How to use the pyrender.Mesh.from_trimesh function in pyrender

def test_offscreen_renderer(tmpdir):

    # Fuze trimesh
    fuze_trimesh = trimesh.load('examples/models/fuze.obj')
    fuze_mesh = Mesh.from_trimesh(fuze_trimesh)

    # Drill trimesh
    drill_trimesh = trimesh.load('examples/models/drill.obj')
    drill_mesh = Mesh.from_trimesh(drill_trimesh)
    drill_pose = np.eye(4)
    drill_pose[0,3] = 0.1
    drill_pose[2,3] = -np.min(drill_trimesh.vertices[:,2])

    # Wood trimesh
    wood_trimesh = trimesh.load('examples/models/wood.obj')
    wood_mesh = Mesh.from_trimesh(wood_trimesh)

    # Water bottle trimesh
    bottle_gltf = trimesh.load('examples/models/WaterBottle.glb')
    bottle_trimesh = bottle_gltf.geometry[list(bottle_gltf.geometry.keys())[0]]
    bottle_mesh = Mesh.from_trimesh(bottle_trimesh)
    bottle_pose = np.array([
        [1.0, 0.0, 0.0, 0.1],
        [0.0, 0.0, -1.0, -0.16],
        [0.0, 1.0, 0.0, 0.13],

def build_scene(color_candidates):
    # Generate positions of each cube
    cube_position_array, center_of_gravity = generate_block_positions(
        args.num_cubes)
    assert len(cube_position_array) == args.num_cubes

    # Place cubes
    scene = Scene(
        bg_color=np.array([0.0, 0.0, 0.0]),
        ambient_light=np.array([0.3, 0.3, 0.3, 1.0]))
    cube_nodes = []
    for position in cube_position_array:
        mesh = trimesh.creation.box(extents=cube_size * np.ones(3))
        mesh = Mesh.from_trimesh(mesh, smooth=False)
        node = Node(
            mesh=mesh,
            translation=np.array(([
                position[0] - center_of_gravity[0],
                position[1] - center_of_gravity[1],
                position[2] - center_of_gravity[2],
            ])))
        scene.add_node(node)
        cube_nodes.append(node)

    update_cube_color_and_position(cube_nodes, color_candidates)

    # Place a light
    light = DirectionalLight(color=np.ones(3), intensity=15.0)
    quaternion_yaw = pyrender.quaternion.from_yaw(math.pi / 4)
    quaternion_pitch = pyrender.quaternion.from_pitch(-math.pi / 5)