From 82219d1d35a2294e7d2dd94da2f7fc885aad7b6f Mon Sep 17 00:00:00 2001
From: Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
Date: Mon, 1 Jul 2024 17:52:18 +0200
Subject: [PATCH] Fix headless rendering when executing notebooks with MyST

---
 docs/conf.py                 | 10 ++++++----
 examples/PD_controller.ipynb |  9 +++++----
 2 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/docs/conf.py b/docs/conf.py
index 79667765c..4909deaec 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -100,10 +100,10 @@
 # -- Options for sphinx-gallery ----------------------------------------------
 
 sphinx_gallery_conf = {
-    "examples_dirs": "_collections/examples",
-    "gallery_dirs": ("_collections/generated_examples/"),
+    "examples_dirs": "../examples",
+    "gallery_dirs": "../generated_examples/",
     "doc_module": "jaxsim",
-    "backreferences_dir": os.path.join("modules", "generated"),
+    "abort_on_example_error": True,
 }
 
 # -- Options for myst -------------------------------------------------------
@@ -113,7 +113,9 @@
 ]
 nb_execution_mode = "force"
 nb_execution_allow_errors = False
-nb_render_image_options = {}
+nb_render_image_options = {
+    "scale": "60",
+}
 
 source_suffix = [".rst", ".md", ".ipynb"]
 
diff --git a/examples/PD_controller.ipynb b/examples/PD_controller.ipynb
index 543c816d8..692e9258d 100644
--- a/examples/PD_controller.ipynb
+++ b/examples/PD_controller.ipynb
@@ -25,7 +25,6 @@
     "import sys\n",
     "\n",
     "IS_COLAB = \"google.colab\" in sys.modules\n",
-    "IS_RTD = os.environ.get(\"READTHEDOCS\") is not None\n",
     "\n",
     "# Install JAX and Gazebo SDF\n",
     "if IS_COLAB:\n",
@@ -159,6 +158,7 @@
     "import os\n",
     "import subprocess\n",
     "\n",
+    "os.environ[\"MUJOCO_GL\"] = \"osmesa\"\n",
     "\n",
     "if IS_COLAB:\n",
     "    if subprocess.run(\"nvidia-smi\").returncode:\n",
@@ -185,7 +185,8 @@
     "  \"\"\"\n",
     "            )\n",
     "\n",
-    "os.environ[\"MUJOCO_GL\"] = \"egl\" if not IS_RTD else \"osmesa\"\n",
+    "    os.environ[\"MUJOCO_GL\"] = \"egl\"\n",
+    "\n",
     "\n",
     "from jaxsim.mujoco import MujocoModelHelper, MujocoVideoRecorder\n",
     "from jaxsim.mujoco.loaders import UrdfToMjcf\n",
@@ -209,8 +210,8 @@
     "    model=mj_model_helper.model,\n",
     "    data=mj_model_helper.data,\n",
     "    fps=int(1 / 0.010),\n",
-    "    width=320 * 4,\n",
-    "    height=240 * 4,\n",
+    "    width=320 * 2,\n",
+    "    height=240 * 2,\n",
     ")"
    ]
   },