New lights

aimclub · Dec 11, 2023 · 7f6f6da · 7f6f6da
1 parent 0990f9a
commit 7f6f6da
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Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/rostok/library/rule_sets/leg_rules.py b/rostok/library/rule_sets/leg_rules.py
@@ -40,7 +40,7 @@ def create_rules(tendon=False, smc=False):
         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=[178, 82, 164])
+        Box(0.3, 0.06, 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,

diff --git 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.AddTypicalLights()
+        self.vis.AddLight(chrono.ChVectorD(0.3, 0.0, -0.3), 0.28, chrono.ChColor(0.7, 0.7, 0.7))
+        self.vis.AddLight(chrono.ChVectorD(0.3, 0.0, 0.3), 0.28, chrono.ChColor(0.7, 0.7, 0.7))
+        self.vis.AddLight(chrono.ChVectorD(-0.3, 0.0, -0.3), 0.28, chrono.ChColor(0.7, 0.7, 0.7))
+        self.vis.AddLight(chrono.ChVectorD(-0.3, 0.0, 0.3), 0.28, chrono.ChColor(0.7, 0.7, 0.7))
+        self.vis.AddLight(chrono.ChVectorD(0.3, 0.4, -0.3), 0.5, chrono.ChColor(0.7, 0.7, 0.7))
+        self.vis.AddLight(chrono.ChVectorD(0.3, 0.4, 0.3), 0.5, chrono.ChColor(0.7, 0.7, 0.7))
+        self.vis.AddLight(chrono.ChVectorD(-0.3, 0.4, -0.3), 0.5, chrono.ChColor(0.7, 0.7, 0.7))
+        self.vis.AddLight(chrono.ChVectorD(-0.3, 0.4, 0.3), 0.5, chrono.ChColor(0.7, 0.7, 0.7))
+        # self.vis.AddTypicalLights()
     def enable_collision_shape(self):
         self.vis.EnableCollisionShapeDrawing(True)