From 446adfb29d8f3595bf27edf5ccbb2d15e9c91eb3 Mon Sep 17 00:00:00 2001
From: Marc Toussaint <toussaint@tu-berlin.de>
Date: Thu, 19 Oct 2023 15:39:49 +0200
Subject: [PATCH] render install

---
 _build_utils/CMakeLists-ubuntu.txt |  2 +-
 rai                                |  2 +-
 robotic/render.py                  | 10 +++++++---
 3 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/_build_utils/CMakeLists-ubuntu.txt b/_build_utils/CMakeLists-ubuntu.txt
index 3206c112c..9973edc32 100644
--- a/_build_utils/CMakeLists-ubuntu.txt
+++ b/_build_utils/CMakeLists-ubuntu.txt
@@ -213,7 +213,7 @@ install(
   DESTINATION ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITE}/robotic)
 
 install(
-  FILES robotic/__init__.py robotic/version.py ${CMAKE_BINARY_DIR}/ry.pyi
+  FILES robotic/__init__.py robotic/version.py robotic/render.py ${CMAKE_BINARY_DIR}/ry.pyi
   DESTINATION ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITE}/robotic)
 
 install(
diff --git a/rai b/rai
index b8efb1fd6..47f73898d 160000
--- a/rai
+++ b/rai
@@ -1 +1 @@
-Subproject commit b8efb1fd6f43d8eca707783d814cb9aad959b086
+Subproject commit 47f73898d6f3628307bbfafc6190ed3e19fc7982
diff --git a/robotic/render.py b/robotic/render.py
index 857dd4e15..b69ae6fbf 100644
--- a/robotic/render.py
+++ b/robotic/render.py
@@ -48,6 +48,7 @@ def __init__(self, width, height, focalLength=1.):
         # nvisii.disable_dome_light_sampling()
 
     def __del__(self):
+        print('-- shutting down Nvisii')
         nvisii.deinitialize()
 
     def addConfig(self, C):
@@ -65,12 +66,12 @@ def addConfig(self, C):
                 col = F['color']
                 if len(col) == 4:
                     continue
-                if len(col) == 1:
-                    col = [col[0], col[0], col[0]]
                 pos = f.getPosition()
                 quat = f.getQuaternion()
 
                 if not 'temperature' in F:
+                    if len(col) == 1:
+                        col = [col[0], col[0], col[0]]
                     if col == None:
                         col = [.8, .5, .3]
                     obj = nvisii.entity.create(
@@ -92,7 +93,10 @@ def addConfig(self, C):
                         transform = nvisii.transform.create(name=name, position=pos, rotation=flipQuat(quat)),
                         light = nvisii.light.create(f'{name}_light')
                     )
-                    light.get_light().set_intensity(1.)
+                    if len(col) == 1:
+                        light.get_light().set_intensity(col[0])
+                    else:
+                        light.get_light().set_intensity(1.)
                     light.get_light().set_exposure(3)
                     # light.get_light().set_color(col)
                     light.get_light().set_temperature(F['temperature'])