M">M</h2>
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.launch_config">launch_config (src.environment.environment_types.manual_zone.ManualZoneEnv attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.launch_config">(src.environment.ros_social_gym.RosSocialEnv attribute)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.launch_config">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.rewards.wrappers.html#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler">LinearWeightScheduler (class in src.environment.rewards.wrappers.linear_weight_scheduler)</a>, <a href="modules/src.environment.rewards.wrappers.html#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.load_nav_nodes">load_nav_nodes() (src.environment.scenarios.scenario.Scenario method)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.load_nav_nodes">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.local_target">local_target (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
+      <li>
+    module
 
       <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.local_target">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.local_target">[1]</a>
+        <li><a href="_site/modules/src.html#module-src">src</a>, <a href="modules/src.html#module-src">[1]</a>
 </li>
       </ul></li>
-      <li><a href="_site/modules/src.environment.utils.html#src.environment.utils.utils.LogFilter">LogFilter (class in src.environment.utils.utils)</a>, <a href="modules/src.environment.utils.html#src.environment.utils.utils.LogFilter">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs">LSTMAgentObs (class in src.environment.extractors.lstm_agent_obs)</a>, <a href="modules/src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs">[1]</a>
-</li>
   </ul></td>
 </tr></table>
 
-<h2 id="M">M</h2>
+<h2 id="S">S</h2>
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observer.Observer.make_observation">make_observation() (src.environment.observations.observer.Observer method)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observer.Observer.make_observation">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.make_observation">(src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.make_observation">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.make_scenario">make_scenario() (src.environment.scenarios.scenario.Scenario method)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.make_scenario">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.make_tensors">make_tensors() (src.environment.extractors.lstm_agent_obs.LSTMAgentObs method)</a>, <a href="modules/src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.make_tensors">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario">ManualScenario (class in src.environment.scenarios.types.manual)</a>, <a href="modules/src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv">ManualZoneEnv (class in src.environment.environment_types.manual_zone)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse">ManualZoneUTMRSResponse (class in src.environment.environment_types.manual_zone)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.metadata">metadata (src.environment.ros_social_gym.RosSocialEnv attribute)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.metadata">[1]</a>
-</li>
       <li>
-    module
+    src
 
       <ul>
-        <li><a href="_site/modules/src.html#module-src">src</a>, <a href="modules/src.html#module-src">[1]</a>
-</li>
-        <li><a href="_site/modules/src.html#module-src.config_run">src.config_run</a>, <a href="modules/src.html#module-src.config_run">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.html#module-src.environment">src.environment</a>, <a href="modules/src.environment.html#module-src.environment">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.callbacks.html#module-src.environment.callbacks">src.environment.callbacks</a>, <a href="modules/src.environment.callbacks.html#module-src.environment.callbacks">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.callbacks.html#module-src.environment.callbacks.callbacks">src.environment.callbacks.callbacks</a>, <a href="modules/src.environment.callbacks.html#module-src.environment.callbacks.callbacks">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.environment_types.html#module-src.environment.environment_types">src.environment.environment_types</a>, <a href="modules/src.environment.environment_types.html#module-src.environment.environment_types">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.environment_types.html#module-src.environment.environment_types.manual_zone">src.environment.environment_types.manual_zone</a>, <a href="modules/src.environment.environment_types.html#module-src.environment.environment_types.manual_zone">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.extractors.html#module-src.environment.extractors">src.environment.extractors</a>, <a href="modules/src.environment.extractors.html#module-src.environment.extractors">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.extractors.html#module-src.environment.extractors.lstm_agent_obs">src.environment.extractors.lstm_agent_obs</a>, <a href="modules/src.environment.extractors.html#module-src.environment.extractors.lstm_agent_obs">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations">src.environment.observations</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations.common_observations">src.environment.observations.common_observations</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations.common_observations">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations.observation">src.environment.observations.observation</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations.observation">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations.observer">src.environment.observations.observer</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations.observer">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types">src.environment.observations.types</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_goal_distance">src.environment.observations.types.agents_goal_distance</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_goal_distance">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_heading_direction">src.environment.observations.types.agents_heading_direction</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_heading_direction">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_others_distance">src.environment.observations.types.agents_others_distance</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_others_distance">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_pose">src.environment.observations.types.agents_pose</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_pose">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_preferred_velocity">src.environment.observations.types.agents_preferred_velocity</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_preferred_velocity">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">src.environment.observations.types.agents_velocity</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">src.environment.observations.types.collision_observation</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone">src.environment.observations.types.manual_zone</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_in_zone">src.environment.observations.types.manual_zone.agent_in_zone</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_in_zone">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_current_order">src.environment.observations.types.manual_zone.agent_zone_current_order</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_current_order">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_priority_order">src.environment.observations.types.manual_zone.agent_zone_priority_order</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_priority_order">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">src.environment.observations.types.other_agent_observables</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">[1]</a>
-</li>
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-<h2 id="N">N</h2>
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-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observation.Observation.name">name() (src.environment.observations.observation.Observation class method)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observation.Observation.name">[1]</a>
-
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-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity.name">(src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity class method)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity.name">[1]</a>
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-</li>
-        <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.reward.Reward.name">(src.environment.rewards.reward.Reward class method)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.reward.Reward.name">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions.name">(src.environment.rewards.types.collisions.Collisions class method)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions.name">[1]</a>
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-</li>
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-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.name">(src.environment.rewards.types.social_norm_cross.SocialNormCross class method)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.name">[1]</a>
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-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only">negative_multiplier_only (src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario">new_scenario() (src.environment.environment_types.manual_zone.ManualZoneEnv method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.new_scenario">(src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.new_scenario">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency">new_scenario_episode_frequency (src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper">NewScenarioWrapper (class in src.environment.wrappers.new_scenario_wrapper)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.num_agents">num_agents (src.environment.environment_types.manual_zone.ManualZoneEnv attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_agents">(src.environment.ros_social_gym.RosSocialEnv attribute)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_agents">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.num_humans">num_humans (src.environment.environment_types.manual_zone.ManualZoneEnv attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_humans">(src.environment.ros_social_gym.RosSocialEnv attribute)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_humans">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.num_others">num_others (src.environment.observations.types.agents_others_distance.AgentsOthersDistance attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.num_others">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables.num_others">(src.environment.observations.types.other_agent_observables.OtherAgentObservables attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables.num_others">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others">(src.environment.observations.types.others_heading_direction.OthersHeadingDirection attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses.num_others">(src.environment.observations.types.others_poses.OthersPoses attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses.num_others">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities.num_others">(src.environment.observations.types.others_velocities.OthersVelocities attribute)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities.num_others">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_entering">number_agents_entering (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_entering">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_exiting">number_agents_exiting (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_exiting">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="O">O</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.html#src.multi_agent_optuna.objective">objective() (in module src.multi_agent_optuna)</a>, <a href="modules/src.html#src.multi_agent_optuna.objective">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observation.Observation">Observation (class in src.environment.observations.observation)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observation.Observation">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.observation_space">observation_space() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.observation_space">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observation.Observation.observations">observations() (src.environment.observations.observation.Observation method)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observation.Observation.observations">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observer.Observer">Observer (class in src.environment.observations.observer)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observer.Observer">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.observer">observer (src.environment.environment_types.manual_zone.ManualZoneEnv attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.observer">(src.environment.ros_social_gym.RosSocialEnv attribute)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.observer">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter">on_enter (src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder attribute)</a>, <a href="modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit">on_exit (src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder attribute)</a>, <a href="modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.callbacks.html#src.environment.callbacks.callbacks.OptunaCallback">OptunaCallback (class in src.environment.callbacks.callbacks)</a>, <a href="modules/src.environment.callbacks.html#src.environment.callbacks.callbacks.OptunaCallback">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.other_robot_poses">other_robot_poses (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_poses">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_poses">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.other_robot_vels">other_robot_vels (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_vels">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_vels">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables">OtherAgentObservables (class in src.environment.observations.types.other_agent_observables)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection">OthersHeadingDirection (class in src.environment.observations.types.others_heading_direction)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses">OthersPoses (class in src.environment.observations.types.others_poses)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities">OthersVelocities (class in src.environment.observations.types.others_velocities)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="P">P</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans">plans (src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.point">point() (src.environment.environment_types.manual_zone.RvisZoneVisualization method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.point">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.utils.html#src.environment.utils.utils.poses_to_np_array">poses_to_np_array() (in module src.environment.utils.utils)</a>, <a href="modules/src.environment.utils.html#src.environment.utils.utils.poses_to_np_array">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.preferred_velocity.PreferredVelocity">PreferredVelocity (class in src.environment.rewards.types.preferred_velocity)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.preferred_velocity.PreferredVelocity">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state">previous_zone_state (src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder attribute)</a>, <a href="modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.process">process() (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse class method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.process">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.process">(src.environment.services.utmrs.UTMRSResponse class method)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.process">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.publish">publish() (src.environment.environment_types.manual_zone.RvisZoneVisualization method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.publish">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold">px_threshold (src.environment.rewards.types.social_norm_overtake.SocialNormOvertake attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold">(src.environment.rewards.types.social_norm_pass.SocialNormPass attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold">py_threshold (src.environment.rewards.types.social_norm_overtake.SocialNormOvertake attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold">(src.environment.rewards.types.social_norm_pass.SocialNormPass attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-</tr></table>
-
-<h2 id="R">R</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.rect">rect() (src.environment.environment_types.manual_zone.RvisZoneVisualization method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.rect">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observer.Observer.registered_observations">registered_observations (src.environment.observations.observer.Observer attribute)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observer.Observer.registered_observations">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.registered_rewards">registered_rewards (src.environment.rewards.rewarder.Rewarder attribute)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.registered_rewards">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold">relative_agent_to_other_angle_threshold (src.environment.rewards.types.social_norm_cross.SocialNormCross attribute)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.render">render() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.render">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.reset">reset() (src.environment.environment_types.manual_zone.ManualZoneEnv method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.reset">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observer.Observer.reset">(src.environment.observations.observer.Observer method)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observer.Observer.reset">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reset">(src.environment.rewards.rewarder.Rewarder method)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reset">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.reset">(src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.reset">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRS.reset">(src.environment.services.utmrs.UTMRS method)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRS.reset">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset">(src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset">(src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.reset">(src.environment.wrappers.tensorboard_writer.TensorboardWriter method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.reset">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.reset">(src.environment.wrappers.time_limit.TimeLimitWrapper method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.reset">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions">reset_positions() (src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.reward.Reward">Reward (class in src.environment.rewards.reward)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.reward.Reward">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reward">reward() (src.environment.rewards.rewarder.Rewarder method)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reward">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier">reward_multiplier (src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder">Rewarder (class in src.environment.rewards.rewarder)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.rewarder">rewarder (src.environment.environment_types.manual_zone.ManualZoneEnv attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.rewarder">(src.environment.ros_social_gym.RosSocialEnv attribute)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.rewarder">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper">RewardStripper (class in src.environment.wrappers.reward_stripper)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.robot_poses">robot_poses (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_poses">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_poses">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.robot_state">robot_state (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_state">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_state">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.robot_vels">robot_vels (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_vels">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_vels">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv">RosSocialEnv (class in src.environment.ros_social_gym)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv">[1]</a>
-</li>
-      <li><a href="_site/modules/src.html#src.config_run.run">run() (in module src.config_run)</a>, <a href="modules/src.html#src.config_run.run">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization">RvisZoneVisualization (class in src.environment.environment_types.manual_zone)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="S">S</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.html#src.config_run.kinds.sacadrl">sacadrl (src.config_run.kinds attribute)</a>, <a href="modules/src.html#src.config_run.kinds.sacadrl">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario">Scenario (class in src.environment.scenarios.scenario)</a>, <a href="modules/src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.reward.Reward.score">score() (src.environment.rewards.reward.Reward method)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.reward.Reward.score">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.seed">seed() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.seed">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed">(src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed">(src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed">(src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.seed">(src.environment.wrappers.reward_stripper.RewardStripper method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.seed">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.seed">(src.environment.wrappers.tensorboard_writer.TensorboardWriter method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.seed">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.seed">(src.environment.wrappers.time_limit.TimeLimitWrapper method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.seed">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.set_vars">set_vars() (src.environment.services.utmrs.UTMRSResponse method)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.set_vars">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.set_zone_vars">set_zone_vars() (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.set_zone_vars">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.observations.html#src.environment.observations.observer.Observer.setup">setup() (src.environment.observations.observer.Observer method)</a>, <a href="modules/src.environment.observations.html#src.environment.observations.observer.Observer.setup">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.setup">(src.environment.rewards.rewarder.Rewarder method)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.setup">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.sim_step">sim_step() (src.environment.environment_types.manual_zone.ManualZoneEnv method)</a>, <a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.sim_step">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.sim_step">(src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.sim_step">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross">SocialNormCross (class in src.environment.rewards.types.social_norm_cross)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake">SocialNormOvertake (class in src.environment.rewards.types.social_norm_overtake)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass">SocialNormPass (class in src.environment.rewards.types.social_norm_pass)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass">[1]</a>
-</li>
-      <li>
-    src
-
-      <ul>
-        <li><a href="_site/modules/src.html#module-src">module</a>, <a href="modules/src.html#module-src">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.config_run
-
-      <ul>
-        <li><a href="_site/modules/src.html#module-src.config_run">module</a>, <a href="modules/src.html#module-src.config_run">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#module-src.environment">module</a>, <a href="modules/src.environment.html#module-src.environment">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.callbacks
-
-      <ul>
-        <li><a href="_site/modules/src.environment.callbacks.html#module-src.environment.callbacks">module</a>, <a href="modules/src.environment.callbacks.html#module-src.environment.callbacks">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.callbacks.callbacks
-
-      <ul>
-        <li><a href="_site/modules/src.environment.callbacks.html#module-src.environment.callbacks.callbacks">module</a>, <a href="modules/src.environment.callbacks.html#module-src.environment.callbacks.callbacks">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.environment_types
-
-      <ul>
-        <li><a href="_site/modules/src.environment.environment_types.html#module-src.environment.environment_types">module</a>, <a href="modules/src.environment.environment_types.html#module-src.environment.environment_types">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.environment_types.manual_zone
-
-      <ul>
-        <li><a href="_site/modules/src.environment.environment_types.html#module-src.environment.environment_types.manual_zone">module</a>, <a href="modules/src.environment.environment_types.html#module-src.environment.environment_types.manual_zone">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.extractors
-
-      <ul>
-        <li><a href="_site/modules/src.environment.extractors.html#module-src.environment.extractors">module</a>, <a href="modules/src.environment.extractors.html#module-src.environment.extractors">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.extractors.lstm_agent_obs
-
-      <ul>
-        <li><a href="_site/modules/src.environment.extractors.html#module-src.environment.extractors.lstm_agent_obs">module</a>, <a href="modules/src.environment.extractors.html#module-src.environment.extractors.lstm_agent_obs">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations">module</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.common_observations
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations.common_observations">module</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations.common_observations">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.observation
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations.observation">module</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations.observation">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.observer
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.html#module-src.environment.observations.observer">module</a>, <a href="modules/src.environment.observations.html#module-src.environment.observations.observer">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.agents_goal_distance
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_goal_distance">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_goal_distance">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.agents_heading_direction
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_heading_direction">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_heading_direction">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.agents_others_distance
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_others_distance">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_others_distance">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.agents_pose
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_pose">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_pose">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.agents_preferred_velocity
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_preferred_velocity">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_preferred_velocity">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.agents_velocity
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.collision_observation
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.manual_zone
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone">module</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.manual_zone.agent_in_zone
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_in_zone">module</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_in_zone">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.manual_zone.agent_zone_current_order
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_current_order">module</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_current_order">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.manual_zone.agent_zone_priority_order
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_priority_order">module</a>, <a href="modules/src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_priority_order">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.other_agent_observables
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.others_heading_direction
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.others_heading_direction">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.others_heading_direction">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.others_poses
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.others_poses">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.others_poses">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.others_velocities
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.others_velocities">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.others_velocities">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.observations.types.success_observation
-
-      <ul>
-        <li><a href="_site/modules/src.environment.observations.types.html#module-src.environment.observations.types.success_observation">module</a>, <a href="modules/src.environment.observations.types.html#module-src.environment.observations.types.success_observation">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.html#module-src.environment.rewards">module</a>, <a href="modules/src.environment.rewards.html#module-src.environment.rewards">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.common_rewards
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.html#module-src.environment.rewards.common_rewards">module</a>, <a href="modules/src.environment.rewards.html#module-src.environment.rewards.common_rewards">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.reward
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.html#module-src.environment.rewards.reward">module</a>, <a href="modules/src.environment.rewards.html#module-src.environment.rewards.reward">[1]</a>
-</li>
-      </ul></li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li>
-    src.environment.rewards.rewarder
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.html#module-src.environment.rewards.rewarder">module</a>, <a href="modules/src.environment.rewards.html#module-src.environment.rewards.rewarder">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.collisions
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.collisions">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.collisions">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.existence_penalty
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.existence_penalty">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.existence_penalty">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.goal_distance
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.goal_distance_change
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance_change">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance_change">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.manual_zone
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone">module</a>, <a href="modules/src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.manual_zone.enforced_order
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone.enforced_order">module</a>, <a href="modules/src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone.enforced_order">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.preferred_velocity
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.preferred_velocity">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.preferred_velocity">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.social_norm_cross
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_cross">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_cross">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.social_norm_overtake
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_overtake">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_overtake">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.social_norm_pass
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_pass">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_pass">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.success
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.success">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.success">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.types.velocity_control
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.types.html#module-src.environment.rewards.types.velocity_control">module</a>, <a href="modules/src.environment.rewards.types.html#module-src.environment.rewards.types.velocity_control">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.wrappers
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers">module</a>, <a href="modules/src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.rewards.wrappers.linear_weight_scheduler
-
-      <ul>
-        <li><a href="_site/modules/src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers.linear_weight_scheduler">module</a>, <a href="modules/src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers.linear_weight_scheduler">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.ros_social_gym
-
-      <ul>
-        <li><a href="_site/modules/src.environment.html#module-src.environment.ros_social_gym">module</a>, <a href="modules/src.environment.html#module-src.environment.ros_social_gym">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.scenarios
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.html#module-src.environment.scenarios">module</a>, <a href="modules/src.environment.scenarios.html#module-src.environment.scenarios">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.scenarios.common_scenarios
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.html#module-src.environment.scenarios.common_scenarios">module</a>, <a href="modules/src.environment.scenarios.html#module-src.environment.scenarios.common_scenarios">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.scenarios.scenario
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.html#module-src.environment.scenarios.scenario">module</a>, <a href="modules/src.environment.scenarios.html#module-src.environment.scenarios.scenario">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.scenarios.types
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types">module</a>, <a href="modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.scenarios.types.cycle
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types.cycle">module</a>, <a href="modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types.cycle">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.scenarios.types.graph_nav
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types.graph_nav">module</a>, <a href="modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types.graph_nav">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.scenarios.types.manual
-
-      <ul>
-        <li><a href="_site/modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types.manual">module</a>, <a href="modules/src.environment.scenarios.types.html#module-src.environment.scenarios.types.manual">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.services
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#module-src.environment.services">module</a>, <a href="modules/src.environment.services.html#module-src.environment.services">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.services.utmrs
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#module-src.environment.services.utmrs">module</a>, <a href="modules/src.environment.services.html#module-src.environment.services.utmrs">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.utils
-
-      <ul>
-        <li><a href="_site/modules/src.environment.utils.html#module-src.environment.utils">module</a>, <a href="modules/src.environment.utils.html#module-src.environment.utils">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.utils.evaluate_policy
-
-      <ul>
-        <li><a href="_site/modules/src.environment.utils.html#module-src.environment.utils.evaluate_policy">module</a>, <a href="modules/src.environment.utils.html#module-src.environment.utils.evaluate_policy">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.utils.utils
-
-      <ul>
-        <li><a href="_site/modules/src.environment.utils.html#module-src.environment.utils.utils">module</a>, <a href="modules/src.environment.utils.html#module-src.environment.utils.utils">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.wrappers
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#module-src.environment.wrappers">module</a>, <a href="modules/src.environment.wrappers.html#module-src.environment.wrappers">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.wrappers.collision_episode_ender
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#module-src.environment.wrappers.collision_episode_ender">module</a>, <a href="modules/src.environment.wrappers.html#module-src.environment.wrappers.collision_episode_ender">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.wrappers.entropy_episode_ender
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#module-src.environment.wrappers.entropy_episode_ender">module</a>, <a href="modules/src.environment.wrappers.html#module-src.environment.wrappers.entropy_episode_ender">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.wrappers.new_scenario_wrapper
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#module-src.environment.wrappers.new_scenario_wrapper">module</a>, <a href="modules/src.environment.wrappers.html#module-src.environment.wrappers.new_scenario_wrapper">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.wrappers.reward_stripper
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#module-src.environment.wrappers.reward_stripper">module</a>, <a href="modules/src.environment.wrappers.html#module-src.environment.wrappers.reward_stripper">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.wrappers.tensorboard_writer
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#module-src.environment.wrappers.tensorboard_writer">module</a>, <a href="modules/src.environment.wrappers.html#module-src.environment.wrappers.tensorboard_writer">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.environment.wrappers.time_limit
-
-      <ul>
-        <li><a href="_site/modules/src.environment.wrappers.html#module-src.environment.wrappers.time_limit">module</a>, <a href="modules/src.environment.wrappers.html#module-src.environment.wrappers.time_limit">[1]</a>
-</li>
-      </ul></li>
-      <li>
-    src.multi_agent_optuna
-
-      <ul>
-        <li><a href="_site/modules/src.html#module-src.multi_agent_optuna">module</a>, <a href="modules/src.html#module-src.multi_agent_optuna">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.state">state() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.state">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.step">step() (src.environment.ros_social_gym.RosSocialEnv method)</a>, <a href="modules/src.environment.html#src.environment.ros_social_gym.RosSocialEnv.step">[1]</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRS.step">(src.environment.services.utmrs.UTMRS method)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRS.step">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step">(src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step">(src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.step">(src.environment.wrappers.reward_stripper.RewardStripper method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.step">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.step">(src.environment.wrappers.tensorboard_writer.TensorboardWriter method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.step">[1]</a>
-</li>
-        <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.step">(src.environment.wrappers.time_limit.TimeLimitWrapper method)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.step">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.success.Success">Success (class in src.environment.rewards.types.success)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.success.Success">[1]</a>
-</li>
-      <li><a href="modules/src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.success">success (src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse attribute)</a>
-
-      <ul>
-        <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.success">(src.environment.services.utmrs.UTMRSResponse attribute)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.success">[1]</a>
-</li>
-      </ul></li>
-      <li><a href="_site/modules/src.environment.observations.types.html#src.environment.observations.types.success_observation.SuccessObservation">SuccessObservation (class in src.environment.observations.types.success_observation)</a>, <a href="modules/src.environment.observations.types.html#src.environment.observations.types.success_observation.SuccessObservation">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="T">T</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter">TensorboardWriter (class in src.environment.wrappers.tensorboard_writer)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper">TimeLimitWrapper (class in src.environment.wrappers.time_limit)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold">timestep_threshold (src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder attribute)</a>, <a href="modules/src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="U">U</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.callbacks.html#src.environment.callbacks.callbacks.EvalCallback.update_child_locals">update_child_locals() (src.environment.callbacks.callbacks.EvalCallback method)</a>, <a href="modules/src.environment.callbacks.html#src.environment.callbacks.callbacks.EvalCallback.update_child_locals">[1]</a>
-</li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRS">UTMRS (class in src.environment.services.utmrs)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRS">[1]</a>
-</li>
-      <li><a href="_site/modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse">UTMRSResponse (class in src.environment.services.utmrs)</a>, <a href="modules/src.environment.services.html#src.environment.services.utmrs.UTMRSResponse">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="V">V</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.rewards.types.html#src.environment.rewards.types.velocity_control.VelocityControl">VelocityControl (class in src.environment.rewards.types.velocity_control)</a>, <a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.velocity_control.VelocityControl">[1]</a>
-</li>
-  </ul></td>
-</tr></table>
-
-<h2 id="W">W</h2>
-<table style="width: 100%" class="indextable genindextable"><tr>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.rewards.html#src.environment.rewards.reward.Reward.weight">weight (src.environment.rewards.reward.Reward attribute)</a>, <a href="modules/src.environment.rewards.html#src.environment.rewards.reward.Reward.weight">[1]</a>
-
-      <ul>
-        <li><a href="modules/src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.weight">(src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder attribute)</a>
-</li>
-        <li><a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.weight">(src.environment.rewards.types.social_norm_cross.SocialNormCross attribute)</a>
-</li>
-        <li><a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.weight">(src.environment.rewards.types.social_norm_overtake.SocialNormOvertake attribute)</a>
-</li>
-        <li><a href="modules/src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.weight">(src.environment.rewards.types.social_norm_pass.SocialNormPass attribute)</a>
+        <li><a href="_site/modules/src.html#module-src">module</a>, <a href="modules/src.html#module-src">[1]</a>
 </li>
       </ul></li>
   </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="_site/modules/src.environment.utils.html#src.environment.utils.utils.LogFilter.write">write() (src.environment.utils.utils.LogFilter method)</a>, <a href="modules/src.environment.utils.html#src.environment.utils.utils.LogFilter.write">[1]</a>
-</li>
-  </ul></td>
 </tr></table>
 
 
diff --git a/docs_src/_build/html/index.html b/docs_src/_build/html/index.html
index 3ae74f68..73a07759 100644
--- a/docs_src/_build/html/index.html
+++ b/docs_src/_build/html/index.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Welcome to the Social Gym 2.0 documentation! &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="_static/sphinx_highlight.js"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
     <link rel="search" title="Search" href="search.html" />
@@ -26,16 +27,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="#" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="#" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -63,7 +60,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="#" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="#" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Welcome to the Social Gym 2.0 documentation!</li>
       <li class="wy-breadcrumbs-aside">
             <a href="_sources/index.rst.txt" rel="nofollow"> View page source</a>
@@ -75,8 +72,8 @@
            <div itemprop="articleBody">
              
   <section id="welcome-to-the-social-gym-2-0-documentation">
-<h1>Welcome to the Social Gym 2.0 documentation!<a class="headerlink" href="#welcome-to-the-social-gym-2-0-documentation" title="Permalink to this heading"></a></h1>
-<a class="reference internal image-reference" href="https://drive.google.com/uc?id=1-mdW21SIJiF4LUlxGxQClDlZhd5iHUDP"><img alt="https://drive.google.com/uc?id=1-mdW21SIJiF4LUlxGxQClDlZhd5iHUDP" class="align-center" src="https://drive.google.com/uc?id=1-mdW21SIJiF4LUlxGxQClDlZhd5iHUDP" style="width: 400px;" /></a>
+<h1>Welcome to the Social Gym 2.0 documentation!<a class="headerlink" href="#welcome-to-the-social-gym-2-0-documentation" title="Permalink to this headline"></a></h1>
+<a class="reference internal image-reference" href="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_sim.gif"><img alt="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_sim.gif" class="align-center" src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_sim.gif" style="width: 400px;" /></a>
 <div class="line-block">
 <div class="line"><br /></div>
 </div>
@@ -121,7 +118,7 @@ <h1>Welcome to the Social Gym 2.0 documentation!<a class="headerlink" href="#wel
 </div>
 </section>
 <section id="if-you-use-this-code-please-cite-the-following">
-<h1>If you use this code, please cite the following<a class="headerlink" href="#if-you-use-this-code-please-cite-the-following" title="Permalink to this heading"></a></h1>
+<h1>If you use this code, please cite the following<a class="headerlink" href="#if-you-use-this-code-please-cite-the-following" title="Permalink to this headline"></a></h1>
 <div class="highlight-latex notranslate"><div class="highlight"><pre><span></span>@article<span class="nb">{</span>sprague2023socialgym,
 title=<span class="nb">{</span>SOCIALGYM 2.0: Simulator for Multi-Agent Social Robot Navigation in Shared Human Spaces<span class="nb">}</span>,
 author=<span class="nb">{</span>Sprague, Zayne and Chandra, Rohan and Holtz, Jarrett and Biswas, Joydeep<span class="nb">}</span>,
@@ -141,7 +138,7 @@ <h1>If you use this code, please cite the following<a class="headerlink" href="#
 </div>
 </section>
 <section id="indices-and-tables">
-<h1>Indices and tables<a class="headerlink" href="#indices-and-tables" title="Permalink to this heading"></a></h1>
+<h1>Indices and tables<a class="headerlink" href="#indices-and-tables" title="Permalink to this headline"></a></h1>
 <ul class="simple">
 <li><p><a class="reference internal" href="genindex.html"><span class="std std-ref">Index</span></a></p></li>
 <li><p><a class="reference internal" href="py-modindex.html"><span class="std std-ref">Module Index</span></a></p></li>
diff --git a/docs_src/_build/html/installation/advanced_usage.html b/docs_src/_build/html/installation/advanced_usage.html
index 86a63788..21233f46 100644
--- a/docs_src/_build/html/installation/advanced_usage.html
+++ b/docs_src/_build/html/installation/advanced_usage.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Advanced Usage &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
@@ -27,16 +28,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -90,7 +87,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Advanced Usage</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/installation/advanced_usage.md.txt" rel="nofollow"> View page source</a>
@@ -102,7 +99,7 @@
            <div itemprop="articleBody">
              
   <section id="advanced-usage">
-<h1>Advanced Usage<a class="headerlink" href="#advanced-usage" title="Permalink to this heading"></a></h1>
+<h1>Advanced Usage<a class="headerlink" href="#advanced-usage" title="Permalink to this headline"></a></h1>
 <hr class="docutils" />
 <p>Welcome to the Advanced Usage doc!  Here, we will be setting up Social Gym so that each submodule runs on it’s
 own, allowing you to set up debuggers and step through each C submodule and the python code! There’s a FAQ at the bottom about common errors you might encounter.</p>
@@ -110,7 +107,7 @@ <h1>Advanced Usage<a class="headerlink" href="#advanced-usage" title="Permalink
 <code class="docutils literal notranslate"><span class="pre">apt</span></code>.</p>
 <hr class="docutils" />
 <section id="requirements">
-<h2>Requirements<a class="headerlink" href="#requirements" title="Permalink to this heading"></a></h2>
+<h2>Requirements<a class="headerlink" href="#requirements" title="Permalink to this headline"></a></h2>
 <p>We have only tested this full process on Pycharm and CLion Professional IDEs.  However, what’s really needed
 is the ability to have a remote source or remote server that you can plug your IDE into.  Specifically,
 we are going to plug our IDE (Pycharm/CLion) into a docker container via SSH.  Our IDE’s allow us to do this
@@ -118,38 +115,38 @@ <h2>Requirements<a class="headerlink" href="#requirements" title="Permalink to t
 need to look more stuff up on how to get these to work :/</p>
 </section>
 <section id="advanced-usage-setup-buckle-up">
-<h2>Advanced Usage setup (buckle up!)<a class="headerlink" href="#advanced-usage-setup-buckle-up" title="Permalink to this heading"></a></h2>
+<h2>Advanced Usage setup (buckle up!)<a class="headerlink" href="#advanced-usage-setup-buckle-up" title="Permalink to this headline"></a></h2>
 <p>We’ve broken this tutorial into 3 parts, the first is the basic setup, the second will get the submodules
 running, and the final part will focus on the python code and running the actual simulator end to end.</p>
 <section id="part-1-setting-up-the-basic-social-gym-dependencies-and-containers">
-<h3>Part 1: Setting up the basic Social Gym dependencies and containers<a class="headerlink" href="#part-1-setting-up-the-basic-social-gym-dependencies-and-containers" title="Permalink to this heading"></a></h3>
+<h3>Part 1: Setting up the basic Social Gym dependencies and containers<a class="headerlink" href="#part-1-setting-up-the-basic-social-gym-dependencies-and-containers" title="Permalink to this headline"></a></h3>
 <section id="from-the-basic-installation-guide-follow-steps-1-5">
-<h4>1.) From the basic installation guide follow steps 1-5<a class="headerlink" href="#from-the-basic-installation-guide-follow-steps-1-5" title="Permalink to this heading"></a></h4>
+<h4>1.) From the basic installation guide follow steps 1-5<a class="headerlink" href="#from-the-basic-installation-guide-follow-steps-1-5" title="Permalink to this headline"></a></h4>
 <p>They are not repeated here in case they change at some time</p>
 </section>
 <section id="build-and-up-the-docker-containers">
-<h4>2.) Build and “up” the docker containers<a class="headerlink" href="#build-and-up-the-docker-containers" title="Permalink to this heading"></a></h4>
+<h4>2.) Build and “up” the docker containers<a class="headerlink" href="#build-and-up-the-docker-containers" title="Permalink to this headline"></a></h4>
 <p>From the root directory of the project</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>docker-compose<span class="w"> </span>build<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>docker-compose<span class="w"> </span>up
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>docker-compose build <span class="o">&amp;&amp;</span> docker-compose up
 </pre></div>
 </div>
 <p>Make sure you see an RVIS window after the <code class="docutils literal notranslate"><span class="pre">docker-up</span></code> command finishes.  If you don’t, check your logs for build
 errors.</p>
 </section>
 <section id="open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these">
-<h4>3.) Open the submodule projects <code class="docutils literal notranslate"><span class="pre">ut_multirobot_sim</span></code> and <code class="docutils literal notranslate"><span class="pre">graph_navigation</span></code> in a separate IDE window (I use CLion for these)<a class="headerlink" href="#open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these" title="Permalink to this heading"></a></h4>
+<h4>3.) Open the submodule projects <code class="docutils literal notranslate"><span class="pre">ut_multirobot_sim</span></code> and <code class="docutils literal notranslate"><span class="pre">graph_navigation</span></code> in a separate IDE window (I use CLion for these)<a class="headerlink" href="#open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these" title="Permalink to this headline"></a></h4>
 <p>Make sure you are opening them from the directory <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/submodules/ut_multirobot_sim</span></code> and
 <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/submodules/graph_navigation</span></code> – we will be running the submodules from these windows (you could also
 run them from the ssh terminal in the subsequent steps)</p>
 </section>
 </section>
 <section id="part-2-setting-up-the-submodules">
-<h3>Part 2: Setting up the submodules<a class="headerlink" href="#part-2-setting-up-the-submodules" title="Permalink to this heading"></a></h3>
+<h3>Part 2: Setting up the submodules<a class="headerlink" href="#part-2-setting-up-the-submodules" title="Permalink to this headline"></a></h3>
 <p>This part of the setup was heavily inspired by https://github.com/nocoinman/ros-docker-clion – big shoutout to this
 project :)</p>
 <section id="ssh-into-the-ros-submodules-container">
-<h4>1.) SSH into the ROS submodules container<a class="headerlink" href="#ssh-into-the-ros-submodules-container" title="Permalink to this heading"></a></h4>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh<span class="w"> </span>rosdev@localhost<span class="w"> </span>-p<span class="w"> </span><span class="m">2222</span>
+<h4>1.) SSH into the ROS submodules container<a class="headerlink" href="#ssh-into-the-ros-submodules-container" title="Permalink to this headline"></a></h4>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh rosdev@localhost -p <span class="m">2222</span>
 yes
 <span class="m">12345</span>
 </pre></div>
@@ -160,25 +157,25 @@ <h4>1.) SSH into the ROS submodules container<a class="headerlink" href="#ssh-in
 so we can set some stuff up manually before we plug our IDE into it.</p>
 </section>
 <section id="build-static-dependencies">
-<h4>2.) Build static dependencies.<a class="headerlink" href="#build-static-dependencies" title="Permalink to this heading"></a></h4>
+<h4>2.) Build static dependencies.<a class="headerlink" href="#build-static-dependencies" title="Permalink to this headline"></a></h4>
 <p>There are a few submodules that really just contain libraries or code that does not need to be ran.  We still
 need to compile them so that we can reference them in the other sobumodules.</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>~/set_paths.sh
-rosdep<span class="w"> </span>update
-<span class="nb">cd</span><span class="w"> </span>social_gym/submodules/amrl_msgs
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span> ~/set_paths.sh
+rosdep update
+<span class="nb">cd</span> social_gym/submodules/amrl_msgs
 make
-<span class="nb">cd</span><span class="w"> </span>../pedsim_ros
+<span class="nb">cd</span> ../pedsim_ros
 catkin_make
-<span class="nb">cd</span><span class="w"> </span>../
+<span class="nb">cd</span> ../
 </pre></div>
 </div>
 <p>Make sure <code class="docutils literal notranslate"><span class="pre">rosdep</span> <span class="pre">udpate</span></code> succeeds! If it fails, you won’t be able to build the submodules.</p>
 </section>
 <section id="build-the-graph-navigation-submodule">
-<h4>3.) Build the Graph Navigation submodule<a class="headerlink" href="#build-the-graph-navigation-submodule" title="Permalink to this heading"></a></h4>
+<h4>3.) Build the Graph Navigation submodule<a class="headerlink" href="#build-the-graph-navigation-submodule" title="Permalink to this headline"></a></h4>
 <p>This submodule handles low level navigation for the agents.</p>
 <p>Assuming you are starting from the <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/submodules</span></code> directory</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>graph_navigation
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> graph_navigation
 make
 </pre></div>
 </div>
@@ -189,7 +186,7 @@ <h4>3.) Build the Graph Navigation submodule<a class="headerlink" href="#build-t
 </section>
 <hr class="docutils" />
 <section id="setup-graph-navigation-with-your-ide">
-<h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-graph-navigation-with-your-ide" title="Permalink to this heading"></a></h4>
+<h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-graph-navigation-with-your-ide" title="Permalink to this headline"></a></h4>
 <p>If you have a different IDE other than CLION Commercial or Professional find out how to configure a remote host via
 ssh.  Some of this will be relevant (like setting global env variables) but most of it may be CLION specific.</p>
 <p>Before following the steps below, run</p>
@@ -222,8 +219,8 @@ <h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-g
 something in there currently, make sure to delete that.)</p>
 <p>16.) Click OK in the settings window and go back to your terminal with the SSH connection.</p>
 <p>17.) Run</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-debug/
-sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-remotedebugger/
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo rm -r cmake-build-debug/
+sudo rm -r cmake-build-remotedebugger/
 </pre></div>
 </div>
 <p>remember the password is <code class="docutils literal notranslate"><span class="pre">12345</span></code> if you have not changed it.</p>
@@ -239,9 +236,9 @@ <h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-g
 <hr class="docutils" />
 <p><em>NOTE</em>: If you are going to be using custom maps, this is one of the places you’ll have to update the name (<code class="docutils literal notranslate"><span class="pre">-map</span></code>)</p>
 <p>21.) Hit Apply and OK then hit Run.  You should see the IDE build the project and eventually produce</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/graph_navigation/cmake-build-remotedebugger/../bin/social_nav<span class="w"> </span>-service_mode<span class="o">=</span><span class="nb">true</span><span class="w"> </span>-map<span class="o">=</span>exp2/train/easy
-Loading<span class="w"> </span>/home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json...
-Loaded<span class="w"> </span>/home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json<span class="w"> </span>with<span class="w"> </span><span class="m">18</span><span class="w"> </span>states,<span class="w"> </span><span class="m">17</span><span class="w"> </span>edges
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/graph_navigation/cmake-build-remotedebugger/../bin/social_nav -service_mode<span class="o">=</span><span class="nb">true</span> -map<span class="o">=</span>exp2/train/easy
+Loading /home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json...
+Loaded /home/rosdev/social_gym/submodules/amrl_maps/exp2/train/easy/exp2/train/easy.navigation.json with <span class="m">18</span> states, <span class="m">17</span> edges
 </pre></div>
 </div>
 <p>If you see anything other than what’s shown here (except for maybe vertices counts) double check your configuration and
@@ -249,28 +246,28 @@ <h4>4.) Setup Graph Navigation with your IDE<a class="headerlink" href="#setup-g
 <p>22.) Congratulations you now have a running Graph Navigation project that you can set breakpoints on using CLION :)</p>
 </section>
 <section id="setup-ut-multirobot-sim-with-your-ide">
-<h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-ut-multirobot-sim-with-your-ide" title="Permalink to this heading"></a></h4>
+<h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-ut-multirobot-sim-with-your-ide" title="Permalink to this headline"></a></h4>
 <p>For this next step I like creating a new terminal in a new IDE window, but that’s entirely up to you.</p>
 <p>Keep those environment parameters we copied from the Graph Navigation setup for this step as well!</p>
 <p>I am going to go a bit faster here since almost all the steps are repeating what we’ve already done for Graph Nav.</p>
 <p>1.) Navigate to your UT_Multirobot_sim IDE window and open a new terminal with a new ssh connection into the same
 container <code class="docutils literal notranslate"><span class="pre">ssh</span> <span class="pre">rosdev&#64;localhost</span> <span class="pre">-p</span> <span class="pre">2222</span></code> (password is <code class="docutils literal notranslate"><span class="pre">12345</span></code> unless you changed it)</p>
 <p>2.) Set up the shell</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>social_gym/submodules/ut_multirobot_sim/
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> social_gym/submodules/ut_multirobot_sim/
 </pre></div>
 </div>
 <p>3.) Edit the source file to include a new submodule</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>vim<span class="w"> </span>~/set_paths.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>vim ~/set_paths.sh
 </pre></div>
 </div>
 <p>Uncomment the second line
 write and quit</p>
 <p>4.) Source variables.</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>./set_paths.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span> ./set_paths.sh
 </pre></div>
 </div>
 <p>5.) Update rosdep</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>rosdep<span class="w"> </span>update
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>rosdep update
 </pre></div>
 </div>
 <p>6.) Make the simulator</p>
@@ -291,8 +288,8 @@ <h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-
 <code class="docutils literal notranslate"><span class="pre">/home/rosdev/social_gym/submodules/ut_multirobot_sim</span></code></p>
 <p>12.) Click Apply and OK to close the settings window.</p>
 <p>13.) Clean the projects CMAKE configs</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-debug/
-sudo<span class="w"> </span>rm<span class="w"> </span>-r<span class="w"> </span>cmake-build-remotedebugger/
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo rm -r cmake-build-debug/
+sudo rm -r cmake-build-remotedebugger/
 </pre></div>
 </div>
 <p>14.) Go to the CMake tab on your IDE (by the terminal window tab)</p>
@@ -306,23 +303,23 @@ <h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-
 <p><code class="docutils literal notranslate"><span class="pre">Environment</span> <span class="pre">Variables</span></code> should have the pasted environment variables from <code class="docutils literal notranslate"><span class="pre">~/get_vars.sh</span></code></p>
 <p>19.) Click the Run button</p>
 <p>20.) You should see the project rebuild and then an error message</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/ut_multirobot_sim/cmake-build-debug-docremotetest/../bin/simulator<span class="w"> </span>-sim_config<span class="w"> </span>/home/rosdev/social_gym/config/gym_gen/sim_config.lua<span class="w"> </span>-scene_config<span class="w"> </span>/home/rosdev/social_gym/config/gym_gen/scene.xml<span class="w"> </span>-speedup_factor<span class="w"> </span><span class="m">1</span>.0<span class="w"> </span>--localize<span class="w"> </span>--use_pedsim
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>/home/rosdev/social_gym/submodules/ut_multirobot_sim/cmake-build-debug-docremotetest/../bin/simulator -sim_config /home/rosdev/social_gym/config/gym_gen/sim_config.lua -scene_config /home/rosdev/social_gym/config/gym_gen/scene.xml -speedup_factor <span class="m">1</span>.0 --localize --use_pedsim
 
-UT<span class="w"> </span>Multi-Robot<span class="w"> </span>Simulator
+UT Multi-Robot Simulator
 
-Publish<span class="w"> </span>GoAlone<span class="w"> </span>message
-Publish<span class="w"> </span>GoAlone<span class="w"> </span>message
-ERROR:<span class="w"> </span>Unable<span class="w"> </span>to<span class="w"> </span>load<span class="w"> </span>map<span class="w"> </span>maps/closed/door/t1/closed/door/t1.vectormap.txt
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Pass<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Follow<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>GoAlone<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>.017613<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">2</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Halt<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Publishing<span class="w"> </span>Halt<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>Step<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>StepUTMRS<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
-Run-time<span class="w"> </span>stats<span class="w"> </span><span class="k">for</span><span class="w"> </span>StepPedsim<span class="w"> </span>:<span class="w"> </span>mean<span class="w"> </span>run<span class="w"> </span><span class="nb">time</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>-nan<span class="w"> </span>ms,<span class="w"> </span><span class="nv">invocations</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>
+Publish GoAlone message
+Publish GoAlone message
+ERROR: Unable to load map maps/closed/door/t1/closed/door/t1.vectormap.txt
+Run-time stats <span class="k">for</span> Pass : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> Follow : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> GoAlone : mean run <span class="nb">time</span> <span class="o">=</span> <span class="m">0</span>.017613 ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">2</span>
+Run-time stats <span class="k">for</span> Halt : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> Publishing Halt : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> Step : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> StepUTMRS : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
+Run-time stats <span class="k">for</span> StepPedsim : mean run <span class="nb">time</span> <span class="o">=</span> -nan ms, <span class="nv">invocations</span> <span class="o">=</span> <span class="m">0</span>
 
-Process<span class="w"> </span>finished<span class="w"> </span>with<span class="w"> </span><span class="nb">exit</span><span class="w"> </span>code<span class="w"> </span><span class="m">1</span>
+Process finished with <span class="nb">exit</span> code <span class="m">1</span>
 </pre></div>
 </div>
 <p>This is okay! This means the project was built correctly but the current configuration in the python project
@@ -333,12 +330,12 @@ <h4>5.) Setup UT Multirobot Sim with your IDE<a class="headerlink" href="#setup-
 </section>
 </section>
 <section id="part-3-setting-up-python-and-running-everything">
-<h3>Part 3: Setting up Python and Running everything!<a class="headerlink" href="#part-3-setting-up-python-and-running-everything" title="Permalink to this heading"></a></h3>
+<h3>Part 3: Setting up Python and Running everything!<a class="headerlink" href="#part-3-setting-up-python-and-running-everything" title="Permalink to this headline"></a></h3>
 <section id="open-up-pycharm-to-the-root-folder-of-the-project">
-<h4>1.) Open up Pycharm to the root folder of the project<a class="headerlink" href="#open-up-pycharm-to-the-root-folder-of-the-project" title="Permalink to this heading"></a></h4>
+<h4>1.) Open up Pycharm to the root folder of the project<a class="headerlink" href="#open-up-pycharm-to-the-root-folder-of-the-project" title="Permalink to this headline"></a></h4>
 </section>
 <section id="set-up-your-ide-with-the-container-via-ssh-pycharm-specific">
-<h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="headerlink" href="#set-up-your-ide-with-the-container-via-ssh-pycharm-specific" title="Permalink to this heading"></a></h4>
+<h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="headerlink" href="#set-up-your-ide-with-the-container-via-ssh-pycharm-specific" title="Permalink to this headline"></a></h4>
 <p>Similar to the UT Multirobot Sim and Graph Navigation guides, we assume your IDE has remote host available
 and if not, there’s some useful stuff here but you may have to translate the steps for your ide.</p>
 <p>1.) Open the settings window <code class="docutils literal notranslate"><span class="pre">file</span> <span class="pre">&lt;</span> <span class="pre">settings</span></code></p>
@@ -359,27 +356,27 @@ <h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="h
 <p><code class="docutils literal notranslate"><span class="pre">Parameters</span></code> should have <code class="docutils literal notranslate"><span class="pre">-c</span> <span class="pre">./tmp_config.json</span></code></p>
 <p><code class="docutils literal notranslate"><span class="pre">Environment</span> <span class="pre">variables</span></code> should have the pasted env vars we keep getting in the previous steps.</p>
 <p>10.) Open a new ssh terminal</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh<span class="w"> </span>rosdev@localhost<span class="w"> </span>-p<span class="w"> </span><span class="m">2223</span>
-<span class="nb">cd</span><span class="w"> </span>./social_gym/submodules
-vim<span class="w"> </span>~/set_paths.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>ssh rosdev@localhost -p <span class="m">2223</span>
+<span class="nb">cd</span> ./social_gym/submodules
+vim ~/set_paths.sh
 <span class="c1"># uncomment the second line then save the file</span>
-<span class="nb">source</span><span class="w"> </span>~/set_paths.sh
-rosdep<span class="w"> </span>update
-pip<span class="w"> </span>install<span class="w"> </span>sb3_contrib
-pip<span class="w"> </span>install<span class="w"> </span><span class="nv">supersuit</span><span class="o">==</span><span class="m">3</span>.5.0
-pip<span class="w"> </span>install<span class="w"> </span><span class="nv">gym</span><span class="o">==</span><span class="m">0</span>.26.2
+<span class="nb">source</span> ~/set_paths.sh
+rosdep update
+pip install sb3_contrib
+pip install <span class="nv">supersuit</span><span class="o">==</span><span class="m">3</span>.5.0
+pip install <span class="nv">gym</span><span class="o">==</span><span class="m">0</span>.26.2
 </pre></div>
 </div>
 <p>11.) Click run in your pycharm editor. It should hang around the input</p>
 <div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>...
-Waiting<span class="w"> </span>on<span class="w"> </span>UTMRS
-<span class="o">[</span>WARN<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.168961<span class="o">]</span>:<span class="w"> </span>wait_for_service<span class="o">(</span>/utmrsStepper<span class="o">)</span>:<span class="w"> </span>failed<span class="w"> </span>to<span class="w"> </span>contact,<span class="w"> </span>will<span class="w"> </span>keep<span class="w"> </span>trying
-QStandardPaths:<span class="w"> </span>XDG_RUNTIME_DIR<span class="w"> </span>not<span class="w"> </span>set,<span class="w"> </span>defaulting<span class="w"> </span>to<span class="w"> </span><span class="s1">&#39;/tmp/runtime-rosdev&#39;</span>
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.188148416<span class="o">]</span>:<span class="w"> </span>Updated<span class="w"> </span>sim<span class="w"> </span>with<span class="w"> </span>live<span class="w"> </span>config:<span class="w"> </span><span class="nv">Rate</span><span class="o">=</span><span class="m">40</span><span class="w"> </span>incoming<span class="w"> </span><span class="nv">rate</span><span class="o">=</span><span class="m">40</span>
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.192522299<span class="o">]</span>:<span class="w"> </span>Using<span class="w"> </span>default<span class="w"> </span>queue<span class="w"> </span>size<span class="w"> </span>of<span class="w"> </span><span class="m">10</span><span class="w"> </span><span class="k">for</span><span class="w"> </span>publisher<span class="w"> </span>queues...<span class="w"> </span>
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.199740381<span class="o">]</span>:<span class="w"> </span>Loading<span class="w"> </span>scene<span class="w"> </span><span class="o">[</span>/home/rosdev/social_gym/config/gym_gen/scene.xml<span class="o">]</span><span class="w"> </span><span class="k">for</span><span class="w"> </span>simulation
-<span class="o">[</span><span class="w"> </span>INFO<span class="o">]</span><span class="w"> </span><span class="o">[</span><span class="m">1671386774</span>.204534827<span class="o">]</span>:<span class="w"> </span>node<span class="w"> </span>initialized,<span class="w"> </span>now<span class="w"> </span>running<span class="w"> </span>
-Service<span class="w"> </span>Mode
+Waiting on UTMRS
+<span class="o">[</span>WARN<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.168961<span class="o">]</span>: wait_for_service<span class="o">(</span>/utmrsStepper<span class="o">)</span>: failed to contact, will keep trying
+QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to <span class="s1">&#39;/tmp/runtime-rosdev&#39;</span>
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.188148416<span class="o">]</span>: Updated sim with live config: <span class="nv">Rate</span><span class="o">=</span><span class="m">40</span> incoming <span class="nv">rate</span><span class="o">=</span><span class="m">40</span>
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.192522299<span class="o">]</span>: Using default queue size of <span class="m">10</span> <span class="k">for</span> publisher queues... 
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.199740381<span class="o">]</span>: Loading scene <span class="o">[</span>/home/rosdev/social_gym/config/gym_gen/scene.xml<span class="o">]</span> <span class="k">for</span> simulation
+<span class="o">[</span> INFO<span class="o">]</span> <span class="o">[</span><span class="m">1671386774</span>.204534827<span class="o">]</span>: node initialized, now running 
+Service Mode
 </pre></div>
 </div>
 <p>This means we can fire up the UT Multirobot simulator now</p>
@@ -391,7 +388,7 @@ <h4>2.) Set up your IDE with the container via SSH (Pycharm Specific)<a class="h
 </section>
 </section>
 <section id="faq">
-<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></a></h2>
+<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this headline"></a></h2>
 <hr class="docutils" />
 <p><strong>All my files are missing!</strong>: If at any point your files are missing or empty check out your path mappings for your
 project and make sure they are valid.  Then, do <code class="docutils literal notranslate"><span class="pre">git</span> <span class="pre">stash</span></code> for every project that has missing or empty files</p>
@@ -399,8 +396,8 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 <p>You will get tons of compile errors when you make a submodule saying “geometry” is undefined etc.  This means you have
 to do <code class="docutils literal notranslate"><span class="pre">git</span> <span class="pre">stash</span></code> anywhere a thirdparty source is being used.</p>
 <p><strong>ROSDEP errors</strong>: If you see anything during the install about ROSDEP not working correctly, make sure you are doing</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>~/set_paths.sh
-rosedep<span class="w"> </span>update
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span> ~/set_paths.sh
+rosedep update
 </pre></div>
 </div>
 <p>often – once you have built pedsim via <code class="docutils literal notranslate"><span class="pre">catkin_make</span></code>, you should remove the comment on the 2nd line of <code class="docutils literal notranslate"><span class="pre">~/set_paths.sh</span></code>
@@ -409,7 +406,7 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 <p><strong>CMAKE errors</strong>: CMake is not fun.  If you see weird issues with cmake not building or not finding stuff make sure you
 are removing the cmake folders then rebuilding.</p>
 <p><strong>Permission Issues</strong>: The easiest way to resolve weird permission issues when setting up the advanced usage is to run</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>chmod<span class="w"> </span>-R<span class="w"> </span><span class="m">777</span><span class="w"> </span>.<span class="w"> </span>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo chmod -R <span class="m">777</span> . 
 </pre></div>
 </div>
 <p>from the project root.  This effectively gives all users access to the folder (<strong>warning</strong>: this may be too open if you are working
diff --git a/docs_src/_build/html/installation/installation.html b/docs_src/_build/html/installation/installation.html
index 9025dba6..51d157f8 100644
--- a/docs_src/_build/html/installation/installation.html
+++ b/docs_src/_build/html/installation/installation.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Installation &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
@@ -27,16 +28,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -70,7 +67,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Installation</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/installation/installation.md.txt" rel="nofollow"> View page source</a>
@@ -82,7 +79,7 @@
            <div itemprop="articleBody">
              
   <section id="installation">
-<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h1>
+<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h1>
 <p>In this doc we are going to setup Social Gym’s <code class="docutils literal notranslate"><span class="pre">config</span> <span class="pre">runner</span></code> which allows you to run <a class="reference external" href="https://github.com/ut-amrl/SocialGym2"><strong>Social Gym</strong></a> using a configuration file. If all you need to do is train, evaluate, or test your installation of Social Gym, this is the only installations tep you have to follow.  However, if you wish to contribute and develop on Social Gym, we recommend the advanced installation which goes over setting up a debugger.</p>
 <!-- ### Why are there two installation guides for Social Gym 
 
@@ -93,36 +90,36 @@ <h1>Installation<a class="headerlink" href="#installation" title="Permalink to t
 <!-- ### Let's Install Config Runner! -->
 <hr class="docutils" />
 <section id="prerequisites">
-<h2>Prerequisites<a class="headerlink" href="#prerequisites" title="Permalink to this heading"></a></h2>
+<h2>Prerequisites<a class="headerlink" href="#prerequisites" title="Permalink to this headline"></a></h2>
 <!-- You need to have installed Docker, have an NVIDIA GPU, and have installed the [**NVIDIA-container runtime**](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker). -->
 <p><strong>WARNING</strong>: The authors of this project have had numerous issues with Docker and Docker-Compose when installed via snap.  We recommend uninstalling docker and docker-compose if you have GPU-related issues with the docker images and installing them via <code class="docutils literal notranslate"><span class="pre">apt</span></code>.</p>
 <hr class="docutils" />
 </section>
 <section id="step-1-clone-the-repo-and-checkout-main">
-<h2>Step 1: Clone the repo and checkout main<a class="headerlink" href="#step-1-clone-the-repo-and-checkout-main" title="Permalink to this heading"></a></h2>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>clone<span class="w"> </span>git@github.com:ut-amrl/SocialGym2.git
-git<span class="w"> </span>checkout<span class="w"> </span>main
+<h2>Step 1: Clone the repo and checkout main<a class="headerlink" href="#step-1-clone-the-repo-and-checkout-main" title="Permalink to this headline"></a></h2>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git clone git@github.com:ut-amrl/SocialGym2.git
+git checkout main
 </pre></div>
 </div>
 <p>Although we use Docker to run Social Gym’s internals, we have scripts to set up Social Gym as well as scripts that kick
 off the process written in python (so you still need to install stuff)</p>
 </section>
 <section id="step-2-install-requirements-and-run-the-install-script">
-<h2>Step 2: Install requirements and run the install script!<a class="headerlink" href="#step-2-install-requirements-and-run-the-install-script" title="Permalink to this heading"></a></h2>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python3<span class="w"> </span>./scripts/install_config_runner.py
+<h2>Step 2: Install requirements and run the install script!<a class="headerlink" href="#step-2-install-requirements-and-run-the-install-script" title="Permalink to this headline"></a></h2>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python3 ./scripts/install_config_runner.py
 </pre></div>
 </div>
 <p>Expect this to take a while (20-40m depending on your machine, mostly for the last step.).</p>
 </section>
 <section id="step-3-run-the-config-runner">
-<h2>Step 3: Run the Config Runner!<a class="headerlink" href="#step-3-run-the-config-runner" title="Permalink to this heading"></a></h2>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python3<span class="w"> </span>config_runner/run.py<span class="w"> </span>-c<span class="w"> </span>1_31_23/door/sacadrl.json
+<h2>Step 3: Run the Config Runner!<a class="headerlink" href="#step-3-run-the-config-runner" title="Permalink to this headline"></a></h2>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python3 config_runner/run.py -c 1_31_23/door/sacadrl.json
 </pre></div>
 </div>
 <hr class="docutils" />
 <p><strong>NOTE</strong>: If you do NOT see windows, there’s a problem with the docker file.</p>
 <p>First try running</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>xhost<span class="w"> </span>+
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo xhost +
 </pre></div>
 </div>
 <p>and repeat the command.  If it still fails to show windows then try adding</p>
diff --git a/docs_src/_build/html/installation/installation__deprecated.html b/docs_src/_build/html/installation/installation__deprecated.html
index 106a1af1..1667e307 100644
--- a/docs_src/_build/html/installation/installation__deprecated.html
+++ b/docs_src/_build/html/installation/installation__deprecated.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Installation &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Installation</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/installation/installation__deprecated.md.txt" rel="nofollow"> View page source</a>
@@ -74,59 +71,59 @@
            <div itemprop="articleBody">
              
   <section id="installation">
-<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h1>
+<h1>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h1>
 <p>In this doc we are going to setup Social Gym’s <code class="docutils literal notranslate"><span class="pre">config</span> <span class="pre">runner</span></code> which allows you to run Social Gym using a configuration
 file.  If all you need to do is train, evaluate, or test your installation of Social Gym, this is the only installation
 step you have to follow.  However, if you wish to contribute and develop on Social Gym, we recommend the more indepth
 installation guide which goes over setting up a debugger.</p>
 <section id="why-are-there-two-installation-guides-for-social-gym">
-<h2>Why are there two installation guides for Social Gym<a class="headerlink" href="#why-are-there-two-installation-guides-for-social-gym" title="Permalink to this heading"></a></h2>
+<h2>Why are there two installation guides for Social Gym<a class="headerlink" href="#why-are-there-two-installation-guides-for-social-gym" title="Permalink to this headline"></a></h2>
 <p>Social Gym uses ROS (Robot Operating System) submodules written in C, to ensure they installed correctly and can run on
 your machine, we use Docker.  However, this poses challenges for debugging both the Python code and the C code because
 everything has to communicate with each other.  To ease the process of setting Social Gym up, we separated installing
 Social Gym for running and experimenting from installing Social Gym for developing.</p>
 </section>
 <section id="let-s-install-config-runner">
-<h2>Let’s Install Config Runner!<a class="headerlink" href="#let-s-install-config-runner" title="Permalink to this heading"></a></h2>
+<h2>Let’s Install Config Runner!<a class="headerlink" href="#let-s-install-config-runner" title="Permalink to this headline"></a></h2>
 <hr class="docutils" />
 <p><strong>Note</strong>: We require you have installed Docker and Python 3.8 (version 3.8 may not be necessary but it’s what we use)</p>
 <hr class="docutils" />
 <section id="checkout-the-right-branch-eventually-this-will-be-main">
-<h3>1.) Checkout the right branch! (Eventually this will be main)<a class="headerlink" href="#checkout-the-right-branch-eventually-this-will-be-main" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>checkout<span class="w"> </span>feature/20221218_multi_agent_finishing_and_cleanup
-git<span class="w"> </span>submodule<span class="w"> </span>update<span class="w"> </span>--init<span class="w"> </span>--recursive
+<h3>1.) Checkout the right branch! (Eventually this will be main)<a class="headerlink" href="#checkout-the-right-branch-eventually-this-will-be-main" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git checkout feature/20221218_multi_agent_finishing_and_cleanup
+git submodule update --init --recursive
 </pre></div>
 </div>
 <p>Although we use Docker to run Social Gym’s internals, we have scripts to set up Social Gym as well as scripts that kick
 off the process written in python (so you still need to install stuff)</p>
 </section>
 <section id="build-vector-display-this-creates-the-environments">
-<h3>2.) Build Vector Display (this creates the environments!)<a class="headerlink" href="#build-vector-display-this-creates-the-environments" title="Permalink to this heading"></a></h3>
+<h3>2.) Build Vector Display (this creates the environments!)<a class="headerlink" href="#build-vector-display-this-creates-the-environments" title="Permalink to this headline"></a></h3>
 <p>Assuming you are starting from the ROOT_DIRECTORY of the project:</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>docker/vectordisplay
-docker<span class="w"> </span>build<span class="w"> </span>-t<span class="w">  </span>vector_display:custom<span class="w"> </span>.
-<span class="nb">cd</span><span class="w"> </span>../..
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> docker/vectordisplay
+docker build -t  vector_display:custom .
+<span class="nb">cd</span> ../..
 </pre></div>
 </div>
 <p>Expect this to take a while (15-30m depending on your machine).</p>
 </section>
 <section id="create-a-virtualenv-to-install-python-dependencies">
-<h3>3.) Create a virtualenv to install python dependencies<a class="headerlink" href="#create-a-virtualenv-to-install-python-dependencies" title="Permalink to this heading"></a></h3>
+<h3>3.) Create a virtualenv to install python dependencies<a class="headerlink" href="#create-a-virtualenv-to-install-python-dependencies" title="Permalink to this headline"></a></h3>
 <p>Assuming linux/mac style, windows have their own special flavor for activating virtualenvs.</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>virtualenv<span class="w"> </span>venv
-<span class="nb">source</span><span class="w"> </span>venv/bin/activate
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>virtualenv venv
+<span class="nb">source</span> venv/bin/activate
 </pre></div>
 </div>
 </section>
 <section id="install-python-requirements">
-<h3>4.) Install python requirements<a class="headerlink" href="#install-python-requirements" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>pip<span class="w"> </span>install<span class="w"> </span>-r<span class="w"> </span>requirements.txt
+<h3>4.) Install python requirements<a class="headerlink" href="#install-python-requirements" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>pip install -r requirements.txt
 </pre></div>
 </div>
 </section>
 <section id="create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really">
-<h3>5.) Create the Environment for Social Gym (don’t worry, this is copying files really.)<a class="headerlink" href="#create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>scripts/create_env_template.py<span class="w"> </span>-n<span class="w"> </span>exp1/train/easy
+<h3>5.) Create the Environment for Social Gym (don’t worry, this is copying files really.)<a class="headerlink" href="#create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python scripts/create_env_template.py -n exp1/train/easy
 </pre></div>
 </div>
 <p>The <code class="docutils literal notranslate"><span class="pre">--name</span></code> parameter is referencing a saved file checked in by a commit, you should expect to see two windows when
@@ -136,7 +133,7 @@ <h3>5.) Create the Environment for Social Gym (don’t worry, this is copying fi
 <hr class="docutils" />
 <p><strong>NOTE</strong>: If you do NOT see windows, there’s a problem with the docker file.</p>
 <p>First try running</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>xhost<span class="w"> </span>+
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo xhost +
 </pre></div>
 </div>
 <p>and repeat the command.  If it still fails to show windows then try adding</p>
@@ -147,17 +144,17 @@ <h3>5.) Create the Environment for Social Gym (don’t worry, this is copying fi
 </section>
 <hr class="docutils" />
 <section id="build-config-runner">
-<h3>6.) Build Config Runner<a class="headerlink" href="#build-config-runner" title="Permalink to this heading"></a></h3>
+<h3>6.) Build Config Runner<a class="headerlink" href="#build-config-runner" title="Permalink to this headline"></a></h3>
 <p>In order to run the docker container with Config Runner, you have to build the image.  This can be done via</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>chmod<span class="w"> </span>+x<span class="w"> </span>./config_runner/build.sh
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>sudo chmod +x ./config_runner/build.sh
 ./config_runner/build.sh
 </pre></div>
 </div>
 <p>This may take 15-30minutes depending on your machine.</p>
 </section>
 <section id="run-the-config-runner">
-<h3>7.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>config_runner/run.py<span class="w"> </span>-c<span class="w"> </span>11_20_22/sacadrl.json
+<h3>7.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python config_runner/run.py -c 11_20_22/sacadrl.json
 </pre></div>
 </div>
 <p>This should open an RVIS window (looks like a 2D grid with options on the side-panels).  It may CLOSE and re-open MANY
@@ -170,7 +167,7 @@ <h3>7.) Run the Config Runner!<a class="headerlink" href="#run-the-config-runner
 </section>
 <hr class="docutils" />
 <section id="have-fun">
-<h3>7.) Have fun!<a class="headerlink" href="#have-fun" title="Permalink to this heading"></a></h3>
+<h3>7.) Have fun!<a class="headerlink" href="#have-fun" title="Permalink to this headline"></a></h3>
 <p>You can now specify your own configurations and run your own training or evaluation jobs.  More documentation on this
 later.</p>
 <p>If you need to develop or debug Social Gym – you’ll have to follow the full installation guide on the next
diff --git a/docs_src/_build/html/intro/advanced_training_and_eval.html b/docs_src/_build/html/intro/advanced_training_and_eval.html
index d396e22d..20d37414 100644
--- a/docs_src/_build/html/intro/advanced_training_and_eval.html
+++ b/docs_src/_build/html/intro/advanced_training_and_eval.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Advanced Training and Evaluation &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Advanced Training and Evaluation</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/intro/advanced_training_and_eval.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="advanced-training-and-evaluation">
-<h1>Advanced Training and Evaluation<a class="headerlink" href="#advanced-training-and-evaluation" title="Permalink to this heading"></a></h1>
+<h1>Advanced Training and Evaluation<a class="headerlink" href="#advanced-training-and-evaluation" title="Permalink to this headline"></a></h1>
 <p>Social Gym 2.0 uses a familiar Gym-like training loop with some important deviations, an example of training a new policy is shown below.</p>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># 1.) Create the Scenario</span>
 <span class="n">scenario</span> <span class="o">=</span> <span class="n">GraphNavscenario</span><span class="p">(</span><span class="s1">&#39;envs/scenario/hallway&#39;</span><span class="p">)</span>
diff --git a/docs_src/_build/html/intro/features.html b/docs_src/_build/html/intro/features.html
index 0e7bfb98..de342091 100644
--- a/docs_src/_build/html/intro/features.html
+++ b/docs_src/_build/html/intro/features.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>How does SocialGym 2 work ? &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
@@ -27,16 +28,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -69,7 +66,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">How does SocialGym 2 work ?</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/intro/features.md.txt" rel="nofollow"> View page source</a>
@@ -81,19 +78,19 @@
            <div itemprop="articleBody">
              
   <section id="how-does-socialgym-2-work">
-<h1>How does SocialGym 2 work ?<a class="headerlink" href="#how-does-socialgym-2-work" title="Permalink to this heading"></a></h1>
+<h1>How does SocialGym 2 work ?<a class="headerlink" href="#how-does-socialgym-2-work" title="Permalink to this headline"></a></h1>
 <p><img alt="Overview" src="https://drive.google.com/uc?id=1TYFzAPYmlWLIgG1PnnJHpauWWh6Npdnn" /></p>
 <p>At the top of the stack is the <a class="reference external" href="https://github.com/Farama-Foundation/PettingZoo"><strong>PettingZoo</strong></a> and <a class="reference external" href="https://stable-baselines3.readthedocs.io/en/master/"><strong>Stable Baselines3</strong></a> interface. This interface uses ROS to send actions from a policy to <a class="reference external" href="https://github.com/ut-amrl/ut_multirobot_sim"><strong>UTMRS</strong></a>, a lightweight simulation engine that acts as an intermediate between the interface and the local navigation and the human crowd simulation modules. The local navigation planner is responsible converting high-level actions from the PettingZoo interface into continuous motion commands that satisfy the underlying robot dynamics and sends back the next state to the simulation engine. Each layer of the stack has a modular API that allows researchers and developers to focus on a single part of the stack at a time without having to refactor or access other parts of the stack.</p>
 <section id="read-the-paper">
-<h2>Read the paper<a class="headerlink" href="#read-the-paper" title="Permalink to this heading"></a></h2>
+<h2>Read the paper<a class="headerlink" href="#read-the-paper" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://arxiv.org/pdf/2303.05584.pdf"><strong>SOCIALGYM 2.0: Simulator for Multi-Agent Social Robot Navigation in Shared Human Spaces</strong></a></p>
 </section>
 <section id="local-navigation">
-<h2>Local Navigation<a class="headerlink" href="#local-navigation" title="Permalink to this heading"></a></h2>
+<h2>Local Navigation<a class="headerlink" href="#local-navigation" title="Permalink to this headline"></a></h2>
 <p>The local navigation algorithm in SocialGym 2.0 consists of a way-point follower and a dynamic window-based controller: We first compute a local target using the pure pursuit algorithm. We then use a dynamic window-like approach to generate a set of circular arcs from the current pose of the robot with different curvatures. We determine the optimal arc by minimizing a cost function that is a weighted linear sum of different features such as distance to goal, clearance from obstacles etc. followed by computing the optimal linear and angular velocities that steer the robot along that optimal trajectory. The linear velocity controller chooses between cruising, accelerating, and braking based on the current speed, kinodynamic parameters, and distance to the goal to achieve the optimal velocities for the robot.</p>
 </section>
 <section id="improvements-from-socialgym-1-0">
-<h2>Improvements from SocialGym 1.0<a class="headerlink" href="#improvements-from-socialgym-1-0" title="Permalink to this heading"></a></h2>
+<h2>Improvements from SocialGym 1.0<a class="headerlink" href="#improvements-from-socialgym-1-0" title="Permalink to this headline"></a></h2>
 <p>Although a lot has changed in Social Gym 2.0, most of the functionality from Social Gym 1.0 remained with small tweaks required.</p>
 <ul class="simple">
 <li><p>Multi Agent training!</p>
diff --git a/docs_src/_build/html/intro/making_a_new_scene.html b/docs_src/_build/html/intro/making_a_new_scene.html
index 5a2e9d87..a44aed94 100644
--- a/docs_src/_build/html/intro/making_a_new_scene.html
+++ b/docs_src/_build/html/intro/making_a_new_scene.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Social mini-games &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
@@ -27,16 +28,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -74,7 +71,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Social mini-games</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/intro/making_a_new_scene.md.txt" rel="nofollow"> View page source</a>
@@ -86,15 +83,15 @@
            <div itemprop="articleBody">
              
   <section id="social-mini-games">
-<h1>Social mini-games<a class="headerlink" href="#social-mini-games" title="Permalink to this heading"></a></h1>
+<h1>Social mini-games<a class="headerlink" href="#social-mini-games" title="Permalink to this headline"></a></h1>
 <p>SocialGym 2 contains the following mini-games:</p>
 <!-- | <center>Intersection</center> | <center>Roundabout</center> | <center>Doorway</center> | <center>Hallway</center> |
 | :--------------------: | :--------------------: | :--------------------: | :--------------------: |
 | ![image1](../../data/images/intersection.JPG) | ![image1](../../data/images/roundabout.png) | ![image1](../../data/images/doorway.png) | ![image1](../../data/images/hallway.png) |
  -->
-<table class="docutils align-default">
+<table class="colwidths-auto docutils align-default">
 <thead>
-<tr class="row-odd"><th class="head text-center"><p><center>Intersection</center></p></th>
+<tr class="row-odd"><th class="text-center head"><p><center>Intersection</center></p></th>
 </tr>
 </thead>
 <tbody>
@@ -102,9 +99,9 @@ <h1>Social mini-games<a class="headerlink" href="#social-mini-games" title="Perm
 </tr>
 </tbody>
 </table>
-<table class="docutils align-default">
+<table class="colwidths-auto docutils align-default">
 <thead>
-<tr class="row-odd"><th class="head text-center"><p><center>Roundabout</center></p></th>
+<tr class="row-odd"><th class="text-center head"><p><center>Roundabout</center></p></th>
 </tr>
 </thead>
 <tbody>
@@ -112,9 +109,9 @@ <h1>Social mini-games<a class="headerlink" href="#social-mini-games" title="Perm
 </tr>
 </tbody>
 </table>
-<table class="docutils align-default">
+<table class="colwidths-auto docutils align-default">
 <thead>
-<tr class="row-odd"><th class="head text-center"><p><center>Doorway</center></p></th>
+<tr class="row-odd"><th class="text-center head"><p><center>Doorway</center></p></th>
 </tr>
 </thead>
 <tbody>
@@ -122,9 +119,9 @@ <h1>Social mini-games<a class="headerlink" href="#social-mini-games" title="Perm
 </tr>
 </tbody>
 </table>
-<table class="docutils align-default">
+<table class="colwidths-auto docutils align-default">
 <thead>
-<tr class="row-odd"><th class="head text-center"><p><center>Hallway</center></p></th>
+<tr class="row-odd"><th class="text-center head"><p><center>Hallway</center></p></th>
 </tr>
 </thead>
 <tbody>
@@ -133,7 +130,7 @@ <h1>Social mini-games<a class="headerlink" href="#social-mini-games" title="Perm
 </tbody>
 </table>
 <section id="how-to-make-a-new-scene">
-<h2>How to make a new Scene<a class="headerlink" href="#how-to-make-a-new-scene" title="Permalink to this heading"></a></h2>
+<h2>How to make a new Scene<a class="headerlink" href="#how-to-make-a-new-scene" title="Permalink to this headline"></a></h2>
 <p>Scene (or environments) are what the agents are trained on.  They consist of two important objects, the first are walls
 (denoted by blue lines).  The next are navigation paths (denoted by pink/purple lines).  These are explained a bit
 below.</p>
@@ -153,24 +150,24 @@ <h2>How to make a new Scene<a class="headerlink" href="#how-to-make-a-new-scene"
 </section>
 <hr class="docutils" />
 <section id="creating-a-new-environment">
-<h2>Creating a new environment<a class="headerlink" href="#creating-a-new-environment" title="Permalink to this heading"></a></h2>
+<h2>Creating a new environment<a class="headerlink" href="#creating-a-new-environment" title="Permalink to this headline"></a></h2>
 <p>We have an easy script for creating brand new scenes!  It also allows editing scenes, or using an existing scene as a
 template for a new one.  We’ll give a brief intro into how to make a new scene below.</p>
 <section id="using-your-local-python-interpreter-of-choice-run">
-<h3>1.) Using your local python interpreter of choice, run<a class="headerlink" href="#using-your-local-python-interpreter-of-choice-run" title="Permalink to this heading"></a></h3>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>scripts/create_env_template<span class="w"> </span>--name<span class="w"> </span><span class="o">{</span>NAME<span class="w"> </span>YOUR<span class="w"> </span>NEW<span class="w"> </span>ENV<span class="w"> </span>HERE<span class="o">}</span>
+<h3>1.) Using your local python interpreter of choice, run<a class="headerlink" href="#using-your-local-python-interpreter-of-choice-run" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python scripts/create_env_template --name <span class="o">{</span>NAME YOUR NEW ENV HERE<span class="o">}</span>
 </pre></div>
 </div>
 </section>
 <section id="if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly">
-<h3>2.) If you have followed the Installation guide you should see a window pop up (if not double check that Social Gym was installed correctly).<a class="headerlink" href="#if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly" title="Permalink to this heading"></a></h3>
+<h3>2.) If you have followed the Installation guide you should see a window pop up (if not double check that Social Gym was installed correctly).<a class="headerlink" href="#if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly" title="Permalink to this headline"></a></h3>
 <p>This window is the Walls editor!  It’s most likely blank on your screen, but you can add new walls by using
 <code class="docutils literal notranslate"><span class="pre">[Shift]</span> <span class="pre">+</span> <span class="pre">[Click]</span> <span class="pre">+</span> <span class="pre">Mouse</span> <span class="pre">Drag</span></code></p>
 <p>Remove walls by <code class="docutils literal notranslate"><span class="pre">[Control]</span> <span class="pre">+</span> <span class="pre">[Click]</span></code></p>
 <p>When you are satisfied with your walls, hit <code class="docutils literal notranslate"><span class="pre">[Escape]</span></code></p>
 </section>
 <section id="a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor">
-<h3>3.) A new window should have popped up that looks exactly like the last, but now we are in the Graph Navigation editor!<a class="headerlink" href="#a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor" title="Permalink to this heading"></a></h3>
+<h3>3.) A new window should have popped up that looks exactly like the last, but now we are in the Graph Navigation editor!<a class="headerlink" href="#a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor" title="Permalink to this headline"></a></h3>
 <p>The controls are the same except for one crucial difference.  In the Graph Navigation editor, you create “Nodes” that
 can connect to each other through “Edges”.  You must place “Nodes” first before you can draw an “Edge”.</p>
 <p>Create a node by hitting <code class="docutils literal notranslate"><span class="pre">[Shift]</span> <span class="pre">+</span> <span class="pre">[Click]</span></code>, Be advised - the nodes are literally the size of a pixel so they may be hard
@@ -185,7 +182,7 @@ <h3>3.) A new window should have popped up that looks exactly like the last, but
 <p>Hit <code class="docutils literal notranslate"><span class="pre">[Escape]</span></code> when done.</p>
 </section>
 <section id="your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to">
-<h3>4.) Your Scene has been created and the files are in the right spot, but now you have to update the Social Gym code to<a class="headerlink" href="#your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to" title="Permalink to this heading"></a></h3>
+<h3>4.) Your Scene has been created and the files are in the right spot, but now you have to update the Social Gym code to<a class="headerlink" href="#your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to" title="Permalink to this headline"></a></h3>
 <p>reference your new scene.  The easiest way to do this is to define a new <code class="docutils literal notranslate"><span class="pre">GraphNavScenario</span></code> scenario like so</p>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span>   <span class="c1">#...</span>
    <span class="n">scenario</span> <span class="o">=</span> <span class="n">GraphNavScenario</span><span class="p">(</span>
diff --git a/docs_src/_build/html/intro/training_and_eval.html b/docs_src/_build/html/intro/training_and_eval.html
index 9b3817c4..96952c83 100644
--- a/docs_src/_build/html/intro/training_and_eval.html
+++ b/docs_src/_build/html/intro/training_and_eval.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Training and evaluation a policy &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
@@ -27,16 +28,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -68,7 +65,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">Training and evaluation a policy</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/intro/training_and_eval.md.txt" rel="nofollow"> View page source</a>
@@ -80,54 +77,54 @@
            <div itemprop="articleBody">
              
   <section id="training-and-evaluation-a-policy">
-<h1>Training and evaluation a policy<a class="headerlink" href="#training-and-evaluation-a-policy" title="Permalink to this heading"></a></h1>
+<h1>Training and evaluation a policy<a class="headerlink" href="#training-and-evaluation-a-policy" title="Permalink to this headline"></a></h1>
 <p>Training a policy using multi-agent reinforcement learning is as simple as editing a config file.</p>
 <section id="edit-the-config-file-to-be-passed-to-socialgym">
-<h2>Edit the config file to be passed to SocialGym<a class="headerlink" href="#edit-the-config-file-to-be-passed-to-socialgym" title="Permalink to this heading"></a></h2>
+<h2>Edit the config file to be passed to SocialGym<a class="headerlink" href="#edit-the-config-file-to-be-passed-to-socialgym" title="Permalink to this headline"></a></h2>
 <p>To ease batch training jobs we created a wrapper class around the training and evaluation code that can be configured  via a configuration file (.yaml file). These configuration files are stored in <code class="docutils literal notranslate"><span class="pre">{PROJECT</span> <span class="pre">ROOT}/config_runner/configs</span></code>. ConfigRunner allows you train and evaluate a policy using one of these files via</p>
-<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>config_runner/run.py<span class="w"> </span>-c<span class="w"> </span><span class="o">{</span>path_to_config<span class="o">}</span>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python config_runner/run.py -c <span class="o">{</span>path_to_config<span class="o">}</span>
 </pre></div>
 </div>
 <p>where the <code class="docutils literal notranslate"><span class="pre">{path_to_config}</span></code> is the relative path from <code class="docutils literal notranslate"><span class="pre">{PROJECT</span> <span class="pre">ROOT}/config_runner/configs</span></code> to a specific config file. You can run batch training jobs by either separating each unique configuration file with a white space and the <code class="docutils literal notranslate"><span class="pre">-c</span></code> flag, or you can use the <code class="docutils literal notranslate"><span class="pre">-f</span></code> flag (meaning <code class="docutils literal notranslate"><span class="pre">folder</span></code>) and point it at a folder in the <code class="docutils literal notranslate"><span class="pre">{PROJECT</span> <span class="pre">ROOT}/config_runner/configs</span></code> directory.</p>
 <p>An example of a config is shown below:</p>
-<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="p p-Indicator">{</span>
-<span class="w">  </span><span class="s">&quot;num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">3</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">35</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">70</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">]],</span>
-<span class="w">  </span><span class="s">&quot;eval_num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">7</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">10</span><span class="p p-Indicator">],</span>
-<span class="w">  </span><span class="s">&quot;train_length&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">250000</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;ending_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;eval_frequency&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">0</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;intermediate_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_algo_sb3_contrib&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_algo_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;PPO&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;MlpPolicy&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;policy_algo_kwargs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="s">&quot;n_steps&quot;</span><span class="p p-Indicator">:</span><span class="w">  </span><span class="nv">4096</span><span class="p p-Indicator">},</span>
-<span class="w">  </span><span class="s">&quot;monitor&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;experiment_names&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;envs_door&quot;</span><span class="p p-Indicator">],</span>
-
-<span class="w">  </span><span class="s">&quot;run_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;door_ao&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;run_type&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;AO&quot;</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;device&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;cuda:0&quot;</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;other_velocities_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;agent_velocity_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;agent_velocity_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;other_velocities_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;other_poses_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;agent_pose_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;entropy_constant_penalty&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">-100000</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;entropy_constant_penalty_only_those_that_did_not_finish&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-
-<span class="w">  </span><span class="s">&quot;timelimit&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span>
-<span class="w">  </span><span class="s">&quot;timelimit_threshold&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">3000</span>
-<span class="p p-Indicator">}</span>
+<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="p p-Indicator">{</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">3</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">35</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">],</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">70</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">]],</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;eval_num_agents&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">7</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">10</span><span class="p p-Indicator">],</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;train_length&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">250000</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;ending_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;eval_frequency&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;intermediate_eval_trials&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">25</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_algo_sb3_contrib&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_algo_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;PPO&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;MlpPolicy&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;policy_algo_kwargs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="s">&quot;n_steps&quot;</span><span class="p p-Indicator">:</span><span class="w">  </span><span class="nv">4096</span><span class="p p-Indicator">},</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;monitor&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;experiment_names&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;envs_door&quot;</span><span class="p p-Indicator">],</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;run_name&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;door_ao&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;run_type&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;AO&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;device&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="s">&quot;cuda:0&quot;</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;other_velocities_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;agent_velocity_obs&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;agent_velocity_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;other_velocities_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;other_poses_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;agent_pose_ignore_theta&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;entropy_constant_penalty&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">-100000</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;entropy_constant_penalty_only_those_that_did_not_finish&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+
+<span class="w">  </span><span class="s">&quot;timelimit&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">true</span><span class="p p-Indicator">,</span><span class="w"></span>
+<span class="w">  </span><span class="s">&quot;timelimit_threshold&quot;</span><span class="p p-Indicator">:</span><span class="w"> </span><span class="nv">3000</span><span class="w"></span>
+<span class="p p-Indicator">}</span><span class="w"></span>
 </pre></div>
 </div>
 </section>
 <section id="the-main-training-loop-using-the-config-file-you-just-edited">
-<h2>The main training loop using the config file you just edited<a class="headerlink" href="#the-main-training-loop-using-the-config-file-you-just-edited" title="Permalink to this heading"></a></h2>
+<h2>The main training loop using the config file you just edited<a class="headerlink" href="#the-main-training-loop-using-the-config-file-you-just-edited" title="Permalink to this headline"></a></h2>
 <p>Each attribute in the yaml configuration matches an argument passed into the <code class="docutils literal notranslate"><span class="pre">run</span></code> function in <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/src/config_run.py</span></code>. Social Gym 2.0 uses a familiar Gym-like training loop with some important deviations, an example of training a new policy using a config file is shown below.</p>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># 1.) Create the Scenario</span>
 <span class="n">scenario</span> <span class="o">=</span> <span class="n">GraphNavscenario</span><span class="p">(</span><span class="s1">&#39;envs/scenario/hallway&#39;</span><span class="p">)</span>
diff --git a/docs_src/_build/html/intro/what_is_social_gym.html b/docs_src/_build/html/intro/what_is_social_gym.html
index 8fe169ea..cc9688ce 100644
--- a/docs_src/_build/html/intro/what_is_social_gym.html
+++ b/docs_src/_build/html/intro/what_is_social_gym.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>What is Social Gym &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">What is Social Gym</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/intro/what_is_social_gym.md.txt" rel="nofollow"> View page source</a>
@@ -74,11 +71,11 @@
            <div itemprop="articleBody">
              
   <section id="what-is-social-gym">
-<h1>What is Social Gym<a class="headerlink" href="#what-is-social-gym" title="Permalink to this heading"></a></h1>
+<h1>What is Social Gym<a class="headerlink" href="#what-is-social-gym" title="Permalink to this headline"></a></h1>
 <p>Social Gym is a lightweight 2D simulation environment for robot social navigation.  It allows for multi-agent and
 single-agent scenarios as well as dynamic obstacles for testing complex social navigation.</p>
 <section id="social-gym-s-stack">
-<h2>Social Gym’s Stack<a class="headerlink" href="#social-gym-s-stack" title="Permalink to this heading"></a></h2>
+<h2>Social Gym’s Stack<a class="headerlink" href="#social-gym-s-stack" title="Permalink to this headline"></a></h2>
 <p>Social Gym’s foundation is in ROS (Robot Operating System) which we surface via a python API.  This allows for all the
 training, evaluation, and experimentation to be done in Python similar to Stable Baselines or PettingZoo.  However,
 because it’s built ontop of ROS, it’s also easy to extend with ROS submodules to experiment with more complex
diff --git a/docs_src/_build/html/modules/modules.html b/docs_src/_build/html/modules/modules.html
index 65d93acd..9714951c 100644
--- a/docs_src/_build/html/modules/modules.html
+++ b/docs_src/_build/html/modules/modules.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/modules.rst.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="src">
-<h1>src<a class="headerlink" href="#src" title="Permalink to this heading"></a></h1>
+<h1>src<a class="headerlink" href="#src" title="Permalink to this headline"></a></h1>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.html">src package</a><ul>
@@ -82,27 +79,15 @@ <h1>src<a class="headerlink" href="#src" title="Permalink to this heading"></
 <li class="toctree-l3"><a class="reference internal" href="src.environment.html">src.environment package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#module-src.environment.ros_social_gym">src.environment.ros_social_gym module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#module-src.environment">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src-environment-ros-social-gym-module">src.environment.ros_social_gym module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.html#module-src.config_run">src.config_run module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.html#src.config_run.kinds"><code class="docutils literal notranslate"><span class="pre">kinds</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.html#src.config_run.kinds.ao"><code class="docutils literal notranslate"><span class="pre">kinds.ao</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.html#src.config_run.kinds.eo"><code class="docutils literal notranslate"><span class="pre">kinds.eo</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.html#src.config_run.kinds.sacadrl"><code class="docutils literal notranslate"><span class="pre">kinds.sacadrl</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.html#src.config_run.run"><code class="docutils literal notranslate"><span class="pre">run()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.html#module-src.multi_agent_optuna">src.multi_agent_optuna module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.html#src.multi_agent_optuna.objective"><code class="docutils literal notranslate"><span class="pre">objective()</span></code></a></li>
-</ul>
-</li>
+<li class="toctree-l2"><a class="reference internal" href="src.html#src-config-run-module">src.config_run module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.html#src-multi-agent-optuna-module">src.multi_agent_optuna module</a></li>
 <li class="toctree-l2"><a class="reference internal" href="src.html#module-src">Module contents</a></li>
 </ul>
 </li>
diff --git a/docs_src/_build/html/modules/src.environment.callbacks.html b/docs_src/_build/html/modules/src.environment.callbacks.html
index 5a15d87d..70eefc5d 100644
--- a/docs_src/_build/html/modules/src.environment.callbacks.html
+++ b/docs_src/_build/html/modules/src.environment.callbacks.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.callbacks package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.callbacks package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.callbacks.rst.txt" rel="nofollow"> View page source</a>
@@ -74,79 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-callbacks-package">
-<h1>src.environment.callbacks package<a class="headerlink" href="#src-environment-callbacks-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.callbacks package<a class="headerlink" href="#src-environment-callbacks-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.callbacks.callbacks">
-<span id="src-environment-callbacks-callbacks-module"></span><h2>src.environment.callbacks.callbacks module<a class="headerlink" href="#module-src.environment.callbacks.callbacks" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.callbacks.callbacks.EvalCallback">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.callbacks.callbacks.</span></span><span class="sig-name descname"><span class="pre">EvalCallback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.callbacks.callbacks.EvalCallback" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">EventCallback</span></code></p>
-<p>Callback for evaluating an agent.</p>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>When using multiple environments, each call to  <code class="docutils literal notranslate"><span class="pre">env.step()</span></code>
-will effectively correspond to <code class="docutils literal notranslate"><span class="pre">n_envs</span></code> steps.
-To account for that, you can use <code class="docutils literal notranslate"><span class="pre">eval_freq</span> <span class="pre">=</span> <span class="pre">max(eval_freq</span> <span class="pre">//</span> <span class="pre">n_envs,</span> <span class="pre">1)</span></code></p>
-</div>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>eval_env</strong> – The environment used for initialization</p></li>
-<li><p><strong>callback_on_new_best</strong> – Callback to trigger
-when there is a new best model according to the <code class="docutils literal notranslate"><span class="pre">mean_reward</span></code></p></li>
-<li><p><strong>callback_after_eval</strong> – Callback to trigger after every evaluation</p></li>
-<li><p><strong>n_eval_episodes</strong> – The number of episodes to test the agent</p></li>
-<li><p><strong>eval_freq</strong> – Evaluate the agent every <code class="docutils literal notranslate"><span class="pre">eval_freq</span></code> call of the callback.</p></li>
-<li><p><strong>log_path</strong> – Path to a folder where the evaluations (<code class="docutils literal notranslate"><span class="pre">evaluations.npz</span></code>)
-will be saved. It will be updated at each evaluation.</p></li>
-<li><p><strong>best_model_save_path</strong> – Path to a folder where the best model
-according to performance on the eval env will be saved.</p></li>
-<li><p><strong>deterministic</strong> – Whether the evaluation should
-use a stochastic or deterministic actions.</p></li>
-<li><p><strong>render</strong> – Whether to render or not the environment during evaluation</p></li>
-<li><p><strong>verbose</strong> – </p></li>
-<li><p><strong>warn</strong> – Passed to <code class="docutils literal notranslate"><span class="pre">evaluate_policy</span></code> (warns if <code class="docutils literal notranslate"><span class="pre">eval_env</span></code> has not been
-wrapped with a Monitor wrapper)</p></li>
-</ul>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.callbacks.callbacks.EvalCallback.update_child_locals">
-<span class="sig-name descname"><span class="pre">update_child_locals</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">locals_</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#src.environment.callbacks.callbacks.EvalCallback.update_child_locals" title="Permalink to this definition"></a></dt>
-<dd><p>Update the references to the local variables.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>locals</strong> – the local variables during rollout collection</p>
-</dd>
-</dl>
-</dd></dl>
-
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.callbacks.callbacks.OptunaCallback">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.callbacks.callbacks.</span></span><span class="sig-name descname"><span class="pre">OptunaCallback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.callbacks.callbacks.OptunaCallback" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseCallback</span></code></p>
-<p>Stop the training once a threshold in episodic reward
-has been reached (i.e. when the model is good enough).</p>
-<p>It must be used with the <code class="docutils literal notranslate"><span class="pre">EvalCallback</span></code>.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>reward_threshold</strong> – Minimum expected reward per episode
-to stop training.</p></li>
-<li><p><strong>verbose</strong> – </p></li>
-</ul>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-environment-callbacks-callbacks-module">
+<h2>src.environment.callbacks.callbacks module<a class="headerlink" href="#src-environment-callbacks-callbacks-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.callbacks">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.callbacks" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.environment.environment_types.html b/docs_src/_build/html/modules/src.environment.environment_types.html
index 82a0bd0c..9f18f44b 100644
--- a/docs_src/_build/html/modules/src.environment.environment_types.html
+++ b/docs_src/_build/html/modules/src.environment.environment_types.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.environment_types package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.environment_types package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.environment_types.rst.txt" rel="nofollow"> View page source</a>
@@ -74,223 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-environment-types-package">
-<h1>src.environment.environment_types package<a class="headerlink" href="#src-environment-environment-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.environment_types package<a class="headerlink" href="#src-environment-environment-types-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.environment_types.manual_zone">
-<span id="src-environment-environment-types-manual-zone-module"></span><h2>src.environment.environment_types.manual_zone module<a class="headerlink" href="#module-src.environment.environment_types.manual_zone" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.environment_types.manual_zone.</span></span><span class="sig-name descname"><span class="pre">ManualZoneEnv</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">launch_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'/home/rosdev/social_gym/config/gym_gen/launch.launch'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">observer</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer" title="src.environment.observations.observer.Observer"><span class="pre">Observer</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rewarder</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder" title="src.environment.rewards.rewarder.Rewarder"><span class="pre">Rewarder</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scenarios</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">()</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(3,</span> <span class="pre">5)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">debug</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">visuals</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">RosSocialEnv</span></code></a></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders">
-<span class="sig-name descname"><span class="pre">agents_priority_orders</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone">
-<span class="sig-name descname"><span class="pre">build_zone</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.env_response_type">
-<span class="sig-name descname"><span class="pre">env_response_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">ClassVar</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.env_response_type" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.launch_config">
-<span class="sig-name descname"><span class="pre">launch_config</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">str</span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.launch_config" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario">
-<span class="sig-name descname"><span class="pre">new_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.num_agents">
-<span class="sig-name descname"><span class="pre">num_agents</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.num_agents" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.num_humans">
-<span class="sig-name descname"><span class="pre">num_humans</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.num_humans" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.observer">
-<span class="sig-name descname"><span class="pre">observer</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer" title="src.environment.observations.observer.Observer"><span class="pre">Observer</span></a></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.observer" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneEnv.rewarder">
-<span class="sig-name descname"><span class="pre">rewarder</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder" title="src.environment.rewards.rewarder.Rewarder"><span class="pre">Rewarder</span></a></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneEnv.rewarder" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
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-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse">
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-<dd><p>Bases: <a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><code class="xref py py-class docutils literal notranslate"><span class="pre">UTMRSResponse</span></code></a></p>
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_priority_order">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.collision">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.done">
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-<dd></dd></dl>
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.door_state">
-<span class="sig-name descname"><span class="pre">door_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.door_state" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.entering">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.exiting">
-<span class="sig-name descname"><span class="pre">exiting</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.exiting" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.follow_target">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.goal_pose">
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-<dd></dd></dl>
-
-<dl class="py attribute">
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-<span class="sig-name descname"><span class="pre">human_poses</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.human_poses" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.human_vels">
-<span class="sig-name descname"><span class="pre">human_vels</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.human_vels" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.in_zone">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.local_target">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_entering">
-<span class="sig-name descname"><span class="pre">number_agents_entering</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_entering" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_exiting">
-<span class="sig-name descname"><span class="pre">number_agents_exiting</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_exiting" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.other_robot_poses">
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-<dd></dd></dl>
-
-<dl class="py attribute">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.process">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.robot_poses">
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-<dd></dd></dl>
-
-<dl class="py attribute">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.robot_vels">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.set_zone_vars">
-<span class="sig-name descname"><span class="pre">set_zone_vars</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot_idx</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#src.environment.environment_types.manual_zone.ManualZoneEnv" title="src.environment.environment_types.manual_zone.ManualZoneEnv"><span class="pre">ManualZoneEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">others</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse" title="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse"><span class="pre">ManualZoneUTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.set_zone_vars" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.success">
-<span class="sig-name descname"><span class="pre">success</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.success" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.RvisZoneVisualization">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.environment_types.manual_zone.</span></span><span class="sig-name descname"><span class="pre">RvisZoneVisualization</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">zone</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.RvisZoneVisualization" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.RvisZoneVisualization.point">
-<span class="sig-name descname"><span class="pre">point</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">points</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.RvisZoneVisualization.point" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.RvisZoneVisualization.publish">
-<span class="sig-name descname"><span class="pre">publish</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.RvisZoneVisualization.publish" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.environment_types.manual_zone.RvisZoneVisualization.rect">
-<span class="sig-name descname"><span class="pre">rect</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">zone</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.environment_types.manual_zone.RvisZoneVisualization.rect" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-environment-types-manual-zone-module">
+<h2>src.environment.environment_types.manual_zone module<a class="headerlink" href="#src-environment-environment-types-manual-zone-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.environment_types">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.environment_types" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.environment.extractors.html b/docs_src/_build/html/modules/src.environment.extractors.html
index f825bdc6..3e4f075f 100644
--- a/docs_src/_build/html/modules/src.environment.extractors.html
+++ b/docs_src/_build/html/modules/src.environment.extractors.html
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@@ -13,8 +13,9 @@
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-          
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-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
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+    <input type="text" name="q" placeholder="Search docs" />
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@@ -62,7 +59,7 @@
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+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.extractors package</li>
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             <a href="../_sources/modules/src.environment.extractors.rst.txt" rel="nofollow"> View page source</a>
@@ -74,40 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-extractors-package">
-<h1>src.environment.extractors package<a class="headerlink" href="#src-environment-extractors-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.extractors package<a class="headerlink" href="#src-environment-extractors-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.extractors.lstm_agent_obs">
-<span id="src-environment-extractors-lstm-agent-obs-module"></span><h2>src.environment.extractors.lstm_agent_obs module<a class="headerlink" href="#module-src.environment.extractors.lstm_agent_obs" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.extractors.lstm_agent_obs.LSTMAgentObs">
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-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseFeaturesExtractor</span></code></p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>observation_space</strong> – (gym.Space)</p></li>
-<li><p><strong>features_dim</strong> – (int) Number of features extracted.
-This corresponds to the number of unit for the last layer.</p></li>
-</ul>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.extractors.lstm_agent_obs.LSTMAgentObs.forward">
-<span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">observations</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">torch.Tensor</span></span></span><a class="headerlink" href="#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.forward" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.extractors.lstm_agent_obs.LSTMAgentObs.make_tensors">
-<span class="sig-name descname"><span class="pre">make_tensors</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">obs_dicts</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.make_tensors" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-extractors-lstm-agent-obs-module">
+<h2>src.environment.extractors.lstm_agent_obs module<a class="headerlink" href="#src-environment-extractors-lstm-agent-obs-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.extractors">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.extractors" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.environment.html b/docs_src/_build/html/modules/src.environment.html
index 303e8211..ae5c81d7 100644
--- a/docs_src/_build/html/modules/src.environment.html
+++ b/docs_src/_build/html/modules/src.environment.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
+        <script src="../_static/jquery.js"></script>
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     <link rel="index" title="Index" href="../genindex.html" />
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@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
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-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
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   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.rst.txt" rel="nofollow"> View page source</a>
@@ -74,90 +71,27 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-package">
-<h1>src.environment package<a class="headerlink" href="#src-environment-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment package<a class="headerlink" href="#src-environment-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.callbacks.html">src.environment.callbacks package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#module-src.environment.callbacks.callbacks">src.environment.callbacks.callbacks module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.callbacks.html#src.environment.callbacks.callbacks.EvalCallback"><code class="docutils literal notranslate"><span class="pre">EvalCallback</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.callbacks.html#src.environment.callbacks.callbacks.EvalCallback.update_child_locals"><code class="docutils literal notranslate"><span class="pre">EvalCallback.update_child_locals()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.callbacks.html#src.environment.callbacks.callbacks.OptunaCallback"><code class="docutils literal notranslate"><span class="pre">OptunaCallback</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#module-src.environment.callbacks">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#src-environment-callbacks-callbacks-module">src.environment.callbacks.callbacks module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.callbacks.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.environment_types.html">src.environment.environment_types package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#module-src.environment.environment_types.manual_zone">src.environment.environment_types.manual_zone module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.agents_priority_orders"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.agents_priority_orders</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.build_zone"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.build_zone()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.env_response_type"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.env_response_type</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.launch_config"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.launch_config</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.new_scenario"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.new_scenario()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.num_agents"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.num_agents</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.num_humans"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.num_humans</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.observer"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.observer</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.reset"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.rewarder"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.rewarder</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneEnv.sim_step"><code class="docutils literal notranslate"><span class="pre">ManualZoneEnv.sim_step()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_current_order"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.agents_current_order</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.agents_priority_order"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.agents_priority_order</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.collision"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.collision</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.done"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.done</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.door_pose"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.door_pose</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.door_state"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.door_state</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.entering"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.entering</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.exiting"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.exiting</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.follow_target"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.follow_target</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.goal_pose"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.goal_pose</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.human_poses"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.human_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.human_vels"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.human_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.in_zone"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.in_zone</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.local_target"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.local_target</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_entering"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.number_agents_entering</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.number_agents_exiting"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.number_agents_exiting</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.other_robot_poses"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.other_robot_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.other_robot_vels"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.other_robot_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.process"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.process()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.robot_poses"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.robot_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.robot_state"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.robot_state</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.robot_vels"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.robot_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.set_zone_vars"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.set_zone_vars()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.ManualZoneUTMRSResponse.success"><code class="docutils literal notranslate"><span class="pre">ManualZoneUTMRSResponse.success</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.point"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization.point()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.publish"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization.publish()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src.environment.environment_types.manual_zone.RvisZoneVisualization.rect"><code class="docutils literal notranslate"><span class="pre">RvisZoneVisualization.rect()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#module-src.environment.environment_types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#src-environment-environment-types-manual-zone-module">src.environment.environment_types.manual_zone module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.environment_types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.extractors.html">src.environment.extractors package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#module-src.environment.extractors.lstm_agent_obs">src.environment.extractors.lstm_agent_obs module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs"><code class="docutils literal notranslate"><span class="pre">LSTMAgentObs</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.forward"><code class="docutils literal notranslate"><span class="pre">LSTMAgentObs.forward()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#src.environment.extractors.lstm_agent_obs.LSTMAgentObs.make_tensors"><code class="docutils literal notranslate"><span class="pre">LSTMAgentObs.make_tensors()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#module-src.environment.extractors">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#src-environment-extractors-lstm-agent-obs-module">src.environment.extractors.lstm_agent_obs module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.extractors.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.observations.html">src.environment.observations package</a><ul>
@@ -165,48 +99,28 @@ <h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to thi
 <li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html">src.environment.observations.types package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_goal_distance">src.environment.observations.types.agents_goal_distance module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_heading_direction">src.environment.observations.types.agents_heading_direction module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_others_distance">src.environment.observations.types.agents_others_distance module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_pose">src.environment.observations.types.agents_pose module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_preferred_velocity">src.environment.observations.types.agents_preferred_velocity module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">src.environment.observations.types.agents_velocity module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">src.environment.observations.types.collision_observation module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">src.environment.observations.types.other_agent_observables module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_heading_direction">src.environment.observations.types.others_heading_direction module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_poses">src.environment.observations.types.others_poses module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_velocities">src.environment.observations.types.others_velocities module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.success_observation">src.environment.observations.types.success_observation module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-goal-distance-module">src.environment.observations.types.agents_goal_distance module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-heading-direction-module">src.environment.observations.types.agents_heading_direction module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-others-distance-module">src.environment.observations.types.agents_others_distance module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-pose-module">src.environment.observations.types.agents_pose module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-preferred-velocity-module">src.environment.observations.types.agents_preferred_velocity module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-velocity-module">src.environment.observations.types.agents_velocity module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-collision-observation-module">src.environment.observations.types.collision_observation module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-other-agent-observables-module">src.environment.observations.types.other_agent_observables module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-heading-direction-module">src.environment.observations.types.others_heading_direction module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-poses-module">src.environment.observations.types.others_poses module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-velocities-module">src.environment.observations.types.others_velocities module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-success-observation-module">src.environment.observations.types.success_observation module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations.common_observations">src.environment.observations.common_observations module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.common_observations.dsacadrl_observations"><code class="docutils literal notranslate"><span class="pre">dsacadrl_observations()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations.observation">src.environment.observations.observation module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation"><code class="docutils literal notranslate"><span class="pre">Observation</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation.name"><code class="docutils literal notranslate"><span class="pre">Observation.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation.observations"><code class="docutils literal notranslate"><span class="pre">Observation.observations()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations.observer">src.environment.observations.observer module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer"><code class="docutils literal notranslate"><span class="pre">Observer</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.arr_to_dict"><code class="docutils literal notranslate"><span class="pre">Observer.arr_to_dict()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.make_observation"><code class="docutils literal notranslate"><span class="pre">Observer.make_observation()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.registered_observations"><code class="docutils literal notranslate"><span class="pre">Observer.registered_observations</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.reset"><code class="docutils literal notranslate"><span class="pre">Observer.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer.setup"><code class="docutils literal notranslate"><span class="pre">Observer.setup()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-common-observations-module">src.environment.observations.common_observations module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observation-module">src.environment.observations.observation module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observer-module">src.environment.observations.observer module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.html">src.environment.rewards package</a><ul>
@@ -214,340 +128,87 @@ <h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to thi
 <li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html">src.environment.rewards.types package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.collisions">src.environment.rewards.types.collisions module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.existence_penalty">src.environment.rewards.types.existence_penalty module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance">src.environment.rewards.types.goal_distance module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance_change">src.environment.rewards.types.goal_distance_change module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.preferred_velocity">src.environment.rewards.types.preferred_velocity module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_cross">src.environment.rewards.types.social_norm_cross module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_overtake">src.environment.rewards.types.social_norm_overtake module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_pass">src.environment.rewards.types.social_norm_pass module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.success">src.environment.rewards.types.success module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.velocity_control">src.environment.rewards.types.velocity_control module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-collisions-module">src.environment.rewards.types.collisions module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-existence-penalty-module">src.environment.rewards.types.existence_penalty module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-module">src.environment.rewards.types.goal_distance module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-change-module">src.environment.rewards.types.goal_distance_change module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-preferred-velocity-module">src.environment.rewards.types.preferred_velocity module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-cross-module">src.environment.rewards.types.social_norm_cross module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-overtake-module">src.environment.rewards.types.social_norm_overtake module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-pass-module">src.environment.rewards.types.social_norm_pass module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-success-module">src.environment.rewards.types.success module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-velocity-control-module">src.environment.rewards.types.velocity_control module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.wrappers.html">src.environment.rewards.wrappers package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers.linear_weight_scheduler">src.environment.rewards.wrappers.linear_weight_scheduler module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#src-environment-rewards-wrappers-linear-weight-scheduler-module">src.environment.rewards.wrappers.linear_weight_scheduler module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards.common_rewards">src.environment.rewards.common_rewards module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.common_rewards.dsacadrl_rewards"><code class="docutils literal notranslate"><span class="pre">dsacadrl_rewards()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards.reward">src.environment.rewards.reward module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward"><code class="docutils literal notranslate"><span class="pre">Reward</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward.name"><code class="docutils literal notranslate"><span class="pre">Reward.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward.score"><code class="docutils literal notranslate"><span class="pre">Reward.score()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward.weight"><code class="docutils literal notranslate"><span class="pre">Reward.weight</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards.rewarder">src.environment.rewards.rewarder module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder"><code class="docutils literal notranslate"><span class="pre">Rewarder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.registered_rewards"><code class="docutils literal notranslate"><span class="pre">Rewarder.registered_rewards</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reset"><code class="docutils literal notranslate"><span class="pre">Rewarder.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.reward"><code class="docutils literal notranslate"><span class="pre">Rewarder.reward()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder.setup"><code class="docutils literal notranslate"><span class="pre">Rewarder.setup()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-common-rewards-module">src.environment.rewards.common_rewards module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-reward-module">src.environment.rewards.reward module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-rewarder-module">src.environment.rewards.rewarder module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.scenarios.html">src.environment.scenarios package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#subpackages">Subpackages</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html">src.environment.scenarios.types package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.cycle">src.environment.scenarios.types.cycle module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.graph_nav">src.environment.scenarios.types.graph_nav module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.manual">src.environment.scenarios.types.manual module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-cycle-module">src.environment.scenarios.types.cycle module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-graph-nav-module">src.environment.scenarios.types.graph_nav module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-manual-module">src.environment.scenarios.types.manual module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios.common_scenarios">src.environment.scenarios.common_scenarios module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides"><code class="docutils literal notranslate"><span class="pre">closed_door_1__opposing_sides()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.closed_door_1__same_goals"><code class="docutils literal notranslate"><span class="pre">closed_door_1__same_goals()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.elevator_loading"><code class="docutils literal notranslate"><span class="pre">elevator_loading()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_door"><code class="docutils literal notranslate"><span class="pre">envs_door()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_hallway"><code class="docutils literal notranslate"><span class="pre">envs_hallway()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_intersection"><code class="docutils literal notranslate"><span class="pre">envs_intersection()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_open"><code class="docutils literal notranslate"><span class="pre">envs_open()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.envs_round_about"><code class="docutils literal notranslate"><span class="pre">envs_round_about()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp1_train_scenario"><code class="docutils literal notranslate"><span class="pre">exp1_train_scenario()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.common_scenarios.exp2_train_scenario"><code class="docutils literal notranslate"><span class="pre">exp2_train_scenario()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios.scenario">src.environment.scenarios.scenario module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario"><code class="docutils literal notranslate"><span class="pre">Scenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">Scenario.generate_scenario()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.load_nav_nodes"><code class="docutils literal notranslate"><span class="pre">Scenario.load_nav_nodes()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario.make_scenario"><code class="docutils literal notranslate"><span class="pre">Scenario.make_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-common-scenarios-module">src.environment.scenarios.common_scenarios module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-scenario-module">src.environment.scenarios.scenario module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.services.html">src.environment.services package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#module-src.environment.services.utmrs">src.environment.services.utmrs module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRS"><code class="docutils literal notranslate"><span class="pre">UTMRS</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRS.reset"><code class="docutils literal notranslate"><span class="pre">UTMRS.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRS.step"><code class="docutils literal notranslate"><span class="pre">UTMRS.step()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.collision"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.collision</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.done"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.done</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_pose"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.door_pose</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.door_state"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.door_state</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.follow_target"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.follow_target</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.goal_pose"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.goal_pose</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_poses"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.human_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.human_vels"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.human_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.local_target"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.local_target</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_poses"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.other_robot_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.other_robot_vels"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.other_robot_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.process"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.process()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_poses"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.robot_poses</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_state"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.robot_state</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.robot_vels"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.robot_vels</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.set_vars"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.set_vars()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse.success"><code class="docutils literal notranslate"><span class="pre">UTMRSResponse.success</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#module-src.environment.services">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#src-environment-services-utmrs-module">src.environment.services.utmrs module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.services.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.utils.html">src.environment.utils package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils.evaluate_policy">src.environment.utils.evaluate_policy module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.evaluate_policy.evaluate_policy"><code class="docutils literal notranslate"><span class="pre">evaluate_policy()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils.utils">src.environment.utils.utils module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.LogFilter"><code class="docutils literal notranslate"><span class="pre">LogFilter</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.LogFilter.flush"><code class="docutils literal notranslate"><span class="pre">LogFilter.flush()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.LogFilter.write"><code class="docutils literal notranslate"><span class="pre">LogFilter.write()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.filter_stdout"><code class="docutils literal notranslate"><span class="pre">filter_stdout()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.get_tboard_writer"><code class="docutils literal notranslate"><span class="pre">get_tboard_writer()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html#src.environment.utils.utils.poses_to_np_array"><code class="docutils literal notranslate"><span class="pre">poses_to_np_array()</span></code></a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-src.environment.utils">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-evaluate-policy-module">src.environment.utils.evaluate_policy module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-utils-module">src.environment.utils.utils module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.utils.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.wrappers.html">src.environment.wrappers package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.collision_episode_ender">src.environment.wrappers.collision_episode_ender module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder"><code class="docutils literal notranslate"><span class="pre">CollisionEpisodeEnder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed"><code class="docutils literal notranslate"><span class="pre">CollisionEpisodeEnder.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step"><code class="docutils literal notranslate"><span class="pre">CollisionEpisodeEnder.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.entropy_episode_ender">src.environment.wrappers.entropy_episode_ender module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.agent_positions</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.calculate_deltas()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.distance_delta</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.negative_multiplier_only</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.reset_positions()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.reward_multiplier</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.step()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold"><code class="docutils literal notranslate"><span class="pre">EntropyEpisodeEnder.timestep_threshold</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.new_scenario_wrapper">src.environment.wrappers.new_scenario_wrapper module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.env</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.episode_count</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.new_scenario_episode_frequency</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.plans</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed"><code class="docutils literal notranslate"><span class="pre">NewScenarioWrapper.seed()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.reward_stripper">src.environment.wrappers.reward_stripper module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper"><code class="docutils literal notranslate"><span class="pre">RewardStripper</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.seed"><code class="docutils literal notranslate"><span class="pre">RewardStripper.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.reward_stripper.RewardStripper.step"><code class="docutils literal notranslate"><span class="pre">RewardStripper.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.tensorboard_writer">src.environment.wrappers.tensorboard_writer module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.image_callback"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.image_callback()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.reset"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.seed"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.tensorboard_writer.TensorboardWriter.step"><code class="docutils literal notranslate"><span class="pre">TensorboardWriter.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.time_limit">src.environment.wrappers.time_limit module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.reset"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.seed"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src.environment.wrappers.time_limit.TimeLimitWrapper.step"><code class="docutils literal notranslate"><span class="pre">TimeLimitWrapper.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-collision-episode-ender-module">src.environment.wrappers.collision_episode_ender module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-entropy-episode-ender-module">src.environment.wrappers.entropy_episode_ender module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-new-scenario-wrapper-module">src.environment.wrappers.new_scenario_wrapper module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-reward-stripper-module">src.environment.wrappers.reward_stripper module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-tensorboard-writer-module">src.environment.wrappers.tensorboard_writer module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-time-limit-module">src.environment.wrappers.time_limit module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.wrappers.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.ros_social_gym">
-<span id="src-environment-ros-social-gym-module"></span><h2>src.environment.ros_social_gym module<a class="headerlink" href="#module-src.environment.ros_social_gym" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.AgentColor">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.ros_social_gym.</span></span><span class="sig-name descname"><span class="pre">AgentColor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">r</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">g</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">reward</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.AgentColor" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.ros_social_gym.</span></span><span class="sig-name descname"><span class="pre">RosSocialEnv</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">launch_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'/home/rosdev/social_gym/config/gym_gen/launch.launch'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">observer</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer" title="src.environment.observations.observer.Observer"><span class="pre">Observer</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rewarder</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder" title="src.environment.rewards.rewarder.Rewarder"><span class="pre">Rewarder</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scenarios</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">()</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(3,</span> <span class="pre">5)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">debug</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">visuals</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">ParallelEnv</span></code>, <code class="xref py py-class docutils literal notranslate"><span class="pre">EzPickle</span></code></p>
-<p>A ros-based social navigation environment for OpenAI gym supporting MultiAgent training.</p>
-<p>A lot of the documentation is taken from <a class="reference external" href="https://pettingzoo.farama.org/content/environment_creation/">https://pettingzoo.farama.org/content/environment_creation/</a> which is
-almost entirely about supporting multiple agents in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.action_space">
-<span class="sig-name descname"><span class="pre">action_space</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">agent</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.action_space" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.calculate_reward">
-<span class="sig-name descname"><span class="pre">calculate_reward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">obs_map</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.calculate_reward" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.close">
-<span class="sig-name descname"><span class="pre">close</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.close" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.default_action">
-<span class="sig-name descname"><span class="pre">default_action</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.default_action" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.env_response_type">
-<span class="sig-name descname"><span class="pre">env_response_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">ClassVar</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.env_response_type" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.launch_config">
-<span class="sig-name descname"><span class="pre">launch_config</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">str</span></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.launch_config" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.make_observation">
-<span class="sig-name descname"><span class="pre">make_observation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">res</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.make_observation" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.metadata">
-<span class="sig-name descname"><span class="pre">metadata</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">{'name':</span> <span class="pre">'ros_social_env',</span> <span class="pre">'render_modes':</span> <span class="pre">['human']}</span></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.metadata" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.new_scenario">
-<span class="sig-name descname"><span class="pre">new_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.new_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.num_agents">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.num_humans">
-<span class="sig-name descname"><span class="pre">num_humans</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.num_humans" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.observation_space">
-<span class="sig-name descname"><span class="pre">observation_space</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">agent</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.observation_space" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.observer">
-<span class="sig-name descname"><span class="pre">observer</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="src.environment.observations.html#src.environment.observations.observer.Observer" title="src.environment.observations.observer.Observer"><span class="pre">Observer</span></a></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.observer" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.render">
-<span class="sig-name descname"><span class="pre">render</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mode</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'human'</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.render" title="Permalink to this definition"></a></dt>
-<dd><p>Depends on RVIZ for visualization, no render method</p>
-</dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.rewarder">
-<span class="sig-name descname"><span class="pre">rewarder</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.rewarder.Rewarder" title="src.environment.rewards.rewarder.Rewarder"><span class="pre">Rewarder</span></a></em><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.rewarder" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.sim_step">
-<span class="sig-name descname"><span class="pre">sim_step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.sim_step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.state">
-<span class="sig-name descname"><span class="pre">state</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span></span></span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.state" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.ros_social_gym.RosSocialEnv.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action_dict</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.ros_social_gym.RosSocialEnv.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-ros-social-gym-module">
+<h2>src.environment.ros_social_gym module<a class="headerlink" href="#src-environment-ros-social-gym-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.environment.observations.html b/docs_src/_build/html/modules/src.environment.observations.html
index 158c4628..15b7467c 100644
--- a/docs_src/_build/html/modules/src.environment.observations.html
+++ b/docs_src/_build/html/modules/src.environment.observations.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.observations package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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>
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-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.observations package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.observations.rst.txt" rel="nofollow"> View page source</a>
@@ -74,208 +71,56 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-observations-package">
-<h1>src.environment.observations package<a class="headerlink" href="#src-environment-observations-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.observations package<a class="headerlink" href="#src-environment-observations-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.observations.types.html">src.environment.observations.types package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#subpackages">Subpackages</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.manual_zone.html">src.environment.observations.types.manual_zone package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_in_zone">src.environment.observations.types.manual_zone.agent_in_zone module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_current_order">src.environment.observations.types.manual_zone.agent_zone_current_order module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_priority_order">src.environment.observations.types.manual_zone.agent_zone_priority_order module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-in-zone-module">src.environment.observations.types.manual_zone.agent_in_zone module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-zone-current-order-module">src.environment.observations.types.manual_zone.agent_zone_current_order module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-zone-priority-order-module">src.environment.observations.types.manual_zone.agent_zone_priority_order module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_goal_distance">src.environment.observations.types.agents_goal_distance module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance"><code class="docutils literal notranslate"><span class="pre">AgentsGoalDistance</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history"><code class="docutils literal notranslate"><span class="pre">AgentsGoalDistance.history</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history_length"><code class="docutils literal notranslate"><span class="pre">AgentsGoalDistance.history_length</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.name"><code class="docutils literal notranslate"><span class="pre">AgentsGoalDistance.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_heading_direction">src.environment.observations.types.agents_heading_direction module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection"><code class="docutils literal notranslate"><span class="pre">AgentsHeadingDirection</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection.name"><code class="docutils literal notranslate"><span class="pre">AgentsHeadingDirection.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_others_distance">src.environment.observations.types.agents_others_distance module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_others_distance.AgentsOthersDistance"><code class="docutils literal notranslate"><span class="pre">AgentsOthersDistance</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.name"><code class="docutils literal notranslate"><span class="pre">AgentsOthersDistance.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.num_others"><code class="docutils literal notranslate"><span class="pre">AgentsOthersDistance.num_others</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_pose">src.environment.observations.types.agents_pose module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_pose.AgentsPose"><code class="docutils literal notranslate"><span class="pre">AgentsPose</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_pose.AgentsPose.name"><code class="docutils literal notranslate"><span class="pre">AgentsPose.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_preferred_velocity">src.environment.observations.types.agents_preferred_velocity module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity"><code class="docutils literal notranslate"><span class="pre">AgentsPreferredVelocity</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity.name"><code class="docutils literal notranslate"><span class="pre">AgentsPreferredVelocity.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.agents_velocity">src.environment.observations.types.agents_velocity module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.history"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity.history</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.history_length"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity.history_length</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.ignore_theta"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity.ignore_theta</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.agents_velocity.AgentsVelocity.name"><code class="docutils literal notranslate"><span class="pre">AgentsVelocity.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.collision_observation">src.environment.observations.types.collision_observation module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.collision_observation.CollisionObservation"><code class="docutils literal notranslate"><span class="pre">CollisionObservation</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.collision_observation.CollisionObservation.name"><code class="docutils literal notranslate"><span class="pre">CollisionObservation.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.other_agent_observables">src.environment.observations.types.other_agent_observables module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables"><code class="docutils literal notranslate"><span class="pre">OtherAgentObservables</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables.name"><code class="docutils literal notranslate"><span class="pre">OtherAgentObservables.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.other_agent_observables.OtherAgentObservables.num_others"><code class="docutils literal notranslate"><span class="pre">OtherAgentObservables.num_others</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_heading_direction">src.environment.observations.types.others_heading_direction module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection"><code class="docutils literal notranslate"><span class="pre">OthersHeadingDirection</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.name"><code class="docutils literal notranslate"><span class="pre">OthersHeadingDirection.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others"><code class="docutils literal notranslate"><span class="pre">OthersHeadingDirection.num_others</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_poses">src.environment.observations.types.others_poses module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses"><code class="docutils literal notranslate"><span class="pre">OthersPoses</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses.name"><code class="docutils literal notranslate"><span class="pre">OthersPoses.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_poses.OthersPoses.num_others"><code class="docutils literal notranslate"><span class="pre">OthersPoses.num_others</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.others_velocities">src.environment.observations.types.others_velocities module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities"><code class="docutils literal notranslate"><span class="pre">OthersVelocities</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities.name"><code class="docutils literal notranslate"><span class="pre">OthersVelocities.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.others_velocities.OthersVelocities.num_others"><code class="docutils literal notranslate"><span class="pre">OthersVelocities.num_others</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types.success_observation">src.environment.observations.types.success_observation module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.success_observation.SuccessObservation"><code class="docutils literal notranslate"><span class="pre">SuccessObservation</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.html#src.environment.observations.types.success_observation.SuccessObservation.name"><code class="docutils literal notranslate"><span class="pre">SuccessObservation.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-src.environment.observations.types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-goal-distance-module">src.environment.observations.types.agents_goal_distance module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-heading-direction-module">src.environment.observations.types.agents_heading_direction module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-others-distance-module">src.environment.observations.types.agents_others_distance module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-pose-module">src.environment.observations.types.agents_pose module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-preferred-velocity-module">src.environment.observations.types.agents_preferred_velocity module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-agents-velocity-module">src.environment.observations.types.agents_velocity module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-collision-observation-module">src.environment.observations.types.collision_observation module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-other-agent-observables-module">src.environment.observations.types.other_agent_observables module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-heading-direction-module">src.environment.observations.types.others_heading_direction module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-poses-module">src.environment.observations.types.others_poses module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-others-velocities-module">src.environment.observations.types.others_velocities module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#src-environment-observations-types-success-observation-module">src.environment.observations.types.success_observation module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.common_observations">
-<span id="src-environment-observations-common-observations-module"></span><h2>src.environment.observations.common_observations module<a class="headerlink" href="#module-src.environment.observations.common_observations" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.observations.common_observations.dsacadrl_observations">
-<span class="sig-prename descclassname"><span class="pre">src.environment.observations.common_observations.</span></span><span class="sig-name descname"><span class="pre">dsacadrl_observations</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.common_observations.dsacadrl_observations" title="Permalink to this definition"></a></dt>
-<dd><p>Helper for building the observations needed for the D-Sacadrl Policy.</p>
-</dd></dl>
-
+<section id="src-environment-observations-common-observations-module">
+<h2>src.environment.observations.common_observations module<a class="headerlink" href="#src-environment-observations-common-observations-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.observation">
-<span id="src-environment-observations-observation-module"></span><h2>src.environment.observations.observation module<a class="headerlink" href="#module-src.environment.observations.observation" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.observation.Observation">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.observation.</span></span><span class="sig-name descname"><span class="pre">Observation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observation.Observation" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">ABC</span></code></p>
-<p>Base class for an observation.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observation.Observation.name">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observation.Observation.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observation.Observation.observations">
-<span class="sig-name descname"><span class="pre">observations</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_response</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.services.html#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.array</span></span></span><a class="headerlink" href="#src.environment.observations.observation.Observation.observations" title="Permalink to this definition"></a></dt>
-<dd><p>Given the environment being used in the sim and the response from the current timestep, generate a numpy array
-that can be used as an observation for the Agent (subsequently passed into the policy network).</p>
-<p>Will pad the returned observation np array to the correct length specified in the __len__ to avoid shape
-mismatch in the observation space.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>env</strong> – The RosSocialEnv class object currently being used in the sim</p></li>
-<li><p><strong>env_response</strong> – The response from the env given the timestep</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>A numpy array that contains relevant observation data for the policy network.</p>
-</dd>
-</dl>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-observation-module">
+<h2>src.environment.observations.observation module<a class="headerlink" href="#src-environment-observations-observation-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.observer">
-<span id="src-environment-observations-observer-module"></span><h2>src.environment.observations.observer module<a class="headerlink" href="#module-src.environment.observations.observer" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.observer.</span></span><span class="sig-name descname"><span class="pre">Observer</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">registered_observations</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><span class="pre">Observation</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<p>Tracks all observations made in the environment</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.arr_to_dict">
-<span class="sig-name descname"><span class="pre">arr_to_dict</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">observations</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer.arr_to_dict" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.make_observation">
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-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.registered_observations">
-<span class="sig-name descname"><span class="pre">registered_observations</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><span class="pre">Observation</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.observations.observer.Observer.registered_observations" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.observer.Observer.setup">
-<span class="sig-name descname"><span class="pre">setup</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.observer.Observer.setup" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-observer-module">
+<h2>src.environment.observations.observer module<a class="headerlink" href="#src-environment-observations-observer-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.observations" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.environment.observations.types.html b/docs_src/_build/html/modules/src.environment.observations.types.html
index a2f9cd24..9d5c81b7 100644
--- a/docs_src/_build/html/modules/src.environment.observations.types.html
+++ b/docs_src/_build/html/modules/src.environment.observations.types.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.observations.types package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
+        <script src="../_static/jquery.js"></script>
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-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
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+    <input type="text" name="q" placeholder="Search docs" />
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@@ -62,7 +59,7 @@
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-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.observations.types package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.observations.types.rst.txt" rel="nofollow"> View page source</a>
@@ -74,274 +71,63 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-observations-types-package">
-<h1>src.environment.observations.types package<a class="headerlink" href="#src-environment-observations-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.observations.types package<a class="headerlink" href="#src-environment-observations-types-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.observations.types.manual_zone.html">src.environment.observations.types.manual_zone package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_in_zone">src.environment.observations.types.manual_zone.agent_in_zone module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone"><code class="docutils literal notranslate"><span class="pre">AgentInZone</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone.name"><code class="docutils literal notranslate"><span class="pre">AgentInZone.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_current_order">src.environment.observations.types.manual_zone.agent_zone_current_order module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder"><code class="docutils literal notranslate"><span class="pre">AgentZoneCurrentOrder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder.name"><code class="docutils literal notranslate"><span class="pre">AgentZoneCurrentOrder.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone.agent_zone_priority_order">src.environment.observations.types.manual_zone.agent_zone_priority_order module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder"><code class="docutils literal notranslate"><span class="pre">AgentZonePriorityOrder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder.name"><code class="docutils literal notranslate"><span class="pre">AgentZonePriorityOrder.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-src.environment.observations.types.manual_zone">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-in-zone-module">src.environment.observations.types.manual_zone.agent_in_zone module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-zone-current-order-module">src.environment.observations.types.manual_zone.agent_zone_current_order module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#src-environment-observations-types-manual-zone-agent-zone-priority-order-module">src.environment.observations.types.manual_zone.agent_zone_priority_order module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.observations.types.manual_zone.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_goal_distance">
-<span id="src-environment-observations-types-agents-goal-distance-module"></span><h2>src.environment.observations.types.agents_goal_distance module<a class="headerlink" href="#module-src.environment.observations.types.agents_goal_distance" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_goal_distance.</span></span><span class="sig-name descname"><span class="pre">AgentsGoalDistance</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">history_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the Norm of the agents pose and the goal pose</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history">
-<span class="sig-name descname"><span class="pre">history</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">deque</span></em><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history_length">
-<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.history_length" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_goal_distance.AgentsGoalDistance.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-goal-distance-module">
+<h2>src.environment.observations.types.agents_goal_distance module<a class="headerlink" href="#src-environment-observations-types-agents-goal-distance-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_heading_direction">
-<span id="src-environment-observations-types-agents-heading-direction-module"></span><h2>src.environment.observations.types.agents_heading_direction module<a class="headerlink" href="#module-src.environment.observations.types.agents_heading_direction" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_heading_direction.</span></span><span class="sig-name descname"><span class="pre">AgentsHeadingDirection</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the heading direction of the agent ( via tan-1(vy / vx) )</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_heading_direction.AgentsHeadingDirection.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-heading-direction-module">
+<h2>src.environment.observations.types.agents_heading_direction module<a class="headerlink" href="#src-environment-observations-types-agents-heading-direction-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_others_distance">
-<span id="src-environment-observations-types-agents-others-distance-module"></span><h2>src.environment.observations.types.agents_others_distance module<a class="headerlink" href="#module-src.environment.observations.types.agents_others_distance" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_others_distance.AgentsOthersDistance">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_others_distance.</span></span><span class="sig-name descname"><span class="pre">AgentsOthersDistance</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_others_distance.AgentsOthersDistance" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Return the Normed distance between the agent and the other agents/humans</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_others_distance.AgentsOthersDistance.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_others_distance.AgentsOthersDistance.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.agents_others_distance.AgentsOthersDistance.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-others-distance-module">
+<h2>src.environment.observations.types.agents_others_distance module<a class="headerlink" href="#src-environment-observations-types-agents-others-distance-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_pose">
-<span id="src-environment-observations-types-agents-pose-module"></span><h2>src.environment.observations.types.agents_pose module<a class="headerlink" href="#module-src.environment.observations.types.agents_pose" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_pose.AgentsPose">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_pose.</span></span><span class="sig-name descname"><span class="pre">AgentsPose</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_pose.AgentsPose" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the X, Y, Theta positions of the agent in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_pose.AgentsPose.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_pose.AgentsPose.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-pose-module">
+<h2>src.environment.observations.types.agents_pose module<a class="headerlink" href="#src-environment-observations-types-agents-pose-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_preferred_velocity">
-<span id="src-environment-observations-types-agents-preferred-velocity-module"></span><h2>src.environment.observations.types.agents_preferred_velocity module<a class="headerlink" href="#module-src.environment.observations.types.agents_preferred_velocity" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_preferred_velocity.</span></span><span class="sig-name descname"><span class="pre">AgentsPreferredVelocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">preferred_velocity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the preferred velocity of the agent (really just a static number)</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_preferred_velocity.AgentsPreferredVelocity.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-preferred-velocity-module">
+<h2>src.environment.observations.types.agents_preferred_velocity module<a class="headerlink" href="#src-environment-observations-types-agents-preferred-velocity-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.agents_velocity">
-<span id="src-environment-observations-types-agents-velocity-module"></span><h2>src.environment.observations.types.agents_velocity module<a class="headerlink" href="#module-src.environment.observations.types.agents_velocity" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.agents_velocity.</span></span><span class="sig-name descname"><span class="pre">AgentsVelocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">history_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the vx, vy of the agent in the current timestep</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.history">
-<span class="sig-name descname"><span class="pre">history</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">deque</span></em><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.history" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.history_length">
-<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.history_length" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.ignore_theta">
-<span class="sig-name descname"><span class="pre">ignore_theta</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.ignore_theta" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.agents_velocity.AgentsVelocity.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.agents_velocity.AgentsVelocity.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-agents-velocity-module">
+<h2>src.environment.observations.types.agents_velocity module<a class="headerlink" href="#src-environment-observations-types-agents-velocity-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.collision_observation">
-<span id="src-environment-observations-types-collision-observation-module"></span><h2>src.environment.observations.types.collision_observation module<a class="headerlink" href="#module-src.environment.observations.types.collision_observation" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.collision_observation.CollisionObservation">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.collision_observation.</span></span><span class="sig-name descname"><span class="pre">CollisionObservation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.collision_observation.CollisionObservation" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns number of collisions</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.collision_observation.CollisionObservation.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.collision_observation.CollisionObservation.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-collision-observation-module">
+<h2>src.environment.observations.types.collision_observation module<a class="headerlink" href="#src-environment-observations-types-collision-observation-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.other_agent_observables">
-<span id="src-environment-observations-types-other-agent-observables-module"></span><h2>src.environment.observations.types.other_agent_observables module<a class="headerlink" href="#module-src.environment.observations.types.other_agent_observables" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.other_agent_observables.OtherAgentObservables">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.other_agent_observables.</span></span><span class="sig-name descname"><span class="pre">OtherAgentObservables</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">pos_x</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pos_y</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pos_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">vel_x</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">vel_y</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">vel_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.other_agent_observables.OtherAgentObservables" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.other_agent_observables.OtherAgentObservables.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.other_agent_observables.OtherAgentObservables.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.other_agent_observables.OtherAgentObservables.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.other_agent_observables.OtherAgentObservables.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-other-agent-observables-module">
+<h2>src.environment.observations.types.other_agent_observables module<a class="headerlink" href="#src-environment-observations-types-other-agent-observables-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.others_heading_direction">
-<span id="src-environment-observations-types-others-heading-direction-module"></span><h2>src.environment.observations.types.others_heading_direction module<a class="headerlink" href="#module-src.environment.observations.types.others_heading_direction" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_heading_direction.OthersHeadingDirection">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.others_heading_direction.</span></span><span class="sig-name descname"><span class="pre">OthersHeadingDirection</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_heading_direction.OthersHeadingDirection" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the heading direction of every other Agent/Human ( via tan-1(vx/vy) )</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_heading_direction.OthersHeadingDirection.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.others_heading_direction.OthersHeadingDirection.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-others-heading-direction-module">
+<h2>src.environment.observations.types.others_heading_direction module<a class="headerlink" href="#src-environment-observations-types-others-heading-direction-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.others_poses">
-<span id="src-environment-observations-types-others-poses-module"></span><h2>src.environment.observations.types.others_poses module<a class="headerlink" href="#module-src.environment.observations.types.others_poses" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_poses.OthersPoses">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.others_poses.</span></span><span class="sig-name descname"><span class="pre">OthersPoses</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">actuals</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_poses.OthersPoses" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the X, Y, Theta positions of the other agents/humans in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_poses.OthersPoses.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_poses.OthersPoses.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_poses.OthersPoses.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.others_poses.OthersPoses.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-others-poses-module">
+<h2>src.environment.observations.types.others_poses module<a class="headerlink" href="#src-environment-observations-types-others-poses-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.others_velocities">
-<span id="src-environment-observations-types-others-velocities-module"></span><h2>src.environment.observations.types.others_velocities module<a class="headerlink" href="#module-src.environment.observations.types.others_velocities" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_velocities.OthersVelocities">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.others_velocities.</span></span><span class="sig-name descname"><span class="pre">OthersVelocities</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">allow_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_other_robots</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_velocities.OthersVelocities" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns the vx, vy, vtheta for each other agent/human in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_velocities.OthersVelocities.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.others_velocities.OthersVelocities.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.observations.types.others_velocities.OthersVelocities.num_others">
-<span class="sig-name descname"><span class="pre">num_others</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.observations.types.others_velocities.OthersVelocities.num_others" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-others-velocities-module">
+<h2>src.environment.observations.types.others_velocities module<a class="headerlink" href="#src-environment-observations-types-others-velocities-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.success_observation">
-<span id="src-environment-observations-types-success-observation-module"></span><h2>src.environment.observations.types.success_observation module<a class="headerlink" href="#module-src.environment.observations.types.success_observation" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.success_observation.SuccessObservation">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.success_observation.</span></span><span class="sig-name descname"><span class="pre">SuccessObservation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.success_observation.SuccessObservation" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Returns if there was a success in the episode</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.success_observation.SuccessObservation.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.success_observation.SuccessObservation.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-success-observation-module">
+<h2>src.environment.observations.types.success_observation module<a class="headerlink" href="#src-environment-observations-types-success-observation-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.observations.types" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.environment.observations.types.manual_zone.html b/docs_src/_build/html/modules/src.environment.observations.types.manual_zone.html
index ebf76ca0..e57e2adf 100644
--- a/docs_src/_build/html/modules/src.environment.observations.types.manual_zone.html
+++ b/docs_src/_build/html/modules/src.environment.observations.types.manual_zone.html
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.observations.types.manual_zone package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.observations.types.manual_zone package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.observations.types.manual_zone.rst.txt" rel="nofollow"> View page source</a>
@@ -74,57 +71,21 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-observations-types-manual-zone-package">
-<h1>src.environment.observations.types.manual_zone package<a class="headerlink" href="#src-environment-observations-types-manual-zone-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.observations.types.manual_zone package<a class="headerlink" href="#src-environment-observations-types-manual-zone-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone.agent_in_zone">
-<span id="src-environment-observations-types-manual-zone-agent-in-zone-module"></span><h2>src.environment.observations.types.manual_zone.agent_in_zone module<a class="headerlink" href="#module-src.environment.observations.types.manual_zone.agent_in_zone" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.manual_zone.agent_in_zone.</span></span><span class="sig-name descname"><span class="pre">AgentInZone</span></span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Tracks if the agent is in the zone</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_in_zone.AgentInZone.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-manual-zone-agent-in-zone-module">
+<h2>src.environment.observations.types.manual_zone.agent_in_zone module<a class="headerlink" href="#src-environment-observations-types-manual-zone-agent-in-zone-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone.agent_zone_current_order">
-<span id="src-environment-observations-types-manual-zone-agent-zone-current-order-module"></span><h2>src.environment.observations.types.manual_zone.agent_zone_current_order module<a class="headerlink" href="#module-src.environment.observations.types.manual_zone.agent_zone_current_order" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.manual_zone.agent_zone_current_order.</span></span><span class="sig-name descname"><span class="pre">AgentZoneCurrentOrder</span></span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Tracks the current order of the agent in the zone</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_current_order.AgentZoneCurrentOrder.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-manual-zone-agent-zone-current-order-module">
+<h2>src.environment.observations.types.manual_zone.agent_zone_current_order module<a class="headerlink" href="#src-environment-observations-types-manual-zone-agent-zone-current-order-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone.agent_zone_priority_order">
-<span id="src-environment-observations-types-manual-zone-agent-zone-priority-order-module"></span><h2>src.environment.observations.types.manual_zone.agent_zone_priority_order module<a class="headerlink" href="#module-src.environment.observations.types.manual_zone.agent_zone_priority_order" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.observations.types.manual_zone.agent_zone_priority_order.</span></span><span class="sig-name descname"><span class="pre">AgentZonePriorityOrder</span></span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.observations.html#src.environment.observations.observation.Observation" title="src.environment.observations.observation.Observation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Observation</span></code></a></p>
-<p>Tracks the current order of the agent in the zone</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.observations.types.manual_zone.agent_zone_priority_order.AgentZonePriorityOrder.name" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-observations-types-manual-zone-agent-zone-priority-order-module">
+<h2>src.environment.observations.types.manual_zone.agent_zone_priority_order module<a class="headerlink" href="#src-environment-observations-types-manual-zone-agent-zone-priority-order-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.observations.types.manual_zone">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.observations.types.manual_zone" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.environment.rewards.html b/docs_src/_build/html/modules/src.environment.rewards.html
index 90936a24..3bbd05ca 100644
--- a/docs_src/_build/html/modules/src.environment.rewards.html
+++ b/docs_src/_build/html/modules/src.environment.rewards.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.rewards package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.rewards package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.rewards.rst.txt" rel="nofollow"> View page source</a>
@@ -74,221 +71,58 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-rewards-package">
-<h1>src.environment.rewards package<a class="headerlink" href="#src-environment-rewards-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards package<a class="headerlink" href="#src-environment-rewards-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.types.html">src.environment.rewards.types package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#subpackages">Subpackages</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html">src.environment.rewards.types.manual_zone package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone.enforced_order">src.environment.rewards.types.manual_zone.enforced_order module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src-environment-rewards-types-manual-zone-enforced-order-module">src.environment.rewards.types.manual_zone.enforced_order module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.collisions">src.environment.rewards.types.collisions module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions"><code class="docutils literal notranslate"><span class="pre">Collisions</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.collisions.Collisions.name"><code class="docutils literal notranslate"><span class="pre">Collisions.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.existence_penalty">src.environment.rewards.types.existence_penalty module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.existence_penalty.ExistencePenalty"><code class="docutils literal notranslate"><span class="pre">ExistencePenalty</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.existence_penalty.ExistencePenalty.name"><code class="docutils literal notranslate"><span class="pre">ExistencePenalty.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance">src.environment.rewards.types.goal_distance module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance.GoalDistance"><code class="docutils literal notranslate"><span class="pre">GoalDistance</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance.GoalDistance.name"><code class="docutils literal notranslate"><span class="pre">GoalDistance.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.goal_distance_change">src.environment.rewards.types.goal_distance_change module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance_change.GoalDistanceChange"><code class="docutils literal notranslate"><span class="pre">GoalDistanceChange</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.goal_distance_change.GoalDistanceChange.name"><code class="docutils literal notranslate"><span class="pre">GoalDistanceChange.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.preferred_velocity">src.environment.rewards.types.preferred_velocity module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.preferred_velocity.PreferredVelocity"><code class="docutils literal notranslate"><span class="pre">PreferredVelocity</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.preferred_velocity.PreferredVelocity.name"><code class="docutils literal notranslate"><span class="pre">PreferredVelocity.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_cross">src.environment.rewards.types.social_norm_cross module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross"><code class="docutils literal notranslate"><span class="pre">SocialNormCross</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.dist_to_other_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.goal_dist_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.heading_angle_thresholds</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.name"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.relative_agent_to_other_angle_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_cross.SocialNormCross.weight"><code class="docutils literal notranslate"><span class="pre">SocialNormCross.weight</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_overtake">src.environment.rewards.types.social_norm_overtake module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.goal_dist_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.heading_angle_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.name"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.px_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.py_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.weight"><code class="docutils literal notranslate"><span class="pre">SocialNormOvertake.weight</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.social_norm_pass">src.environment.rewards.types.social_norm_pass module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass"><code class="docutils literal notranslate"><span class="pre">SocialNormPass</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.goal_dist_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.heading_angle_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.name"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.px_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.py_threshold</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.social_norm_pass.SocialNormPass.weight"><code class="docutils literal notranslate"><span class="pre">SocialNormPass.weight</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.success">src.environment.rewards.types.success module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.success.Success"><code class="docutils literal notranslate"><span class="pre">Success</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.success.Success.name"><code class="docutils literal notranslate"><span class="pre">Success.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types.velocity_control">src.environment.rewards.types.velocity_control module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.velocity_control.VelocityControl"><code class="docutils literal notranslate"><span class="pre">VelocityControl</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.html#src.environment.rewards.types.velocity_control.VelocityControl.name"><code class="docutils literal notranslate"><span class="pre">VelocityControl.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-src.environment.rewards.types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-collisions-module">src.environment.rewards.types.collisions module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-existence-penalty-module">src.environment.rewards.types.existence_penalty module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-module">src.environment.rewards.types.goal_distance module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-goal-distance-change-module">src.environment.rewards.types.goal_distance_change module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-preferred-velocity-module">src.environment.rewards.types.preferred_velocity module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-cross-module">src.environment.rewards.types.social_norm_cross module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-overtake-module">src.environment.rewards.types.social_norm_overtake module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-social-norm-pass-module">src.environment.rewards.types.social_norm_pass module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-success-module">src.environment.rewards.types.success module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#src-environment-rewards-types-velocity-control-module">src.environment.rewards.types.velocity_control module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.wrappers.html">src.environment.rewards.wrappers package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers.linear_weight_scheduler">src.environment.rewards.wrappers.linear_weight_scheduler module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.wrappers.html#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler"><code class="docutils literal notranslate"><span class="pre">LinearWeightScheduler</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.wrappers.html#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler.name"><code class="docutils literal notranslate"><span class="pre">LinearWeightScheduler.name()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-src.environment.rewards.wrappers">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#src-environment-rewards-wrappers-linear-weight-scheduler-module">src.environment.rewards.wrappers.linear_weight_scheduler module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.wrappers.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.common_rewards">
-<span id="src-environment-rewards-common-rewards-module"></span><h2>src.environment.rewards.common_rewards module<a class="headerlink" href="#module-src.environment.rewards.common_rewards" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.rewards.common_rewards.dsacadrl_rewards">
-<span class="sig-prename descclassname"><span class="pre">src.environment.rewards.common_rewards.</span></span><span class="sig-name descname"><span class="pre">dsacadrl_rewards</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.common_rewards.dsacadrl_rewards" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
+<section id="src-environment-rewards-common-rewards-module">
+<h2>src.environment.rewards.common_rewards module<a class="headerlink" href="#src-environment-rewards-common-rewards-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.reward">
-<span id="src-environment-rewards-reward-module"></span><h2>src.environment.rewards.reward module<a class="headerlink" href="#module-src.environment.rewards.reward" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.reward.</span></span><span class="sig-name descname"><span class="pre">Reward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.reward.Reward" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">ABC</span></code></p>
-<p>Base class for rewarding or penalizing the agent in the simulation at each timestep according to the observation
-and environment configs.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward.name">
-<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.reward.Reward.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward.score">
-<span class="sig-name descname"><span class="pre">score</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">observation_map</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#src.environment.rewards.reward.Reward.score" title="Permalink to this definition"></a></dt>
-<dd><p>Given the current environment instantiation, the current timesteps response from the environment, and the
-data_map object, calculate a float scalar as a reward.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>env</strong> – The RosSocialEnv class object currently being used in the sim</p></li>
-<li><p><strong>env_response</strong> – The response from the env given the timestep</p></li>
-<li><p><strong>observation_map</strong> – key observation pair from the Observer class.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>A weighted float scalar representing the amount of reward of the current timestep.</p>
-</dd>
-</dl>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.reward.Reward.weight">
-<span class="sig-name descname"><span class="pre">weight</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.reward.Reward.weight" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-reward-module">
+<h2>src.environment.rewards.reward module<a class="headerlink" href="#src-environment-rewards-reward-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.rewarder">
-<span id="src-environment-rewards-rewarder-module"></span><h2>src.environment.rewards.rewarder module<a class="headerlink" href="#module-src.environment.rewards.rewarder" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.rewarder.</span></span><span class="sig-name descname"><span class="pre">Rewarder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">registered_rewards</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><span class="pre">Reward</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<p>Class that handles storing reward classes, calling them to sum their reward, and logging if a logger is given.</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.registered_rewards">
-<span class="sig-name descname"><span class="pre">registered_rewards</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><span class="pre">Reward</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.registered_rewards" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.reward">
-<span class="sig-name descname"><span class="pre">reward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">observation_map</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.reward" title="Permalink to this definition"></a></dt>
-<dd><p>Given the environments response for the current timestep, calculate the total reward (sum of all the registered
-reward class objects) and log the individual rewards as well as the total reward if the tensorboardX Summary
-Writer is present.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>env</strong> – The RosSocialEnv being used in the current episode</p></li>
-<li><p><strong>observation_map</strong> – Dictionary storing all the observations of the environment</p></li>
-</ul>
-</dd>
-</dl>
-</dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.rewarder.Rewarder.setup">
-<span class="sig-name descname"><span class="pre">setup</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.rewarder.Rewarder.setup" title="Permalink to this definition"></a></dt>
-<dd><p>Helper for reward classes that require environment knowledge before being run.</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-rewarder-module">
+<h2>src.environment.rewards.rewarder module<a class="headerlink" href="#src-environment-rewards-rewarder-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.environment.rewards.types.html b/docs_src/_build/html/modules/src.environment.rewards.types.html
index 390dc333..1021ce78 100644
--- a/docs_src/_build/html/modules/src.environment.rewards.types.html
+++ b/docs_src/_build/html/modules/src.environment.rewards.types.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
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-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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@@ -13,8 +13,9 @@
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+        <script src="../_static/jquery.js"></script>
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@@ -25,16 +26,12 @@
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@@ -62,7 +59,7 @@
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@@ -74,272 +71,55 @@
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   <section id="src-environment-rewards-types-package">
-<h1>src.environment.rewards.types package<a class="headerlink" href="#src-environment-rewards-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards.types package<a class="headerlink" href="#src-environment-rewards-types-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html">src.environment.rewards.types.manual_zone package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone.enforced_order">src.environment.rewards.types.manual_zone.enforced_order module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.name"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.name()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.on_enter</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.on_exit</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.previous_zone_state</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.weight"><code class="docutils literal notranslate"><span class="pre">EnforcedOrder.weight</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-src.environment.rewards.types.manual_zone">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#src-environment-rewards-types-manual-zone-enforced-order-module">src.environment.rewards.types.manual_zone.enforced_order module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.rewards.types.manual_zone.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.collisions">
-<span id="src-environment-rewards-types-collisions-module"></span><h2>src.environment.rewards.types.collisions module<a class="headerlink" href="#module-src.environment.rewards.types.collisions" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.collisions.Collisions">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.collisions.</span></span><span class="sig-name descname"><span class="pre">Collisions</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.collisions.Collisions" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Penalty for when the agent collides with something in the environment.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.collisions.Collisions.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.collisions.Collisions.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-collisions-module">
+<h2>src.environment.rewards.types.collisions module<a class="headerlink" href="#src-environment-rewards-types-collisions-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.existence_penalty">
-<span id="src-environment-rewards-types-existence-penalty-module"></span><h2>src.environment.rewards.types.existence_penalty module<a class="headerlink" href="#module-src.environment.rewards.types.existence_penalty" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.existence_penalty.ExistencePenalty">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.existence_penalty.</span></span><span class="sig-name descname"><span class="pre">ExistencePenalty</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.existence_penalty.ExistencePenalty" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Penalty for every timestep that has not led to success.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.existence_penalty.ExistencePenalty.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.existence_penalty.ExistencePenalty.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-existence-penalty-module">
+<h2>src.environment.rewards.types.existence_penalty module<a class="headerlink" href="#src-environment-rewards-types-existence-penalty-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.goal_distance">
-<span id="src-environment-rewards-types-goal-distance-module"></span><h2>src.environment.rewards.types.goal_distance module<a class="headerlink" href="#module-src.environment.rewards.types.goal_distance" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance.GoalDistance">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.goal_distance.</span></span><span class="sig-name descname"><span class="pre">GoalDistance</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance.GoalDistance" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance.GoalDistance.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance.GoalDistance.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-goal-distance-module">
+<h2>src.environment.rewards.types.goal_distance module<a class="headerlink" href="#src-environment-rewards-types-goal-distance-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.goal_distance_change">
-<span id="src-environment-rewards-types-goal-distance-change-module"></span><h2>src.environment.rewards.types.goal_distance_change module<a class="headerlink" href="#module-src.environment.rewards.types.goal_distance_change" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance_change.GoalDistanceChange">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.goal_distance_change.</span></span><span class="sig-name descname"><span class="pre">GoalDistanceChange</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">clip</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance_change.GoalDistanceChange" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Simple reward that returns the change in distance to the goal per timestep as a reward.</p>
-<p>I.E.</p>
-<p>timestep 1 -&gt; 5 units to the goal, will return 0
-timestep 2 -&gt; 3 units to the goal, will return 5 - 3 -&gt; 2
-timestep 3 -&gt; 4 units to the goal, will return 3 - 4 -&gt; -1</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.goal_distance_change.GoalDistanceChange.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.goal_distance_change.GoalDistanceChange.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-goal-distance-change-module">
+<h2>src.environment.rewards.types.goal_distance_change module<a class="headerlink" href="#src-environment-rewards-types-goal-distance-change-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.preferred_velocity">
-<span id="src-environment-rewards-types-preferred-velocity-module"></span><h2>src.environment.rewards.types.preferred_velocity module<a class="headerlink" href="#module-src.environment.rewards.types.preferred_velocity" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.preferred_velocity.PreferredVelocity">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.preferred_velocity.</span></span><span class="sig-name descname"><span class="pre">PreferredVelocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.preferred_velocity.PreferredVelocity" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.preferred_velocity.PreferredVelocity.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.preferred_velocity.PreferredVelocity.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-preferred-velocity-module">
+<h2>src.environment.rewards.types.preferred_velocity module<a class="headerlink" href="#src-environment-rewards-types-preferred-velocity-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.social_norm_cross">
-<span id="src-environment-rewards-types-social-norm-cross-module"></span><h2>src.environment.rewards.types.social_norm_cross module<a class="headerlink" href="#module-src.environment.rewards.types.social_norm_cross" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.social_norm_cross.</span></span><span class="sig-name descname"><span class="pre">SocialNormCross</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_dist_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">3.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dist_to_other_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">relative_agent_to_other_angle_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">heading_angle_thresholds</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(-2.356194490192345,</span> <span class="pre">-0.7853981633974483)</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Social Norm Crossing Penalty as defined in <a class="reference external" href="https://arxiv.org/pdf/1703.08862.pdf">https://arxiv.org/pdf/1703.08862.pdf</a> on page 4 eq 12</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold">
-<span class="sig-name descname"><span class="pre">dist_to_other_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.dist_to_other_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold">
-<span class="sig-name descname"><span class="pre">goal_dist_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.goal_dist_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds">
-<span class="sig-name descname"><span class="pre">heading_angle_thresholds</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.heading_angle_thresholds" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold">
-<span class="sig-name descname"><span class="pre">relative_agent_to_other_angle_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.relative_agent_to_other_angle_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_cross.SocialNormCross.weight">
-<span class="sig-name descname"><span class="pre">weight</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_cross.SocialNormCross.weight" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-social-norm-cross-module">
+<h2>src.environment.rewards.types.social_norm_cross module<a class="headerlink" href="#src-environment-rewards-types-social-norm-cross-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.social_norm_overtake">
-<span id="src-environment-rewards-types-social-norm-overtake-module"></span><h2>src.environment.rewards.types.social_norm_overtake module<a class="headerlink" href="#module-src.environment.rewards.types.social_norm_overtake" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.social_norm_overtake.</span></span><span class="sig-name descname"><span class="pre">SocialNormOvertake</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_dist_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">3.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">px_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(0,</span> <span class="pre">3)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">py_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(0,</span> <span class="pre">1)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">heading_angle_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.7853981633974483</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Social Norm Overtake Penalty as defined in <a class="reference external" href="https://arxiv.org/pdf/1703.08862.pdf">https://arxiv.org/pdf/1703.08862.pdf</a> on page 4 eq 11</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold">
-<span class="sig-name descname"><span class="pre">goal_dist_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.goal_dist_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold">
-<span class="sig-name descname"><span class="pre">heading_angle_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.heading_angle_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold">
-<span class="sig-name descname"><span class="pre">px_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.px_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold">
-<span class="sig-name descname"><span class="pre">py_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.py_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.weight">
-<span class="sig-name descname"><span class="pre">weight</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_overtake.SocialNormOvertake.weight" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-social-norm-overtake-module">
+<h2>src.environment.rewards.types.social_norm_overtake module<a class="headerlink" href="#src-environment-rewards-types-social-norm-overtake-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.social_norm_pass">
-<span id="src-environment-rewards-types-social-norm-pass-module"></span><h2>src.environment.rewards.types.social_norm_pass module<a class="headerlink" href="#module-src.environment.rewards.types.social_norm_pass" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.social_norm_pass.</span></span><span class="sig-name descname"><span class="pre">SocialNormPass</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_dist_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">3.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">px_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(1,</span> <span class="pre">4)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">py_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(-2,</span> <span class="pre">0)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">heading_angle_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2.356194490192345</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Social Norm Pass Penalty as defined in <a class="reference external" href="https://arxiv.org/pdf/1703.08862.pdf">https://arxiv.org/pdf/1703.08862.pdf</a> on page 4 eq 10</p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold">
-<span class="sig-name descname"><span class="pre">goal_dist_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.goal_dist_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold">
-<span class="sig-name descname"><span class="pre">heading_angle_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.heading_angle_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold">
-<span class="sig-name descname"><span class="pre">px_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.px_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold">
-<span class="sig-name descname"><span class="pre">py_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.py_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.social_norm_pass.SocialNormPass.weight">
-<span class="sig-name descname"><span class="pre">weight</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.social_norm_pass.SocialNormPass.weight" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-social-norm-pass-module">
+<h2>src.environment.rewards.types.social_norm_pass module<a class="headerlink" href="#src-environment-rewards-types-social-norm-pass-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.success">
-<span id="src-environment-rewards-types-success-module"></span><h2>src.environment.rewards.types.success module<a class="headerlink" href="#module-src.environment.rewards.types.success" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.success.Success">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.success.</span></span><span class="sig-name descname"><span class="pre">Success</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.success.Success" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Reward for when the agent has successfully completed the goal in the env.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.success.Success.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.success.Success.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-success-module">
+<h2>src.environment.rewards.types.success module<a class="headerlink" href="#src-environment-rewards-types-success-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.velocity_control">
-<span id="src-environment-rewards-types-velocity-control-module"></span><h2>src.environment.rewards.types.velocity_control module<a class="headerlink" href="#module-src.environment.rewards.types.velocity_control" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.velocity_control.VelocityControl">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.velocity_control.</span></span><span class="sig-name descname"><span class="pre">VelocityControl</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.velocity_control.VelocityControl" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<p>Penalty for punishing abrupt changes in velocity</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.velocity_control.VelocityControl.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.velocity_control.VelocityControl.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-velocity-control-module">
+<h2>src.environment.rewards.types.velocity_control module<a class="headerlink" href="#src-environment-rewards-types-velocity-control-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards.types" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.environment.rewards.types.manual_zone.html b/docs_src/_build/html/modules/src.environment.rewards.types.manual_zone.html
index 13466160..550c5cc4 100644
--- a/docs_src/_build/html/modules/src.environment.rewards.types.manual_zone.html
+++ b/docs_src/_build/html/modules/src.environment.rewards.types.manual_zone.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.rewards.types.manual_zone package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.rewards.types.manual_zone package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.rewards.types.manual_zone.rst.txt" rel="nofollow"> View page source</a>
@@ -74,47 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-rewards-types-manual-zone-package">
-<h1>src.environment.rewards.types.manual_zone package<a class="headerlink" href="#src-environment-rewards-types-manual-zone-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards.types.manual_zone package<a class="headerlink" href="#src-environment-rewards-types-manual-zone-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.manual_zone.enforced_order">
-<span id="src-environment-rewards-types-manual-zone-enforced-order-module"></span><h2>src.environment.rewards.types.manual_zone.enforced_order module<a class="headerlink" href="#module-src.environment.rewards.types.manual_zone.enforced_order" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.types.manual_zone.enforced_order.</span></span><span class="sig-name descname"><span class="pre">EnforcedOrder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">on_enter</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">on_exit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">continuous</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">weak_out_of_zone</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allow_any_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">incorrect_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">penalty_for_multiple_agents_entering</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter">
-<span class="sig-name descname"><span class="pre">on_enter</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_enter" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit">
-<span class="sig-name descname"><span class="pre">on_exit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.on_exit" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state">
-<span class="sig-name descname"><span class="pre">previous_zone_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.previous_zone_state" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.weight">
-<span class="sig-name descname"><span class="pre">weight</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.rewards.types.manual_zone.enforced_order.EnforcedOrder.weight" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-types-manual-zone-enforced-order-module">
+<h2>src.environment.rewards.types.manual_zone.enforced_order module<a class="headerlink" href="#src-environment-rewards-types-manual-zone-enforced-order-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.types.manual_zone">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards.types.manual_zone" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.environment.rewards.wrappers.html b/docs_src/_build/html/modules/src.environment.rewards.wrappers.html
index 4b379a7e..0ce3ea42 100644
--- a/docs_src/_build/html/modules/src.environment.rewards.wrappers.html
+++ b/docs_src/_build/html/modules/src.environment.rewards.wrappers.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.rewards.wrappers package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.rewards.wrappers package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.rewards.wrappers.rst.txt" rel="nofollow"> View page source</a>
@@ -74,30 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-rewards-wrappers-package">
-<h1>src.environment.rewards.wrappers package<a class="headerlink" href="#src-environment-rewards-wrappers-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.rewards.wrappers package<a class="headerlink" href="#src-environment-rewards-wrappers-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.wrappers.linear_weight_scheduler">
-<span id="src-environment-rewards-wrappers-linear-weight-scheduler-module"></span><h2>src.environment.rewards.wrappers.linear_weight_scheduler module<a class="headerlink" href="#module-src.environment.rewards.wrappers.linear_weight_scheduler" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.rewards.wrappers.linear_weight_scheduler.</span></span><span class="sig-name descname"><span class="pre">LinearWeightScheduler</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><span class="pre">Reward</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">min_weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">duration</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1000</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.rewards.html#src.environment.rewards.reward.Reward" title="src.environment.rewards.reward.Reward"><code class="xref py py-class docutils literal notranslate"><span class="pre">Reward</span></code></a>, <code class="xref py py-class docutils literal notranslate"><span class="pre">ABC</span></code></p>
-<p>linearly interpolates the weight value between min_weight and max_weight starting at min_weight then incrementally
-increasing the weight until max weight is achieved.</p>
-<p>Only works for increasing weights not decreasing - TODO - this is probably easy.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler.name">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.rewards.wrappers.linear_weight_scheduler.LinearWeightScheduler.name" title="Permalink to this definition"></a></dt>
-<dd><p>The name of the reward/penalty (used in other places, often to keep track of the types of rewards)</p>
-</dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-rewards-wrappers-linear-weight-scheduler-module">
+<h2>src.environment.rewards.wrappers.linear_weight_scheduler module<a class="headerlink" href="#src-environment-rewards-wrappers-linear-weight-scheduler-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.rewards.wrappers">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.rewards.wrappers" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.environment.scenarios.html b/docs_src/_build/html/modules/src.environment.scenarios.html
index 5d474e57..ef4a4af5 100644
--- a/docs_src/_build/html/modules/src.environment.scenarios.html
+++ b/docs_src/_build/html/modules/src.environment.scenarios.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.scenarios package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.scenarios package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.scenarios.rst.txt" rel="nofollow"> View page source</a>
@@ -74,122 +71,33 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-scenarios-package">
-<h1>src.environment.scenarios package<a class="headerlink" href="#src-environment-scenarios-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.scenarios package<a class="headerlink" href="#src-environment-scenarios-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.scenarios.types.html">src.environment.scenarios.types package</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.cycle">src.environment.scenarios.types.cycle module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario"><code class="docutils literal notranslate"><span class="pre">CycleScenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.cycle.CycleScenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">CycleScenario.generate_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.graph_nav">src.environment.scenarios.types.graph_nav module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario"><code class="docutils literal notranslate"><span class="pre">GraphNavScenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">GraphNavScenario.generate_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types.manual">src.environment.scenarios.types.manual module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario"><code class="docutils literal notranslate"><span class="pre">ManualScenario</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.types.html#src.environment.scenarios.types.manual.ManualScenario.generate_scenario"><code class="docutils literal notranslate"><span class="pre">ManualScenario.generate_scenario()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-src.environment.scenarios.types">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-cycle-module">src.environment.scenarios.types.cycle module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-graph-nav-module">src.environment.scenarios.types.graph_nav module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#src-environment-scenarios-types-manual-module">src.environment.scenarios.types.manual module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.scenarios.types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.common_scenarios">
-<span id="src-environment-scenarios-common-scenarios-module"></span><h2>src.environment.scenarios.common_scenarios module<a class="headerlink" href="#module-src.environment.scenarios.common_scenarios" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">closed_door_1__opposing_sides</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">task_id</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'t1'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.closed_door_1__opposing_sides" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.closed_door_1__same_goals">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">closed_door_1__same_goals</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">task_id</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'t1'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.closed_door_1__same_goals" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.elevator_loading">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">elevator_loading</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.elevator_loading" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_door">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_door</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_door" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_hallway">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_hallway</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_hallway" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_intersection">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_intersection</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_intersection" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_open">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_open</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_open" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.envs_round_about">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">envs_round_about</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.envs_round_about" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.exp1_train_scenario">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">exp1_train_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">level</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'easy'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.exp1_train_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.scenarios.common_scenarios.exp2_train_scenario">
-<span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.common_scenarios.</span></span><span class="sig-name descname"><span class="pre">exp2_train_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">level</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'easy'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><span class="pre">Scenario</span></a></span></span><a class="headerlink" href="#src.environment.scenarios.common_scenarios.exp2_train_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
+<section id="src-environment-scenarios-common-scenarios-module">
+<h2>src.environment.scenarios.common_scenarios module<a class="headerlink" href="#src-environment-scenarios-common-scenarios-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.scenario">
-<span id="src-environment-scenarios-scenario-module"></span><h2>src.environment.scenarios.scenario module<a class="headerlink" href="#module-src.environment.scenarios.scenario" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.scenario.</span></span><span class="sig-name descname"><span class="pre">Scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario.load_nav_nodes">
-<span class="sig-name descname"><span class="pre">load_nav_nodes</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">nav_path</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario.load_nav_nodes" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.scenario.Scenario.make_scenario">
-<span class="sig-name descname"><span class="pre">make_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">config</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.scenario.Scenario.make_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-scenario-module">
+<h2>src.environment.scenarios.scenario module<a class="headerlink" href="#src-environment-scenarios-scenario-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.scenarios" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.environment.scenarios.types.html b/docs_src/_build/html/modules/src.environment.scenarios.types.html
index 8fd00adf..ddd2f785 100644
--- a/docs_src/_build/html/modules/src.environment.scenarios.types.html
+++ b/docs_src/_build/html/modules/src.environment.scenarios.types.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.scenarios.types package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.scenarios.types package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.scenarios.types.rst.txt" rel="nofollow"> View page source</a>
@@ -74,57 +71,21 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-scenarios-types-package">
-<h1>src.environment.scenarios.types package<a class="headerlink" href="#src-environment-scenarios-types-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.scenarios.types package<a class="headerlink" href="#src-environment-scenarios-types-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types.cycle">
-<span id="src-environment-scenarios-types-cycle-module"></span><h2>src.environment.scenarios.types.cycle module<a class="headerlink" href="#module-src.environment.scenarios.types.cycle" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.cycle.CycleScenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.types.cycle.</span></span><span class="sig-name descname"><span class="pre">CycleScenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.cycle.CycleScenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><code class="xref py py-class docutils literal notranslate"><span class="pre">Scenario</span></code></a></p>
-<p>A simple DEBUG scenario that will cycle through all the nodes in a graph nav file choosing a new node per episode
-until it cycles.</p>
-<p>Useful for knowing which node on the graph nav is what ID for manual planning.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.cycle.CycleScenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.cycle.CycleScenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-types-cycle-module">
+<h2>src.environment.scenarios.types.cycle module<a class="headerlink" href="#src-environment-scenarios-types-cycle-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types.graph_nav">
-<span id="src-environment-scenarios-types-graph-nav-module"></span><h2>src.environment.scenarios.types.graph_nav module<a class="headerlink" href="#module-src.environment.scenarios.types.graph_nav" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.graph_nav.GraphNavScenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.types.graph_nav.</span></span><span class="sig-name descname"><span class="pre">GraphNavScenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_agent_start_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_agent_goal_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_human_start_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">allowed_human_goal_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.graph_nav.GraphNavScenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><code class="xref py py-class docutils literal notranslate"><span class="pre">Scenario</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.graph_nav.GraphNavScenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-types-graph-nav-module">
+<h2>src.environment.scenarios.types.graph_nav module<a class="headerlink" href="#src-environment-scenarios-types-graph-nav-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types.manual">
-<span id="src-environment-scenarios-types-manual-module"></span><h2>src.environment.scenarios.types.manual module<a class="headerlink" href="#module-src.environment.scenarios.types.manual" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.manual.ManualScenario">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.scenarios.types.manual.</span></span><span class="sig-name descname"><span class="pre">ManualScenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_paths</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">human_paths</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">config_runner</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">all_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.manual.ManualScenario" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <a class="reference internal" href="src.environment.scenarios.html#src.environment.scenarios.scenario.Scenario" title="src.environment.scenarios.scenario.Scenario"><code class="xref py py-class docutils literal notranslate"><span class="pre">Scenario</span></code></a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.scenarios.types.manual.ManualScenario.generate_scenario">
-<span class="sig-name descname"><span class="pre">generate_scenario</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_humans</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(5,</span> <span class="pre">25)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.scenarios.types.manual.ManualScenario.generate_scenario" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-scenarios-types-manual-module">
+<h2>src.environment.scenarios.types.manual module<a class="headerlink" href="#src-environment-scenarios-types-manual-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.scenarios.types">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.scenarios.types" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.environment.services.html b/docs_src/_build/html/modules/src.environment.services.html
index 20581486..c7521aa7 100644
--- a/docs_src/_build/html/modules/src.environment.services.html
+++ b/docs_src/_build/html/modules/src.environment.services.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.services package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.services package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.services.rst.txt" rel="nofollow"> View page source</a>
@@ -74,122 +71,15 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-services-package">
-<h1>src.environment.services package<a class="headerlink" href="#src-environment-services-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.services package<a class="headerlink" href="#src-environment-services-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.services.utmrs">
-<span id="src-environment-services-utmrs-module"></span><h2>src.environment.services.utmrs module<a class="headerlink" href="#module-src.environment.services.utmrs" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRS">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.services.utmrs.</span></span><span class="sig-name descname"><span class="pre">UTMRS</span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRS" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRS.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRS.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRS.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRS.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.services.utmrs.</span></span><span class="sig-name descname"><span class="pre">UTMRSResponse</span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.collision">
-<span class="sig-name descname"><span class="pre">collision</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.collision" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.done">
-<span class="sig-name descname"><span class="pre">done</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.done" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.door_pose">
-<span class="sig-name descname"><span class="pre">door_pose</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.door_pose" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.door_state">
-<span class="sig-name descname"><span class="pre">door_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.door_state" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.follow_target">
-<span class="sig-name descname"><span class="pre">follow_target</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.follow_target" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.goal_pose">
-<span class="sig-name descname"><span class="pre">goal_pose</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.goal_pose" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.human_poses">
-<span class="sig-name descname"><span class="pre">human_poses</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.human_poses" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.human_vels">
-<span class="sig-name descname"><span class="pre">human_vels</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.human_vels" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.local_target">
-<span class="sig-name descname"><span class="pre">local_target</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.local_target" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.other_robot_poses">
-<span class="sig-name descname"><span class="pre">other_robot_poses</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.other_robot_poses" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.other_robot_vels">
-<span class="sig-name descname"><span class="pre">other_robot_vels</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.array</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.other_robot_vels" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.process">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">process</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_response</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#src.environment.services.utmrs.UTMRSResponse" title="src.environment.services.utmrs.UTMRSResponse"><span class="pre">UTMRSResponse</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.process" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.robot_poses">
-<span class="sig-name descname"><span class="pre">robot_poses</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.robot_poses" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.robot_state">
-<span class="sig-name descname"><span class="pre">robot_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.robot_state" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.robot_vels">
-<span class="sig-name descname"><span class="pre">robot_vels</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">numpy.array</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.robot_vels" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.set_vars">
-<span class="sig-name descname"><span class="pre">set_vars</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot_obs</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">robot_idx</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.set_vars" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.services.utmrs.UTMRSResponse.success">
-<span class="sig-name descname"><span class="pre">success</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.services.utmrs.UTMRSResponse.success" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-services-utmrs-module">
+<h2>src.environment.services.utmrs module<a class="headerlink" href="#src-environment-services-utmrs-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.services">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.services" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.environment.utils.html b/docs_src/_build/html/modules/src.environment.utils.html
index 012d5542..b51f661b 100644
--- a/docs_src/_build/html/modules/src.environment.utils.html
+++ b/docs_src/_build/html/modules/src.environment.utils.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.utils package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.utils package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.utils.rst.txt" rel="nofollow"> View page source</a>
@@ -74,109 +71,18 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-utils-package">
-<h1>src.environment.utils package<a class="headerlink" href="#src-environment-utils-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.utils package<a class="headerlink" href="#src-environment-utils-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.utils.evaluate_policy">
-<span id="src-environment-utils-evaluate-policy-module"></span><h2>src.environment.utils.evaluate_policy module<a class="headerlink" href="#module-src.environment.utils.evaluate_policy" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.evaluate_policy.evaluate_policy">
-<span class="sig-prename descclassname"><span class="pre">src.environment.utils.evaluate_policy.</span></span><span class="sig-name descname"><span class="pre">evaluate_policy</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">model</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">stable_baselines3.common.base_class.BaseAlgorithm</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">gym.Env</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">stable_baselines3.common.vec_env.VecEnv</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n_eval_episodes</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">10</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">deterministic</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">render</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Callable</span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">None</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">reward_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_episode_rewards</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">warn</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.utils.evaluate_policy.evaluate_policy" title="Permalink to this definition"></a></dt>
-<dd><p>SocialGym Note: This is a slightly altered variation of the Stable Baselines V3 evaluate_policy function.
-The major difference is that we check to make sure ALL dones are true (as they refer to the agents being done
-and not an environment being done).  Stable baselines expects an array of dones (similar to how PettingZoo works)
-but, StableBaselines thinks that the array is for a list of environments not a list of agents.</p>
-<p>NEW NOTE: although the above is true, other changes have come about that make this evaluate_policy fn a bit
-different.</p>
-<p>Runs policy for <code class="docutils literal notranslate"><span class="pre">n_eval_episodes</span></code> episodes and returns average reward.
-If a vector env is passed in, this divides the episodes to evaluate onto the
-different elements of the vector env. This static division of work is done to
-remove bias. See <a class="reference external" href="https://github.com/DLR-RM/stable-baselines3/issues/402">https://github.com/DLR-RM/stable-baselines3/issues/402</a> for more
-details and discussion.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>If environment has not been wrapped with <code class="docutils literal notranslate"><span class="pre">Monitor</span></code> wrapper, reward and
-episode lengths are counted as it appears with <code class="docutils literal notranslate"><span class="pre">env.step</span></code> calls. If
-the environment contains wrappers that modify rewards or episode lengths
-(e.g. reward scaling, early episode reset), these will affect the evaluation
-results as well. You can avoid this by wrapping environment with <code class="docutils literal notranslate"><span class="pre">Monitor</span></code>
-wrapper before anything else.</p>
-</div>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>model</strong> – The RL agent you want to evaluate.</p></li>
-<li><p><strong>env</strong> – The gym environment or <code class="docutils literal notranslate"><span class="pre">VecEnv</span></code> environment.</p></li>
-<li><p><strong>n_eval_episodes</strong> – Number of episode to evaluate the agent</p></li>
-<li><p><strong>deterministic</strong> – Whether to use deterministic or stochastic actions</p></li>
-<li><p><strong>render</strong> – Whether to render the environment or not</p></li>
-<li><p><strong>callback</strong> – callback function to do additional checks,
-called after each step. Gets locals() and globals() passed as parameters.</p></li>
-<li><p><strong>reward_threshold</strong> – Minimum expected reward per episode,
-this will raise an error if the performance is not met</p></li>
-<li><p><strong>return_episode_rewards</strong> – If True, a list of rewards and episode lengths
-per episode will be returned instead of the mean.</p></li>
-<li><p><strong>warn</strong> – If True (default), warns user about lack of a Monitor wrapper in the
-evaluation environment.</p></li>
-</ul>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>Mean reward per episode, std of reward per episode.
-Returns ([float], [int]) when <code class="docutils literal notranslate"><span class="pre">return_episode_rewards</span></code> is True, first
-list containing per-episode rewards and second containing per-episode lengths
-(in number of steps).</p>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-environment-utils-evaluate-policy-module">
+<h2>src.environment.utils.evaluate_policy module<a class="headerlink" href="#src-environment-utils-evaluate-policy-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.utils.utils">
-<span id="src-environment-utils-utils-module"></span><h2>src.environment.utils.utils module<a class="headerlink" href="#module-src.environment.utils.utils" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.utils.utils.LogFilter">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">LogFilter</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">stream</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">re_pattern</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.LogFilter" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<p>Taken from <a class="reference external" href="https://stackoverflow.com/questions/34904946/how-to-filter-stdout-in-python-logging">https://stackoverflow.com/questions/34904946/how-to-filter-stdout-in-python-logging</a></p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.utils.utils.LogFilter.flush">
-<span class="sig-name descname"><span class="pre">flush</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.LogFilter.flush" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.utils.utils.LogFilter.write">
-<span class="sig-name descname"><span class="pre">write</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.LogFilter.write" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.utils.filter_stdout">
-<span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">filter_stdout</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">filter</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.filter_stdout" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.utils.get_tboard_writer">
-<span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">get_tboard_writer</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">log_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.utils.utils.get_tboard_writer" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.environment.utils.utils.poses_to_np_array">
-<span class="sig-prename descclassname"><span class="pre">src.environment.utils.utils.</span></span><span class="sig-name descname"><span class="pre">poses_to_np_array</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">poses</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.array</span></span></span><a class="headerlink" href="#src.environment.utils.utils.poses_to_np_array" title="Permalink to this definition"></a></dt>
-<dd><p>Given a list of poses, convert them into a numpy array.</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>poses</strong> – List of poses</p>
-</dd>
-<dt class="field-even">Returns<span class="colon">:</span></dt>
-<dd class="field-even"><p>np array where the values are the [ poses[0].x, poses[0].y, poses[0].theta, …, poses[N].theta ]</p>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-environment-utils-utils-module">
+<h2>src.environment.utils.utils module<a class="headerlink" href="#src-environment-utils-utils-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.utils">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.utils" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.environment.wrappers.html b/docs_src/_build/html/modules/src.environment.wrappers.html
index 864579b7..feb0381a 100644
--- a/docs_src/_build/html/modules/src.environment.wrappers.html
+++ b/docs_src/_build/html/modules/src.environment.wrappers.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>src.environment.wrappers package &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../_static/sphinx_highlight.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src.environment.wrappers package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.environment.wrappers.rst.txt" rel="nofollow"> View page source</a>
@@ -74,231 +71,30 @@
            <div itemprop="articleBody">
              
   <section id="src-environment-wrappers-package">
-<h1>src.environment.wrappers package<a class="headerlink" href="#src-environment-wrappers-package" title="Permalink to this heading"></a></h1>
+<h1>src.environment.wrappers package<a class="headerlink" href="#src-environment-wrappers-package" title="Permalink to this headline"></a></h1>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.collision_episode_ender">
-<span id="src-environment-wrappers-collision-episode-ender-module"></span><h2>src.environment.wrappers.collision_episode_ender module<a class="headerlink" href="#module-src.environment.wrappers.collision_episode_ender" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.collision_episode_ender.</span></span><span class="sig-name descname"><span class="pre">CollisionEpisodeEnder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>You collide you die!</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>env</strong> – Gym environment that will be wrapped</p>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Dict</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.wrappers.collision_episode_ender.CollisionEpisodeEnder.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-collision-episode-ender-module">
+<h2>src.environment.wrappers.collision_episode_ender module<a class="headerlink" href="#src-environment-wrappers-collision-episode-ender-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.entropy_episode_ender">
-<span id="src-environment-wrappers-entropy-episode-ender-module"></span><h2>src.environment.wrappers.entropy_episode_ender module<a class="headerlink" href="#module-src.environment.wrappers.entropy_episode_ender" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.entropy_episode_ender.</span></span><span class="sig-name descname"><span class="pre">EntropyEpisodeEnder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>You stop moving you die! (if all agents in an environment are no longer moving within some absolute delta over a
-set of timesteps, end the episode)</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>env</strong> – Gym environment that will be wrapped</p>
-</dd>
-</dl>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions">
-<span class="sig-name descname"><span class="pre">agent_positions</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.agent_positions" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas">
-<span class="sig-name descname"><span class="pre">calculate_deltas</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.calculate_deltas" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta">
-<span class="sig-name descname"><span class="pre">distance_delta</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.distance_delta" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only">
-<span class="sig-name descname"><span class="pre">negative_multiplier_only</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">bool</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.negative_multiplier_only" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions">
-<span class="sig-name descname"><span class="pre">reset_positions</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reset_positions" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier">
-<span class="sig-name descname"><span class="pre">reward_multiplier</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">float</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.reward_multiplier" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Dict</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold">
-<span class="sig-name descname"><span class="pre">timestep_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.wrappers.entropy_episode_ender.EntropyEpisodeEnder.timestep_threshold" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-entropy-episode-ender-module">
+<h2>src.environment.wrappers.entropy_episode_ender module<a class="headerlink" href="#src-environment-wrappers-entropy-episode-ender-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.new_scenario_wrapper">
-<span id="src-environment-wrappers-new-scenario-wrapper-module"></span><h2>src.environment.wrappers.new_scenario_wrapper module<a class="headerlink" href="#module-src.environment.wrappers.new_scenario_wrapper" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.new_scenario_wrapper.</span></span><span class="sig-name descname"><span class="pre">NewScenarioWrapper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env">
-<span class="sig-name descname"><span class="pre">env</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv" title="src.environment.ros_social_gym.RosSocialEnv"><span class="pre">RosSocialEnv</span></a></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.env" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count">
-<span class="sig-name descname"><span class="pre">episode_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.episode_count" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency">
-<span class="sig-name descname"><span class="pre">new_scenario_episode_frequency</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">int</span></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.new_scenario_episode_frequency" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans">
-<span class="sig-name descname"><span class="pre">plans</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.plans" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset">
-<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_info</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.reset" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.new_scenario_wrapper.NewScenarioWrapper.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-new-scenario-wrapper-module">
+<h2>src.environment.wrappers.new_scenario_wrapper module<a class="headerlink" href="#src-environment-wrappers-new-scenario-wrapper-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.reward_stripper">
-<span id="src-environment-wrappers-reward-stripper-module"></span><h2>src.environment.wrappers.reward_stripper module<a class="headerlink" href="#module-src.environment.wrappers.reward_stripper" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.reward_stripper.RewardStripper">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.reward_stripper.</span></span><span class="sig-name descname"><span class="pre">RewardStripper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.reward_stripper.RewardStripper" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>When an agent succeeds, remove the</p>
-<dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>env</strong> – Gym environment that will be wrapped</p>
-</dd>
-</dl>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.reward_stripper.RewardStripper.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.reward_stripper.RewardStripper.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.reward_stripper.RewardStripper.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Dict</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.wrappers.reward_stripper.RewardStripper.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-reward-stripper-module">
+<h2>src.environment.wrappers.reward_stripper module<a class="headerlink" href="#src-environment-wrappers-reward-stripper-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.tensorboard_writer">
-<span id="src-environment-wrappers-tensorboard-writer-module"></span><h2>src.environment.wrappers.tensorboard_writer module<a class="headerlink" href="#module-src.environment.wrappers.tensorboard_writer" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.tensorboard_writer.</span></span><span class="sig-name descname"><span class="pre">TensorboardWriter</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.tensorboard_writer.TensorboardWriter" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
-<p>Handles tensorboard recording of the environments</p>
-<p>Can record video of each episode, the rewards at each timestep, and overall env information per episode.</p>
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter.image_callback">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter.reset">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter.seed">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.tensorboard_writer.TensorboardWriter.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">actions</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.tensorboard_writer.TensorboardWriter.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-tensorboard-writer-module">
+<h2>src.environment.wrappers.tensorboard_writer module<a class="headerlink" href="#src-environment-wrappers-tensorboard-writer-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers.time_limit">
-<span id="src-environment-wrappers-time-limit-module"></span><h2>src.environment.wrappers.time_limit module<a class="headerlink" href="#module-src.environment.wrappers.time_limit" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.environment.wrappers.time_limit.TimeLimitWrapper">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.environment.wrappers.time_limit.</span></span><span class="sig-name descname"><span class="pre">TimeLimitWrapper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Any</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.time_limit.TimeLimitWrapper" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseParallelWraper</span></code></p>
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-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
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-</dd>
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-<dl class="py method">
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-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.time_limit.TimeLimitWrapper.seed">
-<span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.environment.wrappers.time_limit.TimeLimitWrapper.seed" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py method">
-<dt class="sig sig-object py" id="src.environment.wrappers.time_limit.TimeLimitWrapper.step">
-<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Tuple</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Dict</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#src.environment.wrappers.time_limit.TimeLimitWrapper.step" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
+<section id="src-environment-wrappers-time-limit-module">
+<h2>src.environment.wrappers.time_limit module<a class="headerlink" href="#src-environment-wrappers-time-limit-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.environment.wrappers">
-<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-src.environment.wrappers" title="Permalink to this heading"></a></h2>
+<section id="module-contents">
+<h2>Module contents<a class="headerlink" href="#module-contents" title="Permalink to this headline"></a></h2>
 </section>
 </section>
 
diff --git a/docs_src/_build/html/modules/src.html b/docs_src/_build/html/modules/src.html
index 70ab6662..7eda0bf4 100644
--- a/docs_src/_build/html/modules/src.html
+++ b/docs_src/_build/html/modules/src.html
@@ -1,7 +1,7 @@
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 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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@@ -13,8 +13,9 @@
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         <script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
+        <script src="../_static/jquery.js"></script>
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-          
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-            Social Gym 2.0
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+            <a href="../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
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   <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
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     <input type="hidden" name="area" value="default" />
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@@ -62,7 +59,7 @@
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-      <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">src package</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../_sources/modules/src.rst.txt" rel="nofollow"> View page source</a>
@@ -74,244 +71,102 @@
            <div itemprop="articleBody">
              
   <section id="src-package">
-<h1>src package<a class="headerlink" href="#src-package" title="Permalink to this heading"></a></h1>
+<h1>src package<a class="headerlink" href="#src-package" title="Permalink to this headline"></a></h1>
 <section id="subpackages">
-<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this heading"></a></h2>
+<h2>Subpackages<a class="headerlink" href="#subpackages" title="Permalink to this headline"></a></h2>
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 <ul>
 <li class="toctree-l1"><a class="reference internal" href="src.environment.html">src.environment package</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.callbacks.html#module-src.environment.callbacks">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.callbacks.html#src-environment-callbacks-callbacks-module">src.environment.callbacks.callbacks module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.callbacks.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.environment_types.html">src.environment.environment_types package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#submodules">Submodules</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#module-src.environment.environment_types">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#src-environment-environment-types-manual-zone-module">src.environment.environment_types.manual_zone module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.environment_types.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.extractors.html">src.environment.extractors package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#submodules">Submodules</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#module-src.environment.extractors">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#src-environment-extractors-lstm-agent-obs-module">src.environment.extractors.lstm_agent_obs module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.extractors.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.observations.html">src.environment.observations package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#subpackages">Subpackages</a></li>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#submodules">Submodules</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#module-src.environment.observations">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-common-observations-module">src.environment.observations.common_observations module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observation-module">src.environment.observations.observation module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#src-environment-observations-observer-module">src.environment.observations.observer module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.observations.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 <li class="toctree-l3"><a class="reference internal" href="src.environment.rewards.html">src.environment.rewards package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#subpackages">Subpackages</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#module-src.environment.rewards">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-common-rewards-module">src.environment.rewards.common_rewards module</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#src-environment-rewards-rewarder-module">src.environment.rewards.rewarder module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.rewards.html#module-contents">Module contents</a></li>
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 <li class="toctree-l3"><a class="reference internal" href="src.environment.scenarios.html">src.environment.scenarios package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#subpackages">Subpackages</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios.common_scenarios">src.environment.scenarios.common_scenarios module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios.scenario">src.environment.scenarios.scenario module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#module-src.environment.scenarios">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-common-scenarios-module">src.environment.scenarios.common_scenarios module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#src-environment-scenarios-scenario-module">src.environment.scenarios.scenario module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.scenarios.html#module-contents">Module contents</a></li>
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 <li class="toctree-l3"><a class="reference internal" href="src.environment.services.html">src.environment.services package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#submodules">Submodules</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#module-src.environment.services">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.services.html#src-environment-services-utmrs-module">src.environment.services.utmrs module</a></li>
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 <li class="toctree-l3"><a class="reference internal" href="src.environment.utils.html">src.environment.utils package</a><ul>
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+<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-evaluate-policy-module">src.environment.utils.evaluate_policy module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#src-environment-utils-utils-module">src.environment.utils.utils module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.utils.html#module-contents">Module contents</a></li>
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 <li class="toctree-l3"><a class="reference internal" href="src.environment.wrappers.html">src.environment.wrappers package</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#submodules">Submodules</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.collision_episode_ender">src.environment.wrappers.collision_episode_ender module</a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers.entropy_episode_ender">src.environment.wrappers.entropy_episode_ender module</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-src.environment.wrappers">Module contents</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-collision-episode-ender-module">src.environment.wrappers.collision_episode_ender module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-entropy-episode-ender-module">src.environment.wrappers.entropy_episode_ender module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-new-scenario-wrapper-module">src.environment.wrappers.new_scenario_wrapper module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-reward-stripper-module">src.environment.wrappers.reward_stripper module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-tensorboard-writer-module">src.environment.wrappers.tensorboard_writer module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#src-environment-wrappers-time-limit-module">src.environment.wrappers.time_limit module</a></li>
+<li class="toctree-l4"><a class="reference internal" href="src.environment.wrappers.html#module-contents">Module contents</a></li>
 </ul>
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 <li class="toctree-l2"><a class="reference internal" href="src.environment.html#submodules">Submodules</a></li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.html#module-src.environment.ros_social_gym">src.environment.ros_social_gym module</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.AgentColor"><code class="docutils literal notranslate"><span class="pre">AgentColor</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv</span></code></a><ul>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.action_space"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.action_space()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.calculate_reward"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.calculate_reward()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.close"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.close()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.default_action"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.default_action()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.env_response_type"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.env_response_type</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.launch_config"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.launch_config</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.make_observation"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.make_observation()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.metadata"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.metadata</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.new_scenario"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.new_scenario()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_agents"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.num_agents</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.num_humans"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.num_humans</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.observation_space"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.observation_space()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.observer"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.observer</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.render"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.render()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.reset"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.reset()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.rewarder"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.rewarder</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.seed"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.seed()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.sim_step"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.sim_step()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.state"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.state()</span></code></a></li>
-<li class="toctree-l4"><a class="reference internal" href="src.environment.html#src.environment.ros_social_gym.RosSocialEnv.step"><code class="docutils literal notranslate"><span class="pre">RosSocialEnv.step()</span></code></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="src.environment.html#module-src.environment">Module contents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.html#src-environment-ros-social-gym-module">src.environment.ros_social_gym module</a></li>
+<li class="toctree-l2"><a class="reference internal" href="src.environment.html#module-contents">Module contents</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </section>
 <section id="submodules">
-<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this heading"></a></h2>
+<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.config_run">
-<span id="src-config-run-module"></span><h2>src.config_run module<a class="headerlink" href="#module-src.config_run" title="Permalink to this heading"></a></h2>
-<dl class="py class">
-<dt class="sig sig-object py" id="src.config_run.kinds">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">src.config_run.</span></span><span class="sig-name descname"><span class="pre">kinds</span></span><a class="headerlink" href="#src.config_run.kinds" title="Permalink to this definition"></a></dt>
-<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.config_run.kinds.ao">
-<span class="sig-name descname"><span class="pre">ao</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'AO'</span></em><a class="headerlink" href="#src.config_run.kinds.ao" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.config_run.kinds.eo">
-<span class="sig-name descname"><span class="pre">eo</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'EO'</span></em><a class="headerlink" href="#src.config_run.kinds.eo" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-<dl class="py attribute">
-<dt class="sig sig-object py" id="src.config_run.kinds.sacadrl">
-<span class="sig-name descname"><span class="pre">sacadrl</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'SACADRL'</span></em><a class="headerlink" href="#src.config_run.kinds.sacadrl" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
-</dd></dl>
-
-<dl class="py function">
-<dt class="sig sig-object py" id="src.config_run.run">
-<span class="sig-prename descclassname"><span class="pre">src.config_run.</span></span><span class="sig-name descname"><span class="pre">run</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">eval_num_agents</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">train_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100000</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">eval_frequency</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">25000</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">intermediate_eval_trials</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">25</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ending_eval_trials</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ending_eval_with_best</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'cuda:0'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">partially_observable</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">train</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">eval</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">monitor</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">local</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">existence_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">success_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">10</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">starting_collision_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_penalty_scale_duration</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">25</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_track_exit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_penalty_for_incorrect_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">enforced_order_weak_signal_out_of_zone</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">penalty_for_multiple_agents_entering</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_distance_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_distance_reward_clip</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_ender</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">reward_stripper</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timelimit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timelimit_threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2000</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_ender</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_max_distance</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.25</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_max_timesteps</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_reward</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_constant_penalty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_constant_penalty_only_those_that_did_not_finish</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_reward_multiplier</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">100000.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_multiply_negative_rewards_only</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_goal_distance_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_pose_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_pose_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_velocity_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">agent_velocity_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_poses_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_poses_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_poses_actual_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_velocities_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_velocities_ignore_theta</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_algo_sb3_contrib</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_algo_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'PPO'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'MlpPolicy'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy_algo_kwargs</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">debug</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">experiment_names</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'envs_open'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">run_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">continue_from</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">run_type</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'SACADRL'</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.config_run.run" title="Permalink to this definition"></a></dt>
-<dd><dl class="field-list simple">
-<dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>num_agents</strong> – Int or List[Int] - Either the exact number of agents to use, or an array of the format [[episode #,
-num of agents], …] which will alter the number of agents once that episode limit has been reached.  I.E. [[0, 3],
-[10, 4], [20, 5]] will initially train with 3 agents until episode 10 which will then change to 4 agents and then
-change to 5 once episode 20 is reached.</p></li>
-<li><p><strong>eval_num_agents</strong> – Int or List[Int] - Either the number of agents to evaluate on or a list of a number of agents
-to evaluate on (if list, [1, 2], evaluations will run for the number of specified episodes for 1 agent and then
-agian using 2 agents).</p></li>
-<li><p><strong>train_length</strong> – Int - Number of steps to train for.  (remember each agent requires a step, therefore 500 steps
-for training 5 agents means each agent will get 100 steps each.</p></li>
-<li><p><strong>eval_frequency</strong> – Int - Interval for running intermediate evaluation (in steps).   0&gt;= will effectively disable
-evaluation during training.</p></li>
-<li><p><strong>intermediate_eval_trials</strong> – Int - How many episodes to evaluate on during intermediate evaluation.</p></li>
-<li><p><strong>ending_eval_trials</strong> – Int - Number of episodes to evaluate for after training has completed.</p></li>
-<li><p><strong>ending_eval_with_best</strong> – Bool - After training, load up the best model seen during intermediate eval (if False,
-the most recent checkpoint will be loaded).</p></li>
-<li><p><strong>device</strong> – Str - The torch device to use (cpu/cuda:N/etc.) GPU is highly recommended.</p></li>
-<li><p><strong>partially_observable</strong> – Bool - whether or not LIDAR scans (and thus observations of the ego-agent) can be blocked
-by objects (walls/other agents/humans etc.)  If False then everything will be observable.</p></li>
-<li><p><strong>train</strong> – Bool - Run training</p></li>
-<li><p><strong>eval</strong> – Bool - Run evaluation</p></li>
-<li><p><strong>monitor</strong> – Bool - Show an RVIS window so you can watch the sim.</p></li>
-<li><p><strong>local</strong> – Bool - If you have graphnav and UTMRS running locally, this will tap the config_runner into those
-ROSModules.  Has some special requirements and isn’t recommended.</p></li>
-<li><p><strong>existence_penalty</strong> – Float - Existence Penalty amount (1 will be a reward of -1 per step).  Disabled if 0.</p></li>
-<li><p><strong>success_reward</strong> – Float - Reward amount for reaching the goal. Disabled if 0.</p></li>
-<li><p><strong>collision_penalty</strong> – Float - Penalty amount for colliding with a wall or agent (1 will be a reward of -1 per step).  Disabled if 0.</p></li>
-<li><p><strong>starting_collision_penalty</strong> – Float - Starting weight of the collision penalty if you want to scale it as training continues.</p></li>
-<li><p><strong>collision_penalty_scale_duration</strong> – Float - Number of steps to linearly scale the collision penalty from the
-starting_collision_penalty to the ending collision_penalty value over the specified number of STEPs. Disabled when 0</p></li>
-<li><p><strong>enforced_order_reward</strong> – Float - Penalty and Reward amount for entering/exiting the collision zone under specific
-conditions (controlled via other flags).</p></li>
-<li><p><strong>enforced_order_track_exit</strong> – Bool - Reward/Penalty for agents when they exit the conflict zone</p></li>
-<li><p><strong>enforced_order_penalty_for_incorrect_order</strong> – Bool - Penalty for out of order agents</p></li>
-<li><p><strong>enforced_order_weak_signal_out_of_zone</strong> – Bool - scaled (0.1 * enforced_order_reward) for agents at every
-timestep regardless of if they are in the conflict zone or not (scales to 1 once agents are in a collision zone).</p></li>
-<li><p><strong>penalty_for_multiple_agents_entering</strong> – Bool - Experimental flag that not only gives a penalty for agents out of
-order but also a penalty for when agents try to enter the conflict zone at the same time (agents are overlapping
-with the same edge of a conflict zone at the same time)</p></li>
-<li><p><strong>goal_distance_reward</strong> – Bool - include the goal distance reward.</p></li>
-<li><p><strong>goal_distance_reward_clip</strong> – Bool - clip the goal distance reward to [0, 1]</p></li>
-<li><p><strong>collision_ender</strong> – Bool - End episodes on collisions.</p></li>
-<li><p><strong>reward_stripper</strong> – Bool - When an agent succeeds and remains at the goal state, only give the at goal reward once
-and then 0 from then on (an attempt to make truncation work, truncation is not supported until <a class="reference external" href="https://github.com/DLR-RM/stable-baselines3/pull/780">https://github.com/DLR-RM/stable-baselines3/pull/780</a>
-is resolved.</p></li>
-<li><p><strong>timelimit</strong> – Bool - end episodes on a step timelimit.</p></li>
-<li><p><strong>timelimit_threshold</strong> – Int - the number of steps an episode is allowed to have (if the timelimit bool is set to True)</p></li>
-<li><p><strong>entropy_ender</strong> – Bool - End the episode if agents have not moved a sufficient amount over a length of time.</p></li>
-<li><p><strong>entropy_max_distance</strong> – Float - Distance threshold, if below during the duration of the timelimit the episode
-will end.  1 = one square in RVis (roughly 2meters)</p></li>
-<li><p><strong>entropy_max_timesteps</strong> – Int - number of timesteps that a sufficient distance must be traversed before ending the
-episode</p></li>
-<li><p><strong>entropy_reward</strong> – Bool - If an episode ends during the entropy wrapper, give a reward/penalty to agents determined
-by their final state and configuration flags.</p></li>
-<li><p><strong>entropy_constant_penalty</strong> – Int - If EntropyEnder ends an episode all agents recieve this penalty (1 is equal to -1 reward at the end of the episode).</p></li>
-<li><p><strong>entropy_constant_penalty_only_those_that_did_not_finish</strong> – Bool - Constant penalty only applies if the agents didn’t finish (reach their goal)</p></li>
-<li><p><strong>entropy_reward_multiplier</strong> – Int - instead of a constant reward, multiply the current reward (step before the episode ended)</p></li>
-<li><p><strong>entropy_multiply_negative_rewards_only</strong> – Bool - Only multiply rewards that are negative (indicating an agent was “stuck forever”)</p></li>
-<li><p><strong>collision_obs</strong> – Bool - Include the collision observation (must be true for the collision penalty)</p></li>
-<li><p><strong>agent_goal_distance_obs</strong> – Bool - Include the distance to the goal as an observation (must be true for the goal distance reward)</p></li>
-<li><p><strong>agent_pose_obs</strong> – Bool - Include the agents pose as an observation (x, y, and theta)</p></li>
-<li><p><strong>agent_pose_ignore_theta</strong> – Bool - Ignore the theta value in the pose observation (orientation)</p></li>
-<li><p><strong>agent_velocity_obs</strong> – Bool - Include the agents velocity as an observation (vx, vy, vtheta)</p></li>
-<li><p><strong>agent_velocity_ignore_theta</strong> – Bool - Ignore the theta value in the velocity observation</p></li>
-<li><p><strong>other_poses_obs</strong> – Bool - Include other agents/humans pose information (x, y, theta) as an observation</p></li>
-<li><p><strong>other_poses_ignore_theta</strong> – Bool - Ignore other agents/humans pose thetas</p></li>
-<li><p><strong>other_velocities_obs</strong> – Include other agents/humans velocities in the observation (vx, vy, vtheta)</p></li>
-<li><p><strong>other_velocities_ignore_theta</strong> – Bool - Ignore the velocity thetas of other agents</p></li>
-<li><p><strong>policy_algo_sb3_contrib</strong> – Bool - True if the policy you want to train has it’s base code in the SB3-Contrib library
-i.e. RecurrentPPO</p></li>
-<li><p><strong>policy_algo_name</strong> – Str - Name of the policy class you want to train as it appears in SB3 or SB3-Contrib</p></li>
-<li><p><strong>policy_name</strong> – Str - SB3 Policy structure (MlpPolicy for example)</p></li>
-<li><p><strong>policy_algo_kwargs</strong> – Dict - Any kwargs for the SB3 Policy.</p></li>
-<li><p><strong>debug</strong> – Bool - print statments and ALWAYS GO baseline (gives the action 0 to UTMRS for all agents all the time)</p></li>
-<li><p><strong>experiment_names</strong> – List[str] - List of scenarios currently supported by ConfigRunner (envs_door, envs_hallway,
-envs_intersection, envs_round_about, envs_open)</p></li>
-<li><p><strong>run_name</strong> – Str - Name of the run that will also be used to store tensorbaord info and checkpoints of the model
-as well as evaluation data in <cite>{PROJECT ROOT}/data/{run_name}</cite> (can be a nested folder)</p></li>
-<li><p><strong>continue_from</strong> – Str - Policy checkpoint to load from (relative path from <cite>{PROJECT ROOT}/data</cite>)</p></li>
-<li><p><strong>run_type</strong> – Str - Helper for using SACADRL or AO/EO variants. (allowed values are SACADRL, AO, EO)</p></li>
-</ul>
-</dd>
-</dl>
-</dd></dl>
-
+<section id="src-config-run-module">
+<h2>src.config_run module<a class="headerlink" href="#src-config-run-module" title="Permalink to this headline"></a></h2>
 </section>
-<section id="module-src.multi_agent_optuna">
-<span id="src-multi-agent-optuna-module"></span><h2>src.multi_agent_optuna module<a class="headerlink" href="#module-src.multi_agent_optuna" title="Permalink to this heading"></a></h2>
-<dl class="py function">
-<dt class="sig sig-object py" id="src.multi_agent_optuna.objective">
-<span class="sig-prename descclassname"><span class="pre">src.multi_agent_optuna.</span></span><span class="sig-name descname"><span class="pre">objective</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">trial</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#src.multi_agent_optuna.objective" title="Permalink to this definition"></a></dt>
-<dd></dd></dl>
-
+<section id="src-multi-agent-optuna-module">
+<h2>src.multi_agent_optuna module<a class="headerlink" href="#src-multi-agent-optuna-module" title="Permalink to this headline"></a></h2>
 </section>
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-       <td>&#160;&#160;&#160;
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-       <td></td>
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-       <em></em></td></tr>
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"sphinx.domains.python": 3, "sphinx.domains.rst": 2, "sphinx.domains.std": 2, "sphinx": 57}, "alltitles": {"Making docs": [[0, "making-docs"]], "Uploading changes": [[0, "uploading-changes"], [48, "uploading-changes"]], "1.) Run ./build.sh": [[0, "run-build-sh"], [48, "run-build-sh"]], "2.) Run ./git_add.sh": [[0, "run-git-add-sh"], [48, "run-git-add-sh"]], "3.) The files are now staged in git, you can do": [[0, "the-files-are-now-staged-in-git-you-can-do"], [48, "the-files-are-now-staged-in-git-you-can-do"]], "Advanced Usage": [[2, "advanced-usage"], [50, "advanced-usage"]], "Requirements": [[2, "requirements"], [50, "requirements"]], "Advanced Usage setup (buckle up!)": [[2, "advanced-usage-setup-buckle-up"], [50, "advanced-usage-setup-buckle-up"]], "Part 1: Setting up the basic Social Gym dependencies and containers": [[2, "part-1-setting-up-the-basic-social-gym-dependencies-and-containers"], [50, "part-1-setting-up-the-basic-social-gym-dependencies-and-containers"]], "1.) From the basic installation guide follow steps 1-5": [[2, "from-the-basic-installation-guide-follow-steps-1-5"], [50, "from-the-basic-installation-guide-follow-steps-1-5"]], "2.) Build and \u201cup\u201d the docker containers": [[2, "build-and-up-the-docker-containers"], [50, "build-and-up-the-docker-containers"]], "3.) Open the submodule projects ut_multirobot_sim and graph_navigation in a separate IDE window (I use CLion for these)": [[2, "open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these"], [50, "open-the-submodule-projects-ut-multirobot-sim-and-graph-navigation-in-a-separate-ide-window-i-use-clion-for-these"]], "Part 2: Setting up the submodules": [[2, "part-2-setting-up-the-submodules"], [50, "part-2-setting-up-the-submodules"]], "1.) SSH into the ROS submodules container": [[2, "ssh-into-the-ros-submodules-container"], [50, "ssh-into-the-ros-submodules-container"]], "2.) Build static dependencies.": [[2, "build-static-dependencies"], [50, "build-static-dependencies"]], "3.) Build the Graph Navigation submodule": [[2, "build-the-graph-navigation-submodule"], [50, "build-the-graph-navigation-submodule"]], "4.) Setup Graph Navigation with your IDE": [[2, "setup-graph-navigation-with-your-ide"], [50, "setup-graph-navigation-with-your-ide"]], "5.) Setup UT Multirobot Sim with your IDE": [[2, "setup-ut-multirobot-sim-with-your-ide"], [50, "setup-ut-multirobot-sim-with-your-ide"]], "Part 3: Setting up Python and Running everything!": [[2, "part-3-setting-up-python-and-running-everything"], [50, "part-3-setting-up-python-and-running-everything"]], "1.) Open up Pycharm to the root folder of the project": [[2, "open-up-pycharm-to-the-root-folder-of-the-project"], [50, "open-up-pycharm-to-the-root-folder-of-the-project"]], "2.) Set up your IDE with the container via SSH (Pycharm Specific)": [[2, "set-up-your-ide-with-the-container-via-ssh-pycharm-specific"], [50, "set-up-your-ide-with-the-container-via-ssh-pycharm-specific"]], "FAQ": [[2, "faq"], [34, "faq"], [44, "faq"], [50, "faq"], [82, "faq"], [92, "faq"]], "Installation": [[3, "installation"], [4, "installation"], [32, "installation"], [42, "installation"], [52, "installation"], [80, "installation"], [90, "installation"], [51, "installation"]], "Why are there two installation guides for Social Gym": [[3, "why-are-there-two-installation-guides-for-social-gym"], [4, "why-are-there-two-installation-guides-for-social-gym"], [52, "why-are-there-two-installation-guides-for-social-gym"]], "Let\u2019s Install Config Runner!": [[3, "let-s-install-config-runner"], [4, "let-s-install-config-runner"], [52, "let-s-install-config-runner"]], "1.) Clone the repo and checkout main": [[3, "clone-the-repo-and-checkout-main"]], "2.) Install requirements and run the install script!": [[3, "install-requirements-and-run-the-install-script"]], "3.) Run the Config Runner!": [[3, "run-the-config-runner"]], "4.) Have fun!": [[3, "have-fun"]], "1.) Checkout the right branch! (Eventually this will be main)": [[4, "checkout-the-right-branch-eventually-this-will-be-main"], [52, "checkout-the-right-branch-eventually-this-will-be-main"]], "2.) Build Vector Display (this creates the environments!)": [[4, "build-vector-display-this-creates-the-environments"], [52, "build-vector-display-this-creates-the-environments"]], "3.) Create a virtualenv to install python dependencies": [[4, "create-a-virtualenv-to-install-python-dependencies"], [52, "create-a-virtualenv-to-install-python-dependencies"]], "4.) Install python requirements": [[4, "install-python-requirements"], [52, "install-python-requirements"]], "5.) Create the Environment for Social Gym (don\u2019t worry, this is copying files really.)": [[4, "create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really"], [52, "create-the-environment-for-social-gym-don-t-worry-this-is-copying-files-really"]], "6.) Build Config Runner": [[4, "build-config-runner"], [52, "build-config-runner"]], "7.) Run the Config Runner!": [[4, "run-the-config-runner"], [52, "run-the-config-runner"]], "7.) Have fun!": [[4, "have-fun"], [52, "have-fun"]], "Advanced Training and Evaluation": [[5, "advanced-training-and-evaluation"], [53, "advanced-training-and-evaluation"]], "What\u2019s new in Social Gym 2.0 from the original release?": [[6, "what-s-new-in-social-gym-2-0-from-the-original-release"]], "Social Gym Features": [[6, "social-gym-features"]], "How to make a new Scene": [[7, "how-to-make-a-new-scene"], [55, "how-to-make-a-new-scene"]], "Creating a new environment": [[7, "creating-a-new-environment"], [55, "creating-a-new-environment"]], "1.) Using your local python interpreter of choice, run": [[7, "using-your-local-python-interpreter-of-choice-run"], [55, "using-your-local-python-interpreter-of-choice-run"]], "2.) If you have followed the Installation guide you should see a window pop up (if not double check that Social Gym was installed correctly).": [[7, "if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly"], [55, "if-you-have-followed-the-installation-guide-you-should-see-a-window-pop-up-if-not-double-check-that-social-gym-was-installed-correctly"]], "3.) A new window should have popped up that looks exactly like the last, but now we are in the Graph Navigation editor!": [[7, "a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor"], [55, "a-new-window-should-have-popped-up-that-looks-exactly-like-the-last-but-now-we-are-in-the-graph-navigation-editor"]], "4.) Your Scene has been created and the files are in the right spot, but now you have to update the Social Gym code to": [[7, "your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to"], [55, "your-scene-has-been-created-and-the-files-are-in-the-right-spot-but-now-you-have-to-update-the-social-gym-code-to"]], "Training and Evaluation with ConfigRunner": [[8, "training-and-evaluation-with-configrunner"]], "ConfigRunner Configurations": [[8, "configrunner-configurations"]], "What is Social Gym": [[9, "what-is-social-gym"], [57, "what-is-social-gym"]], "Social Gym\u2019s Stack": [[9, "social-gym-s-stack"], [57, "social-gym-s-stack"]], "src": [[10, "src"], [58, "src"]], "src package": [[11, "src-package"], [59, "src-package"]], "Subpackages": [[11, "subpackages"], [12, "subpackages"], [16, "subpackages"], [17, "subpackages"], [19, "subpackages"], [20, "subpackages"], [23, "subpackages"], [59, "subpackages"], [60, "subpackages"], [64, "subpackages"], [65, "subpackages"], [67, "subpackages"], [68, "subpackages"], [71, "subpackages"]], "Submodules": [[11, "submodules"], [12, "submodules"], [13, "submodules"], [14, "submodules"], [15, "submodules"], [16, "submodules"], [17, "submodules"], [18, "submodules"], [19, "submodules"], [20, "submodules"], [21, "submodules"], [22, "submodules"], [23, "submodules"], [24, "submodules"], [25, "submodules"], [26, "submodules"], [27, "submodules"], [59, "submodules"], [60, "submodules"], [61, "submodules"], [62, "submodules"], [63, "submodules"], [64, "submodules"], [65, "submodules"], [66, "submodules"], [67, "submodules"], [68, "submodules"], [69, "submodules"], [70, "submodules"], [71, "submodules"], [72, "submodules"], [73, "submodules"], [74, "submodules"], [75, "submodules"]], "src.config_run module": [[11, "module-src.config_run"], [59, "module-src.config_run"]], "src.multi_agent_optuna module": [[11, "module-src.multi_agent_optuna"], [59, "module-src.multi_agent_optuna"]], 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-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../index.html" class="icon icon-home"> Social Gym 2.0
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+<h1>The MIT License (MIT)<a class="headerlink" href="#the-mit-license-mit" title="Permalink to this headline"></a></h1>
 <p>Copyright © 2016 Yoshiki Shibukawa</p>
 <p>Permission is hereby granted, free of charge, to any person obtaining a copy of this software
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+++ b/docs_src/_build/html/venv/lib/python3.8/site-packages/mdit_py_plugins/container/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-container &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-container</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/venv/lib/python3.8/site-packages/mdit_py_plugins/container/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-container">
-<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-container"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-container/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-container"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-container.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-container?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-container/master.svg?style=flat" /></a></p>
@@ -98,17 +95,17 @@ <h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" tit
 <p>Markup is the same as for <a class="reference external" href="http://spec.commonmark.org/0.18/#fenced-code-blocks">fenced code blocks</a>.
 Difference is, that marker use another character and content is rendered as markdown markup.</p>
 <section id="installation">
-<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h2>
+<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
-$<span class="w"> </span>bower<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$ npm install markdown-it-container --save
+$ bower install markdown-it-container --save
 </pre></div>
 </div>
 </section>
 <section id="api">
-<h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
-<span class="w">            </span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span><span class="w"> </span><span class="nx">name</span><span class="w"> </span><span class="p">[,</span><span class="w"> </span><span class="nx">options</span><span class="p">]);</span>
+<h2>API<a class="headerlink" href="#api" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="nx">name</span> <span class="p">[,</span> <span class="nx">options</span><span class="p">]);</span>
 </pre></div>
 </div>
 <p>Params:</p>
@@ -125,27 +122,27 @@ <h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="example">
-<h2>Example<a class="headerlink" href="#example" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
+<h2>Example<a class="headerlink" href="#example" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
 
-<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span><span class="w"> </span><span class="s1">&#39;spoiler&#39;</span><span class="p">,</span><span class="w"> </span><span class="p">{</span>
+<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="s1">&#39;spoiler&#39;</span><span class="p">,</span> <span class="p">{</span>
 
-<span class="w">  </span><span class="nx">validate</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="k">return</span><span class="w"> </span><span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
-<span class="w">  </span><span class="p">},</span>
+  <span class="nx">validate</span><span class="o">:</span> <span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span> <span class="p">{</span>
+    <span class="k">return</span> <span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="p">},</span>
 
-<span class="w">  </span><span class="nx">render</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">,</span><span class="w"> </span><span class="nx">idx</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="kd">var</span><span class="w"> </span><span class="nx">m</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="nx">render</span><span class="o">:</span> <span class="kd">function</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">,</span> <span class="nx">idx</span><span class="p">)</span> <span class="p">{</span>
+    <span class="kd">var</span> <span class="nx">m</span> <span class="o">=</span> <span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
 
-<span class="w">    </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span><span class="w"> </span><span class="o">===</span><span class="w"> </span><span class="mf">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// opening tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
+    <span class="k">if</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span> <span class="o">===</span> <span class="mf">1</span><span class="p">)</span> <span class="p">{</span>
+      <span class="c1">// opening tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span> <span class="o">+</span> <span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span> <span class="o">+</span> <span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
 
-<span class="w">    </span><span class="p">}</span><span class="w"> </span><span class="k">else</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// closing tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
-<span class="w">    </span><span class="p">}</span>
-<span class="w">  </span><span class="p">}</span>
+    <span class="p">}</span> <span class="k">else</span> <span class="p">{</span>
+      <span class="c1">// closing tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
+    <span class="p">}</span>
+  <span class="p">}</span>
 <span class="p">});</span>
 
 <span class="nx">console</span><span class="p">.</span><span class="nx">log</span><span class="p">(</span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;::: spoiler click me\n*content*\n:::\n&#39;</span><span class="p">));</span>
@@ -159,7 +156,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headin
 </div>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-container/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs_src/_build/html/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html b/docs_src/_build/html/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html
index 2b195ae3..28e1a1be 100644
--- a/docs_src/_build/html/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html
+++ b/docs_src/_build/html/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-deflist &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-deflist</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/venv/lib/python3.8/site-packages/mdit_py_plugins/deflist/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-deflist">
-<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-deflist"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-deflist"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-deflist.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-deflist?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a></p>
@@ -84,17 +81,17 @@ <h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="
 <p><strong>v2.+ requires <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> v5.+, see changelog.</strong></p>
 <p>Syntax is based on <a class="reference external" href="http://johnmacfarlane.net/pandoc/README.html#definition-lists">pandoc definition lists</a>.</p>
 <section id="install">
-<h2>Install<a class="headerlink" href="#install" title="Permalink to this heading"></a></h2>
+<h2>Install<a class="headerlink" href="#install" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
-bower<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm install markdown-it-deflist --save
+bower install markdown-it-deflist --save
 </pre></div>
 </div>
 </section>
 <section id="use">
-<h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
-<span class="w">            </span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
+<h2>Use<a class="headerlink" href="#use" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="cm">/*...*/</span><span class="p">);</span>
 </pre></div>
@@ -103,7 +100,7 @@ <h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></
 package system, module will add itself globally as <code class="docutils literal notranslate"><span class="pre">window.markdownitDeflist</span></code>.</p>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-deflist/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs_src/_build/html/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html b/docs_src/_build/html/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html
index f2b226b8..d4e7c516 100644
--- a/docs_src/_build/html/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html
+++ b/docs_src/_build/html/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-texmath &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-texmath</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/venv/lib/python3.8/site-packages/mdit_py_plugins/texmath/README.md.txt" rel="nofollow"> View page source</a>
@@ -77,10 +74,10 @@
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/v/markdown-it-texmath.svg" /></a>
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/dt/markdown-it-texmath.svg" /></a></p>
 <section id="markdown-it-texmath">
-<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this headline"></a></h1>
 <p>Add TeX math equations to your Markdown documents rendered by <a class="reference external" href="https://github.com/markdown-it/markdown-it">markdown-it</a> parser. <a class="reference external" href="https://github.com/Khan/KaTeX">KaTeX</a> is used as a fast math renderer.</p>
 <section id="features">
-<h2>Features<a class="headerlink" href="#features" title="Permalink to this heading"></a></h2>
+<h2>Features<a class="headerlink" href="#features" title="Permalink to this headline"></a></h2>
 <p>Simplify the process of authoring markdown documents containing math formulas.
 This extension is a comfortable tool for scientists, engineers and students with markdown as their first choice document format.</p>
 <ul class="simple">
@@ -129,27 +126,27 @@ <h2>Features<a class="headerlink" href="#features" title="Permalink to this head
 </ul>
 </section>
 <section id="show-me">
-<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this heading"></a></h2>
+<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this headline"></a></h2>
 <p>View a <a class="reference external" href="https://goessner.github.io/markdown-it-texmath/index.html">test table</a>.</p>
 <p><a class="reference external" href="https://goessner.github.io/markdown-it-texmath/markdown-it-texmath-demo.html">try it out …</a></p>
 </section>
 <section id="use-with-node-js">
-<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this heading"></a></h2>
+<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this headline"></a></h2>
 <p>Install the extension. Verify having <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> and <code class="docutils literal notranslate"><span class="pre">katex</span></code> already installed .</p>
 <div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">npm</span> <span class="n">install</span> <span class="n">markdown</span><span class="o">-</span><span class="n">it</span><span class="o">-</span><span class="n">texmath</span>
 </pre></div>
 </div>
 <p>Use it with JavaScript.</p>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span><span class="w"> </span><span class="nx">kt</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span> <span class="nx">kt</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
+    <span class="nx">tm</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
+    <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity \(e^{i\pi}+1=0\) is a beautiful formula in $\\RR 2$.&#39;</span><span class="p">)</span>
 </pre></div>
 </div>
 </section>
 <section id="use-in-browser">
-<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this heading"></a></h2>
+<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this headline"></a></h2>
 <div class="highlight-html notranslate"><div class="highlight"><pre><span></span><span class="p">&lt;</span><span class="nt">html</span><span class="p">&gt;</span>
 <span class="p">&lt;</span><span class="nt">head</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">meta</span> <span class="na">charset</span><span class="o">=</span><span class="s">&#39;utf-8&#39;</span><span class="p">&gt;</span>
@@ -162,20 +159,20 @@ <h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink
 <span class="p">&lt;</span><span class="nt">body</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">div</span> <span class="na">id</span><span class="o">=</span><span class="s">&quot;out&quot;</span><span class="p">&gt;&lt;/</span><span class="nt">div</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">script</span><span class="p">&gt;</span>
-<span class="w">    </span><span class="kd">let</span><span class="w"> </span><span class="nx">md</span><span class="p">;</span>
-<span class="w">    </span><span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span><span class="w"> </span><span class="p">()</span><span class="w"> </span><span class="p">=&gt;</span><span class="w"> </span><span class="p">{</span>
-<span class="w">        </span><span class="kd">const</span><span class="w"> </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
-<span class="w">        </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
-<span class="w">        </span><span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
-<span class="w">    </span><span class="p">})</span>
-<span class="w">  </span><span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
+    <span class="kd">let</span> <span class="nx">md</span><span class="p">;</span>
+    <span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span> <span class="p">()</span> <span class="p">=&gt;</span> <span class="p">{</span>
+        <span class="kd">const</span> <span class="nx">tm</span> <span class="o">=</span> <span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
+        <span class="nx">md</span> <span class="o">=</span> <span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+        <span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span> <span class="o">=</span> <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
+    <span class="p">})</span>
+  <span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">body</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">html</span><span class="p">&gt;</span>
 </pre></div>
 </div>
 </section>
 <section id="cdn">
-<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></a></h2>
+<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this headline"></a></h2>
 <p>Use following links for <code class="docutils literal notranslate"><span class="pre">texmath.js</span></code> and <code class="docutils literal notranslate"><span class="pre">texmath.css</span></code></p>
 <ul class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">https://gitcdn.xyz/cdn/goessner/markdown-it-texmath/master/texmath.js</span></code></p></li>
@@ -183,18 +180,18 @@ <h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="dependencies">
-<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this heading"></a></h2>
+<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><a class="reference external" href="https://github.com/markdown-it/markdown-it"><code class="docutils literal notranslate"><span class="pre">markdown-it</span></code></a>: Markdown parser done right. Fast and easy to extend.</p></li>
 <li><p><a class="reference external" href="https://github.com/Khan/KaTeX"><code class="docutils literal notranslate"><span class="pre">katex</span></code></a>: This is where credits for fast rendering TeX math in HTML go to.</p></li>
 </ul>
 </section>
 <section id="todo">
-<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this heading"></a></h2>
+<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this headline"></a></h2>
 <p>nothing yet</p>
 </section>
 <section id="faq">
-<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></a></h2>
+<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> with React Native does not work, why ?</strong></p>
 <ul>
@@ -204,66 +201,66 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="changelog">
-<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this heading"></a></h2>
+<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this headline"></a></h2>
 <section id="on-october-04-2019">
-<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://docs.julialang.org/en/v1/stdlib/Markdown/">Julia Markdown</a> on <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/15">request</a>.</p></li>
 </ul>
 </section>
 <section id="on-february-07-2019">
-<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">rendering bug with brackets delimiters</a>.</p></li>
 </ul>
 </section>
 <section id="on-january-20-2019">
-<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove pathological <a class="reference external" href="https://github.com/goessner/mdmath/issues/50">bug within blockquotes</a>.</p></li>
 </ul>
 </section>
 <section id="on-november-11-2018">
-<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for Tex macros (https://katex.org/docs/supported.html#macros) .</p></li>
 <li><p>Bug with <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">brackets delimiters</a> .</p></li>
 </ul>
 </section>
 <section id="on-september-07-2018">
-<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://kramdown.gettalong.org/">Kramdown</a> .</p></li>
 </ul>
 </section>
 <section id="on-august-15-2018">
-<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Fatal blockquote bug investigated. Implemented workaround to vscode bug, which has finally gone with vscode 1.26.0 .</p></li>
 </ul>
 </section>
 <section id="on-january-05-2018">
-<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Escaped underscore bug removed.</p></li>
 </ul>
 </section>
 <section id="on-november-06-2017">
-<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Backslash bug removed.</p></li>
 </ul>
 </section>
 <section id="on-september-27-2017">
-<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Modifying the <code class="docutils literal notranslate"><span class="pre">block</span></code> mode regular expression with <code class="docutils literal notranslate"><span class="pre">gitlab</span></code> delimiters, so removing the <code class="docutils literal notranslate"><span class="pre">newline</span></code> bug.</p></li>
 </ul>
 </section>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
-<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <a class="reference internal" href="#./license.txt"><span class="xref myst">MIT License</span></a></p>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
+<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <span class="xref myst">MIT License</span></p>
 <p>© <a class="reference external" href="https://github.com/goessner">Stefan Gössner</a></p>
 </section>
 </section>
diff --git a/docs_src/_build/html/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html b/docs_src/_build/html/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
index 1545a63e..ac2e1e87 100644
--- a/docs_src/_build/html/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
+++ b/docs_src/_build/html/venv/lib/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
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+<h1>The MIT License (MIT)<a class="headerlink" href="#the-mit-license-mit" title="Permalink to this headline"></a></h1>
 <p>Copyright © 2016 Yoshiki Shibukawa</p>
 <p>Permission is hereby granted, free of charge, to any person obtaining a copy of this software
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     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-container</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/venv/lib64/python3.8/site-packages/mdit_py_plugins/container/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-container">
-<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-container"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-container/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-container"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-container.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-container?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-container/master.svg?style=flat" /></a></p>
@@ -98,17 +95,17 @@ <h1>markdown-it-container<a class="headerlink" href="#markdown-it-container" tit
 <p>Markup is the same as for <a class="reference external" href="http://spec.commonmark.org/0.18/#fenced-code-blocks">fenced code blocks</a>.
 Difference is, that marker use another character and content is rendered as markdown markup.</p>
 <section id="installation">
-<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this heading"></a></h2>
+<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
-$<span class="w"> </span>bower<span class="w"> </span>install<span class="w"> </span>markdown-it-container<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$ npm install markdown-it-container --save
+$ bower install markdown-it-container --save
 </pre></div>
 </div>
 </section>
 <section id="api">
-<h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
-<span class="w">            </span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span><span class="w"> </span><span class="nx">name</span><span class="w"> </span><span class="p">[,</span><span class="w"> </span><span class="nx">options</span><span class="p">]);</span>
+<h2>API<a class="headerlink" href="#api" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="nx">name</span> <span class="p">[,</span> <span class="nx">options</span><span class="p">]);</span>
 </pre></div>
 </div>
 <p>Params:</p>
@@ -125,27 +122,27 @@ <h2>API<a class="headerlink" href="#api" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="example">
-<h2>Example<a class="headerlink" href="#example" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
+<h2>Example<a class="headerlink" href="#example" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)();</span>
 
-<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span><span class="w"> </span><span class="s1">&#39;spoiler&#39;</span><span class="p">,</span><span class="w"> </span><span class="p">{</span>
+<span class="nx">md</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-container&#39;</span><span class="p">),</span> <span class="s1">&#39;spoiler&#39;</span><span class="p">,</span> <span class="p">{</span>
 
-<span class="w">  </span><span class="nx">validate</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="k">return</span><span class="w"> </span><span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
-<span class="w">  </span><span class="p">},</span>
+  <span class="nx">validate</span><span class="o">:</span> <span class="kd">function</span><span class="p">(</span><span class="nx">params</span><span class="p">)</span> <span class="p">{</span>
+    <span class="k">return</span> <span class="nx">params</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="p">},</span>
 
-<span class="w">  </span><span class="nx">render</span><span class="o">:</span><span class="w"> </span><span class="kd">function</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">,</span><span class="w"> </span><span class="nx">idx</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="kd">var</span><span class="w"> </span><span class="nx">m</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
+  <span class="nx">render</span><span class="o">:</span> <span class="kd">function</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">,</span> <span class="nx">idx</span><span class="p">)</span> <span class="p">{</span>
+    <span class="kd">var</span> <span class="nx">m</span> <span class="o">=</span> <span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">info</span><span class="p">.</span><span class="nx">trim</span><span class="p">().</span><span class="nx">match</span><span class="p">(</span><span class="sr">/^spoiler\s+(.*)$/</span><span class="p">);</span>
 
-<span class="w">    </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span><span class="w"> </span><span class="o">===</span><span class="w"> </span><span class="mf">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// opening tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
+    <span class="k">if</span> <span class="p">(</span><span class="nx">tokens</span><span class="p">[</span><span class="nx">idx</span><span class="p">].</span><span class="nx">nesting</span> <span class="o">===</span> <span class="mf">1</span><span class="p">)</span> <span class="p">{</span>
+      <span class="c1">// opening tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;details&gt;&lt;summary&gt;&#39;</span> <span class="o">+</span> <span class="nx">md</span><span class="p">.</span><span class="nx">utils</span><span class="p">.</span><span class="nx">escapeHtml</span><span class="p">(</span><span class="nx">m</span><span class="p">[</span><span class="mf">1</span><span class="p">])</span> <span class="o">+</span> <span class="s1">&#39;&lt;/summary&gt;\n&#39;</span><span class="p">;</span>
 
-<span class="w">    </span><span class="p">}</span><span class="w"> </span><span class="k">else</span><span class="w"> </span><span class="p">{</span>
-<span class="w">      </span><span class="c1">// closing tag</span>
-<span class="w">      </span><span class="k">return</span><span class="w"> </span><span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
-<span class="w">    </span><span class="p">}</span>
-<span class="w">  </span><span class="p">}</span>
+    <span class="p">}</span> <span class="k">else</span> <span class="p">{</span>
+      <span class="c1">// closing tag</span>
+      <span class="k">return</span> <span class="s1">&#39;&lt;/details&gt;\n&#39;</span><span class="p">;</span>
+    <span class="p">}</span>
+  <span class="p">}</span>
 <span class="p">});</span>
 
 <span class="nx">console</span><span class="p">.</span><span class="nx">log</span><span class="p">(</span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;::: spoiler click me\n*content*\n:::\n&#39;</span><span class="p">));</span>
@@ -159,7 +156,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headin
 </div>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-container/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs_src/_build/html/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html b/docs_src/_build/html/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html
index fa616352..c58a8ccc 100644
--- a/docs_src/_build/html/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html
+++ b/docs_src/_build/html/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-deflist &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-deflist</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/venv/lib64/python3.8/site-packages/mdit_py_plugins/deflist/README.md.txt" rel="nofollow"> View page source</a>
@@ -74,7 +71,7 @@
            <div itemprop="articleBody">
              
   <section id="markdown-it-deflist">
-<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="Permalink to this headline"></a></h1>
 <p><a class="reference external" href="https://travis-ci.org/markdown-it/markdown-it-deflist"><img alt="Build Status" src="https://img.shields.io/travis/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a>
 <a class="reference external" href="https://www.npmjs.org/package/markdown-it-deflist"><img alt="NPM version" src="https://img.shields.io/npm/v/markdown-it-deflist.svg?style=flat" /></a>
 <a class="reference external" href="https://coveralls.io/r/markdown-it/markdown-it-deflist?branch=master"><img alt="Coverage Status" src="https://img.shields.io/coveralls/markdown-it/markdown-it-deflist/master.svg?style=flat" /></a></p>
@@ -84,17 +81,17 @@ <h1>markdown-it-deflist<a class="headerlink" href="#markdown-it-deflist" title="
 <p><strong>v2.+ requires <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> v5.+, see changelog.</strong></p>
 <p>Syntax is based on <a class="reference external" href="http://johnmacfarlane.net/pandoc/README.html#definition-lists">pandoc definition lists</a>.</p>
 <section id="install">
-<h2>Install<a class="headerlink" href="#install" title="Permalink to this heading"></a></h2>
+<h2>Install<a class="headerlink" href="#install" title="Permalink to this headline"></a></h2>
 <p>node.js, browser:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
-bower<span class="w"> </span>install<span class="w"> </span>markdown-it-deflist<span class="w"> </span>--save
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>npm install markdown-it-deflist --save
+bower install markdown-it-deflist --save
 </pre></div>
 </div>
 </section>
 <section id="use">
-<h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></a></h2>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span><span class="w"> </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
-<span class="w">            </span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
+<h2>Use<a class="headerlink" href="#use" title="Permalink to this headline"></a></h2>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">var</span> <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)()</span>
+            <span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-deflist&#39;</span><span class="p">));</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="cm">/*...*/</span><span class="p">);</span>
 </pre></div>
@@ -103,7 +100,7 @@ <h2>Use<a class="headerlink" href="#use" title="Permalink to this heading"></
 package system, module will add itself globally as <code class="docutils literal notranslate"><span class="pre">window.markdownitDeflist</span></code>.</p>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
 <p><a class="reference external" href="https://github.com/markdown-it/markdown-it-deflist/blob/master/LICENSE">MIT</a></p>
 </section>
 </section>
diff --git a/docs_src/_build/html/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html b/docs_src/_build/html/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html
index ce6cb837..bc00444d 100644
--- a/docs_src/_build/html/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html
+++ b/docs_src/_build/html/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>markdown-it-texmath &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">markdown-it-texmath</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../_sources/venv/lib64/python3.8/site-packages/mdit_py_plugins/texmath/README.md.txt" rel="nofollow"> View page source</a>
@@ -77,10 +74,10 @@
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/v/markdown-it-texmath.svg" /></a>
 <a class="reference external" href="https://www.npmjs.com/package/markdown-it-texmath"><img alt="npm" src="https://img.shields.io/npm/dt/markdown-it-texmath.svg" /></a></p>
 <section id="markdown-it-texmath">
-<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this heading"></a></h1>
+<h1>markdown-it-texmath<a class="headerlink" href="#markdown-it-texmath" title="Permalink to this headline"></a></h1>
 <p>Add TeX math equations to your Markdown documents rendered by <a class="reference external" href="https://github.com/markdown-it/markdown-it">markdown-it</a> parser. <a class="reference external" href="https://github.com/Khan/KaTeX">KaTeX</a> is used as a fast math renderer.</p>
 <section id="features">
-<h2>Features<a class="headerlink" href="#features" title="Permalink to this heading"></a></h2>
+<h2>Features<a class="headerlink" href="#features" title="Permalink to this headline"></a></h2>
 <p>Simplify the process of authoring markdown documents containing math formulas.
 This extension is a comfortable tool for scientists, engineers and students with markdown as their first choice document format.</p>
 <ul class="simple">
@@ -129,27 +126,27 @@ <h2>Features<a class="headerlink" href="#features" title="Permalink to this head
 </ul>
 </section>
 <section id="show-me">
-<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this heading"></a></h2>
+<h2>Show me<a class="headerlink" href="#show-me" title="Permalink to this headline"></a></h2>
 <p>View a <a class="reference external" href="https://goessner.github.io/markdown-it-texmath/index.html">test table</a>.</p>
 <p><a class="reference external" href="https://goessner.github.io/markdown-it-texmath/markdown-it-texmath-demo.html">try it out …</a></p>
 </section>
 <section id="use-with-node-js">
-<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this heading"></a></h2>
+<h2>Use with <code class="docutils literal notranslate"><span class="pre">node.js</span></code><a class="headerlink" href="#use-with-node-js" title="Permalink to this headline"></a></h2>
 <p>Install the extension. Verify having <code class="docutils literal notranslate"><span class="pre">markdown-it</span></code> and <code class="docutils literal notranslate"><span class="pre">katex</span></code> already installed .</p>
 <div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">npm</span> <span class="n">install</span> <span class="n">markdown</span><span class="o">-</span><span class="n">it</span><span class="o">-</span><span class="n">texmath</span>
 </pre></div>
 </div>
 <p>Use it with JavaScript.</p>
-<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span><span class="w"> </span><span class="nx">kt</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
-<span class="w">    </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="kd">let</span> <span class="nx">kt</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;katex&#39;</span><span class="p">),</span>
+    <span class="nx">tm</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it-texmath&#39;</span><span class="p">).</span><span class="nx">use</span><span class="p">(</span><span class="nx">kt</span><span class="p">),</span>
+    <span class="nx">md</span> <span class="o">=</span> <span class="nx">require</span><span class="p">(</span><span class="s1">&#39;markdown-it&#39;</span><span class="p">)().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
 
 <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity \(e^{i\pi}+1=0\) is a beautiful formula in $\\RR 2$.&#39;</span><span class="p">)</span>
 </pre></div>
 </div>
 </section>
 <section id="use-in-browser">
-<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this heading"></a></h2>
+<h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink to this headline"></a></h2>
 <div class="highlight-html notranslate"><div class="highlight"><pre><span></span><span class="p">&lt;</span><span class="nt">html</span><span class="p">&gt;</span>
 <span class="p">&lt;</span><span class="nt">head</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">meta</span> <span class="na">charset</span><span class="o">=</span><span class="s">&#39;utf-8&#39;</span><span class="p">&gt;</span>
@@ -162,20 +159,20 @@ <h2>Use in Browser<a class="headerlink" href="#use-in-browser" title="Permalink
 <span class="p">&lt;</span><span class="nt">body</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">div</span> <span class="na">id</span><span class="o">=</span><span class="s">&quot;out&quot;</span><span class="p">&gt;&lt;/</span><span class="nt">div</span><span class="p">&gt;</span>
   <span class="p">&lt;</span><span class="nt">script</span><span class="p">&gt;</span>
-<span class="w">    </span><span class="kd">let</span><span class="w"> </span><span class="nx">md</span><span class="p">;</span>
-<span class="w">    </span><span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span><span class="w"> </span><span class="p">()</span><span class="w"> </span><span class="p">=&gt;</span><span class="w"> </span><span class="p">{</span>
-<span class="w">        </span><span class="kd">const</span><span class="w"> </span><span class="nx">tm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
-<span class="w">        </span><span class="nx">md</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span><span class="w"> </span><span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
-<span class="w">        </span><span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
-<span class="w">    </span><span class="p">})</span>
-<span class="w">  </span><span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
+    <span class="kd">let</span> <span class="nx">md</span><span class="p">;</span>
+    <span class="nb">document</span><span class="p">.</span><span class="nx">addEventListener</span><span class="p">(</span><span class="s2">&quot;DOMContentLoaded&quot;</span><span class="p">,</span> <span class="p">()</span> <span class="p">=&gt;</span> <span class="p">{</span>
+        <span class="kd">const</span> <span class="nx">tm</span> <span class="o">=</span> <span class="nx">texmath</span><span class="p">.</span><span class="nx">use</span><span class="p">(</span><span class="nx">katex</span><span class="p">);</span>
+        <span class="nx">md</span> <span class="o">=</span> <span class="nx">markdownit</span><span class="p">().</span><span class="nx">use</span><span class="p">(</span><span class="nx">tm</span><span class="p">,{</span><span class="nx">delimiters</span><span class="o">:</span><span class="s1">&#39;dollars&#39;</span><span class="p">,</span><span class="nx">macros</span><span class="o">:</span><span class="p">{</span><span class="s2">&quot;\\RR&quot;</span><span class="o">:</span> <span class="s2">&quot;\\mathbb{R}&quot;</span><span class="p">}});</span>
+        <span class="nx">out</span><span class="p">.</span><span class="nx">innerHTML</span> <span class="o">=</span> <span class="nx">md</span><span class="p">.</span><span class="nx">render</span><span class="p">(</span><span class="s1">&#39;Euler\&#39;s identity $e^{i\pi}+1=0$ is a beautiful formula in //RR 2.&#39;</span><span class="p">);</span>
+    <span class="p">})</span>
+  <span class="p">&lt;/</span><span class="nt">script</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">body</span><span class="p">&gt;</span>
 <span class="p">&lt;/</span><span class="nt">html</span><span class="p">&gt;</span>
 </pre></div>
 </div>
 </section>
 <section id="cdn">
-<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></a></h2>
+<h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this headline"></a></h2>
 <p>Use following links for <code class="docutils literal notranslate"><span class="pre">texmath.js</span></code> and <code class="docutils literal notranslate"><span class="pre">texmath.css</span></code></p>
 <ul class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">https://gitcdn.xyz/cdn/goessner/markdown-it-texmath/master/texmath.js</span></code></p></li>
@@ -183,18 +180,18 @@ <h2>CDN<a class="headerlink" href="#cdn" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="dependencies">
-<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this heading"></a></h2>
+<h2>Dependencies<a class="headerlink" href="#dependencies" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><a class="reference external" href="https://github.com/markdown-it/markdown-it"><code class="docutils literal notranslate"><span class="pre">markdown-it</span></code></a>: Markdown parser done right. Fast and easy to extend.</p></li>
 <li><p><a class="reference external" href="https://github.com/Khan/KaTeX"><code class="docutils literal notranslate"><span class="pre">katex</span></code></a>: This is where credits for fast rendering TeX math in HTML go to.</p></li>
 </ul>
 </section>
 <section id="todo">
-<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this heading"></a></h2>
+<h2>ToDo<a class="headerlink" href="#todo" title="Permalink to this headline"></a></h2>
 <p>nothing yet</p>
 </section>
 <section id="faq">
-<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></a></h2>
+<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this headline"></a></h2>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> with React Native does not work, why ?</strong></p>
 <ul>
@@ -204,66 +201,66 @@ <h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></
 </ul>
 </section>
 <section id="changelog">
-<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this heading"></a></h2>
+<h2>CHANGELOG<a class="headerlink" href="#changelog" title="Permalink to this headline"></a></h2>
 <section id="on-october-04-2019">
-<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.6.0] on October 04, 2019<a class="headerlink" href="#on-october-04-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://docs.julialang.org/en/v1/stdlib/Markdown/">Julia Markdown</a> on <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/15">request</a>.</p></li>
 </ul>
 </section>
 <section id="on-february-07-2019">
-<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.5] on February 07, 2019<a class="headerlink" href="#on-february-07-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">rendering bug with brackets delimiters</a>.</p></li>
 </ul>
 </section>
 <section id="on-january-20-2019">
-<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this heading"></a></h3>
+<h3>[0.5.4] on January 20, 2019<a class="headerlink" href="#on-january-20-2019" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Remove pathological <a class="reference external" href="https://github.com/goessner/mdmath/issues/50">bug within blockquotes</a>.</p></li>
 </ul>
 </section>
 <section id="on-november-11-2018">
-<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.3] on November 11, 2018<a class="headerlink" href="#on-november-11-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for Tex macros (https://katex.org/docs/supported.html#macros) .</p></li>
 <li><p>Bug with <a class="reference external" href="https://github.com/goessner/markdown-it-texmath/issues/9">brackets delimiters</a> .</p></li>
 </ul>
 </section>
 <section id="on-september-07-2018">
-<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.2] on September 07, 2018<a class="headerlink" href="#on-september-07-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Add support for <a class="reference external" href="https://kramdown.gettalong.org/">Kramdown</a> .</p></li>
 </ul>
 </section>
 <section id="on-august-15-2018">
-<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.5.0] on August 15, 2018<a class="headerlink" href="#on-august-15-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Fatal blockquote bug investigated. Implemented workaround to vscode bug, which has finally gone with vscode 1.26.0 .</p></li>
 </ul>
 </section>
 <section id="on-january-05-2018">
-<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this heading"></a></h3>
+<h3>[0.4.6] on January 05, 2018<a class="headerlink" href="#on-january-05-2018" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Escaped underscore bug removed.</p></li>
 </ul>
 </section>
 <section id="on-november-06-2017">
-<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.5] on November 06, 2017<a class="headerlink" href="#on-november-06-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Backslash bug removed.</p></li>
 </ul>
 </section>
 <section id="on-september-27-2017">
-<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this heading"></a></h3>
+<h3>[0.4.4] on September 27, 2017<a class="headerlink" href="#on-september-27-2017" title="Permalink to this headline"></a></h3>
 <ul class="simple">
 <li><p>Modifying the <code class="docutils literal notranslate"><span class="pre">block</span></code> mode regular expression with <code class="docutils literal notranslate"><span class="pre">gitlab</span></code> delimiters, so removing the <code class="docutils literal notranslate"><span class="pre">newline</span></code> bug.</p></li>
 </ul>
 </section>
 </section>
 <section id="license">
-<h2>License<a class="headerlink" href="#license" title="Permalink to this heading"></a></h2>
-<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <a class="reference internal" href="#./license.txt"><span class="xref myst">MIT License</span></a></p>
+<h2>License<a class="headerlink" href="#license" title="Permalink to this headline"></a></h2>
+<p><code class="docutils literal notranslate"><span class="pre">markdown-it-texmath</span></code> is licensed under the <span class="xref myst">MIT License</span></p>
 <p>© <a class="reference external" href="https://github.com/goessner">Stefan Gössner</a></p>
 </section>
 </section>
diff --git a/docs_src/_build/html/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html b/docs_src/_build/html/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
index 09f1b93b..88b9ac2b 100644
--- a/docs_src/_build/html/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
+++ b/docs_src/_build/html/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../../../_sources/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs_src/_build/html/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html b/docs_src/_build/html/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html
index 9efd7924..9b33c248 100644
--- a/docs_src/_build/html/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html
+++ b/docs_src/_build/html/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../../../_sources/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs_src/_build/html/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html b/docs_src/_build/html/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html
index e5044d4e..5b973bad 100644
--- a/docs_src/_build/html/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html
+++ b/docs_src/_build/html/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html class="writer-html5" lang="en" >
 <head>
-  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
+  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>&lt;no title&gt; &mdash; Social Gym 2.0  documentation</title>
@@ -13,8 +13,9 @@
   <![endif]-->
   
         <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/doctools.js"></script>
-        <script src="../../../../../../../../../_static/sphinx_highlight.js"></script>
     <script src="../../../../../../../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../../../../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../../../../../../search.html" /> 
@@ -25,16 +26,12 @@
     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
       <div class="wy-side-scroll">
         <div class="wy-side-nav-search" >
-
-          
-          
-          <a href="../../../../../../../../../index.html" class="icon icon-home">
-            Social Gym 2.0
-              <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" class="logo" alt="Logo"/>
+            <a href="../../../../../../../../../index.html" class="icon icon-home"> Social Gym 2.0
+            <img src="https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png" class="logo" alt="Logo"/>
           </a>
 <div role="search">
   <form id="rtd-search-form" class="wy-form" action="../../../../../../../../../search.html" method="get">
-    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="text" name="q" placeholder="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
   </form>
@@ -62,7 +59,7 @@
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../../../../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../../../../../../index.html" class="icon icon-home"></a></li>
       <li class="breadcrumb-item active">&lt;no title&gt;</li>
       <li class="wy-breadcrumbs-aside">
             <a href="../../../../../../../../../_sources/venv/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.rst.txt" rel="nofollow"> View page source</a>
diff --git a/docs_src/conf.py b/docs_src/conf.py
index 902b92f5..b751f8ad 100644
--- a/docs_src/conf.py
+++ b/docs_src/conf.py
@@ -50,7 +50,7 @@
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
 html_static_path = ['_static']
-html_logo = "https://drive.google.com/uc?id=1y3vYhN6z55B0k7SRHf7gycan3rzWSsj8"
+html_logo = "https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_logo.png"
 html_theme_options = {
     'logo_only': False,
     'display_version': False,
diff --git a/docs_src/index.rst b/docs_src/index.rst
index 44793619..659d919a 100644
--- a/docs_src/index.rst
+++ b/docs_src/index.rst
@@ -4,7 +4,7 @@ Welcome to the Social Gym 2.0 documentation!
 .. (Find the GitHub link at https://github.com/ut-amrl/social_gym https://obj.umiacs.umd.edu/badue-accepted/sim_demo.gif)
 
 
-.. image:: https://drive.google.com/uc?id=1-mdW21SIJiF4LUlxGxQClDlZhd5iHUDP
+.. image:: https://raw.githubusercontent.com/ut-amrl/SocialGym2/main/assets/sg2_sim.gif 
   :width: 400
   :align: center
 
