From 6c791f596a4e82f5efdfc69c905814583013427b Mon Sep 17 00:00:00 2001
From: ZharkovKirill <rubekon13@gmail.com>
Date: Fri, 9 Aug 2024 18:44:26 +0300
Subject: [PATCH] 54325

---
 Kanye-West-PNG-Image.png               |  Bin 0 -> 434531 bytes
 tests_jupyter/Bump.obj                 |  880 ++++
 tests_jupyter/Kanye-West-PNG-Image.png |  Bin 0 -> 434531 bytes
 tests_jupyter/TRACKMANIA.obj           | 6496 ++++++++++++++++++++++++
 tests_jupyter/chess.png                |  Bin 0 -> 978 bytes
 tests_jupyter/wheels.py                |    2 +-
 tests_jupyter/wheels_ruleset.ipynb     |  140 +-
 tests_jupyter/wheels_sim.py            |    4 +-
 wheels_ruleset.ipynb                   |  473 ++
 9 files changed, 7917 insertions(+), 78 deletions(-)
 create mode 100644 Kanye-West-PNG-Image.png
 create mode 100644 tests_jupyter/Bump.obj
 create mode 100644 tests_jupyter/Kanye-West-PNG-Image.png
 create mode 100644 tests_jupyter/TRACKMANIA.obj
 create mode 100644 tests_jupyter/chess.png
 create mode 100644 wheels_ruleset.ipynb

diff --git a/Kanye-West-PNG-Image.png b/Kanye-West-PNG-Image.png
new file mode 100644
index 0000000000000000000000000000000000000000..91ab71855d84ff01127d30250eb5ea5fbc8b6228
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diff --git a/tests_jupyter/Bump.obj b/tests_jupyter/Bump.obj
new file mode 100644
index 00000000..765080cc
--- /dev/null
+++ b/tests_jupyter/Bump.obj
@@ -0,0 +1,880 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib Bump.mtl
+
+g Bump
+
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+v 1.395768 0.036296 -2.300000
+v 1.368276 0.027852 -2.300000
+v 1.339659 0.025000 -2.300000
+v 1.339659 0.025000 -0.700000
+v 1.368276 0.027852 -0.700000
+v 1.395768 0.036296 -0.700000
+v 1.421053 0.050000 -0.700000
+v 1.382232 0.031391 -1.500000
+v 1.157895 0.050000 -0.700000
+v 1.182628 0.036303 -0.700000
+v 1.209610 0.027855 -0.700000
+v 1.237738 0.025000 -0.700000
+v 1.237738 0.025000 -2.300000
+v 1.209610 0.027855 -2.300000
+v 1.182628 0.036303 -2.300000
+v 1.157895 0.050000 -2.300000
+v 1.195905 0.031396 -1.500000
+v 1.026316 0.050000 -2.300000
+v 1.001582 0.036303 -2.300000
+v 0.974601 0.027855 -2.300000
+v 0.946472 0.025000 -2.300000
+v 0.946472 0.025000 -0.700000
+v 0.974601 0.027855 -0.700000
+v 1.001582 0.036303 -0.700000
+v 1.026316 0.050000 -0.700000
+v 0.988305 0.031396 -1.500000
+v 0.599361 0.087782 -0.700000
+v 0.622142 0.105263 -0.700000
+v 0.648672 0.116252 -0.700000
+v 0.677142 0.120000 -0.700000
+v 0.677142 0.120000 -2.300000
+v 0.648672 0.116252 -2.300000
+v 0.622142 0.105263 -2.300000
+v 0.599361 0.087782 -2.300000
+v 0.622142 0.105263 -1.233333
+v 0.622142 0.105263 -1.766667
+v 0.648672 0.116252 -1.233333
+v 0.648672 0.116252 -1.766667
+v 0.571579 0.060000 -0.700000
+v -0.900000 0.060000 -0.700000
+v -0.900000 0.000000 -0.700000
+v 3.484192 0.000000 -0.700000
+v 3.484192 0.150000 -0.700000
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+v 2.941820 0.102000 -0.700000
+v 2.886735 0.073467 -0.700000
+v 2.827232 0.055921 -0.700000
+v 2.765479 0.050000 -0.700000
+v 2.736842 0.050000 -0.700000
+v 2.736842 0.090000 -0.700000
+v 2.507026 0.090000 -0.700000
+v 2.490094 0.087663 -0.700000
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+v 2.461200 0.070000 -0.700000
+v 2.447973 0.059174 -0.700000
+v 2.432307 0.052337 -0.700000
+v 2.415375 0.050000 -0.700000
+v 2.210526 0.050000 -0.700000
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+v 2.078947 0.090000 -0.700000
+v 2.078947 0.050000 -0.700000
+v 1.815789 0.050000 -0.700000
+v 1.815789 0.090000 -0.700000
+v 1.552632 0.090000 -0.700000
+v 1.552632 0.050000 -0.700000
+v 0.894737 0.025000 -0.700000
+v 0.894737 0.050000 -0.700000
+v 0.763158 0.050000 -0.700000
+v 0.763158 0.120000 -0.700000
+v 0.571579 0.060000 -2.300000
+v -0.900000 0.000000 -2.300000
+v -0.900000 0.060000 -2.300000
+v 2.507026 0.090000 -2.300000
+v 2.490094 0.087663 -2.300000
+v 2.474428 0.080826 -2.300000
+v 2.461200 0.070000 -2.300000
+v 2.482026 0.084782 -1.233333
+v 2.482026 0.084782 -1.766667
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diff --git a/tests_jupyter/Kanye-West-PNG-Image.png b/tests_jupyter/Kanye-West-PNG-Image.png
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diff --git a/tests_jupyter/TRACKMANIA.obj b/tests_jupyter/TRACKMANIA.obj
new file mode 100644
index 00000000..244a7163
--- /dev/null
+++ b/tests_jupyter/TRACKMANIA.obj
@@ -0,0 +1,6496 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib TRACKMANIA.mtl
+
+g TRACKMANIA
+
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+
+# 1 groups
diff --git a/tests_jupyter/chess.png b/tests_jupyter/chess.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9cd17fb9580b036e21a3bc9f7cba88b2dc67e5c
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diff --git a/tests_jupyter/wheels.py b/tests_jupyter/wheels.py
index d8722d7f..28955536 100644
--- a/tests_jupyter/wheels.py
+++ b/tests_jupyter/wheels.py
@@ -155,7 +155,7 @@ def create_rules():
                                                 equilibrium_position=0), stiffness))
     
     no_control_joint.append(RevolveJointBlueprint(JointInputType.UNCONTROL,
-                                                stiffness=80,
+                                                stiffness=30,
                                                 damping=0.08,
                                                 equilibrium_position=0))
 
diff --git a/tests_jupyter/wheels_ruleset.ipynb b/tests_jupyter/wheels_ruleset.ipynb
index cc5cab61..5e44a4df 100644
--- a/tests_jupyter/wheels_ruleset.ipynb
+++ b/tests_jupyter/wheels_ruleset.ipynb
@@ -350,63 +350,7 @@
    "cell_type": "code",
    "execution_count": 16,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "Cannot use default video driver - fall back to OpenGL"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Irrlicht Engine version 1.8.5\n",
-      "Linux 6.5.0-45-generic #45~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Mon Jul 15 16:40:02 UTC 2 x86_64\n",
-      "Using plain X visual\n",
-      "This driver is not available in Linux. Try OpenGL or Software renderer.\n",
-      "Irrlicht Engine version 1.8.5\n",
-      "Linux 6.5.0-45-generic #45~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Mon Jul 15 16:40:02 UTC 2 x86_64\n",
-      "Using renderer: OpenGL 4.6\n",
-      "Mesa Intel(R) UHD Graphics 630 (CFL GT2): Intel\n",
-      "OpenGL driver version is 1.2 or better.\n",
-      "GLSL version: 4.6\n",
-      "Loaded texture: /home/be2r-lab-210134/Python/anaconda3/envs/rostok/share/chrono/data/fonts/arial80.bmp\n",
-      "Loaded texture: /home/be2r-lab-210134/Python/anaconda3/envs/rostok/share/chrono/data/skybox/sky_lf.jpg\n",
-      "Loaded texture: /home/be2r-lab-210134/Python/anaconda3/envs/rostok/share/chrono/data/skybox/sky_up.jpg\n",
-      "Loaded texture: /home/be2r-lab-210134/Python/anaconda3/envs/rostok/share/chrono/data/skybox/sky_dn.jpg\n"
-     ]
-    },
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "\n"
-     ]
-    },
-    {
-     "ename": "ImportError",
-     "evalue": "You must be root to use this library on linux.",
-     "output_type": "error",
-     "traceback": [
-      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
-      "\u001b[0;31mImportError\u001b[0m                               Traceback (most recent call last)",
-      "Cell \u001b[0;32mIn[16], line 12\u001b[0m\n\u001b[1;32m      9\u001b[0m parameters[\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mreverse_rotate\u001b[39m\u001b[38;5;124m\"\u001b[39m] \u001b[38;5;241m=\u001b[39m \u001b[38;5;241m0.2\u001b[39m\n\u001b[1;32m     10\u001b[0m \u001b[38;5;66;03m#control =  {\"initial_value\": [0.05]*2}\u001b[39;00m\n\u001b[0;32m---> 12\u001b[0m result \u001b[38;5;241m=\u001b[39m \u001b[43mscenario\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mrun_simulation\u001b[49m\u001b[43m(\u001b[49m\u001b[43mgraph\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mparameters\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mstarting_positions\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43m[\u001b[49m\u001b[43m[\u001b[49m\u001b[38;5;241;43m45\u001b[39;49m\u001b[43m,\u001b[49m\u001b[38;5;241;43m-\u001b[39;49m\u001b[38;5;241;43m90\u001b[39;49m\u001b[43m,\u001b[49m\u001b[38;5;241;43m0\u001b[39;49m\u001b[43m]\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43m[\u001b[49m\u001b[38;5;241;43m-\u001b[39;49m\u001b[38;5;241;43m90\u001b[39;49m\u001b[43m,\u001b[49m\u001b[38;5;241;43m90\u001b[39;49m\u001b[43m,\u001b[49m\u001b[38;5;241;43m0\u001b[39;49m\u001b[43m]\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43m[\u001b[49m\u001b[38;5;241;43m90\u001b[39;49m\u001b[43m,\u001b[49m\u001b[38;5;241;43m-\u001b[39;49m\u001b[38;5;241;43m90\u001b[39;49m\u001b[43m,\u001b[49m\u001b[38;5;241;43m0\u001b[39;49m\u001b[43m]\u001b[49m\u001b[43m]\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mvis\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43m \u001b[49m\u001b[38;5;28;43;01mTrue\u001b[39;49;00m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mdelay\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;28;43;01mTrue\u001b[39;49;00m\u001b[43m)\u001b[49m\n",
-      "File \u001b[0;32m~/Python/rostok_project/code/main_rep/rostok/simulation_chrono/simulation_scenario.py:305\u001b[0m, in \u001b[0;36mSuspensionCarScenario.run_simulation\u001b[0;34m(self, graph, controller_data, starting_positions, vis, delay)\u001b[0m\n\u001b[1;32m    300\u001b[0m robot_data_dict \u001b[38;5;241m=\u001b[39m {\n\u001b[1;32m    301\u001b[0m     \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mCOG\u001b[39m\u001b[38;5;124m\"\u001b[39m: (SensorCalls\u001b[38;5;241m.\u001b[39mBODY_TRAJECTORY, SensorObjectClassification\u001b[38;5;241m.\u001b[39mBODY,\n\u001b[1;32m    302\u001b[0m             SensorCalls\u001b[38;5;241m.\u001b[39mBODY_TRAJECTORY),\n\u001b[1;32m    303\u001b[0m }\n\u001b[1;32m    304\u001b[0m simulation\u001b[38;5;241m.\u001b[39madd_robot_data_type_dict(robot_data_dict)\n\u001b[0;32m--> 305\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[43msimulation\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msimulate\u001b[49m\u001b[43m(\u001b[49m\u001b[43mn_steps\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mstep_length\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m10000\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mevent_list\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mvis\u001b[49m\u001b[43m)\u001b[49m\n",
-      "File \u001b[0;32m~/Python/rostok_project/code/main_rep/rostok/simulation_chrono/simulation.py:320\u001b[0m, in \u001b[0;36mSingleRobotSimulation.simulate\u001b[0;34m(self, number_of_steps, step_length, fps, event_container, visualize)\u001b[0m\n\u001b[1;32m    318\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m i \u001b[38;5;129;01min\u001b[39;00m \u001b[38;5;28mrange\u001b[39m(number_of_steps):\n\u001b[1;32m    319\u001b[0m     current_time \u001b[38;5;241m=\u001b[39m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mchrono_system\u001b[38;5;241m.\u001b[39mGetChTime()\n\u001b[0;32m--> 320\u001b[0m     \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msimulate_step\u001b[49m\u001b[43m(\u001b[49m\u001b[43mstep_length\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mcurrent_time\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mi\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    321\u001b[0m     \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mresult\u001b[38;5;241m.\u001b[39mtime_vector\u001b[38;5;241m.\u001b[39mappend(\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mchrono_system\u001b[38;5;241m.\u001b[39mGetChTime())\n\u001b[1;32m    322\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m visualize:\n",
-      "File \u001b[0;32m~/Python/rostok_project/code/main_rep/rostok/simulation_chrono/simulation.py:269\u001b[0m, in \u001b[0;36mSingleRobotSimulation.simulate_step\u001b[0;34m(self, step_length, current_time, step_n)\u001b[0m\n\u001b[1;32m    266\u001b[0m robot\u001b[38;5;241m.\u001b[39mdata_storage\u001b[38;5;241m.\u001b[39mupdate_storage(step_n)\n\u001b[1;32m    268\u001b[0m \u001b[38;5;66;03m#controller gets current states of the robot and environment and updates control functions\u001b[39;00m\n\u001b[0;32m--> 269\u001b[0m \u001b[43mrobot\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mcontroller\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mupdate_functions\u001b[49m\u001b[43m(\u001b[49m\u001b[43mcurrent_time\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mrobot\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msensor\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    270\u001b[0m \u001b[43m                                  \u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43menv_creator\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mdata_storage\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msensor\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    271\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39menv_creator\u001b[38;5;241m.\u001b[39mforce_torque_container\u001b[38;5;241m.\u001b[39mupdate_all(current_time,\n\u001b[1;32m    272\u001b[0m                                                    \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39menv_creator\u001b[38;5;241m.\u001b[39mdata_storage\u001b[38;5;241m.\u001b[39msensor)\n",
-      "File \u001b[0;32m~/Python/rostok_project/code/main_rep/rostok/control_chrono/controller.py:96\u001b[0m, in \u001b[0;36mSimpleKeyBoardController.update_functions\u001b[0;34m(self, time, robot_data, environment_data)\u001b[0m\n\u001b[1;32m     92\u001b[0m     \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[1;32m     93\u001b[0m         \u001b[38;5;28;01mpass\u001b[39;00m\n\u001b[0;32m---> 96\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m \u001b[43mkeyboard\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mis_pressed\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[38;5;124;43ma\u001b[39;49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[43m)\u001b[49m:\n\u001b[1;32m     97\u001b[0m     \u001b[38;5;28;01mfor\u001b[39;00m func, i \u001b[38;5;129;01min\u001b[39;00m \u001b[38;5;28mzip\u001b[39m(\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mfunctions, ordered_list_id):\n\u001b[1;32m     98\u001b[0m         \u001b[38;5;28;01mif\u001b[39;00m i \u001b[38;5;129;01min\u001b[39;00m right_wheel:\n",
-      "File \u001b[0;32m~/Python/anaconda3/envs/rostok/lib/python3.10/site-packages/keyboard/__init__.py:410\u001b[0m, in \u001b[0;36mis_pressed\u001b[0;34m(hotkey)\u001b[0m\n\u001b[1;32m    402\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21mis_pressed\u001b[39m(hotkey):\n\u001b[1;32m    403\u001b[0m \u001b[38;5;250m    \u001b[39m\u001b[38;5;124;03m\"\"\"\u001b[39;00m\n\u001b[1;32m    404\u001b[0m \u001b[38;5;124;03m    Returns True if the key is pressed.\u001b[39;00m\n\u001b[1;32m    405\u001b[0m \n\u001b[0;32m   (...)\u001b[0m\n\u001b[1;32m    408\u001b[0m \u001b[38;5;124;03m        is_pressed('ctrl+space') #-> True\u001b[39;00m\n\u001b[1;32m    409\u001b[0m \u001b[38;5;124;03m    \"\"\"\u001b[39;00m\n\u001b[0;32m--> 410\u001b[0m     \u001b[43m_listener\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mstart_if_necessary\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    412\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m _is_number(hotkey):\n\u001b[1;32m    413\u001b[0m         \u001b[38;5;66;03m# Shortcut.\u001b[39;00m\n\u001b[1;32m    414\u001b[0m         \u001b[38;5;28;01mwith\u001b[39;00m _pressed_events_lock:\n",
-      "File \u001b[0;32m~/Python/anaconda3/envs/rostok/lib/python3.10/site-packages/keyboard/_generic.py:35\u001b[0m, in \u001b[0;36mGenericListener.start_if_necessary\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m     33\u001b[0m \u001b[38;5;28;01mtry\u001b[39;00m:\n\u001b[1;32m     34\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mlistening:\n\u001b[0;32m---> 35\u001b[0m         \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43minit\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m     37\u001b[0m         \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mlistening \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;01mTrue\u001b[39;00m\n\u001b[1;32m     38\u001b[0m         \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mlistening_thread \u001b[38;5;241m=\u001b[39m Thread(target\u001b[38;5;241m=\u001b[39m\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mlisten)\n",
-      "File \u001b[0;32m~/Python/anaconda3/envs/rostok/lib/python3.10/site-packages/keyboard/__init__.py:196\u001b[0m, in \u001b[0;36m_KeyboardListener.init\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    195\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21minit\u001b[39m(\u001b[38;5;28mself\u001b[39m):\n\u001b[0;32m--> 196\u001b[0m     \u001b[43m_os_keyboard\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43minit\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    198\u001b[0m     \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mactive_modifiers \u001b[38;5;241m=\u001b[39m \u001b[38;5;28mset\u001b[39m()\n\u001b[1;32m    199\u001b[0m     \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mblocking_hooks \u001b[38;5;241m=\u001b[39m []\n",
-      "File \u001b[0;32m~/Python/anaconda3/envs/rostok/lib/python3.10/site-packages/keyboard/_nixkeyboard.py:113\u001b[0m, in \u001b[0;36minit\u001b[0;34m()\u001b[0m\n\u001b[1;32m    112\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21minit\u001b[39m():\n\u001b[0;32m--> 113\u001b[0m     \u001b[43mbuild_device\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    114\u001b[0m     build_tables()\n",
-      "File \u001b[0;32m~/Python/anaconda3/envs/rostok/lib/python3.10/site-packages/keyboard/_nixkeyboard.py:109\u001b[0m, in \u001b[0;36mbuild_device\u001b[0;34m()\u001b[0m\n\u001b[1;32m    107\u001b[0m \u001b[38;5;28;01mglobal\u001b[39;00m device\n\u001b[1;32m    108\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m device: \u001b[38;5;28;01mreturn\u001b[39;00m\n\u001b[0;32m--> 109\u001b[0m \u001b[43mensure_root\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    110\u001b[0m device \u001b[38;5;241m=\u001b[39m aggregate_devices(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mkbd\u001b[39m\u001b[38;5;124m'\u001b[39m)\n",
-      "File \u001b[0;32m~/Python/anaconda3/envs/rostok/lib/python3.10/site-packages/keyboard/_nixcommon.py:174\u001b[0m, in \u001b[0;36mensure_root\u001b[0;34m()\u001b[0m\n\u001b[1;32m    172\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21mensure_root\u001b[39m():\n\u001b[1;32m    173\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m os\u001b[38;5;241m.\u001b[39mgeteuid() \u001b[38;5;241m!=\u001b[39m \u001b[38;5;241m0\u001b[39m:\n\u001b[0;32m--> 174\u001b[0m         \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mImportError\u001b[39;00m(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mYou must be root to use this library on linux.\u001b[39m\u001b[38;5;124m'\u001b[39m)\n",
-      "\u001b[0;31mImportError\u001b[0m: You must be root to use this library on linux."
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "from rostok.criterion.simulation_flags import EventBodyTooLowBuilder\n",
     "from rostok.control_chrono.controller import SimpleKeyBoardController\n",
@@ -419,31 +363,77 @@
     "parameters[\"reverse_rotate\"] = 0.2\n",
     "#control =  {\"initial_value\": [0.05]*2}\n",
     "\n",
-    "result = scenario.run_simulation(graph, parameters, starting_positions=[[45,-90,0], [-90,90,0], [90,-90,0]], vis = True, delay=True)"
+    "#result = scenario.run_simulation(graph, parameters, starting_positions=[[45,-90,0], [-90,90,0], [90,-90,0]], vis = True, delay=True)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 17,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "#list(result.robot_final_ds.get_data(\"COG\").items())[0][1][-5:]"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "[array([ 0.0003,  0.1503, -0.0003]),\n",
-       " array([ 0.0003,  0.1502, -0.0003]),\n",
-       " array([ 0.0002,  0.1501, -0.0003]),\n",
-       " array([ 0.0002,  0.15  , -0.0003]),\n",
-       " array([ 0.0002,  0.1498, -0.0003])]"
-      ]
-     },
-     "execution_count": 18,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
-    "list(result.robot_final_ds.get_data(\"COG\").items())[0][1][-5:]"
+    "from rostok.block_builder_api.block_blueprints import EnvironmentBodyBlueprint\n",
+    "from rostok.control_chrono.controller import SimpleKeyBoardController\n",
+    "from rostok.simulation_chrono.simulation_scenario import WalkingScenario\n",
+    "import pychrono as chrono\n",
+    "from rostok.utils.dataset_materials.material_dataclass_manipulating import DefaultChronoMaterialNSC\n",
+    "#from wheels import get_stiff_wheels, get_wheels, get_stiff_wheels_ell, get_stiff_wheels_4\n",
+    "from rostok.graph_grammar.graph_utils import plot_graph\n",
+    "from rostok.block_builder_chrono.block_builder_chrono_api import \\\n",
+    "    ChronoBlockCreatorInterface\n",
+    "from rostok.block_builder_api.easy_body_shapes import Box\n",
+    "\n",
+    "def create_bump_track():\n",
+    "    def_mat = DefaultChronoMaterialNSC()\n",
+    "    floor = ChronoBlockCreatorInterface.create_environment_body(EnvironmentBodyBlueprint(Box(5, 0.05, 5), material=def_mat, color=[215, 255, 0]))\n",
+    "    chrono_material = chrono.ChMaterialSurfaceNSC()\n",
+    "    #chrono_material.SetFriction(0.67)\n",
+    "    mesh = chrono.ChBodyEasyMesh(\"Bump.obj\", 8000, True, True, True, chrono_material, 0.002)\n",
+    "    floor.body = mesh\n",
+    "    floor.body.SetNameString(\"Floor\")\n",
+    "    floor.body.SetPos(chrono.ChVectorD(1.5,-0.07,0))\n",
+    "    floor.body.GetVisualShape(0).SetTexture(\"chess.png\", 0.03, 0.03)\n",
+    "    floor.body.SetBodyFixed(True)\n",
+    "    return floor\n",
+    "\n",
+    "def create_track():\n",
+    "    def_mat = DefaultChronoMaterialNSC()\n",
+    "    floor = ChronoBlockCreatorInterface.create_environment_body(EnvironmentBodyBlueprint(Box(5, 0.05, 5), material=def_mat, color=[215, 255, 0]))\n",
+    "    chrono_material = chrono.ChMaterialSurfaceNSC()\n",
+    "    #chrono_material.SetFriction(0.67)\n",
+    "    mesh = chrono.ChBodyEasyMesh(\"TRACKMANIA.obj\", 8000, True, True, True, chrono_material, 0.002)\n",
+    "    floor.body = mesh\n",
+    "    floor.body.SetNameString(\"Floor\")\n",
+    "    floor.body.SetPos(chrono.ChVectorD(6.6,-0.04,5.2))\n",
+    "    floor.body.GetVisualShape(0).SetTexture(\"chess.png\", 0.03, 0.03)\n",
+    "    floor.body.SetBodyFixed(True)\n",
+    "    return floor\n",
+    "\n",
+    "\n",
+    "floor = create_track()\n",
+    "\n",
+    "scenario = WalkingScenario(0.001, 10000, SimpleKeyBoardController)\n",
+    "scenario.set_floor(floor)\n",
+    "#graph = get_stiff_wheels_4()\n",
+    "\n",
+    "parameters = {}\n",
+    "parameters[\"forward\"] = 0.5\n",
+    "parameters[\"reverse\"]= 0.5\n",
+    "parameters[\"forward_rotate\"] = 0.5\n",
+    "parameters[\"reverse_rotate\"] = 0.3\n",
+    "\n",
+    " \n",
+    "\n",
+    "scenario.run_simulation(graph, parameters, starting_positions=[[-60,60,0], [60,-60,0], [-60,60,0], [60,-60,0]], vis = True, delay=True, is_follow_camera = True)"
    ]
   }
  ],
diff --git a/tests_jupyter/wheels_sim.py b/tests_jupyter/wheels_sim.py
index edc55038..a3392a4e 100644
--- a/tests_jupyter/wheels_sim.py
+++ b/tests_jupyter/wheels_sim.py
@@ -36,7 +36,7 @@ def create_track():
     return floor
 
 
-floor = create_bump_track()
+floor = create_track()
 
 scenario = WalkingScenario(0.001, 10000, SimpleKeyBoardController)
 scenario.set_floor(floor)
@@ -50,5 +50,5 @@ def create_track():
 
  
 
-scenario.run_simulation(graph, parameters, starting_positions=[[-90,90,0], [90,-90,0], [-90,90,0], [90,-90,0]], vis = True, delay=True, is_follow_camera = True)
+scenario.run_simulation(graph, parameters, starting_positions=[[-60,60,0], [60,-60,0], [-60,60,0], [60,-60,0]], vis = True, delay=True, is_follow_camera = True)
 
diff --git a/wheels_ruleset.ipynb b/wheels_ruleset.ipynb
new file mode 100644
index 00000000..939c1881
--- /dev/null
+++ b/wheels_ruleset.ipynb
@@ -0,0 +1,473 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import numpy as np\n",
+    "import pychrono as chrono\n",
+    "\n",
+    "from rostok.block_builder_api.block_blueprints import (PrimitiveBodyBlueprint,\n",
+    "                                                       RevolveJointBlueprint,\n",
+    "                                                       TransformBlueprint)\n",
+    "from rostok.block_builder_api.block_parameters import JointInputType\n",
+    "from rostok.block_builder_api.easy_body_shapes import Box, Cylinder, Ellipsoid\n",
+    "from rostok.block_builder_chrono.blocks_utils import FrameTransform\n",
+    "from rostok.graph_grammar import rule_vocabulary\n",
+    "from rostok.graph_grammar.node import ROOT\n",
+    "from rostok.graph_grammar.node_vocabulary import NodeVocabulary\n",
+    "from rostok.utils.dataset_materials.material_dataclass_manipulating import (\n",
+    "    DefaultChronoMaterialNSC, DefaultChronoMaterialSMC)\n",
+    "from rostok.graph_grammar.node import GraphGrammar\n",
+    "from rostok.graph_grammar.graph_utils import plot_graph"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def get_density_box(mass: float, box: Box):\n",
+    "    volume = box.height_z * box.length_y * box.width_x\n",
+    "    return mass / volume\n",
+    "\n",
+    "def rotation_x(alpha):\n",
+    "    quat_X_ang_alpha = chrono.Q_from_AngX(np.deg2rad(alpha))\n",
+    "    return [quat_X_ang_alpha.e0, quat_X_ang_alpha.e1, quat_X_ang_alpha.e2, quat_X_ang_alpha.e3]\n",
+    "\n",
+    "def rotation_y(alpha):\n",
+    "    quat_Y_ang_alpha = chrono.Q_from_AngY(np.deg2rad(alpha))\n",
+    "    return [quat_Y_ang_alpha.e0, quat_Y_ang_alpha.e1, quat_Y_ang_alpha.e2, quat_Y_ang_alpha.e3]\n",
+    "\n",
+    "def rotation_z(alpha):\n",
+    "    quat_Z_ang_alpha = chrono.Q_from_AngZ(np.deg2rad(alpha))\n",
+    "    return [quat_Z_ang_alpha.e0, quat_Z_ang_alpha.e1, quat_Z_ang_alpha.e2, quat_Z_ang_alpha.e3]\n",
+    "\n",
+    "def_mat = DefaultChronoMaterialNSC()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "node_vocab = NodeVocabulary()\n",
+    "node_vocab.add_node(ROOT)\n",
+    "node_vocab.create_node(label=\"MB\")\n",
+    "node_vocab.create_node(label=\"L\")\n",
+    "node_vocab.create_node(label=\"W\")\n",
+    "node_vocab.create_node(label=\"J\")\n",
+    "node_vocab.create_node(label=\"R\")\n",
+    "node_vocab.create_node(label=\"G\")\n",
+    "\n",
+    "node_vocab.create_node(label=\"XT\")\n",
+    "node_vocab.create_node(label=\"ZT\")\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# blueprint for the palm\n",
+    "main_body = []\n",
+    "for i in range(10):\n",
+    "    main_body.append(PrimitiveBodyBlueprint(\n",
+    "        Box(0.5, 0.1, 0.3), material=def_mat, color=[255, 0, 0], density=100+i*100))\n",
+    "\n",
+    "wheel_body_cyl = PrimitiveBodyBlueprint(\n",
+    "    Cylinder(0.03, 0.02), material=def_mat, color=[0, 120, 255], density=500)\n",
+    "\n",
+    "wheel_body_ell = PrimitiveBodyBlueprint(\n",
+    "    Ellipsoid(0.06,0.06, 0.04), material=def_mat, color=[0, 120, 255], density=500)\n",
+    "\n",
+    "# blueprint for the base\n",
+    "base = PrimitiveBodyBlueprint(Box(0.02, 0.03, 0.02),\n",
+    "                                material=def_mat,\n",
+    "                                color=[120, 120, 0],\n",
+    "                                density=500)\n",
+    "\n",
+    "# sets effective density for the links, the real links are considered to be extendable.\n",
+    "\n",
+    "length_link = np.linspace(0.05, 0.1, 5)\n",
+    "# create link blueprints using mass and length parameters\n",
+    "link = list(map(lambda x: PrimitiveBodyBlueprint(Box(0.02, x, 0.02),\n",
+    "                                            material=def_mat,\n",
+    "                                            color=[0, 120, 255],\n",
+    "                                            density=500), length_link))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "for i, bp in enumerate(main_body):\n",
+    "    node_vocab.create_node(label=f\"MB{i}\", is_terminal=True, block_blueprint=bp)\n",
+    "\n",
+    "for i, bp in enumerate(link):\n",
+    "    node_vocab.create_node(label=f\"L{i}\", is_terminal=True, block_blueprint=bp)\n",
+    "\n",
+    "node_vocab.create_node(label=\"B\", is_terminal=True,block_blueprint=base)\n",
+    "node_vocab.create_node(label=\"WC\", is_terminal=True,block_blueprint=wheel_body_cyl)\n",
+    "node_vocab.create_node(label=\"WE\", is_terminal=True,block_blueprint=wheel_body_ell)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "x_translation_values = np.linspace(0.0,0.25,5)\n",
+    "X_TRANSLATIONS_POSITIVE = list(\n",
+    "    map(lambda x: FrameTransform([x, 0, 0], [1, 0, 0, 0]), x_translation_values))\n",
+    "X_TRANSLATIONS_NEGATIVE=list(\n",
+    "    map(lambda x: FrameTransform([-x, 0, 0], [1, 0, 0, 0]), x_translation_values))\n",
+    "    # create transform blueprints from the values\n",
+    "x_translation_positive = list(\n",
+    "    map(lambda x: TransformBlueprint(x), X_TRANSLATIONS_POSITIVE))\n",
+    "x_translation_negative = list(\n",
+    "    map(lambda x: TransformBlueprint(x), X_TRANSLATIONS_NEGATIVE))\n",
+    "\n",
+    "z_translation_values = np.linspace(0.0,0.15,5)\n",
+    "Z_TRANSLATIONS_POSITIVE = list(\n",
+    "    map(lambda x: FrameTransform([0, 0, x], [1, 0, 0, 0]), z_translation_values))\n",
+    "Z_TRANSLATIONS_NEGATIVE = list(\n",
+    "    map(lambda x: FrameTransform([0, 0, -x], [1, 0, 0, 0]), z_translation_values))\n",
+    "\n",
+    "z_translation_positive = list(\n",
+    "    map(lambda x: TransformBlueprint(x), Z_TRANSLATIONS_POSITIVE))\n",
+    "z_translation_negative = list(\n",
+    "    map(lambda x: TransformBlueprint(x), Z_TRANSLATIONS_NEGATIVE))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "for i, bp in enumerate(x_translation_positive):\n",
+    "    node_vocab.create_node(label=f\"XTP{i}\", is_terminal=True, block_blueprint=bp)\n",
+    "\n",
+    "for i, bp in enumerate(x_translation_negative):\n",
+    "    node_vocab.create_node(label=f\"XTN{i}\", is_terminal=True, block_blueprint=bp)\n",
+    "\n",
+    "for i, bp in enumerate(z_translation_positive):\n",
+    "    node_vocab.create_node(label=f\"ZTP{i}\", is_terminal=True, block_blueprint=bp)\n",
+    "\n",
+    "for i, bp in enumerate(z_translation_negative):\n",
+    "    node_vocab.create_node(label=f\"ZTN{i}\", is_terminal=True, block_blueprint=bp)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "TURN_X = FrameTransform([0, 0, 0], rotation_x(90))\n",
+    "turn_x_bp = TransformBlueprint(TURN_X)\n",
+    "\n",
+    "TURN_Y = FrameTransform([0, 0, 0], rotation_y(90))\n",
+    "turn_y_bp = TransformBlueprint(TURN_Y)\n",
+    "\n",
+    "TURN_Z = FrameTransform([0, 0, 0], rotation_z(90))\n",
+    "turn_z_bp = TransformBlueprint(TURN_Z)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 9,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "node_vocab.create_node(label='XR',is_terminal=True, block_blueprint=turn_x_bp)\n",
+    "node_vocab.create_node(label='YR',is_terminal=True, block_blueprint=turn_y_bp)\n",
+    "node_vocab.create_node(label='ZR',is_terminal=True, block_blueprint=turn_z_bp)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 10,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "stiffness = np.linspace(0.1,1,10)\n",
+    "\n",
+    "no_control_joint = list(\n",
+    "    map(lambda x: RevolveJointBlueprint(JointInputType.UNCONTROL,\n",
+    "                                            stiffness=x,\n",
+    "                                            damping=0.02,\n",
+    "                                            equilibrium_position=0), stiffness))\n",
+    "motor_bp = RevolveJointBlueprint(JointInputType.TORQUE,  stiffness=0, damping=0.001)\n",
+    "neutral_bp = RevolveJointBlueprint(JointInputType.UNCONTROL,  stiffness=0, damping=0.001)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 11,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "node_vocab.create_node(label=\"RM\", is_terminal=True, block_blueprint=motor_bp)\n",
+    "node_vocab.create_node(label=\"LM\", is_terminal=True, block_blueprint=motor_bp)\n",
+    "node_vocab.create_node(label=\"NM\", is_terminal=True, block_blueprint=neutral_bp)\n",
+    "\n",
+    "for i, bp in enumerate(no_control_joint):\n",
+    "    node_vocab.create_node(label=f\"J{i}\", is_terminal=True, block_blueprint=bp)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 12,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "rule_vocab = rule_vocabulary.RuleVocabulary(node_vocab)\n",
+    "# structural rules\n",
+    "rule_vocab.create_rule(\"Init\", [\"ROOT\"], [\"MB\"], 0, 0,[])\n",
+    "rule_vocab.create_rule(\"Add_Leg_Base\",[\"MB\"],[\"MB\",\"XT\",\"ZT\",\"B\",\"G\"],0,0,[(0,1),(1,2),(2,3),(3,4)])\n",
+    "\n",
+    "rule_vocab.create_rule(\"Extension\",[\"G\"],[\"J\",\"L\", \"G\"], 0,2,[(0, 1), (1, 2)])\n",
+    "rule_vocab.create_rule(\"R_Wheel\",[\"G\"], [\"RM\",\"W\"],0,0,[(0,1)])\n",
+    "rule_vocab.create_rule(\"L_Wheel\",[\"G\"], [\"LM\",\"W\"],0,0,[(0,1)])\n",
+    "rule_vocab.create_rule(\"Wheel\",[\"G\"], [\"NM\",\"W\"],0,0,[(0,1)])\n",
+    "rule_vocab.create_rule(\"Rotation\",[\"G\"],[\"R\",\"G\"],0,0,[(0,1)])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 13,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "for i in range(len(main_body)):\n",
+    "    rule_vocab.create_rule(f'Terminal_Main_Body{i}',[\"MB\"],[f\"MB{i}\"],0,0,[])\n",
+    "\n",
+    "for i in range(len(link)):\n",
+    "    rule_vocab.create_rule(f'Terminal_Link{i}',[\"L\"],[f\"L{i}\"],0,0,[])\n",
+    "\n",
+    "for i in range(len(no_control_joint)):\n",
+    "    rule_vocab.create_rule(f'Terminal_Joint{i}',[\"J\"],[f\"J{i}\"],0,0,[])\n",
+    "\n",
+    "for i in range(len(x_translation_positive)):\n",
+    "    rule_vocab.create_rule(f'Positive_Translation_X{i}',[\"XT\"],[f\"XTP{i}\"],0,0,[])\n",
+    "for i in range(len(x_translation_negative)):\n",
+    "    rule_vocab.create_rule(f'Negative_Translation_X{i}',[\"XT\"],[f\"XTN{i}\"],0,0,[])\n",
+    "for i in range(len(z_translation_positive)):\n",
+    "    rule_vocab.create_rule(f'Positive_Translation_Z{i}',[\"ZT\"],[f\"ZTP{i}\"],0,0,[])\n",
+    "for i in range(len(z_translation_negative)):\n",
+    "    rule_vocab.create_rule(f'Negative_Translation_Z{i}',[\"ZT\"],[f\"ZTN{i}\"],0,0,[])\n",
+    "\n",
+    "rule_vocab.create_rule(f'Rotation_X',[\"R\"],[\"XR\"],0,0,[])\n",
+    "rule_vocab.create_rule(f'Rotation_Y',[\"R\"],[\"YR\"],0,0,[])\n",
+    "rule_vocab.create_rule(f'Rotation_Z',[\"R\"],[\"ZR\"],0,0,[])\n",
+    "\n",
+    "rule_vocab.create_rule(\"Cyl_Wheel\",[\"W\"],[\"WC\"],0,0,[])\n",
+    "rule_vocab.create_rule(\"Ell_Wheel\",[\"W\"],[\"WE\"],0,0,[])\n",
+    "\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 14,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "\n",
+    "i=9\n",
+    "graph = GraphGrammar()\n",
+    "rules = [\"Init\",\n",
+    "    \"Add_Leg_Base\",\"Positive_Translation_X4\",\"Positive_Translation_Z3\",\"Rotation\",\n",
+    "    'Rotation_Y', \"Extension\",\"Extension\",\"Rotation\",\"R_Wheel\", \"Cyl_Wheel\",\n",
+    "    \"Terminal_Link3\",\"Terminal_Link3\",f'Terminal_Joint{i}',f'Terminal_Joint{i}', 'Rotation_Y',\n",
+    "\n",
+    "    \"Add_Leg_Base\",\"Positive_Translation_X4\",\"Negative_Translation_Z3\",\"Rotation\",\n",
+    "    'Rotation_Y', \"Extension\",\"Extension\",\"Rotation\",\"L_Wheel\", \"Cyl_Wheel\",\n",
+    "    \"Terminal_Link3\",\"Terminal_Link3\",f'Terminal_Joint{i}',f'Terminal_Joint{i}', 'Rotation_Y',\n",
+    "\n",
+    "    \"Add_Leg_Base\",\"Negative_Translation_X4\",\"Negative_Translation_Z0\", \"Extension\",\"Extension\",\n",
+    "    \"Terminal_Link3\",\"Terminal_Link3\",f'Terminal_Joint{i}',f'Terminal_Joint{i}', \"Wheel\", \"Ell_Wheel\",\n",
+    "    'Terminal_Main_Body3'\n",
+    "    \n",
+    "]\n",
+    "\n",
+    "for rule in rules:\n",
+    "    graph.apply_rule(rule_vocab.get_rule(rule))\n",
+    "\n",
+    "\n",
+    "plot_graph(graph)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 15,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Jupyter environment detected. Enabling Open3D WebVisualizer.\n",
+      "[Open3D INFO] WebRTC GUI backend enabled.\n",
+      "[Open3D INFO] WebRTCWindowSystem: HTTP handshake server disabled.\n"
+     ]
+    }
+   ],
+   "source": [
+    "from rostok.simulation_chrono.simulation_scenario import WalkingScenario, SuspensionCarScenario\n",
+    "from rostok.library.rule_sets.leg_rules import get_biped\n",
+    "from rostok.library.rule_sets.ruleset_simple_wheels import get_four_wheels\n",
+    "from rostok.graph_grammar.graph_utils import plot_graph\n",
+    "\n",
+    "# scenario = WalkingScenario(0.0001, 3)\n",
+    "\n",
+    "# control =  {\"initial_value\": [0.05]*2}\n",
+    "\n",
+    "# scenario.run_simulation(graph, control, starting_positions=[[45,-90,0], [-90,90,0], [90,-90,0]], vis = True, delay=True)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 16,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# from rostok.criterion.simulation_flags import EventBodyTooLowBuilder\n",
+    "# from rostok.control_chrono.controller import SimpleKeyBoardController\n",
+    "# scenario = SuspensionCarScenario(0.0001, 3,initial_vertical_pos=0.5, controller_cls=SimpleKeyBoardController)\n",
+    "# scenario.add_event_builder(event_builder=EventBodyTooLowBuilder(0.15))\n",
+    "# parameters = {}\n",
+    "# parameters[\"forward\"] = 0.5\n",
+    "# parameters[\"reverse\"]= 0.5\n",
+    "# parameters[\"forward_rotate\"] = 0.3\n",
+    "# parameters[\"reverse_rotate\"] = 0.2\n",
+    "#control =  {\"initial_value\": [0.05]*2}\n",
+    "\n",
+    "#result = scenario.run_simulation(graph, parameters, starting_positions=[[45,-90,0], [-90,90,0], [90,-90,0]], vis = True, delay=True)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 17,
+   "metadata": {},
+   "outputs": [
+    {
+     "ename": "",
+     "evalue": "",
+     "output_type": "error",
+     "traceback": [
+      "\u001b[1;31mThe Kernel crashed while executing code in the current cell or a previous cell. \n",
+      "\u001b[1;31mPlease review the code in the cell(s) to identify a possible cause of the failure. \n",
+      "\u001b[1;31mClick <a href='https://aka.ms/vscodeJupyterKernelCrash'>here</a> for more info. \n",
+      "\u001b[1;31mView Jupyter <a href='command:jupyter.viewOutput'>log</a> for further details."
+     ]
+    }
+   ],
+   "source": [
+    "#list(result.robot_final_ds.get_data(\"COG\").items())[0][1][-5:]"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 18,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from rostok.block_builder_api.block_blueprints import EnvironmentBodyBlueprint\n",
+    "from rostok.control_chrono.controller import SimpleKeyBoardController\n",
+    "from rostok.simulation_chrono.simulation_scenario import WalkingScenario\n",
+    "import pychrono as chrono\n",
+    "from rostok.utils.dataset_materials.material_dataclass_manipulating import DefaultChronoMaterialNSC\n",
+    "#from wheels import get_stiff_wheels, get_wheels, get_stiff_wheels_ell, get_stiff_wheels_4\n",
+    "from rostok.graph_grammar.graph_utils import plot_graph\n",
+    "from rostok.block_builder_chrono.block_builder_chrono_api import \\\n",
+    "    ChronoBlockCreatorInterface\n",
+    "from rostok.block_builder_api.easy_body_shapes import Box\n",
+    "\n",
+    "def create_bump_track():\n",
+    "    def_mat = DefaultChronoMaterialNSC()\n",
+    "    floor = ChronoBlockCreatorInterface.create_environment_body(EnvironmentBodyBlueprint(Box(5, 0.05, 5), material=def_mat, color=[215, 255, 0]))\n",
+    "    chrono_material = chrono.ChMaterialSurfaceNSC()\n",
+    "    #chrono_material.SetFriction(0.67)\n",
+    "    mesh = chrono.ChBodyEasyMesh(\"Bump.obj\", 8000, True, True, True, chrono_material, 0.002)\n",
+    "    floor.body = mesh\n",
+    "    floor.body.SetNameString(\"Floor\")\n",
+    "    floor.body.SetPos(chrono.ChVectorD(1.5,-0.07,0))\n",
+    "    floor.body.GetVisualShape(0).SetTexture(\"chess.png\", 0.03, 0.03)\n",
+    "    floor.body.SetBodyFixed(True)\n",
+    "    return floor\n",
+    "\n",
+    "def create_track():\n",
+    "    def_mat = DefaultChronoMaterialNSC()\n",
+    "    floor = ChronoBlockCreatorInterface.create_environment_body(EnvironmentBodyBlueprint(Box(5, 0.05, 5), material=def_mat, color=[215, 255, 0]))\n",
+    "    chrono_material = chrono.ChMaterialSurfaceNSC()\n",
+    "    #chrono_material.SetFriction(0.67)\n",
+    "    mesh = chrono.ChBodyEasyMesh(\"TRACKMANIA.obj\", 8000, True, True, True, chrono_material, 0.002)\n",
+    "    floor.body = mesh\n",
+    "    floor.body.SetNameString(\"Floor\")\n",
+    "    floor.body.SetPos(chrono.ChVectorD(6.6,-0.04,5.2))\n",
+    "    floor.body.GetVisualShape(0).SetTexture(\"chess.png\", 0.03, 0.03)\n",
+    "    floor.body.SetBodyFixed(True)\n",
+    "    return floor\n",
+    "\n",
+    "\n",
+    "floor = create_bump_track()\n",
+    "\n",
+    "scenario = WalkingScenario(0.001, 10000, SimpleKeyBoardController)\n",
+    "scenario.set_floor(floor)\n",
+    "#graph = get_stiff_wheels_4()\n",
+    "\n",
+    "parameters = {}\n",
+    "parameters[\"forward\"] = 0.5\n",
+    "parameters[\"reverse\"]= 0.5\n",
+    "parameters[\"forward_rotate\"] = 0.5\n",
+    "parameters[\"reverse_rotate\"] = 0.3\n",
+    "\n",
+    " \n",
+    "\n",
+    "scenario.run_simulation(graph, parameters, starting_positions=[[-60,60,0], [60,-60,0], [-60,60,0], [60,-60,0]], vis = True, delay=True, is_follow_camera = True)"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "rostok",
+   "language": "python",
+   "name": "python3"
+  },
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+}