We discussed a similar thing here:
There is a function: set_light_parameters
Parameters
- param1 ( Sim ) – Simulation Handle.
- param2 ( int ) – index to the light to be changed.
- param3 (
isaacgym.gymapi.Vec3) – intensity intensity of the light focus in the range [0,1] per channel, in RGB. - param4 (
isaacgym.gymapi.Vec3) – ambient intensity of the ambient light in the range [0,1] per channel, in RGB. - param5 (
isaacgym.gymapi.Vec3) – direction direction of the light focus
I did some tests but as I remember it only adds another light and doesn’t change the default lighting, you can try it and see how it works for you. By putting a bright light far from the robot you might be able to reduce the effect of the main light.