diff --git a/examples/biped.py b/examples/biped.py
index aae5e806..4e721743 100644
--- a/examples/biped.py
+++ b/examples/biped.py
@@ -2,10 +2,10 @@
 from rostok.library.rule_sets.leg_rules import get_biped
 from rostok.graph_grammar.graph_utils import plot_graph
 
-scenario = WalkingScenario(0.00001, 20)
+scenario = WalkingScenario(0.0001, 1)
 
 graph = get_biped()
 plot_graph(graph)
 control = controll_parameters = {"initial_value": [0]*8}
 
-scenario.run_simulation(graph, control, starting_positions=[[0,-30,60,-30], [0,30,-60,30]], vis = True, delay=True)
+scenario.run_simulation(graph, control, starting_positions=[[0,30,-60,30], [0,30,-60,30]], vis = True, delay=True)
diff --git a/rostok/library/rule_sets/leg_rules.py b/rostok/library/rule_sets/leg_rules.py
index 43125b6f..541ed82e 100644
--- a/rostok/library/rule_sets/leg_rules.py
+++ b/rostok/library/rule_sets/leg_rules.py
@@ -37,10 +37,10 @@ def create_rules(tendon=False, smc=False):
         def_mat = DefaultChronoMaterialNSC()
     # blueprint for the palm
     body = PrimitiveBodyBlueprint(
-        Box(0.05, 0.02, 0.2), material=def_mat, color=[100, 100, 0])
+        Box(0.055*2, 0.055*2, 0.055*2), material=def_mat, color=[178, 82, 164])
     
     body_q = PrimitiveBodyBlueprint(
-        Box(0.3, 0.02, 0.2), material=def_mat, color=[100, 100, 0])
+        Box(0.3, 0.02, 0.2), material=def_mat, color=[178, 82, 164])
     # blueprint for the base
     base = PrimitiveBodyBlueprint(Box(0.02, 0.01, 0.02),
                                   material=def_mat,
@@ -48,13 +48,13 @@ def create_rules(tendon=False, smc=False):
                                   density=10000)
     
 
-    foot = PrimitiveBodyBlueprint(Box(0.05, 0.02, 0.03),
+    foot = PrimitiveBodyBlueprint(Box(0.07, 0.02, 0.05),
                                   material=def_mat,
-                                  color=[255, 0, 0],
+                                  color=[140, 150, 140],
                                   density=100)
     # sets effective density for the links, the real links are considered to be extendable.
     link_mass = (28 + 1.62 + 2.77) * 1e-3
-    length_link = [0.05, 0.06, 0.075]
+    length_link = [0.07, 0.085, 0.1]
     # create link blueprints using mass and length parameters
     link = list(
         map(
diff --git a/rostok/simulation_chrono/simulation.py b/rostok/simulation_chrono/simulation.py
index 8c6bde6f..8f83aa44 100644
--- a/rostok/simulation_chrono/simulation.py
+++ b/rostok/simulation_chrono/simulation.py
@@ -57,15 +57,15 @@ def initialize_vis(self, chrono_system):
         self.vis.Initialize()
         self.vis.AddSkyBox()
         self.vis.AddCamera(chrono.ChVectorD(-0.15, 0.35, 0.40), chrono.ChVectorD(0.0, 0.1, 0))
-        self.vis.AddLight(chrono.ChVectorD(0.4, 0.0, -0.4), 0.28, chrono.ChColor(1, 1, 1))
-        self.vis.AddLight(chrono.ChVectorD(0.4, 0.0, 0.4), 0.28, chrono.ChColor(1, 1, 1))
-        self.vis.AddLight(chrono.ChVectorD(-0.4, 0.0, -0.4), 0.28, chrono.ChColor(1, 1, 1))
-        self.vis.AddLight(chrono.ChVectorD(-0.4, 0.0, 0.4), 0.28, chrono.ChColor(1, 1, 1))
-        self.vis.AddLight(chrono.ChVectorD(0.4, 0.8, -0.4), 0.28, chrono.ChColor(1, 1, 1))
-        self.vis.AddLight(chrono.ChVectorD(0.4, 0.8, 0.4), 0.28, chrono.ChColor(1, 1, 1))
-        self.vis.AddLight(chrono.ChVectorD(-0.4, 0.8, -0.4), 0.28, chrono.ChColor(1, 1, 1))
-        self.vis.AddLight(chrono.ChVectorD(-0.4, 0.8, 0.4), 0.28, chrono.ChColor(1, 1, 1))
-
+        # self.vis.AddLight(chrono.ChVectorD(0.4, 0.0, -0.4), 0.28, chrono.ChColor(1, 1, 1))
+        # self.vis.AddLight(chrono.ChVectorD(0.4, 0.0, 0.4), 0.28, chrono.ChColor(1, 1, 1))
+        # self.vis.AddLight(chrono.ChVectorD(-0.4, 0.0, -0.4), 0.28, chrono.ChColor(1, 1, 1))
+        # self.vis.AddLight(chrono.ChVectorD(-0.4, 0.0, 0.4), 0.28, chrono.ChColor(1, 1, 1))
+        # self.vis.AddLight(chrono.ChVectorD(0.4, 0.8, -0.4), 0.28, chrono.ChColor(1, 1, 1))
+        # self.vis.AddLight(chrono.ChVectorD(0.4, 0.8, 0.4), 0.28, chrono.ChColor(1, 1, 1))
+        # self.vis.AddLight(chrono.ChVectorD(-0.4, 0.8, -0.4), 0.28, chrono.ChColor(1, 1, 1))
+        # self.vis.AddLight(chrono.ChVectorD(-0.4, 0.8, 0.4), 0.28, chrono.ChColor(1, 1, 1))
+        self.vis.AddTypicalLights()
     def enable_collision_shape(self):
         self.vis.EnableCollisionShapeDrawing(True)
 
diff --git a/rostok/simulation_chrono/simulation_scenario.py b/rostok/simulation_chrono/simulation_scenario.py
index 1ede36f5..4bdc2d4c 100644
--- a/rostok/simulation_chrono/simulation_scenario.py
+++ b/rostok/simulation_chrono/simulation_scenario.py
@@ -183,7 +183,8 @@ def run_simulation(self,
             def_mat = DefaultChronoMaterialNSC()
         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(0,0,0))
+        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.SetBodyFixed(True)