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diff --git a/main/.buildinfo b/main/.buildinfo
@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: 3a4ff96629298f8bca73e4bc7a8a226e
+config: 6da58054aa037260dba6dd74bf3d6315
 tags: d77d1c0d9ca2f4c8421862c7c5a0d620
diff --git a/main/404.html b/main/404.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="id1">
+            <section class="tex2jax_ignore mathjax_ignore" id="id1">
 <h1>404<a class="headerlink" href="#id1" title="Link to this heading">#</a></h1>
 <section id="page-not-found">
 <h2>Page Not Found<a class="headerlink" href="#page-not-found" title="Link to this heading">#</a></h2>

diff --git a/main/README/index.html b/main/README/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="gymnasium-robotics-docs">
+            <section class="tex2jax_ignore mathjax_ignore" id="gymnasium-robotics-docs">
 <h1>Gymnasium-Robotics docs<a class="headerlink" href="#gymnasium-robotics-docs" title="Link to this heading">#</a></h1>
 <p>This repo contains the documentation for <a class="reference external" href="https://github.com/Farama-Foundation/Gymnasium-Robotics">Gymnasium-Robotics</a>.</p>
 <p>To modify an environment follow the steps below. For more information about how to contribute to the documentation go to our <a class="reference external" href="https://github.com/Farama-Foundation/Celshast/blob/main/CONTRIBUTING.md">CONTRIBUTING.md</a></p>

diff --git a/main/envs/MaMuJoCo/index.html b/main/envs/MaMuJoCo/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="mamujoco-multi-agent-mujoco">
+            <section class="tex2jax_ignore mathjax_ignore" id="mamujoco-multi-agent-mujoco">
 <h1>MaMuJoCo (Multi-Agent MuJoCo)<a class="headerlink" href="#mamujoco-multi-agent-mujoco" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="mamujoco">
 <img alt="../../_images/mamujoco.png" src="../../_images/mamujoco.png" />

diff --git a/main/envs/MaMuJoCo/ma_ant/index.html b/main/envs/MaMuJoCo/ma_ant/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="ant">
+            <section class="tex2jax_ignore mathjax_ignore" id="ant">
 <h1>Ant<a class="headerlink" href="#ant" title="Link to this heading">#</a></h1>
 <html>
 	<p align="center">

diff --git a/main/envs/MaMuJoCo/ma_coupled_half_cheetah/index.html b/main/envs/MaMuJoCo/ma_coupled_half_cheetah/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="coupled-half-cheetah">
+            <section class="tex2jax_ignore mathjax_ignore" id="coupled-half-cheetah">
 <h1>Coupled Half Cheetah<a class="headerlink" href="#coupled-half-cheetah" title="Link to this heading">#</a></h1>
 <p>This Environment is one of the new environments introduced with MaMuJoCo.
 The environment consists of 2 half cheetahs coupled by an elastic tendon.</p>

diff --git a/main/envs/MaMuJoCo/ma_half_cheetah/index.html b/main/envs/MaMuJoCo/ma_half_cheetah/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="half-cheetah">
+            <section class="tex2jax_ignore mathjax_ignore" id="half-cheetah">
 <h1>Half Cheetah<a class="headerlink" href="#half-cheetah" title="Link to this heading">#</a></h1>
 <html>
 	<p align="center">

diff --git a/main/envs/MaMuJoCo/ma_hopper/index.html b/main/envs/MaMuJoCo/ma_hopper/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="hopper">
+            <section class="tex2jax_ignore mathjax_ignore" id="hopper">
 <h1>Hopper<a class="headerlink" href="#hopper" title="Link to this heading">#</a></h1>
 <html>
 	<p align="center">

diff --git a/main/envs/MaMuJoCo/ma_humanoid/index.html b/main/envs/MaMuJoCo/ma_humanoid/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="humanoid">
+            <section class="tex2jax_ignore mathjax_ignore" id="humanoid">
 <h1>Humanoid<a class="headerlink" href="#humanoid" title="Link to this heading">#</a></h1>
 <html>
 	<p align="center">

diff --git a/main/envs/MaMuJoCo/ma_humanoid_standup/index.html b/main/envs/MaMuJoCo/ma_humanoid_standup/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="humanoid-standup">
+            <section class="tex2jax_ignore mathjax_ignore" id="humanoid-standup">
 <h1>Humanoid Standup<a class="headerlink" href="#humanoid-standup" title="Link to this heading">#</a></h1>
 <html>
 	<p align="center">

diff --git a/main/envs/MaMuJoCo/ma_pusher/index.html b/main/envs/MaMuJoCo/ma_pusher/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="pusher">
+            <section class="tex2jax_ignore mathjax_ignore" id="pusher">
 <h1>Pusher<a class="headerlink" href="#pusher" title="Link to this heading">#</a></h1>
 <html>
 	<p align="center">

diff --git a/main/envs/MaMuJoCo/ma_reacher/index.html b/main/envs/MaMuJoCo/ma_reacher/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="reacher">
+            <section class="tex2jax_ignore mathjax_ignore" id="reacher">
 <h1>Reacher<a class="headerlink" href="#reacher" title="Link to this heading">#</a></h1>
 <html>
 	<p align="center">

diff --git a/main/envs/MaMuJoCo/ma_single/index.html b/main/envs/MaMuJoCo/ma_single/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="single-action-environments">
+            <section class="tex2jax_ignore mathjax_ignore" id="single-action-environments">
 <h1>Single Action Environments<a class="headerlink" href="#single-action-environments" title="Link to this heading">#</a></h1>
 <p>MaMuJoCo also supports single action <a class="reference external" href="https://gymnasium.farama.org/environments/mujoco/">Gymansium/MuJoCo/</a> environments such as <a class="reference external" href="https://gymnasium.farama.org/environments/mujoco/inverted_pendulum/">Gymnasium/Mujoco/InvertedPendulum</a> and <a class="reference external" href="https://gymnasium.farama.org/environments/mujoco/inverted_double_pendulum/">Gymnasium/Mujoco/InvertedDoublePendulum</a>.</p>
 <p>And can be instantiated (without a partition):</p>

diff --git a/main/envs/MaMuJoCo/ma_swimmer/index.html b/main/envs/MaMuJoCo/ma_swimmer/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="swimmer">
+            <section class="tex2jax_ignore mathjax_ignore" id="swimmer">
 <h1>Swimmer<a class="headerlink" href="#swimmer" title="Link to this heading">#</a></h1>
 <html>
 	<p align="center">

diff --git a/main/envs/MaMuJoCo/ma_walker2d/index.html b/main/envs/MaMuJoCo/ma_walker2d/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="walker2d">
+            <section class="tex2jax_ignore mathjax_ignore" id="walker2d">
 <h1>Walker2d<a class="headerlink" href="#walker2d" title="Link to this heading">#</a></h1>
 <html>
 	<p align="center">

diff --git a/main/envs/adroit_hand/adroit_door/index.html b/main/envs/adroit_hand/adroit_door/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="adroit-door">
+            <section class="tex2jax_ignore mathjax_ignore" id="adroit-door">
 <h1>Adroit Door<a class="headerlink" href="#adroit-door" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/adroit_door.gif"><img alt="../../../_images/adroit_door.gif" src="../../../_images/adroit_door.gif" style="width: 200px;" /></a>

diff --git a/main/envs/adroit_hand/adroit_hammer/index.html b/main/envs/adroit_hand/adroit_hammer/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="adroit-hammer">
+            <section class="tex2jax_ignore mathjax_ignore" id="adroit-hammer">
 <h1>Adroit Hammer<a class="headerlink" href="#adroit-hammer" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/adroit_hammer.gif"><img alt="../../../_images/adroit_hammer.gif" src="../../../_images/adroit_hammer.gif" style="width: 200px;" /></a>

diff --git a/main/envs/adroit_hand/adroit_pen/index.html b/main/envs/adroit_hand/adroit_pen/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="adroit-pen">
+            <section class="tex2jax_ignore mathjax_ignore" id="adroit-pen">
 <h1>Adroit Pen<a class="headerlink" href="#adroit-pen" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/adroit_pen.gif"><img alt="../../../_images/adroit_pen.gif" src="../../../_images/adroit_pen.gif" style="width: 200px;" /></a>

diff --git a/main/envs/adroit_hand/adroit_relocate/index.html b/main/envs/adroit_hand/adroit_relocate/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="adroit-relocate">
+            <section class="tex2jax_ignore mathjax_ignore" id="adroit-relocate">
 <h1>Adroit Relocate<a class="headerlink" href="#adroit-relocate" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/adroit_relocate.gif"><img alt="../../../_images/adroit_relocate.gif" src="../../../_images/adroit_relocate.gif" style="width: 200px;" /></a>

diff --git a/main/envs/adroit_hand/index.html b/main/envs/adroit_hand/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="adroit-hand">
+            <section class="tex2jax_ignore mathjax_ignore" id="adroit-hand">
 <h1>Adroit Hand<a class="headerlink" href="#adroit-hand" title="Link to this heading">#</a></h1>
 <p>This environments consists of a <a class="reference external" href="https://www.shadowrobot.com/">Shadow Dexterous Hand</a> attached to a free arm. The system can have up to 30 actuated degrees of freedom. There are 4 possible
 environments that can be initialized depending on the task to be solved:</p>

diff --git a/main/envs/fetch/index.html b/main/envs/fetch/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="fetch">
+            <section class="tex2jax_ignore mathjax_ignore" id="fetch">
 <h1>Fetch<a class="headerlink" href="#fetch" title="Link to this heading">#</a></h1>
 <p>The Fetch environments are based on the 7-DoF <a class="reference external" href="https://fetchrobotics.com/">Fetch Mobile Manipulator</a> arm, with a two-fingered parallel gripper attached to it. The main environment tasks are the following:</p>
 <ul class="simple">

diff --git a/main/envs/fetch/pick_and_place/index.html b/main/envs/fetch/pick_and_place/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="pick-and-place">
+            <section class="tex2jax_ignore mathjax_ignore" id="pick-and-place">
 <h1>Pick And Place<a class="headerlink" href="#pick-and-place" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/pick_and_place.gif"><img alt="../../../_images/pick_and_place.gif" src="../../../_images/pick_and_place.gif" style="width: 200px;" /></a>

diff --git a/main/envs/fetch/push/index.html b/main/envs/fetch/push/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="push">
+            <section class="tex2jax_ignore mathjax_ignore" id="push">
 <h1>Push<a class="headerlink" href="#push" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/push.gif"><img alt="../../../_images/push.gif" src="../../../_images/push.gif" style="width: 200px;" /></a>

diff --git a/main/envs/fetch/reach/index.html b/main/envs/fetch/reach/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="reach">
+            <section class="tex2jax_ignore mathjax_ignore" id="reach">
 <h1>Reach<a class="headerlink" href="#reach" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/reach.gif"><img alt="../../../_images/reach.gif" src="../../../_images/reach.gif" style="width: 200px;" /></a>

diff --git a/main/envs/fetch/slide/index.html b/main/envs/fetch/slide/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="slide">
+            <section class="tex2jax_ignore mathjax_ignore" id="slide">
 <h1>Slide<a class="headerlink" href="#slide" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/slide.gif"><img alt="../../../_images/slide.gif" src="../../../_images/slide.gif" style="width: 200px;" /></a>

diff --git a/main/envs/franka_kitchen/franka_kitchen/index.html b/main/envs/franka_kitchen/franka_kitchen/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="franka-kitchen">
+            <section class="tex2jax_ignore mathjax_ignore" id="franka-kitchen">
 <h1>Franka Kitchen<a class="headerlink" href="#franka-kitchen" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/franka_kitchen.gif"><img alt="../../../_images/franka_kitchen.gif" src="../../../_images/franka_kitchen.gif" style="width: 200px;" /></a>

diff --git a/main/envs/franka_kitchen/index.html b/main/envs/franka_kitchen/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="franka-kitchen">
+            <section class="tex2jax_ignore mathjax_ignore" id="franka-kitchen">
 <h1>Franka Kitchen<a class="headerlink" href="#franka-kitchen" title="Link to this heading">#</a></h1>
 <p>Multitask environment in which a 9-DoF Franka robot is placed in a kitchen containing several common household items. The goal of each task is to interact with the items in order to reach a desired goal configuration.</p>
 

diff --git a/main/envs/maze/ant_maze/index.html b/main/envs/maze/ant_maze/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="ant-maze">
+            <section class="tex2jax_ignore mathjax_ignore" id="ant-maze">
 <h1>Ant Maze<a class="headerlink" href="#ant-maze" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/ant_maze.gif"><img alt="../../../_images/ant_maze.gif" src="../../../_images/ant_maze.gif" style="width: 200px;" /></a>

diff --git a/main/envs/maze/index.html b/main/envs/maze/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="maze">
+            <section class="tex2jax_ignore mathjax_ignore" id="maze">
 <h1>Maze<a class="headerlink" href="#maze" title="Link to this heading">#</a></h1>
 <p>A collection of environments in which an agent has to navigate through a maze to reach certain goal position. Two different agents can be used: a 2-DoF force-controlled ball, or the classic <code class="docutils literal notranslate"><span class="pre">Ant</span></code> agent from the <a class="reference external" href="https://gymnasium.farama.org/environments/mujoco/ant/">Gymnasium MuJoCo environments</a>. The environment can be initialized with a variety of maze shapes with increasing levels of difficulty.</p>
 

diff --git a/main/envs/maze/point_maze/index.html b/main/envs/maze/point_maze/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="point-maze">
+            <section class="tex2jax_ignore mathjax_ignore" id="point-maze">
 <h1>Point Maze<a class="headerlink" href="#point-maze" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/point_maze.gif"><img alt="../../../_images/point_maze.gif" src="../../../_images/point_maze.gif" style="width: 200px;" /></a>

diff --git a/main/envs/shadow_dexterous_hand/index.html b/main/envs/shadow_dexterous_hand/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="shadow-dexterous-hand">
+            <section class="tex2jax_ignore mathjax_ignore" id="shadow-dexterous-hand">
 <h1>Shadow Dexterous Hand<a class="headerlink" href="#shadow-dexterous-hand" title="Link to this heading">#</a></h1>
 <p>These environments are based on the <a class="reference external" href="https://www.shadowrobot.com/">Shadow Dexterous Hand</a>, 5 which is an anthropomorphic robotic hand with 24 degrees of freedom. Of those 24 joints, 20 can be controlled independently whereas the remaining ones are coupled joints.</p>
 <ul class="simple">

diff --git a/main/envs/shadow_dexterous_hand/manipulate_block/index.html b/main/envs/shadow_dexterous_hand/manipulate_block/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="manipulate-block">
+            <section class="tex2jax_ignore mathjax_ignore" id="manipulate-block">
 <h1>Manipulate Block<a class="headerlink" href="#manipulate-block" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/manipulate_block.gif"><img alt="../../../_images/manipulate_block.gif" src="../../../_images/manipulate_block.gif" style="width: 200px;" /></a>

diff --git a/main/envs/shadow_dexterous_hand/manipulate_block_touch_sensors/index.html b/main/envs/shadow_dexterous_hand/manipulate_block_touch_sensors/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="manipulate-block-touch-sensors">
+            <section class="tex2jax_ignore mathjax_ignore" id="manipulate-block-touch-sensors">
 <h1>Manipulate Block Touch Sensors<a class="headerlink" href="#manipulate-block-touch-sensors" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/manipulate_block_touch_sensors.gif"><img alt="../../../_images/manipulate_block_touch_sensors.gif" src="../../../_images/manipulate_block_touch_sensors.gif" style="width: 200px;" /></a>

diff --git a/main/envs/shadow_dexterous_hand/manipulate_egg/index.html b/main/envs/shadow_dexterous_hand/manipulate_egg/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="manipulate-egg">
+            <section class="tex2jax_ignore mathjax_ignore" id="manipulate-egg">
 <h1>Manipulate Egg<a class="headerlink" href="#manipulate-egg" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/manipulate_egg.gif"><img alt="../../../_images/manipulate_egg.gif" src="../../../_images/manipulate_egg.gif" style="width: 200px;" /></a>

diff --git a/main/envs/shadow_dexterous_hand/manipulate_egg_touch_sensors/index.html b/main/envs/shadow_dexterous_hand/manipulate_egg_touch_sensors/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="manipulate-egg-touch-sensors">
+            <section class="tex2jax_ignore mathjax_ignore" id="manipulate-egg-touch-sensors">
 <h1>Manipulate Egg Touch Sensors<a class="headerlink" href="#manipulate-egg-touch-sensors" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/manipulate_egg_touch_sensors.gif"><img alt="../../../_images/manipulate_egg_touch_sensors.gif" src="../../../_images/manipulate_egg_touch_sensors.gif" style="width: 200px;" /></a>

diff --git a/main/envs/shadow_dexterous_hand/manipulate_pen/index.html b/main/envs/shadow_dexterous_hand/manipulate_pen/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="manipulate-pen">
+            <section class="tex2jax_ignore mathjax_ignore" id="manipulate-pen">
 <h1>Manipulate Pen<a class="headerlink" href="#manipulate-pen" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/manipulate_pen.gif"><img alt="../../../_images/manipulate_pen.gif" src="../../../_images/manipulate_pen.gif" style="width: 200px;" /></a>

diff --git a/main/envs/shadow_dexterous_hand/manipulate_pen_touch_sensors/index.html b/main/envs/shadow_dexterous_hand/manipulate_pen_touch_sensors/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="manipulate-pen-touch-sensors">
+            <section class="tex2jax_ignore mathjax_ignore" id="manipulate-pen-touch-sensors">
 <h1>Manipulate Pen Touch Sensors<a class="headerlink" href="#manipulate-pen-touch-sensors" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/manipulate_pen_touch_sensors.gif"><img alt="../../../_images/manipulate_pen_touch_sensors.gif" src="../../../_images/manipulate_pen_touch_sensors.gif" style="width: 200px;" /></a>

diff --git a/main/envs/shadow_dexterous_hand/reach/index.html b/main/envs/shadow_dexterous_hand/reach/index.html
@@ -316,7 +316,7 @@
           </div>
           <article role="main">
 
-            <section id="reach">
+            <section class="tex2jax_ignore mathjax_ignore" id="reach">
 <h1>Reach<a class="headerlink" href="#reach" title="Link to this heading">#</a></h1>
 <figure class="align-default" id="id1">
 <a class="reference internal image-reference" href="../../../_images/reach1.gif"><img alt="../../../_images/reach1.gif" src="../../../_images/reach1.gif" style="width: 200px;" /></a>

diff --git a/main/release_notes/index.html b/main/release_notes/index.html
@@ -325,7 +325,7 @@
           </div>
           <article role="main">
 
-            <section id="release-notes">
+            <section class="tex2jax_ignore mathjax_ignore" id="release-notes">
 <h1>Release Notes<a class="headerlink" href="#release-notes" title="Link to this heading">#</a></h1>
 <section id="release-v1-2-3">
 <h2>v1.2.3<a class="headerlink" href="#release-v1-2-3" title="Link to this heading">#</a></h2>