diff --git a/main/.buildinfo b/main/.buildinfo
index 250e1e3f..66f56175 100644
--- a/main/.buildinfo
+++ b/main/.buildinfo
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+config: 2ad46936f9af3b223dd0da1b19ba8383
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diff --git a/main/404.html b/main/404.html
index cded3724..7f7ae41d 100644
--- a/main/404.html
+++ b/main/404.html
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   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="/content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="/content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="/content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 has-children"><a class="reference internal" href="/environments/environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
-<li class="toctree-l2"><a class="reference internal" href="/environments/collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="/environments/fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="/environments/hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="/environments/maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="/environments/oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="/environments/pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="/environments/putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="/environments/roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="/environments/sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="/environments/sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="/environments/threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="/environments/tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="/environments/wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="/environments/ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="/environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="/content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="/content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="/content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
diff --git a/main/README/index.html b/main/README/index.html
index 31df3b65..d664eb6c 100644
--- a/main/README/index.html
+++ b/main/README/index.html
@@ -213,25 +213,12 @@
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 has-children"><a class="reference internal" href="../environments/environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
-<li class="toctree-l2"><a class="reference internal" href="../environments/collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
diff --git a/main/content/create_env/index.html b/main/content/create_env/index.html
index cfbf5d3d..c42f90d8 100644
--- a/main/content/create_env/index.html
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-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="Environments" href="../../environments/environments/" /><link rel="prev" title="Troubleshooting Guide" href="../troubleshooting/" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="Troubleshooting Guide" href="../troubleshooting/" /><link rel="prev" title="Environments" href="../../environments/" />
         <link rel="canonical" href="https://miniworld.farama.org/content/create_env.html" />
 
     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -213,25 +213,12 @@
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1 current current-page"><a class="current reference internal" href="#">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 has-children"><a class="reference internal" href="../../environments/environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1 current current-page"><a class="current reference internal" href="#">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -358,18 +345,18 @@ <h3>Add reward<a class="headerlink" href="#add-reward" title="Link to this headi
         <footer>
           
           <div class="related-pages">
-            <a class="next-page" href="../../environments/environments/">
+            <a class="next-page" href="../troubleshooting/">
               <div class="page-info">
                 <div class="context">
                   <span>Next</span>
                 </div>
-                <div class="title">Environments</div>
+                <div class="title">Troubleshooting Guide</div>
               </div>
               <svg class="furo-related-icon">
                 <use href="#svg-arrow-right"></use>
               </svg>
             </a>
-            <a class="prev-page" href="../troubleshooting/">
+            <a class="prev-page" href="../../environments/">
               <svg class="furo-related-icon">
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               </svg>
@@ -378,7 +365,7 @@ <h3>Add reward<a class="headerlink" href="#add-reward" title="Link to this headi
                   <span>Previous</span>
                 </div>
                 
-                <div class="title">Troubleshooting Guide</div>
+                <div class="title">Environments</div>
                 
               </div>
             </a>
diff --git a/main/content/design/index.html b/main/content/design/index.html
index a8ef367c..c5a7f39d 100644
--- a/main/content/design/index.html
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@@ -8,7 +8,7 @@
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-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="Troubleshooting Guide" href="../troubleshooting/" /><link rel="prev" title="Installation" href="../../" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="Environments" href="../../environments/" /><link rel="prev" title="Installation" href="../../" />
         <link rel="canonical" href="https://miniworld.farama.org/content/design.html" />
 
     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -213,25 +213,12 @@
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul class="current">
 <li class="toctree-l1 current current-page"><a class="current reference internal" href="#">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 has-children"><a class="reference internal" href="../../environments/environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -387,12 +374,12 @@ <h3>Loading 3D Models<a class="headerlink" href="#loading-3d-models" title="Link
         <footer>
           
           <div class="related-pages">
-            <a class="next-page" href="../troubleshooting/">
+            <a class="next-page" href="../../environments/">
               <div class="page-info">
                 <div class="context">
                   <span>Next</span>
                 </div>
-                <div class="title">Troubleshooting Guide</div>
+                <div class="title">Environments</div>
               </div>
               <svg class="furo-related-icon">
                 <use href="#svg-arrow-right"></use>
diff --git a/main/content/installation/index.html b/main/content/installation/index.html
index 8b1b8c96..7f907f25 100644
--- a/main/content/installation/index.html
+++ b/main/content/installation/index.html
@@ -8,7 +8,7 @@
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     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
     <meta property="og:url" content="https://miniworld.farama.org/content/installation.html" /><meta property="og:image" content="https://miniworld.farama.org/_static/img/miniworld-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="viewport" content="width=device-width, initial-scale=1" />
-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="Release Notes" href="../../release_notes/" /><link rel="prev" title="Troubleshooting Guide" href="../troubleshooting/" />
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     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -211,27 +211,14 @@
 </form>
 <div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
-<ul>
+<ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 has-children"><a class="reference internal" href="../../environments/environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../environments/fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1 current current-page"><a class="current reference internal" href="#">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -321,8 +308,30 @@ <h1>Installation<a class="headerlink" href="#installation" title="Link to this h
         <footer>
           
           <div class="related-pages">
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+            <a class="next-page" href="../../release_notes/">
+              <div class="page-info">
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+                <div class="title">Release Notes</div>
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+            </a>
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+                  <span>Previous</span>
+                </div>
+                
+                <div class="title">Troubleshooting Guide</div>
+                
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+            </a>
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diff --git a/main/content/troubleshooting/index.html b/main/content/troubleshooting/index.html
index 69ce46d4..df6b6f13 100644
--- a/main/content/troubleshooting/index.html
+++ b/main/content/troubleshooting/index.html
@@ -8,7 +8,7 @@
     <meta property="og:type" content="website" />
     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
     <meta property="og:url" content="https://miniworld.farama.org/content/troubleshooting.html" /><meta property="og:image" content="https://miniworld.farama.org/_static/img/miniworld-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="viewport" content="width=device-width, initial-scale=1" />
-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="Tutorial on Creating Environments" href="../create_env/" /><link rel="prev" title="Design and Customization" href="../design/" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="Installation" href="../installation/" /><link rel="prev" title="Tutorial on Creating Environments" href="../create_env/" />
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     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -213,25 +213,12 @@
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../design/">Design and Customization</a></li>
-<li class="toctree-l1 current current-page"><a class="current reference internal" href="#">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 has-children"><a class="reference internal" href="../../environments/environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../environments/ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1 current current-page"><a class="current reference internal" href="#">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -382,18 +369,18 @@ <h2>Unknown encoder ‘libx264’ when using gym.wrappers.Monitor<a class="heade
         <footer>
           
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+            <a class="next-page" href="../installation/">
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-                <div class="title">Tutorial on Creating Environments</div>
+                <div class="title">Installation</div>
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-            <a class="prev-page" href="../design/">
+            <a class="prev-page" href="../create_env/">
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@@ -402,7 +389,7 @@ <h2>Unknown encoder ‘libx264’ when using gym.wrappers.Monitor<a class="heade
                   <span>Previous</span>
                 </div>
                 
-                <div class="title">Design and Customization</div>
+                <div class="title">Tutorial on Creating Environments</div>
                 
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diff --git a/main/environments/collecthealth/index.html b/main/environments/collecthealth/index.html
index e50ddef8..6be54fa8 100644
--- a/main/environments/collecthealth/index.html
+++ b/main/environments/collecthealth/index.html
@@ -8,7 +8,7 @@
     <meta property="og:type" content="website" />
     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
     <meta property="og:url" content="https://miniworld.farama.org/environments/collecthealth.html" /><meta property="og:image" content="https://miniworld.farama.org/_static/img/miniworld-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="viewport" content="width=device-width, initial-scale=1" />
-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="FourRooms" href="../fourrooms/" /><link rel="prev" title="Environments" href="../environments/" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" />
         <link rel="canonical" href="https://miniworld.farama.org/environments/collecthealth.html" />
 
     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -211,27 +211,14 @@
 </form>
 <div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
-<ul class="current">
+<ul>
 <li class="toctree-l1"><a class="reference internal" href="../../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 current has-children"><a class="reference internal" href="../environments/">Environments</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
-<li class="toctree-l2 current current-page"><a class="current reference internal" href="#">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -381,30 +368,8 @@ <h2>Arguments<a class="headerlink" href="#arguments" title="Link to this heading
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           <div class="related-pages">
-            <a class="next-page" href="../fourrooms/">
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-                <div class="title">FourRooms</div>
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-              </svg>
-            </a>
-            <a class="prev-page" href="../environments/">
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-                  <span>Previous</span>
-                </div>
-                
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-                
-              </div>
-            </a>
+            
+            
           </div>
           <div class="bottom-of-page">
             <div class="left-details">
diff --git a/main/environments/fourrooms/index.html b/main/environments/fourrooms/index.html
index ad319493..4b716a02 100644
--- a/main/environments/fourrooms/index.html
+++ b/main/environments/fourrooms/index.html
@@ -8,7 +8,7 @@
     <meta property="og:type" content="website" />
     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
     <meta property="og:url" content="https://miniworld.farama.org/environments/fourrooms.html" /><meta property="og:image" content="https://miniworld.farama.org/_static/img/miniworld-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="viewport" content="width=device-width, initial-scale=1" />
-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="Hallway" href="../hallway/" /><link rel="prev" title="CollectHealth" href="../collecthealth/" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" />
         <link rel="canonical" href="https://miniworld.farama.org/environments/fourrooms.html" />
 
     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -211,27 +211,14 @@
 </form>
 <div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
-<ul class="current">
+<ul>
 <li class="toctree-l1"><a class="reference internal" href="../../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 current has-children"><a class="reference internal" href="../environments/">Environments</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2 current current-page"><a class="current reference internal" href="#">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -361,30 +348,8 @@ <h2>Arguments<a class="headerlink" href="#arguments" title="Link to this heading
         <footer>
           
           <div class="related-pages">
-            <a class="next-page" href="../hallway/">
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-                </div>
-                <div class="title">Hallway</div>
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-              </svg>
-            </a>
-            <a class="prev-page" href="../collecthealth/">
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-                  <span>Previous</span>
-                </div>
-                
-                <div class="title">CollectHealth</div>
-                
-              </div>
-            </a>
+            
+            
           </div>
           <div class="bottom-of-page">
             <div class="left-details">
diff --git a/main/environments/hallway/index.html b/main/environments/hallway/index.html
index 79477d6e..58ef702d 100644
--- a/main/environments/hallway/index.html
+++ b/main/environments/hallway/index.html
@@ -8,7 +8,7 @@
     <meta property="og:type" content="website" />
     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
     <meta property="og:url" content="https://miniworld.farama.org/environments/hallway.html" /><meta property="og:image" content="https://miniworld.farama.org/_static/img/miniworld-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="viewport" content="width=device-width, initial-scale=1" />
-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="Maze" href="../maze/" /><link rel="prev" title="FourRooms" href="../fourrooms/" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" />
         <link rel="canonical" href="https://miniworld.farama.org/environments/hallway.html" />
 
     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -211,27 +211,14 @@
 </form>
 <div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
-<ul class="current">
+<ul>
 <li class="toctree-l1"><a class="reference internal" href="../../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 current has-children"><a class="reference internal" href="../environments/">Environments</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../fourrooms/">FourRooms</a></li>
-<li class="toctree-l2 current current-page"><a class="current reference internal" href="#">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -362,30 +349,8 @@ <h2>Arguments<a class="headerlink" href="#arguments" title="Link to this heading
         <footer>
           
           <div class="related-pages">
-            <a class="next-page" href="../maze/">
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-            <a class="prev-page" href="../fourrooms/">
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-                  <span>Previous</span>
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+            
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           </div>
           <div class="bottom-of-page">
             <div class="left-details">
diff --git a/main/environments/index.html b/main/environments/index.html
new file mode 100644
index 00000000..6d88d3bf
--- /dev/null
+++ b/main/environments/index.html
@@ -0,0 +1,572 @@
+<!doctype html>
+<html class="no-js" lang="en" data-content_root="../">
+  <head><meta charset="utf-8"/>
+    <meta name="viewport" content="width=device-width,initial-scale=1"/>
+    <meta name="color-scheme" content="light dark">
+    <meta name="description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research">
+    <meta property="og:title" content="Miniworld Documentation" />
+    <meta property="og:type" content="website" />
+    <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
+    <meta property="og:url" content="https://miniworld.farama.org/environments.html" /><meta property="og:image" content="https://miniworld.farama.org/_static/img/miniworld-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="viewport" content="width=device-width, initial-scale=1" />
+<link rel="index" title="Index" href="../genindex/" /><link rel="search" title="Search" href="../search/" /><link rel="next" title="Tutorial on Creating Environments" href="../content/create_env/" /><link rel="prev" title="Design and Customization" href="../content/design/" />
+        <link rel="canonical" href="https://miniworld.farama.org/environments.html" />
+
+    <link rel="shortcut icon" href="../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
+        <title>Environments - Miniworld Documentation</title>
+      <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=8f2a1f02" />
+    <link rel="stylesheet" type="text/css" href="../_static/styles/furo.css?v=3e7f4c72" />
+    <link rel="stylesheet" type="text/css" href="../_static/styles/furo-extensions.css?v=82c8b628" />
+    
+    
+
+
+<style>
+  body {
+    --color-code-background: #f8f8f8;
+  --color-code-foreground: black;
+  
+  }
+  @media not print {
+    body[data-theme="dark"] {
+      --color-code-background: #202020;
+  --color-code-foreground: #d0d0d0;
+  
+    }
+    @media (prefers-color-scheme: dark) {
+      body:not([data-theme="light"]) {
+        --color-code-background: #202020;
+  --color-code-foreground: #d0d0d0;
+  
+      }
+    }
+  }
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+  <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../content/design/">Design and Customization</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../content/create_env/">Tutorial on Creating Environments</a></li>
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+            
+            <section class="tex2jax_ignore mathjax_ignore" id="environments">
+<h1>Environments<a class="headerlink" href="#environments" title="Link to this heading">¶</a></h1>
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+        githubRepo: 'Miniworld',
+      };
+      fetch('/main/_static/versioning/versioning_menu.html').then(response => {
+        if (response.status === 200) {
+            response.text().then(text => {
+                const container = document.createElement("div");
+                container.innerHTML = text;
+                document.querySelector("body").appendChild(container);
+                // innerHtml doenst evaluate scripts, we need to add them dynamically
+                Array.from(container.querySelectorAll("script")).forEach(oldScript => {
+                    const newScript = document.createElement("script");
+                    Array.from(oldScript.attributes).forEach(attr => newScript.setAttribute(attr.name, attr.value));
+                    newScript.appendChild(document.createTextNode(oldScript.innerHTML));
+                    oldScript.parentNode.replaceChild(newScript, oldScript);
+                });
+            });
+        } else {
+            console.warn("Unable to load versioning menu", response);
+        }
+      });
+    </script>
+
+    </body>
+</html>
\ No newline at end of file
diff --git a/main/environments/maze/index.html b/main/environments/maze/index.html
index 57cccf5a..ba8800ff 100644
--- a/main/environments/maze/index.html
+++ b/main/environments/maze/index.html
@@ -8,7 +8,7 @@
     <meta property="og:type" content="website" />
     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
     <meta property="og:url" content="https://miniworld.farama.org/environments/maze.html" /><meta property="og:image" content="https://miniworld.farama.org/_static/img/miniworld-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="viewport" content="width=device-width, initial-scale=1" />
-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="OneRoom" href="../oneroom/" /><link rel="prev" title="Hallway" href="../hallway/" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" />
         <link rel="canonical" href="https://miniworld.farama.org/environments/maze.html" />
 
     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -211,27 +211,14 @@
 </form>
 <div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
-<ul class="current">
+<ul>
 <li class="toctree-l1"><a class="reference internal" href="../../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 current has-children"><a class="reference internal" href="../environments/">Environments</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../hallway/">Hallway</a></li>
-<li class="toctree-l2 current current-page"><a class="current reference internal" href="#">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -370,30 +357,8 @@ <h2>Arguments<a class="headerlink" href="#arguments" title="Link to this heading
         <footer>
           
           <div class="related-pages">
-            <a class="next-page" href="../oneroom/">
-              <div class="page-info">
-                <div class="context">
-                  <span>Next</span>
-                </div>
-                <div class="title">OneRoom</div>
-              </div>
-              <svg class="furo-related-icon">
-                <use href="#svg-arrow-right"></use>
-              </svg>
-            </a>
-            <a class="prev-page" href="../hallway/">
-              <svg class="furo-related-icon">
-                <use href="#svg-arrow-right"></use>
-              </svg>
-              <div class="page-info">
-                <div class="context">
-                  <span>Previous</span>
-                </div>
-                
-                <div class="title">Hallway</div>
-                
-              </div>
-            </a>
+            
+            
           </div>
           <div class="bottom-of-page">
             <div class="left-details">
diff --git a/main/environments/oneroom/index.html b/main/environments/oneroom/index.html
index d62a4b33..956e1c16 100644
--- a/main/environments/oneroom/index.html
+++ b/main/environments/oneroom/index.html
@@ -8,7 +8,7 @@
     <meta property="og:type" content="website" />
     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
     <meta property="og:url" content="https://miniworld.farama.org/environments/oneroom.html" /><meta property="og:image" content="https://miniworld.farama.org/_static/img/miniworld-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="viewport" content="width=device-width, initial-scale=1" />
-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="PickupObjects" href="../pickupobjects/" /><link rel="prev" title="Maze" href="../maze/" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" />
         <link rel="canonical" href="https://miniworld.farama.org/environments/oneroom.html" />
 
     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -211,27 +211,14 @@
 </form>
 <div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
-<ul class="current">
+<ul>
 <li class="toctree-l1"><a class="reference internal" href="../../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 current has-children"><a class="reference internal" href="../environments/">Environments</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../maze/">Maze</a></li>
-<li class="toctree-l2 current current-page"><a class="current reference internal" href="#">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -368,30 +355,8 @@ <h2>Arguments<a class="headerlink" href="#arguments" title="Link to this heading
         <footer>
           
           <div class="related-pages">
-            <a class="next-page" href="../pickupobjects/">
-              <div class="page-info">
-                <div class="context">
-                  <span>Next</span>
-                </div>
-                <div class="title">PickupObjects</div>
-              </div>
-              <svg class="furo-related-icon">
-                <use href="#svg-arrow-right"></use>
-              </svg>
-            </a>
-            <a class="prev-page" href="../maze/">
-              <svg class="furo-related-icon">
-                <use href="#svg-arrow-right"></use>
-              </svg>
-              <div class="page-info">
-                <div class="context">
-                  <span>Previous</span>
-                </div>
-                
-                <div class="title">Maze</div>
-                
-              </div>
-            </a>
+            
+            
           </div>
           <div class="bottom-of-page">
             <div class="left-details">
diff --git a/main/environments/pickupobjects/index.html b/main/environments/pickupobjects/index.html
index e1ba253c..0f495020 100644
--- a/main/environments/pickupobjects/index.html
+++ b/main/environments/pickupobjects/index.html
@@ -8,7 +8,7 @@
     <meta property="og:type" content="website" />
     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
     <meta property="og:url" content="https://miniworld.farama.org/environments/pickupobjects.html" /><meta property="og:image" content="https://miniworld.farama.org/_static/img/miniworld-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="viewport" content="width=device-width, initial-scale=1" />
-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="PutNext" href="../putnext/" /><link rel="prev" title="OneRoom" href="../oneroom/" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" />
         <link rel="canonical" href="https://miniworld.farama.org/environments/pickupobjects.html" />
 
     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -211,27 +211,14 @@
 </form>
 <div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
-<ul class="current">
+<ul>
 <li class="toctree-l1"><a class="reference internal" href="../../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 current has-children"><a class="reference internal" href="../environments/">Environments</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../oneroom/">OneRoom</a></li>
-<li class="toctree-l2 current current-page"><a class="current reference internal" href="#">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -369,30 +356,8 @@ <h2>Arguments<a class="headerlink" href="#arguments" title="Link to this heading
         <footer>
           
           <div class="related-pages">
-            <a class="next-page" href="../putnext/">
-              <div class="page-info">
-                <div class="context">
-                  <span>Next</span>
-                </div>
-                <div class="title">PutNext</div>
-              </div>
-              <svg class="furo-related-icon">
-                <use href="#svg-arrow-right"></use>
-              </svg>
-            </a>
-            <a class="prev-page" href="../oneroom/">
-              <svg class="furo-related-icon">
-                <use href="#svg-arrow-right"></use>
-              </svg>
-              <div class="page-info">
-                <div class="context">
-                  <span>Previous</span>
-                </div>
-                
-                <div class="title">OneRoom</div>
-                
-              </div>
-            </a>
+            
+            
           </div>
           <div class="bottom-of-page">
             <div class="left-details">
diff --git a/main/environments/putnext/index.html b/main/environments/putnext/index.html
index 018e9c85..df7a9d0b 100644
--- a/main/environments/putnext/index.html
+++ b/main/environments/putnext/index.html
@@ -8,7 +8,7 @@
     <meta property="og:type" content="website" />
     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
     <meta property="og:url" content="https://miniworld.farama.org/environments/putnext.html" /><meta property="og:image" content="https://miniworld.farama.org/_static/img/miniworld-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="viewport" content="width=device-width, initial-scale=1" />
-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="RoomObjects" href="../roomobjects/" /><link rel="prev" title="PickupObjects" href="../pickupobjects/" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" />
         <link rel="canonical" href="https://miniworld.farama.org/environments/putnext.html" />
 
     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -211,27 +211,14 @@
 </form>
 <div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
-<ul class="current">
+<ul>
 <li class="toctree-l1"><a class="reference internal" href="../../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 current has-children"><a class="reference internal" href="../environments/">Environments</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2 current current-page"><a class="current reference internal" href="#">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -378,30 +365,8 @@ <h2>Arguments<a class="headerlink" href="#arguments" title="Link to this heading
         <footer>
           
           <div class="related-pages">
-            <a class="next-page" href="../roomobjects/">
-              <div class="page-info">
-                <div class="context">
-                  <span>Next</span>
-                </div>
-                <div class="title">RoomObjects</div>
-              </div>
-              <svg class="furo-related-icon">
-                <use href="#svg-arrow-right"></use>
-              </svg>
-            </a>
-            <a class="prev-page" href="../pickupobjects/">
-              <svg class="furo-related-icon">
-                <use href="#svg-arrow-right"></use>
-              </svg>
-              <div class="page-info">
-                <div class="context">
-                  <span>Previous</span>
-                </div>
-                
-                <div class="title">PickupObjects</div>
-                
-              </div>
-            </a>
+            
+            
           </div>
           <div class="bottom-of-page">
             <div class="left-details">
diff --git a/main/environments/roomobjects/index.html b/main/environments/roomobjects/index.html
index 3fd5fa17..6bb950a7 100644
--- a/main/environments/roomobjects/index.html
+++ b/main/environments/roomobjects/index.html
@@ -8,7 +8,7 @@
     <meta property="og:type" content="website" />
     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
     <meta property="og:url" content="https://miniworld.farama.org/environments/roomobjects.html" /><meta property="og:image" content="https://miniworld.farama.org/_static/img/miniworld-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="viewport" content="width=device-width, initial-scale=1" />
-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="Sidewalk" href="../sidewalk/" /><link rel="prev" title="PutNext" href="../putnext/" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" />
         <link rel="canonical" href="https://miniworld.farama.org/environments/roomobjects.html" />
 
     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -211,27 +211,14 @@
 </form>
 <div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
-<ul class="current">
+<ul>
 <li class="toctree-l1"><a class="reference internal" href="../../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 current has-children"><a class="reference internal" href="../environments/">Environments</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../putnext/">PutNext</a></li>
-<li class="toctree-l2 current current-page"><a class="current reference internal" href="#">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -378,30 +365,8 @@ <h2>Arguments<a class="headerlink" href="#arguments" title="Link to this heading
         <footer>
           
           <div class="related-pages">
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-              </svg>
-            </a>
-            <a class="prev-page" href="../putnext/">
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-                  <span>Previous</span>
-                </div>
-                
-                <div class="title">PutNext</div>
-                
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-            </a>
+            
+            
           </div>
           <div class="bottom-of-page">
             <div class="left-details">
diff --git a/main/environments/sidewalk/index.html b/main/environments/sidewalk/index.html
index df35d1d2..5929e298 100644
--- a/main/environments/sidewalk/index.html
+++ b/main/environments/sidewalk/index.html
@@ -8,7 +8,7 @@
     <meta property="og:type" content="website" />
     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
     <meta property="og:url" content="https://miniworld.farama.org/environments/sidewalk.html" /><meta property="og:image" content="https://miniworld.farama.org/_static/img/miniworld-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="viewport" content="width=device-width, initial-scale=1" />
-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="Sign" href="../sign/" /><link rel="prev" title="RoomObjects" href="../roomobjects/" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" />
         <link rel="canonical" href="https://miniworld.farama.org/environments/sidewalk.html" />
 
     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -211,27 +211,14 @@
 </form>
 <div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
-<ul class="current">
+<ul>
 <li class="toctree-l1"><a class="reference internal" href="../../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 current has-children"><a class="reference internal" href="../environments/">Environments</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2 current current-page"><a class="current reference internal" href="#">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -361,30 +348,8 @@ <h2>Arguments<a class="headerlink" href="#arguments" title="Link to this heading
         <footer>
           
           <div class="related-pages">
-            <a class="next-page" href="../sign/">
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-              </div>
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-            </a>
-            <a class="prev-page" href="../roomobjects/">
-              <svg class="furo-related-icon">
-                <use href="#svg-arrow-right"></use>
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-                  <span>Previous</span>
-                </div>
-                
-                <div class="title">RoomObjects</div>
-                
-              </div>
-            </a>
+            
+            
           </div>
           <div class="bottom-of-page">
             <div class="left-details">
diff --git a/main/environments/sign/index.html b/main/environments/sign/index.html
index 5fe40344..ec3d5638 100644
--- a/main/environments/sign/index.html
+++ b/main/environments/sign/index.html
@@ -8,7 +8,7 @@
     <meta property="og:type" content="website" />
     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
     <meta property="og:url" content="https://miniworld.farama.org/environments/sign.html" /><meta property="og:image" content="https://miniworld.farama.org/_static/img/miniworld-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="viewport" content="width=device-width, initial-scale=1" />
-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="ThreeRooms" href="../threerooms/" /><link rel="prev" title="Sidewalk" href="../sidewalk/" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" />
         <link rel="canonical" href="https://miniworld.farama.org/environments/sign.html" />
 
     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -211,27 +211,14 @@
 </form>
 <div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
-<ul class="current">
+<ul>
 <li class="toctree-l1"><a class="reference internal" href="../../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 current has-children"><a class="reference internal" href="../environments/">Environments</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2 current current-page"><a class="current reference internal" href="#">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -377,30 +364,8 @@ <h2>Arguments<a class="headerlink" href="#arguments" title="Link to this heading
         <footer>
           
           <div class="related-pages">
-            <a class="next-page" href="../threerooms/">
-              <div class="page-info">
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-                </div>
-                <div class="title">ThreeRooms</div>
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-                <use href="#svg-arrow-right"></use>
-              </svg>
-            </a>
-            <a class="prev-page" href="../sidewalk/">
-              <svg class="furo-related-icon">
-                <use href="#svg-arrow-right"></use>
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-                  <span>Previous</span>
-                </div>
-                
-                <div class="title">Sidewalk</div>
-                
-              </div>
-            </a>
+            
+            
           </div>
           <div class="bottom-of-page">
             <div class="left-details">
diff --git a/main/environments/threerooms/index.html b/main/environments/threerooms/index.html
index 5ccfba0c..b34a0fcf 100644
--- a/main/environments/threerooms/index.html
+++ b/main/environments/threerooms/index.html
@@ -8,7 +8,7 @@
     <meta property="og:type" content="website" />
     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
     <meta property="og:url" content="https://miniworld.farama.org/environments/threerooms.html" /><meta property="og:image" content="https://miniworld.farama.org/_static/img/miniworld-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="viewport" content="width=device-width, initial-scale=1" />
-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="TMaze" href="../tmaze/" /><link rel="prev" title="Sign" href="../sign/" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" />
         <link rel="canonical" href="https://miniworld.farama.org/environments/threerooms.html" />
 
     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -211,27 +211,14 @@
 </form>
 <div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
-<ul class="current">
+<ul>
 <li class="toctree-l1"><a class="reference internal" href="../../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 current has-children"><a class="reference internal" href="../environments/">Environments</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sign/">Sign</a></li>
-<li class="toctree-l2 current current-page"><a class="current reference internal" href="#">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -362,30 +349,8 @@ <h2>Arguments<a class="headerlink" href="#arguments" title="Link to this heading
         <footer>
           
           <div class="related-pages">
-            <a class="next-page" href="../tmaze/">
-              <div class="page-info">
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-                  <span>Next</span>
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-                <div class="title">TMaze</div>
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-            </a>
-            <a class="prev-page" href="../sign/">
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-                  <span>Previous</span>
-                </div>
-                
-                <div class="title">Sign</div>
-                
-              </div>
-            </a>
+            
+            
           </div>
           <div class="bottom-of-page">
             <div class="left-details">
diff --git a/main/environments/tmaze/index.html b/main/environments/tmaze/index.html
index a092be62..be5b8cae 100644
--- a/main/environments/tmaze/index.html
+++ b/main/environments/tmaze/index.html
@@ -8,7 +8,7 @@
     <meta property="og:type" content="website" />
     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
     <meta property="og:url" content="https://miniworld.farama.org/environments/tmaze.html" /><meta property="og:image" content="https://miniworld.farama.org/_static/img/miniworld-github.png" /><meta name="twitter:card" content="summary_large_image"><meta name="viewport" content="width=device-width, initial-scale=1" />
-<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" /><link rel="next" title="WallGap" href="../wallgap/" /><link rel="prev" title="ThreeRooms" href="../threerooms/" />
+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" />
         <link rel="canonical" href="https://miniworld.farama.org/environments/tmaze.html" />
 
     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -211,27 +211,14 @@
 </form>
 <div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
-<ul class="current">
+<ul>
 <li class="toctree-l1"><a class="reference internal" href="../../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 current has-children"><a class="reference internal" href="../environments/">Environments</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2 current current-page"><a class="current reference internal" href="#">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
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+<li class="toctree-l1"><a class="reference internal" href="../../content/installation/">Installation</a></li>
 </ul>
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index e78187d2..383815e7 100644
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@@ -8,7 +8,7 @@
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-<li class="toctree-l2"><a class="reference internal" href="../ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
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+<li class="toctree-l1"><a class="reference internal" href="../../content/installation/">Installation</a></li>
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 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
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diff --git a/main/environments/ymaze/index.html b/main/environments/ymaze/index.html
index 09b540bd..6bad9522 100644
--- a/main/environments/ymaze/index.html
+++ b/main/environments/ymaze/index.html
@@ -8,7 +8,7 @@
     <meta property="og:type" content="website" />
     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
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+<link rel="index" title="Index" href="../../genindex/" /><link rel="search" title="Search" href="../../search/" />
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     <link rel="shortcut icon" href="../../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -211,27 +211,14 @@
 </form>
 <div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
-<ul class="current">
+<ul>
 <li class="toctree-l1"><a class="reference internal" href="../../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../wallgap/">WallGap</a></li>
-<li class="toctree-l2 current current-page"><a class="current reference internal" href="#">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
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+<li class="toctree-l1"><a class="reference internal" href="../../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
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diff --git a/main/genindex/index.html b/main/genindex/index.html
index 3d126f7e..0d45596a 100644
--- a/main/genindex/index.html
+++ b/main/genindex/index.html
@@ -211,25 +211,12 @@
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
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-<li class="toctree-l1"><a class="reference internal" href="../content/troubleshooting/">Troubleshooting Guide</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../environments/sign/">Sign</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../environments/ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
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+<li class="toctree-l1"><a class="reference internal" href="../content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
diff --git a/main/index.html b/main/index.html
index 20460a17..4922937e 100644
--- a/main/index.html
+++ b/main/index.html
@@ -213,25 +213,12 @@
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 has-children"><a class="reference internal" href="environments/environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
-<li class="toctree-l2"><a class="reference internal" href="environments/collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="environments/fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="environments/hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="environments/maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="environments/oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="environments/pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="environments/putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="environments/roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="environments/sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="environments/sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="environments/threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="environments/tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="environments/wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="environments/ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
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+<li class="toctree-l1"><a class="reference internal" href="content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
@@ -321,7 +308,9 @@ <h1>Installation<a class="headerlink" href="#installation" title="Link to this h
 <h1>Usage<a class="headerlink" href="#usage" title="Link to this heading">¶</a></h1>
 <p>The Gymnasium interface allows to initialize and interact with the Miniworld default environments as follows:</p>
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span><span class="w"> </span><span class="nn">gymnasium</span><span class="w"> </span><span class="k">as</span><span class="w"> </span><span class="nn">gym</span>
-<span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s2">&quot;MiniWorld-OneRoom-v0&quot;</span><span class="p">)</span>
+
+<span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s2">&quot;MiniWorld-OneRoom-v0&quot;</span><span class="p">,</span> <span class="n">render_mode</span><span class="o">=</span><span class="s2">&quot;human&quot;</span><span class="p">)</span>
+
 <span class="n">observation</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">seed</span><span class="o">=</span><span class="mi">42</span><span class="p">)</span>
 <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">1000</span><span class="p">):</span>
    <span class="n">action</span> <span class="o">=</span> <span class="n">policy</span><span class="p">(</span><span class="n">observation</span><span class="p">)</span>  <span class="c1"># User-defined policy function</span>
diff --git a/main/objects.inv b/main/objects.inv
index ed670679..6bf3aea4 100644
Binary files a/main/objects.inv and b/main/objects.inv differ
diff --git a/main/release_notes/index.html b/main/release_notes/index.html
index 1776849f..8db5e27e 100644
--- a/main/release_notes/index.html
+++ b/main/release_notes/index.html
@@ -8,7 +8,7 @@
     <meta property="og:type" content="website" />
     <meta property="og:description" content="Miniworld is a minimalistic 3D interior environment simulator for reinforcement learning & robotics research" />
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-<link rel="index" title="Index" href="../genindex/" /><link rel="search" title="Search" href="../search/" /><link rel="prev" title="YMaze" href="../environments/ymaze/" />
+<link rel="index" title="Index" href="../genindex/" /><link rel="search" title="Search" href="../search/" /><link rel="prev" title="Installation" href="../content/installation/" />
         <link rel="canonical" href="https://miniworld.farama.org/release_notes.html" />
 
     <link rel="shortcut icon" href="../_static/miniworld-favicon.png"/><!-- Generated with Sphinx 7.4.7 and Furo 2023.08.19.dev1 -->
@@ -213,25 +213,12 @@
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 has-children"><a class="reference internal" href="../environments/environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
-<li class="toctree-l2"><a class="reference internal" href="../environments/collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul class="current">
diff --git a/main/search/index.html b/main/search/index.html
index 8633da3b..7ee31cec 100644
--- a/main/search/index.html
+++ b/main/search/index.html
@@ -210,25 +210,12 @@
   <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../content/design/">Design and Customization</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../content/troubleshooting/">Troubleshooting Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../content/create_env/">Tutorial on Creating Environments</a></li>
-<li class="toctree-l1 has-children"><a class="reference internal" href="../environments/environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
-<li class="toctree-l2"><a class="reference internal" href="../environments/collecthealth/">CollectHealth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/fourrooms/">FourRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/hallway/">Hallway</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/maze/">Maze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/oneroom/">OneRoom</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/pickupobjects/">PickupObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/putnext/">PutNext</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/roomobjects/">RoomObjects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/sidewalk/">Sidewalk</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/sign/">Sign</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/threerooms/">ThreeRooms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/tmaze/">TMaze</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/wallgap/">WallGap</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../environments/ymaze/">YMaze</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../environments/">Environments</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><div class="visually-hidden">Toggle navigation of Environments</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="simple">
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="../content/create_env/">Tutorial on Creating Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../content/troubleshooting/">Troubleshooting Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../content/installation/">Installation</a></li>
 </ul>
 <p class="caption" role="heading"><span class="caption-text">Development</span></p>
 <ul>
diff --git a/main/searchindex.js b/main/searchindex.js
index 79c0cb93..bb94f006 100644
--- a/main/searchindex.js
+++ b/main/searchindex.js
@@ -1 +1 @@
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