Missing triangle.py in meshpy about dex-net HOT 8 CLOSED

Thank for your answer, I am using master branch of dex-net and trimesh==2.30.11.

By debugging, I found the error is caused by 460th line of visualizer3d.py in visualization modules (from https://github.com/BerkeleyAutomation/visualization.git).

Trimesh calls meshpy.triangle moudle to create visualization,but in meshpy (from https://github.com/BerkeleyAutomation/meshpy.git) do not contain triangle moudle. I installed dex-net by run install.sh script, which install meshpy and visualizaiton automaticlly. Should I uninstall meshpy and install it with "pip install meshpy"?

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I think you have found an incompatibility between trimesh and meshpy that will be nontrivial to fix. Trimesh wants a publicly available meshpy package on PyPI but this has a name conflict with the BerkeleyAutomation version. We will fix in the next release as we are deprecating BerkeleyAutomation/meshpy. Until then, you may have to avoid using this function.

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I couldn't find any import for a module named triangle. Are you using the master branch of dex-net? Also, what version of trimesh do you have installed?

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Yes, I agree with you and I expect to see next version. Thanks for your helping.

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@zy871125746 @jeffmahler , I found a way to work around it temporarily. After installing the meshpy package on PyPI, move the installed folder (/meshpy and /MeshPy-2018.1.dist-info) under your installation path (mine is /usr/local/lib/python2.7/dist-packages/) to your trimesh folder (/usr/local/lib/python2.7/dist-packages/trimesh). Next, move triangle.py under /mesh to ../ and change "import meshpy.triangle as triangle" to "import triangle as triangle". So that trimesh can found triangle module directly.

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@as-wanfang @zy871125746 @jeffmahler an easier solution would be to just add the PyPI package triangle as a temporary dependency to dex-net, as the "real" meshpy is currently only imported once in the codebase of trimesh, and only if the PyPI package triangle is not found.

It is not obvious from the error message, but a few lines of code above the meshpy import in the trimesh library, the triangle module is tried to be imported and the method returns before meshpy is touched on success.

For me, this solved the issue elegantly.

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@simlei Great find. This is the correct solution. Added to requirements.txt in 02a199a

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Even though requirements.txt mentioned triangle, the error still persisted when running python apps/dexnet_cli.py and then steps 0-1-3:

INFO:dexnet.api:Displaying stable poses for
Stable pose pose_0 with p=0.116
Display object failed: cannot import name triangle

Solved simply with:
python2 -m pip install --user triangle

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