python-fcl dependency with trimesh>=4 and numpy>=2

[clemense]

Hi,
I'm upgrading some code that depends on trimesh-3.x to 4 and in the process I'm now stuck at ValueError: No FCL Available! Please install the python-fcl library. I saw in the toml file that the python-fcl dependency is commented out:

# "python-fcl", # do collision checks # TODO : broken on numpy 2

Why is that?

I manually installed python-fcl (0.7.0.4) but when trying to import it, I get:

  File "/scene_synthesizer/venv/lib/python3.10/site-packages/fcl/__init__.py", line 2, in <module>
    from .fcl import (
  File "src/fcl/fcl.pyx", line 1, in init fcl.fcl
ValueError: numpy.dtype size changed, may indicate binary incompatibility. Expected 96 from C header, got 88 from PyObject

Is the trimesh.collisions.CollisionManager generally not working anymore with numpy>=2?

(I'm working with a clean Ubuntu 22.04 docker with Python 3.10)

Thank you!

[mikedh]

Hey, yeah python-fcl is completely broken with Numpy 2 until it rebuilds. Also the BerkeleyAutomation/python-fcl repo has been locked out of PyPi from an expired token for a year or so now, although in the last few weeks a bunch of people have been poking it, and it looks like the token in the repo may have been updated last week. I just tried again for a rebuild in BerkeleyAutomation/python-fcl#85 and we'll see if that can finally release.

I have been using a personal fork, pip install fclx which populates import fcl but would like to not maintain that if at all possible 😆.

[clemense]

Thanks! I'll resort to the fclx solution for now and hope that the BerkeleyAutomation version comes back to life.

[mikedh]

The build worked and token is fixed so pip install python-fcl should be getting the latest 0.7.0.8 which works on Numpy 2.