Can't Use Urchin to Animate URDFs

[Piflyer]

Hello, I am trying to pass through a sequence of actions for urchin to render the URDF model of a Go2 that I have, but I unfortunately came to this issue:

 File "/Users/Tim/mambaforge/envs/sim2real-311/lib/python3.11/site-packages/pyglet/__init__.py", line 442, in __getattr__
    return getattr(self._module, name)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
AttributeError: 'NoneType' object has no attribute 'windows'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/Users/Tim/mambaforge/envs/sim2real-311/lib/python3.11/threading.py", line 1038, in _bootstrap_inner
    self.run()
  File "/Users/Tim/mambaforge/envs/sim2real-311/lib/python3.11/threading.py", line 975, in run
    self._target(*self._args, **self._kwargs)
  File "/Users/Tim/mambaforge/envs/sim2real-311/lib/python3.11/site-packages/pyrender/viewer.py", line 1016, in _init_and_start_app
    super(Viewer, self).__init__(config=conf, resizable=True,
  File "/Users/Tim/mambaforge/envs/sim2real-311/lib/python3.11/site-packages/pyglet/window/cocoa/__init__.py", line 77, in __init__
    super().__init__(*args, **kwargs)
  File "/Users/Tim/mambaforge/envs/sim2real-311/lib/python3.11/site-packages/pyglet/window/__init__.py", line 575, in __init__
    app.windows.add(self)
    ^^^^^^^^^^^
  File "/Users/Tim/mambaforge/envs/sim2real-311/lib/python3.11/site-packages/pyglet/__init__.py", line 448, in __getattr__
    __import__(import_name)
  File "/Users/Tim/mambaforge/envs/sim2real-311/lib/python3.11/site-packages/pyglet/app/__init__.py", line 104, in <module>
    platform_event_loop = PlatformEventLoop()
                          ^^^^^^^^^^^^^^^^^^^
  File "/Users/Tim/mambaforge/envs/sim2real-311/lib/python3.11/site-packages/pyglet/app/cocoa.py", line 196, in __init__
    signal.signal(signal.SIGINT, term_received)
  File "/Users/Tim/mambaforge/envs/sim2real-311/lib/python3.11/signal.py", line 56, in signal
    handler = _signal.signal(_enum_to_int(signalnum), _enum_to_int(handler))
              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
ValueError: signal only works in main thread of the main interpreter

Is there a version of pyglet or pyrender that I should use instead for it to work? Thanks!