Switch meshrender to pyrender for 3d visualization

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>visualization</name>
-  <version>0.0.6</version>
+  <version>0.1.0</version>
   <description>The visualization package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 

setup.py

@@ -10,7 +10,7 @@
     'trimesh[easy]',
     'autolab_core',
     'autolab_perception',
-    'meshrender'
+    'pyrender'
 ]
 
 exec(open('visualization/version.py').read())
@@ -22,7 +22,7 @@
     description = 'Visualization toolkit for the Berkeley AutoLab.',
     long_description = 'Visualization toolkit for the Berkeley AutoLab.',
     author = 'Matthew Matl',
-    author_email = 'mmatl@eevs.berkeley.edu',
+    author_email = 'mmatl@eecs.berkeley.edu',
     license = 'Apache Software License',
     url = 'https://github.com/BerkeleyAutomation/visualization',
     keywords = 'robotics visualization rendering 3D',
@@ -42,9 +42,6 @@
             'sphinx',
             'sphinxcontrib-napoleon',
             'sphinx_rtd_theme'
-        ],
-        'full' : [
-            'meshpy',
-        ],
+        ]
     }
 )

tests/test_temporary.py

@@ -9,6 +9,33 @@ class PointsTest(unittest.TestCase):
     def test_temporary(self):
         pass
 
+# class Test3DVis(unittest.TestCase):
+
+#     import trimesh
+#     from visualization import Visualizer3D as vis3d
+#     import numpy as np
+#     from autolab_core import RigidTransform
+
+#     def test_3d_vis(self):
+
+#         m = trimesh.load('strawberry.obj')
+#         m_name = 'Strawberry'
+#         vis3d.figure()
+#         vis3d.mesh(m, name=m_name)
+#         assert vis3d.get_object(name=m_name).name == m_name
+#         points = 0.01*np.random.randn(10,3)
+#         vis3d.points(points, color=(1,0,0))
+#         vis3d.save('test.jpg')
+#         vis3d.save_loop('test.gif')
+
+#         stp = m.compute_stable_poses(threshold=0.05)[0][0]
+#         R, t = RigidTransform.rotation_and_translation_from_matrix(stp)
+#         vis3d.figure()
+#         vis3d.mesh_stable_pose(m, RigidTransform(rotation=R, translation=t), name=m_name)
+#         vis3d.pose()
+#         vis3d.get_object_keys()
+#         vis3d.caption('{}'.format(m_name), location=vis3d.TOP_CENTER)
+#         vis3d.show()
+
 if __name__ == '__main__':
     unittest.main()
-

visualization/version.py

@@ -1 +1 @@
-__version__ = '0.0.6'
+__version__ = '0.1.0'