How to use the pyrender.quaternion.from_yaw function in pyrender

texture_path = random.choice(floor_textures)
    set_random_texture(node, texture_path, intensity=0.8)
    scene.add_node(node)

    texture_path = random.choice(wall_textures)

    wall_trimesh = trimesh.load("objects/wall.obj")
    mesh = Mesh.from_trimesh(wall_trimesh)
    node = Node(mesh=mesh, translation=np.array([0, 1.15, -3.5]))
    set_random_texture(node, texture_path)
    scene.add_node(node)

    mesh = Mesh.from_trimesh(wall_trimesh)
    node = Node(
        mesh=mesh,
        rotation=pyrender.quaternion.from_yaw(math.pi),
        translation=np.array([0, 1.15, 3.5]))
    set_random_texture(node, texture_path)
    scene.add_node(node)

    mesh = Mesh.from_trimesh(wall_trimesh)
    node = Node(
        mesh=mesh,
        rotation=pyrender.quaternion.from_yaw(-math.pi / 2),
        translation=np.array([3.5, 1.15, 0]))
    set_random_texture(node, texture_path)
    scene.add_node(node)

    mesh = Mesh.from_trimesh(wall_trimesh)
    node = Node(
        mesh=mesh,
        rotation=pyrender.quaternion.from_yaw(math.pi / 2),

texture_path = random.choice(floor_textures)
    set_random_texture(node, texture_path, intensity=0.8)
    scene.add_node(node)

    texture_path = random.choice(wall_textures)

    wall_trimesh = trimesh.load("objects/wall.obj")
    mesh = Mesh.from_trimesh(wall_trimesh)
    node = Node(mesh=mesh, translation=np.array([0, 1.15, -3.5]))
    set_random_texture(node, texture_path)
    scene.add_node(node)

    mesh = Mesh.from_trimesh(wall_trimesh)
    node = Node(
        mesh=mesh,
        rotation=pyrender.quaternion.from_yaw(math.pi),
        translation=np.array([0, 1.15, 3.5]))
    set_random_texture(node, texture_path)
    scene.add_node(node)

    mesh = Mesh.from_trimesh(wall_trimesh)
    node = Node(
        mesh=mesh,
        rotation=pyrender.quaternion.from_yaw(-math.pi / 2),
        translation=np.array([3.5, 1.15, 0]))
    set_random_texture(node, texture_path)
    scene.add_node(node)

    mesh = Mesh.from_trimesh(wall_trimesh)
    node = Node(
        mesh=mesh,
        rotation=pyrender.quaternion.from_yaw(math.pi / 2),

def genearte_camera_quaternion(yaw, pitch):
    quaternion_yaw = pyrender.quaternion.from_yaw(yaw)
    quaternion_pitch = pyrender.quaternion.from_pitch(pitch)
    quaternion = pyrender.quaternion.multiply(quaternion_pitch, quaternion_yaw)
    quaternion = quaternion / np.linalg.norm(quaternion)
    return quaternion

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)
    quaternion = pyrender.quaternion.multiply(quaternion_pitch, quaternion_yaw)
    quaternion = quaternion / np.linalg.norm(quaternion)
    node = Node(
        light=light, rotation=quaternion, translation=np.array([1, 1, 1]))
    scene.add_node(node)

    return scene, cube_nodes

available_positions = []
    for z in directions:
        for x in directions:
            available_positions.append((x, z))
    available_positions = np.array(available_positions)
    num_objects = random.choice(range(min_num_objects, max_num_objects + 1))
    indices = np.random.choice(
        np.arange(len(available_positions)), replace=False, size=num_objects)
    for xz in available_positions[indices]:
        node = random.choice(objects)()
        node.mesh.primitives[0].color_0 = random.choice(colors)
        if discrete_position == False:
            xz += np.random.uniform(-0.3, 0.3, size=xz.shape)
        if rotate_object:
            yaw = np.random.uniform(0, math.pi * 2, size=1)[0]
            rotation = pyrender.quaternion.from_yaw(yaw)
            parent = Node(
                children=[node],
                rotation=rotation,
                translation=np.array([xz[0], 0, xz[1]]))
        else:
            parent = Node(
                children=[node], translation=np.array([xz[0], 0, xz[1]]))
        scene.add_node(parent)

texture_path = random.choice(floor_textures)
    set_random_texture(node, texture_path)
    scene.add_node(node)

    texture_path = random.choice(wall_textures)

    wall_trimesh = trimesh.load("{}/wall.obj".format(object_directory))
    mesh = Mesh.from_trimesh(wall_trimesh, smooth=False)
    node = Node(mesh=mesh, translation=np.array([0, 1.15, -3.5]))
    set_random_texture(node, texture_path)
    scene.add_node(node)

    mesh = Mesh.from_trimesh(wall_trimesh, smooth=False)
    node = Node(
        mesh=mesh,
        rotation=pyrender.quaternion.from_yaw(math.pi),
        translation=np.array([0, 1.15, 3.5]))
    set_random_texture(node, texture_path)
    scene.add_node(node)

    mesh = Mesh.from_trimesh(wall_trimesh, smooth=False)
    node = Node(
        mesh=mesh,
        rotation=pyrender.quaternion.from_yaw(-math.pi / 2),
        translation=np.array([3.5, 1.15, 0]))
    set_random_texture(node, texture_path)
    scene.add_node(node)

    mesh = Mesh.from_trimesh(wall_trimesh, smooth=False)
    node = Node(
        mesh=mesh,
        rotation=pyrender.quaternion.from_yaw(math.pi / 2),

def genearte_camera_quaternion(yaw, pitch):
    quaternion_yaw = pyrender.quaternion.from_yaw(yaw)
    quaternion_pitch = pyrender.quaternion.from_pitch(pitch)
    quaternion = pyrender.quaternion.multiply(quaternion_pitch, quaternion_yaw)
    quaternion = quaternion / np.linalg.norm(quaternion)
    return quaternion

mesh = Mesh.from_trimesh(mesh, smooth=False)
        node = Node(
            mesh=mesh,
            translation=np.array(([
                position[0] - barycenter[0],
                position[1] - barycenter[1],
                position[2] - barycenter[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)
    quaternion = pyrender.quaternion.multiply(quaternion_pitch, quaternion_yaw)
    quaternion = quaternion / np.linalg.norm(quaternion)
    node = Node(
        light=light, rotation=quaternion, translation=np.array([1, 1, 1]))
    scene.add_node(node)

    return scene, cube_nodes