From 063edac2b88aa46818fbea21c0068d9c45b5f5d0 Mon Sep 17 00:00:00 2001 From: Adam Fishman Date: Fri, 1 Mar 2024 17:20:32 -0800 Subject: [PATCH] Switched to pyribbit instead of pyrender --- urchin/urdf.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/urchin/urdf.py b/urchin/urdf.py index 43a7e93..07a9d1d 100644 --- a/urchin/urdf.py +++ b/urchin/urdf.py @@ -3695,19 +3695,19 @@ def show(self, cfg=None, use_collision=False): If True, the collision geometry is visualized instead of the visual geometry. """ - import pyrender # Save pyrender import for here for CI + import pyribbit # Save pyribbit import for here for CI if use_collision: fk = self.collision_trimesh_fk(cfg=cfg) else: fk = self.visual_trimesh_fk(cfg=cfg) - scene = pyrender.Scene() + scene = pyribbit.Scene() for tm in fk: pose = fk[tm] - mesh = pyrender.Mesh.from_trimesh(tm, smooth=False) + mesh = pyribbit.Mesh.from_trimesh(tm, smooth=False) scene.add(mesh, pose=pose) - pyrender.Viewer(scene, use_raymond_lighting=True) + pyribbit.Viewer(scene, use_raymond_lighting=True) def copy(self, name=None, prefix="", scale=None, collision_only=False): """Make a deep copy of the URDF.