Update to trimesh 3.11.2

CHANGELOG.md

@@ -1,5 +1,8 @@
 # Changelog
 
+## Version 0.0.45 (development)
+- Upgrade to trimesh version 3.11.2
+
 ## Version 0.0.44 (development)
 - Parse and write `name` attribute of `material` element 
 - Apply colors to mesh if available

docs/requirements.txt

@@ -6,5 +6,5 @@ sphinx>=3.2.1
 sphinx_rtd_theme
 sphinx-automodapi
 lxml
-trimesh>=3.9.35
+trimesh>=3.11.2
 numpy

setup.cfg

@@ -56,7 +56,7 @@ python_requires = >=3.7
 install_requires =
     importlib-metadata; python_version<"3.8"
     lxml
-    trimesh>=3.9.35
+    trimesh>=3.11.2
     numpy
     six
 

src/yourdfpy/urdf.py

@@ -1125,7 +1125,11 @@ def _create_scene(
             s.graph.update(frame_from=j.parent, frame_to=j.child, matrix=matrix)
 
         for l in self.robot.links:
-            s.graph.nodes.add(l.name)
+            if l.name not in s.graph.nodes:
+                _logger.warn(
+                    "{l.name} not connected via joints. Will add link to base frame."
+                )
+                s.graph.update(frame_from=s.graph.base_frame, frame_to=l.name)
 
             meshes = l.collisions if use_collision_geometry else l.visuals
             self._add_geometries_to_scene(

tests/test_urdf.py

@@ -17,13 +17,6 @@ def _create_robot():
     return r
 
 
-def test_trimesh_version():
-    import trimesh
-
-    print(trimesh.__version__)
-    assert trimesh.__version == "asdf"
-
-
 def test_robot():
     r = _create_robot()
     assert r.name == "test_robot"