diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index d656c0a..4d06c23 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -9,7 +9,7 @@ on:
 jobs:
   check-style:
     name: Find Trailing Whitespace
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
       - name: Find Trailing Whitespace
@@ -23,42 +23,3 @@ jobs:
              exit 1
           fi
           exit 0
-
-  build:
-    name: Generate python files from ui
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-      - name: Remove broken apt repos [Ubuntu]
-        run: |
-          for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done
-      - name: Dependencies [Ubuntu]
-        run: |
-          sudo apt update
-          sudo apt install -y pyqt5-dev-tools
-      - name: Generate python files
-        run: |
-          bash ./generate-ui.sh
-
-      - name: Archive artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: autogenerated_files
-          path: robot_log_visualizer/ui/autogenerated
-
-  deploy:
-    runs-on: ubuntu-22.04
-    needs: [build]
-    if: github.ref == 'refs/heads/main'
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Download artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: autogenerated_files
-          path: robot_log_visualizer/ui/autogenerated
-      - name: Deploy
-        uses: stefanzweifel/git-auto-commit-action@v5
-        with:
-          commit_message: ⚙️ Automatic update of the python UI classes
diff --git a/generate-ui.sh b/generate-ui.sh
deleted file mode 100755
index a85013c..0000000
--- a/generate-ui.sh
+++ /dev/null
@@ -1,13 +0,0 @@
-#! /bin/bash
-echo "Generate the main window"
-pyuic5 -o robot_log_visualizer/ui/autogenerated/visualizer.py robot_log_visualizer/ui/misc/visualizer.ui
-
-echo "Generate Additional windows"
-pyuic5 -o  robot_log_visualizer/ui/autogenerated/about.py robot_log_visualizer/ui/misc/about.ui
-pyuic5 -o  robot_log_visualizer/ui/autogenerated/set_robot_model.py robot_log_visualizer/ui/misc/set_robot_model.ui
-
-echo "Generate tab"
-pyuic5 -o  robot_log_visualizer/ui/autogenerated/plot_tab.py robot_log_visualizer/ui/misc/plot_tab.ui
-pyuic5 -o  robot_log_visualizer/ui/autogenerated/video_tab.py robot_log_visualizer/ui/misc/video_tab.ui
-
-echo "The ui is generated"
diff --git a/robot_log_visualizer/__init__.py b/robot_log_visualizer/__init__.py
index e69de29..88cb257 100644
--- a/robot_log_visualizer/__init__.py
+++ b/robot_log_visualizer/__init__.py
@@ -0,0 +1,4 @@
+import os
+
+# Prefer the PySide6 backend when QtPy resolves the Qt binding.
+os.environ.setdefault("QT_API", "pyside2")
diff --git a/robot_log_visualizer/__main__.py b/robot_log_visualizer/__main__.py
index 7027c7a..6e7196f 100755
--- a/robot_log_visualizer/__main__.py
+++ b/robot_log_visualizer/__main__.py
@@ -7,8 +7,8 @@
 import sys
 
 # GUI
+from qtpy.QtWidgets import QApplication
 from robot_log_visualizer.ui.gui import RobotViewerMainWindow
-from PyQt5.QtWidgets import QApplication
 
 # Meshcat
 from robot_log_visualizer.robot_visualizer.meshcat_provider import MeshcatProvider
@@ -36,7 +36,11 @@ def main():
     # show the main window
     gui.show()
 
-    return app.exec_()
+    exec_method = getattr(app, "exec", None)
+    if exec_method is None:
+        exec_method = app.exec_
+
+    return exec_method()
 
 
 if __name__ == "__main__":
diff --git a/robot_log_visualizer/plotter/pyqtgraph_viewer_canvas.py b/robot_log_visualizer/plotter/pyqtgraph_viewer_canvas.py
index 4d7a6ea..7704f31 100644
--- a/robot_log_visualizer/plotter/pyqtgraph_viewer_canvas.py
+++ b/robot_log_visualizer/plotter/pyqtgraph_viewer_canvas.py
@@ -8,7 +8,7 @@
 
 import numpy as np
 import pyqtgraph as pg  # type: ignore
-from PyQt5 import QtCore, QtWidgets  # type: ignore
+from qtpy import QtCore, QtWidgets  # type: ignore
 
 from robot_log_visualizer.plotter.color_palette import ColorPalette
 from robot_log_visualizer.signal_provider.signal_provider import ProviderType
diff --git a/robot_log_visualizer/robot_visualizer/meshcat_provider.py b/robot_log_visualizer/robot_visualizer/meshcat_provider.py
index 5efb0be..dad2a36 100644
--- a/robot_log_visualizer/robot_visualizer/meshcat_provider.py
+++ b/robot_log_visualizer/robot_visualizer/meshcat_provider.py
@@ -10,7 +10,7 @@
 import idyntree.swig as idyn
 import numpy as np
 from idyntree.visualize import MeshcatVisualizer
-from PyQt5.QtCore import QMutex, QMutexLocker, QThread
+from qtpy.QtCore import QMutex, QMutexLocker, QThread
 
 from robot_log_visualizer.utils.utils import PeriodicThreadState
 
diff --git a/robot_log_visualizer/signal_provider/realtime_signal_provider.py b/robot_log_visualizer/signal_provider/realtime_signal_provider.py
index a6479c7..d41c6c0 100644
--- a/robot_log_visualizer/signal_provider/realtime_signal_provider.py
+++ b/robot_log_visualizer/signal_provider/realtime_signal_provider.py
@@ -5,6 +5,7 @@
 import time
 import traceback
 from collections import deque
+from typing import Iterable, Union
 
 import numpy as np
 
@@ -117,7 +118,7 @@ def __init__(self, period: float, signal_root_name: str):
         self.buffered_signals.add("robot_realtime::joints_state::positions")
 
     # TODO: implement a logic to remove signals that are not needed anymore
-    def add_signals_to_buffer(self, signals: list | set | str):
+    def add_signals_to_buffer(self, signals: Union[str, Iterable[str]]):
         """Add signals to the buffer set."""
         if isinstance(signals, str):
             signals = {signals}
diff --git a/robot_log_visualizer/signal_provider/signal_provider.py b/robot_log_visualizer/signal_provider/signal_provider.py
index e18efc1..285fb49 100644
--- a/robot_log_visualizer/signal_provider/signal_provider.py
+++ b/robot_log_visualizer/signal_provider/signal_provider.py
@@ -9,7 +9,9 @@
 import h5py
 import idyntree.swig as idyn
 import numpy as np
-from PyQt5.QtCore import QMutex, QMutexLocker, QThread, pyqtSignal
+from qtpy.QtCore import QMutex, QMutexLocker, QThread, Signal
+
+pyqtSignal = Signal
 
 from robot_log_visualizer.utils.utils import PeriodicThreadState, RobotStatePath
 
diff --git a/robot_log_visualizer/ui/autogenerated/__init__.py b/robot_log_visualizer/ui/autogenerated/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/robot_log_visualizer/ui/autogenerated/about.py b/robot_log_visualizer/ui/autogenerated/about.py
deleted file mode 100644
index d9a94e7..0000000
--- a/robot_log_visualizer/ui/autogenerated/about.py
+++ /dev/null
@@ -1,36 +0,0 @@
-# -*- coding: utf-8 -*-
-
-# Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/about.ui'
-#
-# Created by: PyQt5 UI code generator 5.15.6
-#
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
-# run again.  Do not edit this file unless you know what you are doing.
-
-
-from PyQt5 import QtCore, QtGui, QtWidgets
-
-
-class Ui_aboutWindow(object):
-    def setupUi(self, aboutWindow):
-        aboutWindow.setObjectName("aboutWindow")
-        aboutWindow.resize(541, 102)
-        aboutWindow.setMaximumSize(QtCore.QSize(541, 102))
-        self.centralwidget = QtWidgets.QWidget(aboutWindow)
-        self.centralwidget.setObjectName("centralwidget")
-        self.horizontalLayout = QtWidgets.QHBoxLayout(self.centralwidget)
-        self.horizontalLayout.setObjectName("horizontalLayout")
-        self.label_2 = QtWidgets.QLabel(self.centralwidget)
-        self.label_2.setEnabled(True)
-        self.label_2.setOpenExternalLinks(True)
-        self.label_2.setObjectName("label_2")
-        self.horizontalLayout.addWidget(self.label_2)
-        aboutWindow.setCentralWidget(self.centralwidget)
-
-        self.retranslateUi(aboutWindow)
-        QtCore.QMetaObject.connectSlotsByName(aboutWindow)
-
-    def retranslateUi(self, aboutWindow):
-        _translate = QtCore.QCoreApplication.translate
-        aboutWindow.setWindowTitle(_translate("aboutWindow", "Robot Log Visualizer - About"))
-        self.label_2.setText(_translate("aboutWindow", "<html><head/><body><p><span style=\" font-size:14pt; font-weight:600;\">About Robot Log Visualizer</span></p><p><span style=\" font-size:12pt;\">This program is Licensed under the </span><a href=\"https://github.com/ami-iit/robot-log-visualizer/blob/main/LICENSE\"><span style=\" font-size:12pt; text-decoration: underline; color:#0000ff;\">3-Clause BSD License</span></a></p><p><span style=\" font-size:12pt;\">The project is mantained by the </span><a href=\"https://ami.iit.it/\"><span style=\" font-size:12pt; text-decoration: underline; color:#0000ff;\">Artificial and Mechanical Intelligence lab</span></a></p></body></html>"))
diff --git a/robot_log_visualizer/ui/autogenerated/plot_tab.py b/robot_log_visualizer/ui/autogenerated/plot_tab.py
deleted file mode 100644
index 871104a..0000000
--- a/robot_log_visualizer/ui/autogenerated/plot_tab.py
+++ /dev/null
@@ -1,29 +0,0 @@
-# -*- coding: utf-8 -*-
-
-# Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/plot_tab.ui'
-#
-# Created by: PyQt5 UI code generator 5.15.6
-#
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
-# run again.  Do not edit this file unless you know what you are doing.
-
-
-from PyQt5 import QtCore, QtGui, QtWidgets
-
-
-class Ui_PlotTab(object):
-    def setupUi(self, PlotTab):
-        PlotTab.setObjectName("PlotTab")
-        PlotTab.resize(331, 149)
-        self.horizontalLayout = QtWidgets.QHBoxLayout(PlotTab)
-        self.horizontalLayout.setObjectName("horizontalLayout")
-        self.plotLayout = QtWidgets.QVBoxLayout()
-        self.plotLayout.setObjectName("plotLayout")
-        self.horizontalLayout.addLayout(self.plotLayout)
-
-        self.retranslateUi(PlotTab)
-        QtCore.QMetaObject.connectSlotsByName(PlotTab)
-
-    def retranslateUi(self, PlotTab):
-        _translate = QtCore.QCoreApplication.translate
-        PlotTab.setWindowTitle(_translate("PlotTab", "Form"))
diff --git a/robot_log_visualizer/ui/autogenerated/set_robot_model.py b/robot_log_visualizer/ui/autogenerated/set_robot_model.py
deleted file mode 100644
index 2c45f50..0000000
--- a/robot_log_visualizer/ui/autogenerated/set_robot_model.py
+++ /dev/null
@@ -1,130 +0,0 @@
-# -*- coding: utf-8 -*-
-
-# Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/set_robot_model.ui'
-#
-# Created by: PyQt5 UI code generator 5.15.6
-#
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
-# run again.  Do not edit this file unless you know what you are doing.
-
-
-from PyQt5 import QtCore, QtGui, QtWidgets
-
-
-class Ui_setRobotModelDialog(object):
-    def setupUi(self, setRobotModelDialog):
-        setRobotModelDialog.setObjectName("setRobotModelDialog")
-        setRobotModelDialog.resize(711, 363)
-        self.gridLayout = QtWidgets.QGridLayout(setRobotModelDialog)
-        self.gridLayout.setObjectName("gridLayout")
-        spacerItem = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding)
-        self.gridLayout.addItem(spacerItem, 1, 0, 1, 1)
-        self.buttonBox = QtWidgets.QDialogButtonBox(setRobotModelDialog)
-        self.buttonBox.setOrientation(QtCore.Qt.Horizontal)
-        self.buttonBox.setStandardButtons(QtWidgets.QDialogButtonBox.Close|QtWidgets.QDialogButtonBox.Save|QtWidgets.QDialogButtonBox.SaveAll)
-        self.buttonBox.setObjectName("buttonBox")
-        self.gridLayout.addWidget(self.buttonBox, 2, 0, 1, 1)
-        self.tabWidget = QtWidgets.QTabWidget(setRobotModelDialog)
-        self.tabWidget.setObjectName("tabWidget")
-        self.robot_tab = QtWidgets.QWidget()
-        self.robot_tab.setObjectName("robot_tab")
-        self.verticalLayout = QtWidgets.QVBoxLayout(self.robot_tab)
-        self.verticalLayout.setObjectName("verticalLayout")
-        self.frame = QtWidgets.QFrame(self.robot_tab)
-        self.frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
-        self.frame.setObjectName("frame")
-        self.gridLayout_2 = QtWidgets.QGridLayout(self.frame)
-        self.gridLayout_2.setObjectName("gridLayout_2")
-        self.robotModelToolButton = QtWidgets.QToolButton(self.frame)
-        self.robotModelToolButton.setObjectName("robotModelToolButton")
-        self.gridLayout_2.addWidget(self.robotModelToolButton, 1, 1, 1, 1)
-        self.label = QtWidgets.QLabel(self.frame)
-        self.label.setObjectName("label")
-        self.gridLayout_2.addWidget(self.label, 0, 0, 1, 1)
-        self.robotModelLineEdit = QtWidgets.QLineEdit(self.frame)
-        font = QtGui.QFont()
-        font.setFamily("Ubuntu Mono")
-        self.robotModelLineEdit.setFont(font)
-        self.robotModelLineEdit.setObjectName("robotModelLineEdit")
-        self.gridLayout_2.addWidget(self.robotModelLineEdit, 1, 0, 1, 1)
-        self.verticalLayout.addWidget(self.frame)
-        self.frame_2 = QtWidgets.QFrame(self.robot_tab)
-        self.frame_2.setFrameShape(QtWidgets.QFrame.StyledPanel)
-        self.frame_2.setObjectName("frame_2")
-        self.gridLayout_3 = QtWidgets.QGridLayout(self.frame_2)
-        self.gridLayout_3.setObjectName("gridLayout_3")
-        self.packageDirToolButton = QtWidgets.QToolButton(self.frame_2)
-        self.packageDirToolButton.setObjectName("packageDirToolButton")
-        self.gridLayout_3.addWidget(self.packageDirToolButton, 1, 1, 1, 1)
-        self.label_3 = QtWidgets.QLabel(self.frame_2)
-        self.label_3.setObjectName("label_3")
-        self.gridLayout_3.addWidget(self.label_3, 0, 0, 1, 1)
-        self.packageDirLineEdit = QtWidgets.QLineEdit(self.frame_2)
-        font = QtGui.QFont()
-        font.setFamily("Ubuntu Mono")
-        self.packageDirLineEdit.setFont(font)
-        self.packageDirLineEdit.setObjectName("packageDirLineEdit")
-        self.gridLayout_3.addWidget(self.packageDirLineEdit, 1, 0, 1, 1)
-        self.verticalLayout.addWidget(self.frame_2)
-        self.frame_3 = QtWidgets.QFrame(self.robot_tab)
-        self.frame_3.setFrameShape(QtWidgets.QFrame.StyledPanel)
-        self.frame_3.setObjectName("frame_3")
-        self.formLayout_2 = QtWidgets.QFormLayout(self.frame_3)
-        self.formLayout_2.setObjectName("formLayout_2")
-        self.label_5 = QtWidgets.QLabel(self.frame_3)
-        self.label_5.setObjectName("label_5")
-        self.formLayout_2.setWidget(0, QtWidgets.QFormLayout.LabelRole, self.label_5)
-        self.frameNameComboBox = QtWidgets.QComboBox(self.frame_3)
-        self.frameNameComboBox.setMaxVisibleItems(5)
-        self.frameNameComboBox.setObjectName("frameNameComboBox")
-        self.formLayout_2.setWidget(1, QtWidgets.QFormLayout.SpanningRole, self.frameNameComboBox)
-        self.verticalLayout.addWidget(self.frame_3)
-        self.tabWidget.addTab(self.robot_tab, "")
-        self.mischellanea_tab = QtWidgets.QWidget()
-        self.mischellanea_tab.setObjectName("mischellanea_tab")
-        self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.mischellanea_tab)
-        self.verticalLayout_2.setObjectName("verticalLayout_2")
-        self.frame_4 = QtWidgets.QFrame(self.mischellanea_tab)
-        self.frame_4.setFrameShape(QtWidgets.QFrame.StyledPanel)
-        self.frame_4.setFrameShadow(QtWidgets.QFrame.Raised)
-        self.frame_4.setObjectName("frame_4")
-        self.gridLayout_4 = QtWidgets.QGridLayout(self.frame_4)
-        self.gridLayout_4.setObjectName("gridLayout_4")
-        self.label_2 = QtWidgets.QLabel(self.frame_4)
-        self.label_2.setObjectName("label_2")
-        self.gridLayout_4.addWidget(self.label_2, 0, 0, 1, 1)
-        self.arrowScaling_lineEdit = QtWidgets.QLineEdit(self.frame_4)
-        self.arrowScaling_lineEdit.setEnabled(False)
-        self.arrowScaling_lineEdit.setReadOnly(False)
-        self.arrowScaling_lineEdit.setClearButtonEnabled(False)
-        self.arrowScaling_lineEdit.setObjectName("arrowScaling_lineEdit")
-        self.gridLayout_4.addWidget(self.arrowScaling_lineEdit, 0, 1, 1, 1)
-        self.arrowScaling_checkBox = QtWidgets.QCheckBox(self.frame_4)
-        self.arrowScaling_checkBox.setChecked(True)
-        self.arrowScaling_checkBox.setTristate(False)
-        self.arrowScaling_checkBox.setObjectName("arrowScaling_checkBox")
-        self.gridLayout_4.addWidget(self.arrowScaling_checkBox, 0, 2, 1, 1)
-        self.verticalLayout_2.addWidget(self.frame_4)
-        spacerItem1 = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding)
-        self.verticalLayout_2.addItem(spacerItem1)
-        self.tabWidget.addTab(self.mischellanea_tab, "")
-        self.gridLayout.addWidget(self.tabWidget, 0, 0, 1, 1)
-
-        self.retranslateUi(setRobotModelDialog)
-        self.tabWidget.setCurrentIndex(0)
-        self.buttonBox.accepted.connect(setRobotModelDialog.accept) # type: ignore
-        self.buttonBox.rejected.connect(setRobotModelDialog.reject) # type: ignore
-        QtCore.QMetaObject.connectSlotsByName(setRobotModelDialog)
-
-    def retranslateUi(self, setRobotModelDialog):
-        _translate = QtCore.QCoreApplication.translate
-        setRobotModelDialog.setWindowTitle(_translate("setRobotModelDialog", "Dialog"))
-        self.robotModelToolButton.setText(_translate("setRobotModelDialog", "..."))
-        self.label.setText(_translate("setRobotModelDialog", "Robot Model"))
-        self.packageDirToolButton.setText(_translate("setRobotModelDialog", "..."))
-        self.label_3.setText(_translate("setRobotModelDialog", "Package Directory"))
-        self.label_5.setText(_translate("setRobotModelDialog", "Base Frame"))
-        self.tabWidget.setTabText(self.tabWidget.indexOf(self.robot_tab), _translate("setRobotModelDialog", "Robot"))
-        self.label_2.setText(_translate("setRobotModelDialog", "Arrow scaling"))
-        self.arrowScaling_checkBox.setText(_translate("setRobotModelDialog", "Automatic"))
-        self.tabWidget.setTabText(self.tabWidget.indexOf(self.mischellanea_tab), _translate("setRobotModelDialog", "Miscellanea"))
diff --git a/robot_log_visualizer/ui/autogenerated/video_tab.py b/robot_log_visualizer/ui/autogenerated/video_tab.py
deleted file mode 100644
index b43318e..0000000
--- a/robot_log_visualizer/ui/autogenerated/video_tab.py
+++ /dev/null
@@ -1,30 +0,0 @@
-# -*- coding: utf-8 -*-
-
-# Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/video_tab.ui'
-#
-# Created by: PyQt5 UI code generator 5.15.6
-#
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
-# run again.  Do not edit this file unless you know what you are doing.
-
-
-from PyQt5 import QtCore, QtGui, QtWidgets
-
-
-class Ui_VideoTab(object):
-    def setupUi(self, VideoTab):
-        VideoTab.setObjectName("VideoTab")
-        VideoTab.resize(400, 300)
-        self.horizontalLayout = QtWidgets.QHBoxLayout(VideoTab)
-        self.horizontalLayout.setObjectName("horizontalLayout")
-        self.webcamView = QVideoWidget(VideoTab)
-        self.webcamView.setObjectName("webcamView")
-        self.horizontalLayout.addWidget(self.webcamView)
-
-        self.retranslateUi(VideoTab)
-        QtCore.QMetaObject.connectSlotsByName(VideoTab)
-
-    def retranslateUi(self, VideoTab):
-        _translate = QtCore.QCoreApplication.translate
-        VideoTab.setWindowTitle(_translate("VideoTab", "Form"))
-from PyQt5.QtMultimediaWidgets import QVideoWidget
diff --git a/robot_log_visualizer/ui/autogenerated/visualizer.py b/robot_log_visualizer/ui/autogenerated/visualizer.py
deleted file mode 100644
index 3ba96b8..0000000
--- a/robot_log_visualizer/ui/autogenerated/visualizer.py
+++ /dev/null
@@ -1,287 +0,0 @@
-# -*- coding: utf-8 -*-
-
-# Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/visualizer.ui'
-#
-# Created by: PyQt5 UI code generator 5.15.6
-#
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
-# run again.  Do not edit this file unless you know what you are doing.
-
-
-from PyQt5 import QtCore, QtGui, QtWidgets
-
-
-class Ui_MainWindow(object):
-    def setupUi(self, MainWindow):
-        MainWindow.setObjectName("MainWindow")
-        MainWindow.resize(929, 908)
-        MainWindow.setAcceptDrops(True)
-        self.centralwidget = QtWidgets.QWidget(MainWindow)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)
-        sizePolicy.setHorizontalStretch(0)
-        sizePolicy.setVerticalStretch(0)
-        sizePolicy.setHeightForWidth(self.centralwidget.sizePolicy().hasHeightForWidth())
-        self.centralwidget.setSizePolicy(sizePolicy)
-        self.centralwidget.setObjectName("centralwidget")
-        self.verticalLayout = QtWidgets.QVBoxLayout(self.centralwidget)
-        self.verticalLayout.setObjectName("verticalLayout")
-        self.splitter_2 = QtWidgets.QSplitter(self.centralwidget)
-        self.splitter_2.setOrientation(QtCore.Qt.Vertical)
-        self.splitter_2.setChildrenCollapsible(False)
-        self.splitter_2.setObjectName("splitter_2")
-        self.dataVisualizationFrame = QtWidgets.QFrame(self.splitter_2)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)
-        sizePolicy.setHorizontalStretch(0)
-        sizePolicy.setVerticalStretch(2)
-        sizePolicy.setHeightForWidth(self.dataVisualizationFrame.sizePolicy().hasHeightForWidth())
-        self.dataVisualizationFrame.setSizePolicy(sizePolicy)
-        self.dataVisualizationFrame.setMaximumSize(QtCore.QSize(16777215, 16777215))
-        self.dataVisualizationFrame.setFrameShape(QtWidgets.QFrame.NoFrame)
-        self.dataVisualizationFrame.setObjectName("dataVisualizationFrame")
-        self.gridLayout_3 = QtWidgets.QGridLayout(self.dataVisualizationFrame)
-        self.gridLayout_3.setContentsMargins(-1, 9, -1, -1)
-        self.gridLayout_3.setObjectName("gridLayout_3")
-        self.pauseButton = QtWidgets.QPushButton(self.dataVisualizationFrame)
-        self.pauseButton.setEnabled(False)
-        self.pauseButton.setMaximumSize(QtCore.QSize(40, 16777215))
-        self.pauseButton.setText("")
-        icon = QtGui.QIcon.fromTheme("media-playback-pause")
-        self.pauseButton.setIcon(icon)
-        self.pauseButton.setCheckable(False)
-        self.pauseButton.setDefault(False)
-        self.pauseButton.setFlat(False)
-        self.pauseButton.setObjectName("pauseButton")
-        self.gridLayout_3.addWidget(self.pauseButton, 1, 4, 1, 1)
-        self.timeSlider = QtWidgets.QSlider(self.dataVisualizationFrame)
-        self.timeSlider.setEnabled(False)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Fixed)
-        sizePolicy.setHorizontalStretch(0)
-        sizePolicy.setVerticalStretch(0)
-        sizePolicy.setHeightForWidth(self.timeSlider.sizePolicy().hasHeightForWidth())
-        self.timeSlider.setSizePolicy(sizePolicy)
-        self.timeSlider.setPageStep(1)
-        self.timeSlider.setTracking(True)
-        self.timeSlider.setOrientation(QtCore.Qt.Horizontal)
-        self.timeSlider.setObjectName("timeSlider")
-        self.gridLayout_3.addWidget(self.timeSlider, 1, 1, 1, 2)
-        self.startButton = QtWidgets.QPushButton(self.dataVisualizationFrame)
-        self.startButton.setEnabled(False)
-        self.startButton.setMaximumSize(QtCore.QSize(40, 16777215))
-        self.startButton.setCursor(QtGui.QCursor(QtCore.Qt.ArrowCursor))
-        self.startButton.setText("")
-        icon = QtGui.QIcon.fromTheme("media-playback-start")
-        self.startButton.setIcon(icon)
-        self.startButton.setObjectName("startButton")
-        self.gridLayout_3.addWidget(self.startButton, 1, 3, 1, 1)
-        self.timeLabel = QtWidgets.QLabel(self.dataVisualizationFrame)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Ignored)
-        sizePolicy.setHorizontalStretch(0)
-        sizePolicy.setVerticalStretch(0)
-        sizePolicy.setHeightForWidth(self.timeLabel.sizePolicy().hasHeightForWidth())
-        self.timeLabel.setSizePolicy(sizePolicy)
-        self.timeLabel.setMinimumSize(QtCore.QSize(60, 0))
-        self.timeLabel.setObjectName("timeLabel")
-        self.gridLayout_3.addWidget(self.timeLabel, 1, 0, 1, 1)
-        self.splitter = QtWidgets.QSplitter(self.dataVisualizationFrame)
-        self.splitter.setOrientation(QtCore.Qt.Horizontal)
-        self.splitter.setChildrenCollapsible(True)
-        self.splitter.setObjectName("splitter")
-        self.variableTreeWidget = QtWidgets.QTreeWidget(self.splitter)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.MinimumExpanding, QtWidgets.QSizePolicy.MinimumExpanding)
-        sizePolicy.setHorizontalStretch(0)
-        sizePolicy.setVerticalStretch(0)
-        sizePolicy.setHeightForWidth(self.variableTreeWidget.sizePolicy().hasHeightForWidth())
-        self.variableTreeWidget.setSizePolicy(sizePolicy)
-        self.variableTreeWidget.setMaximumSize(QtCore.QSize(16777215, 16777215))
-        self.variableTreeWidget.setSizeIncrement(QtCore.QSize(0, 0))
-        self.variableTreeWidget.setBaseSize(QtCore.QSize(0, 0))
-        self.variableTreeWidget.setContextMenuPolicy(QtCore.Qt.CustomContextMenu)
-        self.variableTreeWidget.setFrameShape(QtWidgets.QFrame.Box)
-        self.variableTreeWidget.setSelectionMode(QtWidgets.QAbstractItemView.MultiSelection)
-        self.variableTreeWidget.setAnimated(True)
-        self.variableTreeWidget.setObjectName("variableTreeWidget")
-        self.variableTreeWidget.header().setVisible(False)
-        self.variableTreeWidget.header().setDefaultSectionSize(100)
-        self.tabPlotWidget = QtWidgets.QTabWidget(self.splitter)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)
-        sizePolicy.setHorizontalStretch(1)
-        sizePolicy.setVerticalStretch(0)
-        sizePolicy.setHeightForWidth(self.tabPlotWidget.sizePolicy().hasHeightForWidth())
-        self.tabPlotWidget.setSizePolicy(sizePolicy)
-        self.tabPlotWidget.setTabsClosable(True)
-        self.tabPlotWidget.setMovable(False)
-        self.tabPlotWidget.setTabBarAutoHide(False)
-        self.tabPlotWidget.setObjectName("tabPlotWidget")
-        self.meshcatAndVideoTab = QtWidgets.QTabWidget(self.splitter)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)
-        sizePolicy.setHorizontalStretch(2)
-        sizePolicy.setVerticalStretch(0)
-        sizePolicy.setHeightForWidth(self.meshcatAndVideoTab.sizePolicy().hasHeightForWidth())
-        self.meshcatAndVideoTab.setSizePolicy(sizePolicy)
-        self.meshcatAndVideoTab.setTabPosition(QtWidgets.QTabWidget.East)
-        self.meshcatAndVideoTab.setDocumentMode(False)
-        self.meshcatAndVideoTab.setObjectName("meshcatAndVideoTab")
-        self.meshcatTab = QtWidgets.QWidget()
-        self.meshcatTab.setObjectName("meshcatTab")
-        self.horizontalLayout = QtWidgets.QHBoxLayout(self.meshcatTab)
-        self.horizontalLayout.setObjectName("horizontalLayout")
-        self.meshcatView = QtWebEngineWidgets.QWebEngineView(self.meshcatTab)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.MinimumExpanding, QtWidgets.QSizePolicy.MinimumExpanding)
-        sizePolicy.setHorizontalStretch(1)
-        sizePolicy.setVerticalStretch(0)
-        sizePolicy.setHeightForWidth(self.meshcatView.sizePolicy().hasHeightForWidth())
-        self.meshcatView.setSizePolicy(sizePolicy)
-        self.meshcatView.setObjectName("meshcatView")
-        self.horizontalLayout.addWidget(self.meshcatView)
-        icon = QtGui.QIcon.fromTheme("input-gaming")
-        self.meshcatAndVideoTab.addTab(self.meshcatTab, icon, "")
-        self.gridLayout_3.addWidget(self.splitter, 0, 0, 1, 5)
-        self.tabWidget = QtWidgets.QTabWidget(self.splitter_2)
-        self.tabWidget.setMinimumSize(QtCore.QSize(0, 0))
-        self.tabWidget.setAutoFillBackground(False)
-        self.tabWidget.setTabPosition(QtWidgets.QTabWidget.West)
-        self.tabWidget.setUsesScrollButtons(False)
-        self.tabWidget.setDocumentMode(False)
-        self.tabWidget.setTabsClosable(False)
-        self.tabWidget.setMovable(True)
-        self.tabWidget.setObjectName("tabWidget")
-        self.yarpTextLogWidget = QtWidgets.QWidget()
-        self.yarpTextLogWidget.setObjectName("yarpTextLogWidget")
-        self.verticalLayout_3 = QtWidgets.QVBoxLayout(self.yarpTextLogWidget)
-        self.verticalLayout_3.setObjectName("verticalLayout_3")
-        self.splitter_3 = QtWidgets.QSplitter(self.yarpTextLogWidget)
-        self.splitter_3.setOrientation(QtCore.Qt.Horizontal)
-        self.splitter_3.setObjectName("splitter_3")
-        self.yarpTextLogTreeWidget = QtWidgets.QTreeWidget(self.splitter_3)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)
-        sizePolicy.setHorizontalStretch(0)
-        sizePolicy.setVerticalStretch(0)
-        sizePolicy.setHeightForWidth(self.yarpTextLogTreeWidget.sizePolicy().hasHeightForWidth())
-        self.yarpTextLogTreeWidget.setSizePolicy(sizePolicy)
-        self.yarpTextLogTreeWidget.setMaximumSize(QtCore.QSize(16777215, 16777215))
-        self.yarpTextLogTreeWidget.setSizeIncrement(QtCore.QSize(0, 0))
-        self.yarpTextLogTreeWidget.setBaseSize(QtCore.QSize(0, 0))
-        self.yarpTextLogTreeWidget.setFrameShape(QtWidgets.QFrame.Box)
-        self.yarpTextLogTreeWidget.setSelectionMode(QtWidgets.QAbstractItemView.SingleSelection)
-        self.yarpTextLogTreeWidget.setAnimated(True)
-        self.yarpTextLogTreeWidget.setObjectName("yarpTextLogTreeWidget")
-        self.yarpTextLogTreeWidget.header().setVisible(False)
-        self.yarpTextLogTreeWidget.header().setDefaultSectionSize(100)
-        self.yarpTextLogTableWidget = QtWidgets.QTableWidget(self.splitter_3)
-        self.yarpTextLogTableWidget.setEnabled(True)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)
-        sizePolicy.setHorizontalStretch(10)
-        sizePolicy.setVerticalStretch(0)
-        sizePolicy.setHeightForWidth(self.yarpTextLogTableWidget.sizePolicy().hasHeightForWidth())
-        self.yarpTextLogTableWidget.setSizePolicy(sizePolicy)
-        self.yarpTextLogTableWidget.setHorizontalScrollBarPolicy(QtCore.Qt.ScrollBarAsNeeded)
-        self.yarpTextLogTableWidget.setSizeAdjustPolicy(QtWidgets.QAbstractScrollArea.AdjustIgnored)
-        self.yarpTextLogTableWidget.setEditTriggers(QtWidgets.QAbstractItemView.NoEditTriggers)
-        self.yarpTextLogTableWidget.setSelectionMode(QtWidgets.QAbstractItemView.NoSelection)
-        self.yarpTextLogTableWidget.setHorizontalScrollMode(QtWidgets.QAbstractItemView.ScrollPerPixel)
-        self.yarpTextLogTableWidget.setShowGrid(False)
-        self.yarpTextLogTableWidget.setGridStyle(QtCore.Qt.NoPen)
-        self.yarpTextLogTableWidget.setObjectName("yarpTextLogTableWidget")
-        self.yarpTextLogTableWidget.setColumnCount(0)
-        self.yarpTextLogTableWidget.setRowCount(0)
-        self.yarpTextLogTableWidget.horizontalHeader().setVisible(False)
-        self.yarpTextLogTableWidget.verticalHeader().setVisible(False)
-        self.verticalLayout_3.addWidget(self.splitter_3)
-        icon = QtGui.QIcon.fromTheme("zoom-in")
-        self.tabWidget.addTab(self.yarpTextLogWidget, icon, "")
-        self.pythonWidget = QtWidgets.QWidget()
-        self.pythonWidget.setAutoFillBackground(False)
-        self.pythonWidget.setObjectName("pythonWidget")
-        self.pythonWidgetLayout = QtWidgets.QVBoxLayout(self.pythonWidget)
-        self.pythonWidgetLayout.setObjectName("pythonWidgetLayout")
-        icon = QtGui.QIcon.fromTheme("terminal")
-        self.tabWidget.addTab(self.pythonWidget, icon, "")
-        self.tab_5 = QtWidgets.QWidget()
-        self.tab_5.setObjectName("tab_5")
-        self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.tab_5)
-        self.verticalLayout_2.setObjectName("verticalLayout_2")
-        self.logScrollArea = QtWidgets.QScrollArea(self.tab_5)
-        self.logScrollArea.setMinimumSize(QtCore.QSize(0, 120))
-        self.logScrollArea.setAutoFillBackground(False)
-        self.logScrollArea.setStyleSheet("background: white")
-        self.logScrollArea.setVerticalScrollBarPolicy(QtCore.Qt.ScrollBarAsNeeded)
-        self.logScrollArea.setSizeAdjustPolicy(QtWidgets.QAbstractScrollArea.AdjustToContents)
-        self.logScrollArea.setWidgetResizable(True)
-        self.logScrollArea.setObjectName("logScrollArea")
-        self.logScrollAreaWidgetContents = QtWidgets.QWidget()
-        self.logScrollAreaWidgetContents.setGeometry(QtCore.QRect(0, 0, 860, 190))
-        self.logScrollAreaWidgetContents.setObjectName("logScrollAreaWidgetContents")
-        self.gridLayout = QtWidgets.QGridLayout(self.logScrollAreaWidgetContents)
-        self.gridLayout.setObjectName("gridLayout")
-        spacerItem = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding)
-        self.gridLayout.addItem(spacerItem, 2, 0, 1, 1)
-        self.logLabel = QtWidgets.QLabel(self.logScrollAreaWidgetContents)
-        self.logLabel.setCursor(QtGui.QCursor(QtCore.Qt.ArrowCursor))
-        self.logLabel.setText("")
-        self.logLabel.setObjectName("logLabel")
-        self.gridLayout.addWidget(self.logLabel, 1, 0, 1, 1)
-        self.logScrollArea.setWidget(self.logScrollAreaWidgetContents)
-        self.verticalLayout_2.addWidget(self.logScrollArea)
-        icon = QtGui.QIcon.fromTheme("document")
-        self.tabWidget.addTab(self.tab_5, icon, "")
-        self.verticalLayout.addWidget(self.splitter_2)
-        MainWindow.setCentralWidget(self.centralwidget)
-        self.menubar = QtWidgets.QMenuBar(MainWindow)
-        self.menubar.setGeometry(QtCore.QRect(0, 0, 929, 22))
-        self.menubar.setObjectName("menubar")
-        self.menuFile = QtWidgets.QMenu(self.menubar)
-        self.menuFile.setObjectName("menuFile")
-        self.menuHelp = QtWidgets.QMenu(self.menubar)
-        self.menuHelp.setObjectName("menuHelp")
-        self.menuEdit = QtWidgets.QMenu(self.menubar)
-        self.menuEdit.setObjectName("menuEdit")
-        MainWindow.setMenuBar(self.menubar)
-        self.actionQuit = QtWidgets.QAction(MainWindow)
-        icon = QtGui.QIcon.fromTheme("exit")
-        self.actionQuit.setIcon(icon)
-        self.actionQuit.setObjectName("actionQuit")
-        self.actionOpen = QtWidgets.QAction(MainWindow)
-        icon = QtGui.QIcon.fromTheme("document-open")
-        self.actionOpen.setIcon(icon)
-        self.actionOpen.setObjectName("actionOpen")
-        self.actionAbout = QtWidgets.QAction(MainWindow)
-        self.actionAbout.setObjectName("actionAbout")
-        self.actionSet_Robot_Model = QtWidgets.QAction(MainWindow)
-        self.actionSet_Robot_Model.setObjectName("actionSet_Robot_Model")
-        self.actionRealtime_Connect = QtWidgets.QAction(MainWindow)
-        self.actionRealtime_Connect.setObjectName("actionRealtime_Connect")
-        self.menuFile.addAction(self.actionOpen)
-        self.menuFile.addAction(self.actionRealtime_Connect)
-        self.menuFile.addSeparator()
-        self.menuFile.addAction(self.actionQuit)
-        self.menuHelp.addAction(self.actionAbout)
-        self.menuEdit.addAction(self.actionSet_Robot_Model)
-        self.menubar.addAction(self.menuFile.menuAction())
-        self.menubar.addAction(self.menuEdit.menuAction())
-        self.menubar.addAction(self.menuHelp.menuAction())
-
-        self.retranslateUi(MainWindow)
-        self.tabPlotWidget.setCurrentIndex(-1)
-        self.meshcatAndVideoTab.setCurrentIndex(0)
-        self.tabWidget.setCurrentIndex(0)
-        QtCore.QMetaObject.connectSlotsByName(MainWindow)
-
-    def retranslateUi(self, MainWindow):
-        _translate = QtCore.QCoreApplication.translate
-        MainWindow.setWindowTitle(_translate("MainWindow", "Robot Log Visualizer"))
-        self.timeLabel.setText(_translate("MainWindow", "0.0"))
-        self.variableTreeWidget.headerItem().setText(0, _translate("MainWindow", "Variables"))
-        self.yarpTextLogTreeWidget.headerItem().setText(0, _translate("MainWindow", "Variables"))
-        self.yarpTextLogTableWidget.setSortingEnabled(False)
-        self.menuFile.setTitle(_translate("MainWindow", "&File"))
-        self.menuHelp.setTitle(_translate("MainWindow", "Help"))
-        self.menuEdit.setTitle(_translate("MainWindow", "&Edit"))
-        self.actionQuit.setText(_translate("MainWindow", "&Quit"))
-        self.actionQuit.setShortcut(_translate("MainWindow", "Ctrl+Q"))
-        self.actionOpen.setText(_translate("MainWindow", "&Open"))
-        self.actionOpen.setShortcut(_translate("MainWindow", "Ctrl+O"))
-        self.actionAbout.setText(_translate("MainWindow", "About"))
-        self.actionSet_Robot_Model.setText(_translate("MainWindow", "Options"))
-        self.actionRealtime_Connect.setText(_translate("MainWindow", "Realtime Connect"))
-        self.actionRealtime_Connect.setShortcut(_translate("MainWindow", "Ctrl+R"))
-from PyQt5 import QtWebEngineWidgets
diff --git a/robot_log_visualizer/ui/gui.py b/robot_log_visualizer/ui/gui.py
index dc9edfd..0e66a27 100644
--- a/robot_log_visualizer/ui/gui.py
+++ b/robot_log_visualizer/ui/gui.py
@@ -2,19 +2,21 @@
 # This software may be modified and distributed under the terms of the
 # Released under the terms of the BSD 3-Clause License
 
-# PyQt5
-from PyQt5 import QtWidgets, QtGui
-from PyQt5.QtCore import QUrl
-from PyQt5.QtCore import pyqtSlot, Qt, QMutex, QMutexLocker
-from PyQt5.QtWidgets import (
+# QtPy abstraction
+from qtpy import QtWidgets, QtGui, QtCore
+from qtpy import QtWebEngineWidgets  # noqa: F401  # Ensure WebEngine is initialised
+from qtpy.QtCore import QMutex, QMutexLocker, QUrl, Qt, Slot
+from qtpy.QtWidgets import (
+    QDialog,
+    QDialogButtonBox,
     QFileDialog,
-    QTreeWidgetItem,
+    QLineEdit,
     QToolButton,
-    QDialog,
+    QTreeWidgetItem,
     QVBoxLayout,
-    QLineEdit,
-    QDialogButtonBox,
 )
+
+pyqtSlot = Slot
 from robot_log_visualizer.robot_visualizer.meshcat_provider import MeshcatProvider
 from robot_log_visualizer.signal_provider.realtime_signal_provider import (
     RealtimeSignalProvider,
@@ -24,7 +26,10 @@
     MatfileSignalProvider,
 )
 
-from robot_log_visualizer.signal_provider.signal_provider import SignalProvider
+from robot_log_visualizer.signal_provider.signal_provider import (
+    ProviderType,
+    SignalProvider,
+)
 from robot_log_visualizer.ui.plot_item import PlotItem
 from robot_log_visualizer.ui.video_item import VideoItem
 from robot_log_visualizer.ui.text_logging import TextLoggingItem
@@ -43,9 +48,7 @@
 import numpy as np
 
 # QtDesigner generated classes
-from robot_log_visualizer.ui.autogenerated.visualizer import Ui_MainWindow
-from robot_log_visualizer.ui.autogenerated.about import Ui_aboutWindow
-from robot_log_visualizer.ui.autogenerated.set_robot_model import Ui_setRobotModelDialog
+from robot_log_visualizer.ui.ui_loader import load_ui
 
 # for logging
 from time import localtime, strftime
@@ -60,8 +63,7 @@ class SetRobotModelDialog(QtWidgets.QDialog):
     def __init__(self, meshcat_provider, parent=None, dataset_loaded=False):
         # call QMainWindow constructor
         super().__init__(parent)
-        self.ui = Ui_setRobotModelDialog()
-        self.ui.setupUi(self)
+        self.ui = load_ui("set_robot_model.ui", self)
 
         model_path = meshcat_provider.model_path
         package_dir = meshcat_provider.custom_package_dir
@@ -143,8 +145,7 @@ class About(QtWidgets.QMainWindow):
     def __init__(self):
         # call QMainWindow constructor
         super().__init__()
-        self.ui = Ui_aboutWindow()
-        self.ui.setupUi(self)
+        self.ui = load_ui("about.ui", self)
 
 
 def build_plot_title_box_dialog():
@@ -187,8 +188,7 @@ def __init__(self, signal_provider_period, meshcat_provider, animation_period):
         self.animation_period = animation_period
 
         # set up the user interface
-        self.ui = Ui_MainWindow()
-        self.ui.setupUi(self)
+        self.ui = load_ui("visualizer.ui", self)
 
         # Set all the icons
         self.ui.startButton.setIcon(get_icon("play-outline.svg"))
@@ -452,7 +452,7 @@ def plotTabCloseButton_on_click(self, index):
 
     def plotTabBar_on_doubleClick(self, index):
         dlg, plot_title = build_plot_title_box_dialog()
-        if dlg.exec() == QDialog.Accepted:
+        if dlg.exec_() == QDialog.Accepted:
             self.ui.tabPlotWidget.setTabText(index, plot_title.text())
 
     def variableTreeWidget_on_click(self):
@@ -813,7 +813,7 @@ def open_set_robot_model(self):
             self,
             self.dataset_loaded,
         )
-        outcome = dlg.exec()
+        outcome = dlg.exec_()
         if outcome == QDialog.Accepted:
 
             # check which button was clicked
@@ -1178,4 +1178,8 @@ def scroll_down(self):
     # show the main window
     gui.show()
 
-    sys.exit(app.exec_())
+    exec_method = getattr(app, "exec", None)
+    if exec_method is None:
+        exec_method = app.exec_
+
+    sys.exit(exec_method())
diff --git a/robot_log_visualizer/ui/misc/video_tab.ui b/robot_log_visualizer/ui/misc/video_tab.ui
index 35d09b0..82d80aa 100644
--- a/robot_log_visualizer/ui/misc/video_tab.ui
+++ b/robot_log_visualizer/ui/misc/video_tab.ui
@@ -21,9 +21,9 @@
  </widget>
  <customwidgets>
   <customwidget>
-   <class>QVideoWidget</class>
-   <extends>QWidget</extends>
-   <header>PyQt5.QtMultimediaWidgets</header>
+    <class>QVideoWidget</class>
+    <extends>QWidget</extends>
+    <header>qtpy.QtMultimediaWidgets</header>
    <container>1</container>
   </customwidget>
  </customwidgets>
diff --git a/robot_log_visualizer/ui/misc/visualizer.ui b/robot_log_visualizer/ui/misc/visualizer.ui
index 85ff73b..32e531f 100644
--- a/robot_log_visualizer/ui/misc/visualizer.ui
+++ b/robot_log_visualizer/ui/misc/visualizer.ui
@@ -570,7 +570,7 @@
   <customwidget>
    <class>QWebEngineView</class>
    <extends>QWidget</extends>
-   <header location="global">QtWebEngineWidgets/QWebEngineView</header>
+   <header location="global">qtpy.QtWebEngineWidgets</header>
    <container>1</container>
   </customwidget>
  </customwidgets>
diff --git a/robot_log_visualizer/ui/plot_item.py b/robot_log_visualizer/ui/plot_item.py
index b4ba329..c0889c0 100644
--- a/robot_log_visualizer/ui/plot_item.py
+++ b/robot_log_visualizer/ui/plot_item.py
@@ -2,17 +2,16 @@
 # This software may be modified and distributed under the terms of the
 # Released under the terms of the BSD 3-Clause License
 
-from PyQt5.QtWidgets import QFrame
+from qtpy.QtWidgets import QFrame
 
 from robot_log_visualizer.plotter.pyqtgraph_viewer_canvas import PyQtGraphViewerCanvas
-from robot_log_visualizer.ui.autogenerated.plot_tab import Ui_PlotTab
+from robot_log_visualizer.ui.ui_loader import load_ui
 
 
 class PlotItem(QFrame):
     def __init__(self, period):
         super().__init__(None)
-        self.ui = Ui_PlotTab()
-        self.ui.setupUi(self)
+        self.ui = load_ui("plot_tab.ui", self)
         self.canvas = PyQtGraphViewerCanvas(parent=self, period=period)
         self.ui.plotLayout.addWidget(self.canvas)
 
diff --git a/robot_log_visualizer/ui/text_logging.py b/robot_log_visualizer/ui/text_logging.py
index 477b4b8..dcb2403 100644
--- a/robot_log_visualizer/ui/text_logging.py
+++ b/robot_log_visualizer/ui/text_logging.py
@@ -1,9 +1,6 @@
-from PyQt5 import QtWidgets
-from PyQt5.QtWidgets import (
-    QTableWidgetItem,
-)
-
-from PyQt5.QtGui import QColor, QBrush
+from qtpy import QtWidgets
+from qtpy.QtGui import QColor, QBrush
+from qtpy.QtWidgets import QTableWidgetItem
 
 
 class TextLoggingItem:
diff --git a/robot_log_visualizer/ui/ui_loader.py b/robot_log_visualizer/ui/ui_loader.py
new file mode 100644
index 0000000..3524916
--- /dev/null
+++ b/robot_log_visualizer/ui/ui_loader.py
@@ -0,0 +1,55 @@
+# Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# Released under the terms of the BSD 3-Clause License
+
+"""Utilities to load Qt Designer `.ui` files at runtime."""
+
+from __future__ import annotations
+
+from importlib import resources
+from typing import Any
+
+from qtpy import uic
+
+
+class UiProxy:
+    """Proxy object exposing UI attributes through the ``ui`` namespace.
+
+    Historically the project relied on the Qt Designer generated ``Ui_*``
+    classes that exposed widgets under a ``ui`` attribute. We keep the same
+    interface by wrapping the current instance in this proxy so existing code
+    can continue to access widgets as ``self.ui.someWidget``.
+    """
+
+    def __init__(self, target: Any) -> None:
+        super().__setattr__("_target", target)
+
+    def __getattr__(self, name: str) -> Any:
+        return getattr(self._target, name)
+
+    def __setattr__(self, name: str, value: Any) -> None:
+        setattr(self._target, name, value)
+
+
+def load_ui(ui_filename: str, baseinstance: Any) -> UiProxy:
+    """Load a Qt Designer ``.ui`` file into an existing widget instance.
+
+    Parameters
+    ----------
+    ui_filename
+        Name of the ``.ui`` file stored inside ``robot_log_visualizer.ui.misc``.
+    baseinstance
+        The Qt widget instance where the UI should be loaded.
+
+    Returns
+    -------
+    UiProxy
+        A proxy object that exposes the loaded widgets under the ``ui``
+        namespace, preserving the previous ``self.ui`` calling convention.
+    """
+
+    package = "robot_log_visualizer.ui.misc"
+    with resources.path(package, ui_filename) as ui_path:
+        uic.loadUi(str(ui_path), baseinstance)
+
+    return UiProxy(baseinstance)
diff --git a/robot_log_visualizer/ui/video_item.py b/robot_log_visualizer/ui/video_item.py
index 8db0ad8..723573e 100644
--- a/robot_log_visualizer/ui/video_item.py
+++ b/robot_log_visualizer/ui/video_item.py
@@ -2,27 +2,26 @@
 # This software may be modified and distributed under the terms of the
 # Released under the terms of the BSD 3-Clause License
 
-from PyQt5.QtCore import QUrl
-from PyQt5.QtWidgets import QFrame
-from PyQt5.QtMultimedia import QMediaContent, QMediaPlayer
+from qtpy.QtCore import QUrl
+from qtpy.QtMultimedia import QAudioOutput, QMediaPlayer
+from qtpy.QtWidgets import QFrame
 
-from robot_log_visualizer.ui.autogenerated.video_tab import Ui_VideoTab
+from robot_log_visualizer.ui.ui_loader import load_ui
 import os
 
 
 class VideoItem(QFrame):
     def __init__(self, video_filename: str):
         super().__init__(None)
-        self.ui = Ui_VideoTab()
-        self.ui.setupUi(self)
+        self.ui = load_ui("video_tab.ui", self)
 
-        self.media_player = QMediaPlayer(None, QMediaPlayer.VideoSurface)
+        self.media_player = QMediaPlayer(self)
+        self.audio_output = QAudioOutput(self)
+        self.media_player.setAudioOutput(self.audio_output)
         self.media_player.setVideoOutput(self.ui.webcamView)
 
         self.media_loaded = False
 
         if os.path.isfile(video_filename):
-            self.media_player.setMedia(
-                QMediaContent(QUrl.fromLocalFile(video_filename))
-            )
+            self.media_player.setSource(QUrl.fromLocalFile(video_filename))
             self.media_loaded = True
diff --git a/setup.cfg b/setup.cfg
index b2ccf29..0d9cb5c 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -40,15 +40,15 @@ classifiers =
 packages = find:
 python_requires = >=3.8
 install_requires =
-   idyntree >= 10.2.0
-   meshcat
-   numpy
-   PyQt5
-   PyQtWebEngine
-   pyqtconsole
-   matplotlib
-   h5py
-   pyqtgraph
+    idyntree >= 10.2.0
+    meshcat
+    numpy
+    PySide2
+    qtpy
+    pyqtconsole
+    matplotlib
+    h5py
+    pyqtgraph
 include_package_data = True
 
 [options.entry_points]
@@ -56,4 +56,4 @@ console_scripts =
    robot-log-visualizer = robot_log_visualizer.__main__:main
 
 [options.package_data]
-* = *.png, *.svg
+* = *.png, *.svg, *.ui