Remove the dependency of icub-models

AppImageBuilder.yml

@@ -13,7 +13,7 @@ script:
   - cp robot_log_visualizer/ui/misc/icon.png AppDir/usr/share/icons/hicolor/1024x1024/apps/robot-log-visualizer-icon.png
 
   # Install application dependencies
-  - python3 -m pip install --ignore-installed --prefix=/usr --root=AppDir icub-models pyngrok pyqtconsole idyntree meshcat matplotlib h5py
+  - python3 -m pip install --ignore-installed --prefix=/usr --root=AppDir pyngrok pyqtconsole idyntree meshcat matplotlib h5py
 
 
 AppDir:

README.md

@@ -60,7 +60,7 @@ following command
 python -m pip install git+https://github.com/ami-iit/robot-log-visualizer.git
 ```
 
-## 🏃 Example
+## 🏃 Usage
 
 Once you have installed the `robot-log-visualizer` you can run it from the terminal
 
@@ -69,6 +69,28 @@ Once you have installed the `robot-log-visualizer` you can run it from the termi
 You can navigate the dataset thanks to the slider or by pressing `Ctrl-f` and `Ctrl-b` to move
 forward and backward.
 
+### 💡 Environment variables
+`robot-log-visualizer` looks for the model in the folders pointed by one of the following environment variables:
+`GAZEBO_MODEL_PATH`, `ROS_PACKAGE_PATH`, `AMENT_PREFIX_PATH` Please remember to add your model folder to one of these
+environment variables.
+For instance, if you have a model in the folder `~/my-models` you can add it to the `GAZEBO_MODEL_PATH` with the
+following command
+```console
+export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/my-models
+ ```
+Where `~/my-models` is the path to your models folder that is structured as follows
+```console
+tree ~/my-models
+~/my-models
+├── model1
+│   ├── model.config
+│   └── model.urdf
+└── model2
+    ├── model.config
+    └── model.urdf
+```
+And the name of the robot stored in the `mat` file is `model1` or `model2`.
+
 ##  🐛 Bug reports and support
 All types of [issues](https://github.com/ami-iit/robot-log-visualizer/issues/new) are welcome.
 

robot_log_visualizer/robot_visualizer/meshcat_provider.py

@@ -4,8 +4,6 @@
 
 from PyQt5.QtCore import QThread, QMutex, QMutexLocker
 
-import icub_models
-
 import os
 import re
 from pathlib import Path
@@ -28,6 +26,7 @@ def __init__(self, signal_provider, period):
 
         self._period = period
         self.meshcat_visualizer = MeshcatVisualizer()
+        self._is_model_loaded = False
         self._signal_provider = signal_provider
 
         self.custom_model_path = ""
@@ -49,16 +48,21 @@ def load_model(self, considered_joints, model_name):
         def get_model_path_from_envs(env_list):
             return [
                 Path(f) if (env != "AMENT_PREFIX_PATH") else Path(f) / "share"
-                for env in env_list if os.getenv(env) is not None
+                for env in env_list
+                if os.getenv(env) is not None
                 for f in os.getenv(env).split(os.pathsep)
             ]
 
         def check_if_model_exist(folder_path, model):
             path = folder_path / Path(model)
             return path.is_dir()
 
+        self._is_model_loaded = False
+
+        # Load the model
         model_loader = idyn.ModelLoader()
 
+        # In this case the user specify the model path
         if self.custom_model_path:
             model_loader.loadReducedModelFromFile(
                 self.custom_model_path,
@@ -67,7 +71,10 @@ def check_if_model_exist(folder_path, model):
                 [self.custom_package_dir],
             )
         else:
+            # Attempt to find the model in the envs folders
             model_found_in_env_folders = False
+
+            # Check if the model is in one of the folders specified in the envs
             for folder in get_model_path_from_envs(self.env_list):
                 if check_if_model_exist(folder, model_name):
                     folder_model_path = folder / Path(model_name)
@@ -82,8 +89,9 @@ def check_if_model_exist(folder_path, model):
                         self.custom_model_path = str(model_filenames[0])
                         break
 
+            # If the model is not found we exit
             if not model_found_in_env_folders:
-                self.custom_model_path = str(icub_models.get_model_file(model_name))
+                return False
 
             model_loader.loadReducedModelFromFile(
                 self.custom_model_path, considered_joints
@@ -95,6 +103,9 @@ def check_if_model_exist(folder_path, model):
         self.meshcat_visualizer.load_model(
             model_loader.model(), model_name="robot", color=0.8
         )
+
+        self._is_model_loaded = True
+
         return True
 
     def run(self):
@@ -104,7 +115,7 @@ def run(self):
         while True:
             start = time.time()
 
-            if self.state == PeriodicThreadState.running:
+            if self.state == PeriodicThreadState.running and self._is_model_loaded:
                 # These are the robot measured joint positions in radians
                 joints = self._signal_provider.data[self._signal_provider.root_name][
                     "joints_state"