def init_pyrender(self):
    # ==============================================================================
    # Light creation
    # ==============================================================================
    self.spot_l = pyrender.SpotLight(color=np.ones(3), intensity=3.0,
                                     innerConeAngle=np.pi / 16.0,
                                     outerConeAngle=np.pi / 6.0)

    # ==============================================================================
    # Camera creation
    # ==============================================================================

    cam = PerspectiveCamera(yfov=np.pi / 2.0)
    R = _get_cam_rotation(self.cam_p,
                          np.zeros((3)),
                          self.up_axis)

    self.cam_pose = conversions.Rp2T(R, self.cam_p)

    # ==============================================================================
    # Scene creation
    # ==============================================================================

    self.scene = Scene(ambient_light=np.array([0.1, 0.1, 0.1, 1.0]))
    self.spot_l_node = self.scene.add(self.spot_l, pose=self.cam_pose, name="spot_light")

    self.cam_node = self.scene.add(cam, pose=self.cam_pose, name="camera")
    self.r = OffscreenRenderer(viewport_width=320, viewport_height=240)