avoid trimesh import failure when pyrender has issue

Genesis-Embodied-AI · Dec 26, 2024 · 4f553d7 · 4f553d7
1 parent 66e3f84
commit 4f553d7
Showing 1 changed file with 14 additions and 15 deletions.
diff --git a/genesis/vis/rasterizer_context.py b/genesis/vis/rasterizer_context.py
@@ -4,9 +4,10 @@
 import genesis.utils.geom as gu
 import genesis.utils.mesh as mu
 import genesis.utils.particle as pu
+from genesis.ext import trimesh
 
 try:
-    from genesis.ext import pyrender, trimesh
+    from genesis.ext import pyrender
     from genesis.ext.pyrender.jit_render import JITRenderer
 except Exception as e:
     print(f"[Error]: {e}\n")
@@ -199,14 +200,13 @@ def update_link_frame(self, buffer_updates):
 
                 for link in links:
                     link_T = gu.trans_quat_to_T(links_pos[link.idx], links_quat[link.idx])
-                    buffer_updates[self._scene.get_buffer_id(self.link_frame_nodes[link.uid], "model")] = (
-                        link_T.transpose([0, 2, 1])
-                    )
+                    buffer_updates[
+                        self._scene.get_buffer_id(self.link_frame_nodes[link.uid], "model")
+                    ] = link_T.transpose([0, 2, 1])
 
     def on_tool(self):
         if self.sim.tool_solver.is_active():
             for tool_entity in self.sim.tool_solver.entities:
-
                 if tool_entity.mesh is not None:
                     mesh = trimesh.Trimesh(
                         tool_entity.mesh.init_vertices_np,
@@ -411,9 +411,9 @@ def update_mpm(self, buffer_updates):
                     tfs = np.tile(np.eye(4), (mpm_entity.n_particles, 1, 1))
                     tfs[:, :3, 3] = particles_all[mpm_entity.particle_start : mpm_entity.particle_end]
 
-                    buffer_updates[self._scene.get_buffer_id(self.static_nodes[mpm_entity.uid], "model")] = (
-                        tfs.transpose([0, 2, 1])
-                    )
+                    buffer_updates[
+                        self._scene.get_buffer_id(self.static_nodes[mpm_entity.uid], "model")
+                    ] = tfs.transpose([0, 2, 1])
 
                 elif mpm_entity.surface.vis_mode == "visual":
                     mpm_entity._vmesh.verts = vverts_all[mpm_entity.vvert_start : mpm_entity.vvert_end]
@@ -476,9 +476,9 @@ def update_sph(self, buffer_updates):
                     tfs = np.tile(np.eye(4), (sph_entity.n_particles, 1, 1))
                     tfs[:, :3, 3] = particles_all[sph_entity.particle_start : sph_entity.particle_end]
 
-                    buffer_updates[self._scene.get_buffer_id(self.static_nodes[sph_entity.uid], "model")] = (
-                        tfs.transpose([0, 2, 1])
-                    )
+                    buffer_updates[
+                        self._scene.get_buffer_id(self.static_nodes[sph_entity.uid], "model")
+                    ] = tfs.transpose([0, 2, 1])
 
     def on_pbd(self):
         if self.sim.pbd_solver.is_active():
@@ -556,9 +556,9 @@ def update_pbd(self, buffer_updates):
                         tfs = np.tile(np.eye(4), (pbd_entity.n_particles, 1, 1))
                         tfs[:, :3, 3] = particles_all[pbd_entity.particle_start : pbd_entity.particle_end]
 
-                        buffer_updates[self._scene.get_buffer_id(self.static_nodes[pbd_entity.uid], "model")] = (
-                            tfs.transpose([0, 2, 1])
-                        )
+                        buffer_updates[
+                            self._scene.get_buffer_id(self.static_nodes[pbd_entity.uid], "model")
+                        ] = tfs.transpose([0, 2, 1])
 
                     elif self.render_particle_as == "tet":
                         new_verts = mu.transform_tets_mesh_verts(
@@ -574,7 +574,6 @@ def update_pbd(self, buffer_updates):
                             buffer_updates[self._scene.get_buffer_id(node, "normal")] = normal_data
 
                 elif pbd_entity.surface.vis_mode == "visual":
-
                     vverts = vverts_all[pbd_entity.vvert_start : pbd_entity.vvert_end]
                     node = self.static_nodes[pbd_entity.uid]
                     update_data = self._scene.reorder_vertices(node, vverts)