test readthedocs

docs/source/introduction/tutorials.rst

@@ -5,8 +5,8 @@ Tutorials
 In order to use the full potential of the `Rostok` library a user needs to get accustomed with features of the framework.  
 We prepared tutorials that show what one can do with the library.
 
-1. `Create node and rule vocabularies <_static/tutorial_rules_and_nodes_vocabulary.html>`_
-2. `Create graphs using nodes and rules <_static/tutorial_graph.html>`_
-3. `Set the object to grasp and use the built graphs to start simulation of the grasping mechanism <_static/tutorial_sym_step.html>`_
-4. `Use optimizer to get optimal joint trajectories and best reward for the mechanism <_static/tutorial_control_optimization.html>`_
-5. `Use node and rule vocabularies to search the design of grasping robot for a simple body <_static/tutorial_search.html>`_
+1. `Create node and rule vocabularies <../_static/tutorial_rules_and_nodes_vocabulary.html>`_
+2. `Create graphs using nodes and rules <../_static/tutorial_graph.html>`_
+3. `Set the object to grasp and use the built graphs to start simulation of the grasping mechanism <../_static/tutorial_sym_step.html>`_
+4. `Use optimizer to get optimal joint trajectories and best reward for the mechanism <../_static/tutorial_control_optimization.html>`_
+5. `Use node and rule vocabularies to search the design of grasping robot for a simple body <../_static/tutorial_search.html>`_

examples/quadruped.py

@@ -8,4 +8,4 @@
 plot_graph(graph)
 control = controll_parameters = {"initial_value": [0]*26}
 
-scenario.run_simulation(graph, control, starting_positions=[[0,0,-5,5], [0,0,-5,5], [0, 30, -60, -30, 60], [0, 30, -60, -30, 60]], vis = True, delay=True)
+scenario.run_simulation(graph, control, starting_positions=[[0,0,-7,7], [0,0,-5,5], [0, 30, -60, -30, 60], [0, 30, -60, -30, 60]], vis = True, delay=True)

rostok/simulation_chrono/simulation_scenario.py

@@ -184,7 +184,7 @@ def run_simulation(self,
         floor = creator.create_environment_body(EnvironmentBodyBlueprint(Box(1, 0.1, 1), material=def_mat, color=[215, 255, 0]))
         floor.body.SetNameString("Floor")
         floor.body.SetPos(chrono.ChVectorD(0,-0.05,0))
-        floor.body.GetVisualShape(0).SetTexture("D:\\Program\\miniconda\\envs\\rostok\\Library\\data\\textures\\bluewhite.png", 10, 10)
+        floor.body.GetVisualShape(0).SetTexture("/home/yefim-work/Packages/miniconda3/envs/rostok/share/chrono/data/textures/bluewhite.png", 10, 10)
         #floor.body.SetBodyFixed(True)