Failure to display urdf visualization

[victorozoh]

Hi,

Thanks for the effort you guys put into making urdfpy.
I am getting errors for the following code sample executing on Python 3. I installed urdfpy into my python3 environment.

from urdfpy import URDF
robot = URDF.load('ur5/ur5.urdf')

robot.show(cfg={'shoulder_lift_joint':-2.0, 'elbow_joint':2.0})

Error:

I made certain that the 'robot' variable gets a value from the URDF.load() function.
I'd greatly appreciate your thoughts on how to fix this.

[qiuwch]

This seems to be an issue caused by trimesh.
If I use pip install trimesh==3.7.13 it works fine.
But 3.7.14 fails.

[bearpaw]

Install pyrender from the source https://github.com/mmatl/pyrender.git resolves this issue.

[im44pos]

I have trimesh 3.16.4, pyrender 0.1.45 in a python 3.8 jupyter notebook on windows10 and get:
IndexError: index 0 is out of bounds for axis 0 with size 0

---

IndexError Traceback (most recent call last)
Cell In [13], line 1
----> 1 robot.show( cfg = {
2 'shoulder_lift_joint': -2.0,
3 'elbow_joint': 2.0
4 })

File C:\ProgramFiles\Anaconda\envs\robot_urdf\lib\site-packages\urdfpy\urdf.py:3570, in URDF.show(self, cfg, use_collision)
3568 for tm in fk:
3569 pose = fk[tm]
-> 3570 mesh = pyrender.Mesh.from_trimesh(tm, smooth=False)
3571 scene.add(mesh, pose=pose)
3572 pyrender.Viewer(scene, use_raymond_lighting=True)

File C:\ProgramFiles\Anaconda\envs\robot_urdf\lib\site-packages\pyrender\mesh.py:209, in Mesh.from_trimesh(mesh, material, is_visible, poses, wireframe, smooth)
206 normals = np.repeat(m.face_normals, 3, axis=0)
208 # Compute colors, texture coords, and material properties
--> 209 color_0, texcoord_0, primitive_material = Mesh._get_trimesh_props(m, smooth=smooth, material=material)
211 # Override if material is given.
212 if material is not None:
213 #primitive_material = copy.copy(material)

File C:\ProgramFiles\Anaconda\envs\robot_urdf\lib\site-packages\pyrender\mesh.py:291, in Mesh._get_trimesh_props(mesh, smooth, material)
289 texcoords = uv
290 else:
--> 291 texcoords = uv[mesh.faces].reshape(
292 (3 * len(mesh.faces), uv.shape[1])
293 )
295 if material is None:
296 # Configure mesh material
297 mat = mesh.visual.material

IndexError: index 0 is out of bounds for axis 0 with size 0