From f4f6f1350bda8891030df666d7a82b751d86666f Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Sun, 5 Oct 2025 13:22:35 +0200
Subject: [PATCH 1/5] Refactor codebase to migrate from PyQt5 to PyQt6

- Updated imports from PyQt5 to PyQt6 across multiple files including meshcat_provider.py, signal_provider.py, and various autogenerated UI files.
- Adjusted signal and slot connections to align with PyQt6 conventions.
- Modified widget creation to include parent arguments where necessary.
- Changed usage of enums and constants to match the updated PyQt6 API.
- Updated setup.cfg to reflect the new dependencies for PyQt6 and PyQt6-WebEngine.
---
 .github/workflows/ci.yml                      |   2 +-
 generate-ui.sh                                |  27 +++-
 robot_log_visualizer/__main__.py              |   4 +-
 .../plotter/pyqtgraph_viewer_canvas.py        |   2 +-
 .../robot_visualizer/meshcat_provider.py      |   2 +-
 .../signal_provider/signal_provider.py        |   2 +-
 .../ui/autogenerated/about.py                 |  12 +-
 .../ui/autogenerated/plot_tab.py              |   8 +-
 .../ui/autogenerated/set_robot_model.py       |  64 +++++----
 .../ui/autogenerated/video_tab.py             |  12 +-
 .../ui/autogenerated/visualizer.py            | 130 +++++++++---------
 robot_log_visualizer/ui/gui.py                |  69 ++++++----
 robot_log_visualizer/ui/misc/video_tab.ui     |   2 +-
 robot_log_visualizer/ui/plot_item.py          |   2 +-
 robot_log_visualizer/ui/text_logging.py       |  13 +-
 robot_log_visualizer/ui/video_item.py         |  14 +-
 setup.cfg                                     |   4 +-
 17 files changed, 192 insertions(+), 177 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index d656c0a..33c9ee2 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -35,7 +35,7 @@ jobs:
       - name: Dependencies [Ubuntu]
         run: |
           sudo apt update
-          sudo apt install -y pyqt5-dev-tools
+          sudo apt install -y pyqt6-dev-tools
       - name: Generate python files
         run: |
           bash ./generate-ui.sh
diff --git a/generate-ui.sh b/generate-ui.sh
index a85013c..3554667 100755
--- a/generate-ui.sh
+++ b/generate-ui.sh
@@ -1,13 +1,30 @@
 #! /bin/bash
+SCRIPT_DIR=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
+
+if command -v pyuic6 >/dev/null 2>&1; then
+	PYUIC_CMD=(pyuic6)
+elif [ -x "${SCRIPT_DIR}/.venv/bin/pyuic6" ]; then
+	PYUIC_CMD=("${SCRIPT_DIR}/.venv/bin/pyuic6")
+elif [ -x "${SCRIPT_DIR}/.venv/bin/python" ]; then
+	PYUIC_CMD=("${SCRIPT_DIR}/.venv/bin/python" -m PyQt6.uic.pyuic)
+elif command -v python >/dev/null 2>&1; then
+	PYUIC_CMD=(python -m PyQt6.uic.pyuic)
+elif command -v python3 >/dev/null 2>&1; then
+	PYUIC_CMD=(python3 -m PyQt6.uic.pyuic)
+else
+	echo "Error: pyuic6 not found. Please install PyQt6 tools." >&2
+	exit 1
+fi
+
 echo "Generate the main window"
-pyuic5 -o robot_log_visualizer/ui/autogenerated/visualizer.py robot_log_visualizer/ui/misc/visualizer.ui
+"${PYUIC_CMD[@]}" -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
+"${PYUIC_CMD[@]}" -o  robot_log_visualizer/ui/autogenerated/about.py robot_log_visualizer/ui/misc/about.ui
+"${PYUIC_CMD[@]}" -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
+"${PYUIC_CMD[@]}" -o  robot_log_visualizer/ui/autogenerated/plot_tab.py robot_log_visualizer/ui/misc/plot_tab.ui
+"${PYUIC_CMD[@]}" -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/__main__.py b/robot_log_visualizer/__main__.py
index 7027c7a..b9940eb 100755
--- a/robot_log_visualizer/__main__.py
+++ b/robot_log_visualizer/__main__.py
@@ -7,8 +7,8 @@
 import sys
 
 # GUI
+from PyQt6.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 +36,7 @@ def main():
     # show the main window
     gui.show()
 
-    return app.exec_()
+    return app.exec()
 
 
 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..0b02e00 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 PyQt6 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..b4d9e15 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 PyQt6.QtCore import QMutex, QMutexLocker, QThread
 
 from robot_log_visualizer.utils.utils import PeriodicThreadState
 
diff --git a/robot_log_visualizer/signal_provider/signal_provider.py b/robot_log_visualizer/signal_provider/signal_provider.py
index e18efc1..8135ab1 100644
--- a/robot_log_visualizer/signal_provider/signal_provider.py
+++ b/robot_log_visualizer/signal_provider/signal_provider.py
@@ -9,7 +9,7 @@
 import h5py
 import idyntree.swig as idyn
 import numpy as np
-from PyQt5.QtCore import QMutex, QMutexLocker, QThread, pyqtSignal
+from PyQt6.QtCore import QMutex, QMutexLocker, QThread, pyqtSignal
 
 from robot_log_visualizer.utils.utils import PeriodicThreadState, RobotStatePath
 
diff --git a/robot_log_visualizer/ui/autogenerated/about.py b/robot_log_visualizer/ui/autogenerated/about.py
index d9a94e7..4aaf47d 100644
--- a/robot_log_visualizer/ui/autogenerated/about.py
+++ b/robot_log_visualizer/ui/autogenerated/about.py
@@ -1,14 +1,12 @@
-# -*- 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
+# Created by: PyQt6 UI code generator 6.9.1
 #
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# WARNING: Any manual changes made to this file will be lost when pyuic6 is
 # run again.  Do not edit this file unless you know what you are doing.
 
 
-from PyQt5 import QtCore, QtGui, QtWidgets
+from PyQt6 import QtCore, QtGui, QtWidgets
 
 
 class Ui_aboutWindow(object):
@@ -16,11 +14,11 @@ def setupUi(self, aboutWindow):
         aboutWindow.setObjectName("aboutWindow")
         aboutWindow.resize(541, 102)
         aboutWindow.setMaximumSize(QtCore.QSize(541, 102))
-        self.centralwidget = QtWidgets.QWidget(aboutWindow)
+        self.centralwidget = QtWidgets.QWidget(parent=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 = QtWidgets.QLabel(parent=self.centralwidget)
         self.label_2.setEnabled(True)
         self.label_2.setOpenExternalLinks(True)
         self.label_2.setObjectName("label_2")
diff --git a/robot_log_visualizer/ui/autogenerated/plot_tab.py b/robot_log_visualizer/ui/autogenerated/plot_tab.py
index 871104a..9b53710 100644
--- a/robot_log_visualizer/ui/autogenerated/plot_tab.py
+++ b/robot_log_visualizer/ui/autogenerated/plot_tab.py
@@ -1,14 +1,12 @@
-# -*- 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
+# Created by: PyQt6 UI code generator 6.9.1
 #
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# WARNING: Any manual changes made to this file will be lost when pyuic6 is
 # run again.  Do not edit this file unless you know what you are doing.
 
 
-from PyQt5 import QtCore, QtGui, QtWidgets
+from PyQt6 import QtCore, QtGui, QtWidgets
 
 
 class Ui_PlotTab(object):
diff --git a/robot_log_visualizer/ui/autogenerated/set_robot_model.py b/robot_log_visualizer/ui/autogenerated/set_robot_model.py
index 2c45f50..810fe00 100644
--- a/robot_log_visualizer/ui/autogenerated/set_robot_model.py
+++ b/robot_log_visualizer/ui/autogenerated/set_robot_model.py
@@ -1,14 +1,12 @@
-# -*- 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
+# Created by: PyQt6 UI code generator 6.9.1
 #
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# WARNING: Any manual changes made to this file will be lost when pyuic6 is
 # run again.  Do not edit this file unless you know what you are doing.
 
 
-from PyQt5 import QtCore, QtGui, QtWidgets
+from PyQt6 import QtCore, QtGui, QtWidgets
 
 
 class Ui_setRobotModelDialog(object):
@@ -17,95 +15,95 @@ def setupUi(self, 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)
+        spacerItem = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Policy.Minimum, QtWidgets.QSizePolicy.Policy.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 = QtWidgets.QDialogButtonBox(parent=setRobotModelDialog)
+        self.buttonBox.setOrientation(QtCore.Qt.Orientation.Horizontal)
+        self.buttonBox.setStandardButtons(QtWidgets.QDialogButtonBox.StandardButton.Close|QtWidgets.QDialogButtonBox.StandardButton.Save|QtWidgets.QDialogButtonBox.StandardButton.SaveAll)
         self.buttonBox.setObjectName("buttonBox")
         self.gridLayout.addWidget(self.buttonBox, 2, 0, 1, 1)
-        self.tabWidget = QtWidgets.QTabWidget(setRobotModelDialog)
+        self.tabWidget = QtWidgets.QTabWidget(parent=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 = QtWidgets.QFrame(parent=self.robot_tab)
+        self.frame.setFrameShape(QtWidgets.QFrame.Shape.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 = QtWidgets.QToolButton(parent=self.frame)
         self.robotModelToolButton.setObjectName("robotModelToolButton")
         self.gridLayout_2.addWidget(self.robotModelToolButton, 1, 1, 1, 1)
-        self.label = QtWidgets.QLabel(self.frame)
+        self.label = QtWidgets.QLabel(parent=self.frame)
         self.label.setObjectName("label")
         self.gridLayout_2.addWidget(self.label, 0, 0, 1, 1)
-        self.robotModelLineEdit = QtWidgets.QLineEdit(self.frame)
+        self.robotModelLineEdit = QtWidgets.QLineEdit(parent=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 = QtWidgets.QFrame(parent=self.robot_tab)
+        self.frame_2.setFrameShape(QtWidgets.QFrame.Shape.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 = QtWidgets.QToolButton(parent=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 = QtWidgets.QLabel(parent=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)
+        self.packageDirLineEdit = QtWidgets.QLineEdit(parent=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 = QtWidgets.QFrame(parent=self.robot_tab)
+        self.frame_3.setFrameShape(QtWidgets.QFrame.Shape.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 = QtWidgets.QLabel(parent=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.formLayout_2.setWidget(0, QtWidgets.QFormLayout.ItemRole.LabelRole, self.label_5)
+        self.frameNameComboBox = QtWidgets.QComboBox(parent=self.frame_3)
         self.frameNameComboBox.setMaxVisibleItems(5)
         self.frameNameComboBox.setObjectName("frameNameComboBox")
-        self.formLayout_2.setWidget(1, QtWidgets.QFormLayout.SpanningRole, self.frameNameComboBox)
+        self.formLayout_2.setWidget(1, QtWidgets.QFormLayout.ItemRole.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 = QtWidgets.QFrame(parent=self.mischellanea_tab)
+        self.frame_4.setFrameShape(QtWidgets.QFrame.Shape.StyledPanel)
+        self.frame_4.setFrameShadow(QtWidgets.QFrame.Shadow.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 = QtWidgets.QLabel(parent=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 = QtWidgets.QLineEdit(parent=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 = QtWidgets.QCheckBox(parent=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)
+        spacerItem1 = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Policy.Minimum, QtWidgets.QSizePolicy.Policy.Expanding)
         self.verticalLayout_2.addItem(spacerItem1)
         self.tabWidget.addTab(self.mischellanea_tab, "")
         self.gridLayout.addWidget(self.tabWidget, 0, 0, 1, 1)
diff --git a/robot_log_visualizer/ui/autogenerated/video_tab.py b/robot_log_visualizer/ui/autogenerated/video_tab.py
index b43318e..02531e2 100644
--- a/robot_log_visualizer/ui/autogenerated/video_tab.py
+++ b/robot_log_visualizer/ui/autogenerated/video_tab.py
@@ -1,14 +1,12 @@
-# -*- 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
+# Created by: PyQt6 UI code generator 6.9.1
 #
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# WARNING: Any manual changes made to this file will be lost when pyuic6 is
 # run again.  Do not edit this file unless you know what you are doing.
 
 
-from PyQt5 import QtCore, QtGui, QtWidgets
+from PyQt6 import QtCore, QtGui, QtWidgets
 
 
 class Ui_VideoTab(object):
@@ -17,7 +15,7 @@ def setupUi(self, VideoTab):
         VideoTab.resize(400, 300)
         self.horizontalLayout = QtWidgets.QHBoxLayout(VideoTab)
         self.horizontalLayout.setObjectName("horizontalLayout")
-        self.webcamView = QVideoWidget(VideoTab)
+        self.webcamView = QVideoWidget(parent=VideoTab)
         self.webcamView.setObjectName("webcamView")
         self.horizontalLayout.addWidget(self.webcamView)
 
@@ -27,4 +25,4 @@ def setupUi(self, VideoTab):
     def retranslateUi(self, VideoTab):
         _translate = QtCore.QCoreApplication.translate
         VideoTab.setWindowTitle(_translate("VideoTab", "Form"))
-from PyQt5.QtMultimediaWidgets import QVideoWidget
+from PyQt6.QtMultimediaWidgets import QVideoWidget
diff --git a/robot_log_visualizer/ui/autogenerated/visualizer.py b/robot_log_visualizer/ui/autogenerated/visualizer.py
index 3ba96b8..d221721 100644
--- a/robot_log_visualizer/ui/autogenerated/visualizer.py
+++ b/robot_log_visualizer/ui/autogenerated/visualizer.py
@@ -1,14 +1,12 @@
-# -*- 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
+# Created by: PyQt6 UI code generator 6.9.1
 #
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# WARNING: Any manual changes made to this file will be lost when pyuic6 is
 # run again.  Do not edit this file unless you know what you are doing.
 
 
-from PyQt5 import QtCore, QtGui, QtWidgets
+from PyQt6 import QtCore, QtGui, QtWidgets
 
 
 class Ui_MainWindow(object):
@@ -16,8 +14,8 @@ 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)
+        self.centralwidget = QtWidgets.QWidget(parent=MainWindow)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Expanding)
         sizePolicy.setHorizontalStretch(0)
         sizePolicy.setVerticalStretch(0)
         sizePolicy.setHeightForWidth(self.centralwidget.sizePolicy().hasHeightForWidth())
@@ -25,23 +23,23 @@ def setupUi(self, MainWindow):
         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 = QtWidgets.QSplitter(parent=self.centralwidget)
+        self.splitter_2.setOrientation(QtCore.Qt.Orientation.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)
+        self.dataVisualizationFrame = QtWidgets.QFrame(parent=self.splitter_2)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.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.setFrameShape(QtWidgets.QFrame.Shape.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 = QtWidgets.QPushButton(parent=self.dataVisualizationFrame)
         self.pauseButton.setEnabled(False)
         self.pauseButton.setMaximumSize(QtCore.QSize(40, 16777215))
         self.pauseButton.setText("")
@@ -52,29 +50,29 @@ def setupUi(self, MainWindow):
         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 = QtWidgets.QSlider(parent=self.dataVisualizationFrame)
         self.timeSlider.setEnabled(False)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.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.setOrientation(QtCore.Qt.Orientation.Horizontal)
         self.timeSlider.setObjectName("timeSlider")
         self.gridLayout_3.addWidget(self.timeSlider, 1, 1, 1, 2)
-        self.startButton = QtWidgets.QPushButton(self.dataVisualizationFrame)
+        self.startButton = QtWidgets.QPushButton(parent=self.dataVisualizationFrame)
         self.startButton.setEnabled(False)
         self.startButton.setMaximumSize(QtCore.QSize(40, 16777215))
-        self.startButton.setCursor(QtGui.QCursor(QtCore.Qt.ArrowCursor))
+        self.startButton.setCursor(QtGui.QCursor(QtCore.Qt.CursorShape.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)
+        self.timeLabel = QtWidgets.QLabel(parent=self.dataVisualizationFrame)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Fixed, QtWidgets.QSizePolicy.Policy.Ignored)
         sizePolicy.setHorizontalStretch(0)
         sizePolicy.setVerticalStretch(0)
         sizePolicy.setHeightForWidth(self.timeLabel.sizePolicy().hasHeightForWidth())
@@ -82,12 +80,12 @@ def setupUi(self, MainWindow):
         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 = QtWidgets.QSplitter(parent=self.dataVisualizationFrame)
+        self.splitter.setOrientation(QtCore.Qt.Orientation.Horizontal)
         self.splitter.setChildrenCollapsible(True)
         self.splitter.setObjectName("splitter")
-        self.variableTreeWidget = QtWidgets.QTreeWidget(self.splitter)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.MinimumExpanding, QtWidgets.QSizePolicy.MinimumExpanding)
+        self.variableTreeWidget = QtWidgets.QTreeWidget(parent=self.splitter)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.MinimumExpanding, QtWidgets.QSizePolicy.Policy.MinimumExpanding)
         sizePolicy.setHorizontalStretch(0)
         sizePolicy.setVerticalStretch(0)
         sizePolicy.setHeightForWidth(self.variableTreeWidget.sizePolicy().hasHeightForWidth())
@@ -95,15 +93,15 @@ def setupUi(self, MainWindow):
         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.setContextMenuPolicy(QtCore.Qt.ContextMenuPolicy.CustomContextMenu)
+        self.variableTreeWidget.setFrameShape(QtWidgets.QFrame.Shape.Box)
+        self.variableTreeWidget.setSelectionMode(QtWidgets.QAbstractItemView.SelectionMode.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)
+        self.tabPlotWidget = QtWidgets.QTabWidget(parent=self.splitter)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Expanding)
         sizePolicy.setHorizontalStretch(1)
         sizePolicy.setVerticalStretch(0)
         sizePolicy.setHeightForWidth(self.tabPlotWidget.sizePolicy().hasHeightForWidth())
@@ -112,21 +110,21 @@ def setupUi(self, MainWindow):
         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)
+        self.meshcatAndVideoTab = QtWidgets.QTabWidget(parent=self.splitter)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.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.setTabPosition(QtWidgets.QTabWidget.TabPosition.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)
+        self.meshcatView = QtWebEngineWidgets.QWebEngineView(parent=self.meshcatTab)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.MinimumExpanding, QtWidgets.QSizePolicy.Policy.MinimumExpanding)
         sizePolicy.setHorizontalStretch(1)
         sizePolicy.setVerticalStretch(0)
         sizePolicy.setHeightForWidth(self.meshcatView.sizePolicy().hasHeightForWidth())
@@ -136,10 +134,10 @@ def setupUi(self, MainWindow):
         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 = QtWidgets.QTabWidget(parent=self.splitter_2)
         self.tabWidget.setMinimumSize(QtCore.QSize(0, 0))
         self.tabWidget.setAutoFillBackground(False)
-        self.tabWidget.setTabPosition(QtWidgets.QTabWidget.West)
+        self.tabWidget.setTabPosition(QtWidgets.QTabWidget.TabPosition.West)
         self.tabWidget.setUsesScrollButtons(False)
         self.tabWidget.setDocumentMode(False)
         self.tabWidget.setTabsClosable(False)
@@ -149,11 +147,11 @@ def setupUi(self, MainWindow):
         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 = QtWidgets.QSplitter(parent=self.yarpTextLogWidget)
+        self.splitter_3.setOrientation(QtCore.Qt.Orientation.Horizontal)
         self.splitter_3.setObjectName("splitter_3")
-        self.yarpTextLogTreeWidget = QtWidgets.QTreeWidget(self.splitter_3)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)
+        self.yarpTextLogTreeWidget = QtWidgets.QTreeWidget(parent=self.splitter_3)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Expanding)
         sizePolicy.setHorizontalStretch(0)
         sizePolicy.setVerticalStretch(0)
         sizePolicy.setHeightForWidth(self.yarpTextLogTreeWidget.sizePolicy().hasHeightForWidth())
@@ -161,26 +159,26 @@ def setupUi(self, MainWindow):
         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.setFrameShape(QtWidgets.QFrame.Shape.Box)
+        self.yarpTextLogTreeWidget.setSelectionMode(QtWidgets.QAbstractItemView.SelectionMode.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 = QtWidgets.QTableWidget(parent=self.splitter_3)
         self.yarpTextLogTableWidget.setEnabled(True)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.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.setHorizontalScrollBarPolicy(QtCore.Qt.ScrollBarPolicy.ScrollBarAsNeeded)
+        self.yarpTextLogTableWidget.setSizeAdjustPolicy(QtWidgets.QAbstractScrollArea.SizeAdjustPolicy.AdjustIgnored)
+        self.yarpTextLogTableWidget.setEditTriggers(QtWidgets.QAbstractItemView.EditTrigger.NoEditTriggers)
+        self.yarpTextLogTableWidget.setSelectionMode(QtWidgets.QAbstractItemView.SelectionMode.NoSelection)
+        self.yarpTextLogTableWidget.setHorizontalScrollMode(QtWidgets.QAbstractItemView.ScrollMode.ScrollPerPixel)
         self.yarpTextLogTableWidget.setShowGrid(False)
-        self.yarpTextLogTableWidget.setGridStyle(QtCore.Qt.NoPen)
+        self.yarpTextLogTableWidget.setGridStyle(QtCore.Qt.PenStyle.NoPen)
         self.yarpTextLogTableWidget.setObjectName("yarpTextLogTableWidget")
         self.yarpTextLogTableWidget.setColumnCount(0)
         self.yarpTextLogTableWidget.setRowCount(0)
@@ -200,12 +198,12 @@ def setupUi(self, MainWindow):
         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 = QtWidgets.QScrollArea(parent=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.setVerticalScrollBarPolicy(QtCore.Qt.ScrollBarPolicy.ScrollBarAsNeeded)
+        self.logScrollArea.setSizeAdjustPolicy(QtWidgets.QAbstractScrollArea.SizeAdjustPolicy.AdjustToContents)
         self.logScrollArea.setWidgetResizable(True)
         self.logScrollArea.setObjectName("logScrollArea")
         self.logScrollAreaWidgetContents = QtWidgets.QWidget()
@@ -213,10 +211,10 @@ def setupUi(self, MainWindow):
         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)
+        spacerItem = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Policy.Minimum, QtWidgets.QSizePolicy.Policy.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 = QtWidgets.QLabel(parent=self.logScrollAreaWidgetContents)
+        self.logLabel.setCursor(QtGui.QCursor(QtCore.Qt.CursorShape.ArrowCursor))
         self.logLabel.setText("")
         self.logLabel.setObjectName("logLabel")
         self.gridLayout.addWidget(self.logLabel, 1, 0, 1, 1)
@@ -226,29 +224,29 @@ def setupUi(self, MainWindow):
         self.tabWidget.addTab(self.tab_5, icon, "")
         self.verticalLayout.addWidget(self.splitter_2)
         MainWindow.setCentralWidget(self.centralwidget)
-        self.menubar = QtWidgets.QMenuBar(MainWindow)
+        self.menubar = QtWidgets.QMenuBar(parent=MainWindow)
         self.menubar.setGeometry(QtCore.QRect(0, 0, 929, 22))
         self.menubar.setObjectName("menubar")
-        self.menuFile = QtWidgets.QMenu(self.menubar)
+        self.menuFile = QtWidgets.QMenu(parent=self.menubar)
         self.menuFile.setObjectName("menuFile")
-        self.menuHelp = QtWidgets.QMenu(self.menubar)
+        self.menuHelp = QtWidgets.QMenu(parent=self.menubar)
         self.menuHelp.setObjectName("menuHelp")
-        self.menuEdit = QtWidgets.QMenu(self.menubar)
+        self.menuEdit = QtWidgets.QMenu(parent=self.menubar)
         self.menuEdit.setObjectName("menuEdit")
         MainWindow.setMenuBar(self.menubar)
-        self.actionQuit = QtWidgets.QAction(MainWindow)
+        self.actionQuit = QtGui.QAction(parent=MainWindow)
         icon = QtGui.QIcon.fromTheme("exit")
         self.actionQuit.setIcon(icon)
         self.actionQuit.setObjectName("actionQuit")
-        self.actionOpen = QtWidgets.QAction(MainWindow)
+        self.actionOpen = QtGui.QAction(parent=MainWindow)
         icon = QtGui.QIcon.fromTheme("document-open")
         self.actionOpen.setIcon(icon)
         self.actionOpen.setObjectName("actionOpen")
-        self.actionAbout = QtWidgets.QAction(MainWindow)
+        self.actionAbout = QtGui.QAction(parent=MainWindow)
         self.actionAbout.setObjectName("actionAbout")
-        self.actionSet_Robot_Model = QtWidgets.QAction(MainWindow)
+        self.actionSet_Robot_Model = QtGui.QAction(parent=MainWindow)
         self.actionSet_Robot_Model.setObjectName("actionSet_Robot_Model")
-        self.actionRealtime_Connect = QtWidgets.QAction(MainWindow)
+        self.actionRealtime_Connect = QtGui.QAction(parent=MainWindow)
         self.actionRealtime_Connect.setObjectName("actionRealtime_Connect")
         self.menuFile.addAction(self.actionOpen)
         self.menuFile.addAction(self.actionRealtime_Connect)
@@ -284,4 +282,4 @@ def retranslateUi(self, MainWindow):
         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
+from PyQt6 import QtWebEngineWidgets
diff --git a/robot_log_visualizer/ui/gui.py b/robot_log_visualizer/ui/gui.py
index dc9edfd..26027bb 100644
--- a/robot_log_visualizer/ui/gui.py
+++ b/robot_log_visualizer/ui/gui.py
@@ -2,18 +2,17 @@
 # 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 (
+# PyQt6
+from PyQt6 import QtWidgets, QtGui, QtCore
+from PyQt6.QtCore import QMutex, QMutexLocker, QUrl, Qt, pyqtSlot
+from PyQt6.QtWidgets import (
+    QDialog,
+    QDialogButtonBox,
     QFileDialog,
-    QTreeWidgetItem,
+    QLineEdit,
     QToolButton,
-    QDialog,
+    QTreeWidgetItem,
     QVBoxLayout,
-    QLineEdit,
-    QDialogButtonBox,
 )
 from robot_log_visualizer.robot_visualizer.meshcat_provider import MeshcatProvider
 from robot_log_visualizer.signal_provider.realtime_signal_provider import (
@@ -24,7 +23,10 @@
     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
@@ -153,7 +155,9 @@ def build_plot_title_box_dialog():
     la = QVBoxLayout(dlg)
     line_edit = QLineEdit()
     la.addWidget(line_edit)
-    bb = QDialogButtonBox(QDialogButtonBox.Ok | QDialogButtonBox.Cancel)
+    bb = QDialogButtonBox(
+        QDialogButtonBox.StandardButton.Ok | QDialogButtonBox.StandardButton.Cancel
+    )
     bb.clicked.connect(dlg.accept)
     bb.rejected.connect(dlg.reject)
     la.addWidget(bb)
@@ -165,8 +169,8 @@ def get_icon(icon_name):
     icon = QtGui.QIcon()
     icon.addPixmap(
         QtGui.QPixmap(str(pathlib.Path(__file__).parent / "misc" / icon_name)),
-        QtGui.QIcon.Normal,
-        QtGui.QIcon.Off,
+        QtGui.QIcon.Mode.Normal,
+        QtGui.QIcon.State.Off,
     )
     return icon
 
@@ -277,7 +281,9 @@ def __init__(self, signal_provider_period, meshcat_provider, animation_period):
         self.ui.tabPlotWidget.currentChanged.connect(self.plotTabBar_currentChanged)
 
         # add a custom context menu to the variable tree widget
-        self.ui.variableTreeWidget.setContextMenuPolicy(Qt.CustomContextMenu)
+        self.ui.variableTreeWidget.setContextMenuPolicy(
+            Qt.ContextMenuPolicy.CustomContextMenu
+        )
         self.ui.variableTreeWidget.customContextMenuRequested.connect(
             self.variableTreeWidget_on_right_click
         )
@@ -323,8 +329,8 @@ def keyPressEvent(self, event):
         if not self.dataset_loaded:
             return
 
-        if event.modifiers() & Qt.ControlModifier:
-            if event.key() == Qt.Key_B:
+        if event.modifiers() & Qt.KeyboardModifier.ControlModifier:
+            if event.key() == Qt.Key.Key_B:
                 self.slider_pressed = True
                 new_index = int(self.ui.timeSlider.value()) - 1
                 dataset_percentage = float(new_index) / float(
@@ -346,7 +352,7 @@ def keyPressEvent(self, event):
                 # update the time slider
                 self.ui.timeSlider.setValue(new_index)
                 self.slider_pressed = False
-            elif event.key() == Qt.Key_F:
+            elif event.key() == Qt.Key.Key_F:
                 self.slider_pressed = True
                 new_index = int(self.ui.timeSlider.value()) + 1
                 dataset_percentage = float(new_index) / float(
@@ -369,7 +375,7 @@ def keyPressEvent(self, event):
                 self.slider_pressed = False
         else:
             # If the user presses the space bar, the play/pause state is toggled.
-            if event.key() == Qt.Key_Space:
+            if event.key() == Qt.Key.Key_Space:
                 # toggle the play/pause button
                 if self.ui.startButton.isEnabled():
                     self.ui.startButton.click()
@@ -452,7 +458,7 @@ 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.DialogCode.Accepted:
             self.ui.tabPlotWidget.setTabText(index, plot_title.text())
 
     def variableTreeWidget_on_click(self):
@@ -639,7 +645,7 @@ def __populate_variable_tree_widget(self, obj, parent) -> QTreeWidgetItem:
         for key, value in obj.items():
             item = QTreeWidgetItem([key])
             item = self.__populate_variable_tree_widget(value, item)
-            item.setFlags(item.flags() & ~Qt.ItemIsSelectable)
+            item.setFlags(item.flags() & ~Qt.ItemFlag.ItemIsSelectable)
             parent.addChild(item)
         return parent
 
@@ -654,7 +660,7 @@ def __populate_text_logging_tree_widget(self, obj, parent) -> QTreeWidgetItem:
             item = QTreeWidgetItem([key])
             item = self.__populate_text_logging_tree_widget(value, item)
             if "data" not in value.keys():
-                item.setFlags(item.flags() & ~Qt.ItemIsSelectable)
+                item.setFlags(item.flags() & ~Qt.ItemFlag.ItemIsSelectable)
             parent.addChild(item)
         return parent
 
@@ -690,7 +696,7 @@ def __load_mat_file(self, file_name):
         # populate tree
         root = list(self.signal_provider.data.keys())[0]
         root_item = QTreeWidgetItem([root])
-        root_item.setFlags(root_item.flags() & ~Qt.ItemIsSelectable)
+        root_item.setFlags(root_item.flags() & ~Qt.ItemFlag.ItemIsSelectable)
         items = self.__populate_variable_tree_widget(
             self.signal_provider.data[root], root_item
         )
@@ -700,7 +706,7 @@ def __load_mat_file(self, file_name):
         if self.signal_provider.text_logging_data:
             root = list(self.signal_provider.text_logging_data.keys())[0]
             root_item = QTreeWidgetItem([root])
-            root_item.setFlags(root_item.flags() & ~Qt.ItemIsSelectable)
+            root_item.setFlags(root_item.flags() & ~Qt.ItemFlag.ItemIsSelectable)
             items = self.__populate_text_logging_tree_widget(
                 self.signal_provider.text_logging_data[root], root_item
             )
@@ -773,7 +779,7 @@ def connect_realtime_logger(self):
         # only display one root in the gui
         root = list(self.signal_provider.data.keys())[0]
         root_item = QTreeWidgetItem([root])
-        root_item.setFlags(root_item.flags() & ~Qt.ItemIsSelectable)
+        root_item.setFlags(root_item.flags() & ~Qt.ItemFlag.ItemIsSelectable)
         items = self.__populate_variable_tree_widget(
             self.signal_provider.data[root], root_item
         )
@@ -814,14 +820,17 @@ def open_set_robot_model(self):
             self.dataset_loaded,
         )
         outcome = dlg.exec()
-        if outcome == QDialog.Accepted:
+        if outcome == QDialog.DialogCode.Accepted:
 
             # check which button was clicked
             button_role = dlg.get_clicked_button_role()
             button_text = dlg.get_clicked_button_text()
             std_button = dlg.get_clicked_standard_button()
 
-            if std_button == QtWidgets.QDialogButtonBox.SaveAll:
+            if (
+                std_button
+                == QtWidgets.QDialogButtonBox.StandardButton.SaveAll
+            ):
                 if not self.dataset_loaded:
                     self.meshcat_provider.model_path = dlg.get_urdf_path()
                     self.meshcat_provider.custom_package_dir = (
@@ -836,7 +845,7 @@ def open_set_robot_model(self):
                 self.signal_provider.set_custom_max_arrow(
                     not dlg.ui.arrowScaling_checkBox.isChecked(), arrow_scaling_value
                 )
-            if std_button == QtWidgets.QDialogButtonBox.Save:
+            if std_button == QtWidgets.QDialogButtonBox.StandardButton.Save:
                 # we need to check which tab is selected in the dlg
                 if dlg.ui.tabWidget.currentIndex() == 0:
                     if not self.dataset_loaded:
@@ -886,7 +895,7 @@ def variableTreeWidget_on_right_click(self, item_position):
         if self.ui.variableTreeWidget.topLevelItemCount() == 0:
             menu = QtWidgets.QMenu()
             menu.addAction("Open a mat file")
-            action = menu.exec_(self.ui.variableTreeWidget.mapToGlobal(item_position))
+            action = menu.exec(self.ui.variableTreeWidget.mapToGlobal(item_position))
             if action is None:
                 return
             if action.text() == "Open a mat file":
@@ -977,7 +986,7 @@ def variableTreeWidget_on_right_click(self, item_position):
                 menu.addAction(add_3d_arrow_str)
 
         # show the menu
-        action = menu.exec_(self.ui.variableTreeWidget.mapToGlobal(item_position))
+        action = menu.exec(self.ui.variableTreeWidget.mapToGlobal(item_position))
         if action is None:
             return
 
@@ -1178,4 +1187,4 @@ def scroll_down(self):
     # show the main window
     gui.show()
 
-    sys.exit(app.exec_())
+    sys.exit(app.exec())
diff --git a/robot_log_visualizer/ui/misc/video_tab.ui b/robot_log_visualizer/ui/misc/video_tab.ui
index 35d09b0..be72504 100644
--- a/robot_log_visualizer/ui/misc/video_tab.ui
+++ b/robot_log_visualizer/ui/misc/video_tab.ui
@@ -23,7 +23,7 @@
   <customwidget>
    <class>QVideoWidget</class>
    <extends>QWidget</extends>
-   <header>PyQt5.QtMultimediaWidgets</header>
+    <header>PyQt6.QtMultimediaWidgets</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..2e73e4c 100644
--- a/robot_log_visualizer/ui/plot_item.py
+++ b/robot_log_visualizer/ui/plot_item.py
@@ -2,7 +2,7 @@
 # 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 PyQt6.QtWidgets import QFrame
 
 from robot_log_visualizer.plotter.pyqtgraph_viewer_canvas import PyQtGraphViewerCanvas
 from robot_log_visualizer.ui.autogenerated.plot_tab import Ui_PlotTab
diff --git a/robot_log_visualizer/ui/text_logging.py b/robot_log_visualizer/ui/text_logging.py
index 477b4b8..14b00dc 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 PyQt6 import QtWidgets
+from PyQt6.QtGui import QColor, QBrush
+from PyQt6.QtWidgets import QTableWidgetItem
 
 
 class TextLoggingItem:
@@ -35,7 +32,9 @@ def clean(self):
         self.table_widget.resizeColumnToContents(1)
         self.table_widget.clear()
         header = self.table_widget.horizontalHeader()
-        header.setSectionResizeMode(QtWidgets.QHeaderView.ResizeToContents)
+        header.setSectionResizeMode(
+            QtWidgets.QHeaderView.ResizeMode.ResizeToContents
+        )
         self.index_coloured_cell = None
 
     def highlight_cell(self, index):
diff --git a/robot_log_visualizer/ui/video_item.py b/robot_log_visualizer/ui/video_item.py
index 8db0ad8..6fc021e 100644
--- a/robot_log_visualizer/ui/video_item.py
+++ b/robot_log_visualizer/ui/video_item.py
@@ -2,9 +2,9 @@
 # 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 PyQt6.QtCore import QUrl
+from PyQt6.QtMultimedia import QAudioOutput, QMediaPlayer
+from PyQt6.QtWidgets import QFrame
 
 from robot_log_visualizer.ui.autogenerated.video_tab import Ui_VideoTab
 import os
@@ -16,13 +16,13 @@ def __init__(self, video_filename: str):
         self.ui = Ui_VideoTab()
         self.ui.setupUi(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..7bac303 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -43,8 +43,8 @@ install_requires =
    idyntree >= 10.2.0
    meshcat
    numpy
-   PyQt5
-   PyQtWebEngine
+    PyQt6
+    PyQt6-WebEngine
    pyqtconsole
    matplotlib
    h5py

From bf4028915d544bf8ba0efc3aeec61946a2cbf1bd Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Sun, 5 Oct 2025 13:32:54 +0200
Subject: [PATCH 2/5] Upgrade CI workflow to use Ubuntu 24.04

---
 .github/workflows/ci.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 33c9ee2..e29c191 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
@@ -26,7 +26,7 @@ jobs:
 
   build:
     name: Generate python files from ui
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
       - name: Remove broken apt repos [Ubuntu]
@@ -47,7 +47,7 @@ jobs:
           path: robot_log_visualizer/ui/autogenerated
 
   deploy:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     needs: [build]
     if: github.ref == 'refs/heads/main'
     steps:

From c6a8ba2c222daa1f61f2f5ae2f341d0be02d7ec3 Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Sun, 5 Oct 2025 14:49:35 +0200
Subject: [PATCH 3/5] Refactor to use PySide6 and QtPy for UI components

- Updated CI workflow to install pyside6-tools instead of pyqt6-dev-tools.
- Modified generate-ui.sh to support both PySide6 and QtPy for UI file generation.
- Changed imports in various Python files from PyQt6 to qtpy for better compatibility.
- Updated autogenerated UI files to reflect the new QtPy imports and modified generated comments.
- Adjusted setup.cfg to replace PyQt6 with PySide6 and added qtpy as a dependency.
---
 .github/workflows/ci.yml                      |  2 +-
 generate-ui.sh                                | 77 +++++++++++++++++--
 robot_log_visualizer/__init__.py              |  4 +
 robot_log_visualizer/__main__.py              |  8 +-
 .../plotter/pyqtgraph_viewer_canvas.py        |  2 +-
 .../robot_visualizer/meshcat_provider.py      |  2 +-
 .../signal_provider/signal_provider.py        |  4 +-
 .../ui/autogenerated/about.py                 |  4 +-
 .../ui/autogenerated/plot_tab.py              |  4 +-
 .../ui/autogenerated/set_robot_model.py       | 22 +++---
 .../ui/autogenerated/video_tab.py             |  6 +-
 .../ui/autogenerated/visualizer.py            | 72 ++++++++---------
 robot_log_visualizer/ui/gui.py                | 63 ++++++++-------
 robot_log_visualizer/ui/misc/video_tab.ui     |  6 +-
 robot_log_visualizer/ui/plot_item.py          |  2 +-
 robot_log_visualizer/ui/text_logging.py       | 10 +--
 robot_log_visualizer/ui/video_item.py         |  6 +-
 setup.cfg                                     | 18 ++---
 18 files changed, 190 insertions(+), 122 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index e29c191..ad91922 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -35,7 +35,7 @@ jobs:
       - name: Dependencies [Ubuntu]
         run: |
           sudo apt update
-          sudo apt install -y pyqt6-dev-tools
+          sudo apt install -y pyside6-tools
       - name: Generate python files
         run: |
           bash ./generate-ui.sh
diff --git a/generate-ui.sh b/generate-ui.sh
index 3554667..2486d76 100755
--- a/generate-ui.sh
+++ b/generate-ui.sh
@@ -1,18 +1,25 @@
 #! /bin/bash
 SCRIPT_DIR=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
+cd "${SCRIPT_DIR}" || exit 1
 
-if command -v pyuic6 >/dev/null 2>&1; then
-	PYUIC_CMD=(pyuic6)
-elif [ -x "${SCRIPT_DIR}/.venv/bin/pyuic6" ]; then
-	PYUIC_CMD=("${SCRIPT_DIR}/.venv/bin/pyuic6")
+if [ -x "${SCRIPT_DIR}/.venv/bin/python" ] && "${SCRIPT_DIR}/.venv/bin/python" -c "import importlib.util as _il; mod=_il.find_spec('qtpy.uic.pyuic'); import sys; sys.exit(0 if mod else 1)" >/dev/null 2>&1; then
+	PYUIC_CMD=("${SCRIPT_DIR}/.venv/bin/python" "-m" "qtpy.uic.pyuic")
+elif command -v python >/dev/null 2>&1 && python -c "import importlib.util as _il; mod=_il.find_spec('qtpy.uic.pyuic'); import sys; sys.exit(0 if mod else 1)" >/dev/null 2>&1; then
+	PYUIC_CMD=(python "-m" "qtpy.uic.pyuic")
+elif command -v python3 >/dev/null 2>&1 && python3 -c "import importlib.util as _il; mod=_il.find_spec('qtpy.uic.pyuic'); import sys; sys.exit(0 if mod else 1)" >/dev/null 2>&1; then
+	PYUIC_CMD=(python3 "-m" "qtpy.uic.pyuic")
+elif command -v pyside6-uic >/dev/null 2>&1; then
+	PYUIC_CMD=(pyside6-uic)
+elif [ -x "${SCRIPT_DIR}/.venv/bin/pyside6-uic" ]; then
+	PYUIC_CMD=("${SCRIPT_DIR}/.venv/bin/pyside6-uic")
 elif [ -x "${SCRIPT_DIR}/.venv/bin/python" ]; then
-	PYUIC_CMD=("${SCRIPT_DIR}/.venv/bin/python" -m PyQt6.uic.pyuic)
+	PYUIC_CMD=("${SCRIPT_DIR}/.venv/bin/python" "-m" "PySide6.scripts.uic")
 elif command -v python >/dev/null 2>&1; then
-	PYUIC_CMD=(python -m PyQt6.uic.pyuic)
+	PYUIC_CMD=(python "-m" "PySide6.scripts.uic")
 elif command -v python3 >/dev/null 2>&1; then
-	PYUIC_CMD=(python3 -m PyQt6.uic.pyuic)
+	PYUIC_CMD=(python3 "-m" "PySide6.scripts.uic")
 else
-	echo "Error: pyuic6 not found. Please install PyQt6 tools." >&2
+	echo "Error: pyside6-uic or qtpy.uic.pyuic not found. Please install the Qt tools." >&2
 	exit 1
 fi
 
@@ -27,4 +34,58 @@ echo "Generate tab"
 "${PYUIC_CMD[@]}" -o  robot_log_visualizer/ui/autogenerated/plot_tab.py robot_log_visualizer/ui/misc/plot_tab.ui
 "${PYUIC_CMD[@]}" -o  robot_log_visualizer/ui/autogenerated/video_tab.py robot_log_visualizer/ui/misc/video_tab.ui
 
+if [ -x "${SCRIPT_DIR}/.venv/bin/python" ]; then
+	POST_PYTHON="${SCRIPT_DIR}/.venv/bin/python"
+elif command -v python >/dev/null 2>&1; then
+	POST_PYTHON=$(command -v python)
+elif command -v python3 >/dev/null 2>&1; then
+	POST_PYTHON=$(command -v python3)
+else
+	echo "Error: Python interpreter not found for post-processing." >&2
+	exit 1
+fi
+
+"${POST_PYTHON}" <<'PYCODE'
+from pathlib import Path
+
+AUTOGEN_DIR = Path("robot_log_visualizer/ui/autogenerated")
+
+REPLACEMENTS = {
+	"from PyQt6 import QtCore, QtGui, QtWidgets": "from qtpy import QtCore, QtGui, QtWidgets",
+	"from PyQt6 import QtWebEngineWidgets": "from qtpy import QtWebEngineWidgets",
+	"from PyQt6.QtMultimediaWidgets import QVideoWidget": "from qtpy.QtMultimediaWidgets import QVideoWidget",
+	"from PySide6 import QtCore, QtGui, QtWidgets": "from qtpy import QtCore, QtGui, QtWidgets",
+	"from PySide6 import QtWebEngineWidgets": "from qtpy import QtWebEngineWidgets",
+	"from PySide6.QtMultimediaWidgets import QVideoWidget": "from qtpy.QtMultimediaWidgets import QVideoWidget",
+	"QtWidgets.QSizePolicy.Policy.": "QtWidgets.QSizePolicy.",
+	"QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.": "QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.",
+	"QtCore.Qt.Orientation.": "QtCore.Qt.",
+	"QtWidgets.QFrame.Shape.": "QtWidgets.QFrame.",
+	"QtWidgets.QFrame.Shadow.": "QtWidgets.QFrame.",
+	"QtWidgets.QAbstractItemView.SelectionMode.": "QtWidgets.QAbstractItemView.",
+	"QtWidgets.QAbstractItemView.EditTrigger.": "QtWidgets.QAbstractItemView.",
+	"QtWidgets.QAbstractScrollArea.SizeAdjustPolicy.": "QtWidgets.QAbstractScrollArea.",
+	"QtWidgets.QAbstractItemView.ScrollMode.": "QtWidgets.QAbstractItemView.",
+	"QtCore.Qt.ScrollBarPolicy.": "QtCore.Qt.",
+	"QtCore.Qt.PenStyle.": "QtCore.Qt.",
+	"QtWidgets.QTabWidget.TabPosition.": "QtWidgets.QTabWidget.",
+	"QtWidgets.QHeaderView.ResizeMode.": "QtWidgets.QHeaderView.",
+	"QtGui.QIcon.Mode.": "QtGui.QIcon.",
+	"QtGui.QIcon.State.": "QtGui.QIcon.",
+	"QtGui.QCursor(QtCore.Qt.CursorShape.": "QtGui.QCursor(QtCore.Qt.",
+	"QtCore.Qt.ContextMenuPolicy.": "QtCore.Qt.",
+	"QtWidgets.QDialogButtonBox.StandardButton.": "QtWidgets.QDialogButtonBox.",
+}
+
+for path in AUTOGEN_DIR.glob("*.py"):
+	text = path.read_text()
+	original = text
+	for old, new in REPLACEMENTS.items():
+		text = text.replace(old, new)
+	text = text.replace("PyQt6 UI code generator", "Qt-based UI code generator")
+	text = text.replace("PySide6 UI code generator", "Qt-based UI code generator")
+	if text != original:
+		path.write_text(text)
+PYCODE
+
 echo "The ui is generated"
diff --git a/robot_log_visualizer/__init__.py b/robot_log_visualizer/__init__.py
index e69de29..44f7859 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", "pyside6")
diff --git a/robot_log_visualizer/__main__.py b/robot_log_visualizer/__main__.py
index b9940eb..6e7196f 100755
--- a/robot_log_visualizer/__main__.py
+++ b/robot_log_visualizer/__main__.py
@@ -7,7 +7,7 @@
 import sys
 
 # GUI
-from PyQt6.QtWidgets import QApplication
+from qtpy.QtWidgets import QApplication
 from robot_log_visualizer.ui.gui import RobotViewerMainWindow
 
 # Meshcat
@@ -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 0b02e00..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 PyQt6 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 b4d9e15..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 PyQt6.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/signal_provider.py b/robot_log_visualizer/signal_provider/signal_provider.py
index 8135ab1..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 PyQt6.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/about.py b/robot_log_visualizer/ui/autogenerated/about.py
index 4aaf47d..9e00f6f 100644
--- a/robot_log_visualizer/ui/autogenerated/about.py
+++ b/robot_log_visualizer/ui/autogenerated/about.py
@@ -1,12 +1,12 @@
 # Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/about.ui'
 #
-# Created by: PyQt6 UI code generator 6.9.1
+# Created by: Qt-based UI code generator
 #
 # WARNING: Any manual changes made to this file will be lost when pyuic6 is
 # run again.  Do not edit this file unless you know what you are doing.
 
 
-from PyQt6 import QtCore, QtGui, QtWidgets
+from qtpy import QtCore, QtGui, QtWidgets
 
 
 class Ui_aboutWindow(object):
diff --git a/robot_log_visualizer/ui/autogenerated/plot_tab.py b/robot_log_visualizer/ui/autogenerated/plot_tab.py
index 9b53710..e1af271 100644
--- a/robot_log_visualizer/ui/autogenerated/plot_tab.py
+++ b/robot_log_visualizer/ui/autogenerated/plot_tab.py
@@ -1,12 +1,12 @@
 # Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/plot_tab.ui'
 #
-# Created by: PyQt6 UI code generator 6.9.1
+# Created by: Qt-based UI code generator
 #
 # WARNING: Any manual changes made to this file will be lost when pyuic6 is
 # run again.  Do not edit this file unless you know what you are doing.
 
 
-from PyQt6 import QtCore, QtGui, QtWidgets
+from qtpy import QtCore, QtGui, QtWidgets
 
 
 class Ui_PlotTab(object):
diff --git a/robot_log_visualizer/ui/autogenerated/set_robot_model.py b/robot_log_visualizer/ui/autogenerated/set_robot_model.py
index 810fe00..c522aeb 100644
--- a/robot_log_visualizer/ui/autogenerated/set_robot_model.py
+++ b/robot_log_visualizer/ui/autogenerated/set_robot_model.py
@@ -1,12 +1,12 @@
 # Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/set_robot_model.ui'
 #
-# Created by: PyQt6 UI code generator 6.9.1
+# Created by: Qt-based UI code generator
 #
 # WARNING: Any manual changes made to this file will be lost when pyuic6 is
 # run again.  Do not edit this file unless you know what you are doing.
 
 
-from PyQt6 import QtCore, QtGui, QtWidgets
+from qtpy import QtCore, QtGui, QtWidgets
 
 
 class Ui_setRobotModelDialog(object):
@@ -15,11 +15,11 @@ def setupUi(self, setRobotModelDialog):
         setRobotModelDialog.resize(711, 363)
         self.gridLayout = QtWidgets.QGridLayout(setRobotModelDialog)
         self.gridLayout.setObjectName("gridLayout")
-        spacerItem = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Policy.Minimum, QtWidgets.QSizePolicy.Policy.Expanding)
+        spacerItem = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding)
         self.gridLayout.addItem(spacerItem, 1, 0, 1, 1)
         self.buttonBox = QtWidgets.QDialogButtonBox(parent=setRobotModelDialog)
-        self.buttonBox.setOrientation(QtCore.Qt.Orientation.Horizontal)
-        self.buttonBox.setStandardButtons(QtWidgets.QDialogButtonBox.StandardButton.Close|QtWidgets.QDialogButtonBox.StandardButton.Save|QtWidgets.QDialogButtonBox.StandardButton.SaveAll)
+        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(parent=setRobotModelDialog)
@@ -29,7 +29,7 @@ def setupUi(self, setRobotModelDialog):
         self.verticalLayout = QtWidgets.QVBoxLayout(self.robot_tab)
         self.verticalLayout.setObjectName("verticalLayout")
         self.frame = QtWidgets.QFrame(parent=self.robot_tab)
-        self.frame.setFrameShape(QtWidgets.QFrame.Shape.StyledPanel)
+        self.frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
         self.frame.setObjectName("frame")
         self.gridLayout_2 = QtWidgets.QGridLayout(self.frame)
         self.gridLayout_2.setObjectName("gridLayout_2")
@@ -47,7 +47,7 @@ def setupUi(self, setRobotModelDialog):
         self.gridLayout_2.addWidget(self.robotModelLineEdit, 1, 0, 1, 1)
         self.verticalLayout.addWidget(self.frame)
         self.frame_2 = QtWidgets.QFrame(parent=self.robot_tab)
-        self.frame_2.setFrameShape(QtWidgets.QFrame.Shape.StyledPanel)
+        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")
@@ -65,7 +65,7 @@ def setupUi(self, setRobotModelDialog):
         self.gridLayout_3.addWidget(self.packageDirLineEdit, 1, 0, 1, 1)
         self.verticalLayout.addWidget(self.frame_2)
         self.frame_3 = QtWidgets.QFrame(parent=self.robot_tab)
-        self.frame_3.setFrameShape(QtWidgets.QFrame.Shape.StyledPanel)
+        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")
@@ -83,8 +83,8 @@ def setupUi(self, setRobotModelDialog):
         self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.mischellanea_tab)
         self.verticalLayout_2.setObjectName("verticalLayout_2")
         self.frame_4 = QtWidgets.QFrame(parent=self.mischellanea_tab)
-        self.frame_4.setFrameShape(QtWidgets.QFrame.Shape.StyledPanel)
-        self.frame_4.setFrameShadow(QtWidgets.QFrame.Shadow.Raised)
+        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")
@@ -103,7 +103,7 @@ def setupUi(self, setRobotModelDialog):
         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.Policy.Minimum, QtWidgets.QSizePolicy.Policy.Expanding)
+        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)
diff --git a/robot_log_visualizer/ui/autogenerated/video_tab.py b/robot_log_visualizer/ui/autogenerated/video_tab.py
index 02531e2..2ccdb22 100644
--- a/robot_log_visualizer/ui/autogenerated/video_tab.py
+++ b/robot_log_visualizer/ui/autogenerated/video_tab.py
@@ -1,12 +1,12 @@
 # Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/video_tab.ui'
 #
-# Created by: PyQt6 UI code generator 6.9.1
+# Created by: Qt-based UI code generator
 #
 # WARNING: Any manual changes made to this file will be lost when pyuic6 is
 # run again.  Do not edit this file unless you know what you are doing.
 
 
-from PyQt6 import QtCore, QtGui, QtWidgets
+from qtpy import QtCore, QtGui, QtWidgets
 
 
 class Ui_VideoTab(object):
@@ -25,4 +25,4 @@ def setupUi(self, VideoTab):
     def retranslateUi(self, VideoTab):
         _translate = QtCore.QCoreApplication.translate
         VideoTab.setWindowTitle(_translate("VideoTab", "Form"))
-from PyQt6.QtMultimediaWidgets import QVideoWidget
+from qtpy.QtMultimediaWidgets import QVideoWidget
diff --git a/robot_log_visualizer/ui/autogenerated/visualizer.py b/robot_log_visualizer/ui/autogenerated/visualizer.py
index d221721..23ea21a 100644
--- a/robot_log_visualizer/ui/autogenerated/visualizer.py
+++ b/robot_log_visualizer/ui/autogenerated/visualizer.py
@@ -1,12 +1,12 @@
 # Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/visualizer.ui'
 #
-# Created by: PyQt6 UI code generator 6.9.1
+# Created by: Qt-based UI code generator
 #
 # WARNING: Any manual changes made to this file will be lost when pyuic6 is
 # run again.  Do not edit this file unless you know what you are doing.
 
 
-from PyQt6 import QtCore, QtGui, QtWidgets
+from qtpy import QtCore, QtGui, QtWidgets
 
 
 class Ui_MainWindow(object):
@@ -15,7 +15,7 @@ def setupUi(self, MainWindow):
         MainWindow.resize(929, 908)
         MainWindow.setAcceptDrops(True)
         self.centralwidget = QtWidgets.QWidget(parent=MainWindow)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Expanding)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)
         sizePolicy.setHorizontalStretch(0)
         sizePolicy.setVerticalStretch(0)
         sizePolicy.setHeightForWidth(self.centralwidget.sizePolicy().hasHeightForWidth())
@@ -24,17 +24,17 @@ def setupUi(self, MainWindow):
         self.verticalLayout = QtWidgets.QVBoxLayout(self.centralwidget)
         self.verticalLayout.setObjectName("verticalLayout")
         self.splitter_2 = QtWidgets.QSplitter(parent=self.centralwidget)
-        self.splitter_2.setOrientation(QtCore.Qt.Orientation.Vertical)
+        self.splitter_2.setOrientation(QtCore.Qt.Vertical)
         self.splitter_2.setChildrenCollapsible(False)
         self.splitter_2.setObjectName("splitter_2")
         self.dataVisualizationFrame = QtWidgets.QFrame(parent=self.splitter_2)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Expanding)
+        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.Shape.NoFrame)
+        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)
@@ -52,27 +52,27 @@ def setupUi(self, MainWindow):
         self.gridLayout_3.addWidget(self.pauseButton, 1, 4, 1, 1)
         self.timeSlider = QtWidgets.QSlider(parent=self.dataVisualizationFrame)
         self.timeSlider.setEnabled(False)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Fixed)
+        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.Orientation.Horizontal)
+        self.timeSlider.setOrientation(QtCore.Qt.Horizontal)
         self.timeSlider.setObjectName("timeSlider")
         self.gridLayout_3.addWidget(self.timeSlider, 1, 1, 1, 2)
         self.startButton = QtWidgets.QPushButton(parent=self.dataVisualizationFrame)
         self.startButton.setEnabled(False)
         self.startButton.setMaximumSize(QtCore.QSize(40, 16777215))
-        self.startButton.setCursor(QtGui.QCursor(QtCore.Qt.CursorShape.ArrowCursor))
+        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(parent=self.dataVisualizationFrame)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Fixed, QtWidgets.QSizePolicy.Policy.Ignored)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Ignored)
         sizePolicy.setHorizontalStretch(0)
         sizePolicy.setVerticalStretch(0)
         sizePolicy.setHeightForWidth(self.timeLabel.sizePolicy().hasHeightForWidth())
@@ -81,11 +81,11 @@ def setupUi(self, MainWindow):
         self.timeLabel.setObjectName("timeLabel")
         self.gridLayout_3.addWidget(self.timeLabel, 1, 0, 1, 1)
         self.splitter = QtWidgets.QSplitter(parent=self.dataVisualizationFrame)
-        self.splitter.setOrientation(QtCore.Qt.Orientation.Horizontal)
+        self.splitter.setOrientation(QtCore.Qt.Horizontal)
         self.splitter.setChildrenCollapsible(True)
         self.splitter.setObjectName("splitter")
         self.variableTreeWidget = QtWidgets.QTreeWidget(parent=self.splitter)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.MinimumExpanding, QtWidgets.QSizePolicy.Policy.MinimumExpanding)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.MinimumExpanding, QtWidgets.QSizePolicy.MinimumExpanding)
         sizePolicy.setHorizontalStretch(0)
         sizePolicy.setVerticalStretch(0)
         sizePolicy.setHeightForWidth(self.variableTreeWidget.sizePolicy().hasHeightForWidth())
@@ -93,15 +93,15 @@ def setupUi(self, MainWindow):
         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.ContextMenuPolicy.CustomContextMenu)
-        self.variableTreeWidget.setFrameShape(QtWidgets.QFrame.Shape.Box)
-        self.variableTreeWidget.setSelectionMode(QtWidgets.QAbstractItemView.SelectionMode.MultiSelection)
+        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(parent=self.splitter)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Expanding)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)
         sizePolicy.setHorizontalStretch(1)
         sizePolicy.setVerticalStretch(0)
         sizePolicy.setHeightForWidth(self.tabPlotWidget.sizePolicy().hasHeightForWidth())
@@ -111,12 +111,12 @@ def setupUi(self, MainWindow):
         self.tabPlotWidget.setTabBarAutoHide(False)
         self.tabPlotWidget.setObjectName("tabPlotWidget")
         self.meshcatAndVideoTab = QtWidgets.QTabWidget(parent=self.splitter)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Expanding)
+        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.TabPosition.East)
+        self.meshcatAndVideoTab.setTabPosition(QtWidgets.QTabWidget.East)
         self.meshcatAndVideoTab.setDocumentMode(False)
         self.meshcatAndVideoTab.setObjectName("meshcatAndVideoTab")
         self.meshcatTab = QtWidgets.QWidget()
@@ -124,7 +124,7 @@ def setupUi(self, MainWindow):
         self.horizontalLayout = QtWidgets.QHBoxLayout(self.meshcatTab)
         self.horizontalLayout.setObjectName("horizontalLayout")
         self.meshcatView = QtWebEngineWidgets.QWebEngineView(parent=self.meshcatTab)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.MinimumExpanding, QtWidgets.QSizePolicy.Policy.MinimumExpanding)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.MinimumExpanding, QtWidgets.QSizePolicy.MinimumExpanding)
         sizePolicy.setHorizontalStretch(1)
         sizePolicy.setVerticalStretch(0)
         sizePolicy.setHeightForWidth(self.meshcatView.sizePolicy().hasHeightForWidth())
@@ -137,7 +137,7 @@ def setupUi(self, MainWindow):
         self.tabWidget = QtWidgets.QTabWidget(parent=self.splitter_2)
         self.tabWidget.setMinimumSize(QtCore.QSize(0, 0))
         self.tabWidget.setAutoFillBackground(False)
-        self.tabWidget.setTabPosition(QtWidgets.QTabWidget.TabPosition.West)
+        self.tabWidget.setTabPosition(QtWidgets.QTabWidget.West)
         self.tabWidget.setUsesScrollButtons(False)
         self.tabWidget.setDocumentMode(False)
         self.tabWidget.setTabsClosable(False)
@@ -148,10 +148,10 @@ def setupUi(self, MainWindow):
         self.verticalLayout_3 = QtWidgets.QVBoxLayout(self.yarpTextLogWidget)
         self.verticalLayout_3.setObjectName("verticalLayout_3")
         self.splitter_3 = QtWidgets.QSplitter(parent=self.yarpTextLogWidget)
-        self.splitter_3.setOrientation(QtCore.Qt.Orientation.Horizontal)
+        self.splitter_3.setOrientation(QtCore.Qt.Horizontal)
         self.splitter_3.setObjectName("splitter_3")
         self.yarpTextLogTreeWidget = QtWidgets.QTreeWidget(parent=self.splitter_3)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Expanding)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)
         sizePolicy.setHorizontalStretch(0)
         sizePolicy.setVerticalStretch(0)
         sizePolicy.setHeightForWidth(self.yarpTextLogTreeWidget.sizePolicy().hasHeightForWidth())
@@ -159,26 +159,26 @@ def setupUi(self, MainWindow):
         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.Shape.Box)
-        self.yarpTextLogTreeWidget.setSelectionMode(QtWidgets.QAbstractItemView.SelectionMode.SingleSelection)
+        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(parent=self.splitter_3)
         self.yarpTextLogTableWidget.setEnabled(True)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Expanding)
+        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.ScrollBarPolicy.ScrollBarAsNeeded)
-        self.yarpTextLogTableWidget.setSizeAdjustPolicy(QtWidgets.QAbstractScrollArea.SizeAdjustPolicy.AdjustIgnored)
-        self.yarpTextLogTableWidget.setEditTriggers(QtWidgets.QAbstractItemView.EditTrigger.NoEditTriggers)
-        self.yarpTextLogTableWidget.setSelectionMode(QtWidgets.QAbstractItemView.SelectionMode.NoSelection)
-        self.yarpTextLogTableWidget.setHorizontalScrollMode(QtWidgets.QAbstractItemView.ScrollMode.ScrollPerPixel)
+        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.PenStyle.NoPen)
+        self.yarpTextLogTableWidget.setGridStyle(QtCore.Qt.NoPen)
         self.yarpTextLogTableWidget.setObjectName("yarpTextLogTableWidget")
         self.yarpTextLogTableWidget.setColumnCount(0)
         self.yarpTextLogTableWidget.setRowCount(0)
@@ -202,8 +202,8 @@ def setupUi(self, MainWindow):
         self.logScrollArea.setMinimumSize(QtCore.QSize(0, 120))
         self.logScrollArea.setAutoFillBackground(False)
         self.logScrollArea.setStyleSheet("background: white")
-        self.logScrollArea.setVerticalScrollBarPolicy(QtCore.Qt.ScrollBarPolicy.ScrollBarAsNeeded)
-        self.logScrollArea.setSizeAdjustPolicy(QtWidgets.QAbstractScrollArea.SizeAdjustPolicy.AdjustToContents)
+        self.logScrollArea.setVerticalScrollBarPolicy(QtCore.Qt.ScrollBarAsNeeded)
+        self.logScrollArea.setSizeAdjustPolicy(QtWidgets.QAbstractScrollArea.AdjustToContents)
         self.logScrollArea.setWidgetResizable(True)
         self.logScrollArea.setObjectName("logScrollArea")
         self.logScrollAreaWidgetContents = QtWidgets.QWidget()
@@ -211,10 +211,10 @@ def setupUi(self, MainWindow):
         self.logScrollAreaWidgetContents.setObjectName("logScrollAreaWidgetContents")
         self.gridLayout = QtWidgets.QGridLayout(self.logScrollAreaWidgetContents)
         self.gridLayout.setObjectName("gridLayout")
-        spacerItem = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Policy.Minimum, QtWidgets.QSizePolicy.Policy.Expanding)
+        spacerItem = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding)
         self.gridLayout.addItem(spacerItem, 2, 0, 1, 1)
         self.logLabel = QtWidgets.QLabel(parent=self.logScrollAreaWidgetContents)
-        self.logLabel.setCursor(QtGui.QCursor(QtCore.Qt.CursorShape.ArrowCursor))
+        self.logLabel.setCursor(QtGui.QCursor(QtCore.Qt.ArrowCursor))
         self.logLabel.setText("")
         self.logLabel.setObjectName("logLabel")
         self.gridLayout.addWidget(self.logLabel, 1, 0, 1, 1)
@@ -282,4 +282,4 @@ def retranslateUi(self, MainWindow):
         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 PyQt6 import QtWebEngineWidgets
+from qtpy import QtWebEngineWidgets
diff --git a/robot_log_visualizer/ui/gui.py b/robot_log_visualizer/ui/gui.py
index 26027bb..d6af97c 100644
--- a/robot_log_visualizer/ui/gui.py
+++ b/robot_log_visualizer/ui/gui.py
@@ -2,10 +2,10 @@
 # This software may be modified and distributed under the terms of the
 # Released under the terms of the BSD 3-Clause License
 
-# PyQt6
-from PyQt6 import QtWidgets, QtGui, QtCore
-from PyQt6.QtCore import QMutex, QMutexLocker, QUrl, Qt, pyqtSlot
-from PyQt6.QtWidgets import (
+# QtPy abstraction
+from qtpy import QtWidgets, QtGui, QtCore
+from qtpy.QtCore import QMutex, QMutexLocker, QUrl, Qt, Slot
+from qtpy.QtWidgets import (
     QDialog,
     QDialogButtonBox,
     QFileDialog,
@@ -14,6 +14,8 @@
     QTreeWidgetItem,
     QVBoxLayout,
 )
+
+pyqtSlot = Slot
 from robot_log_visualizer.robot_visualizer.meshcat_provider import MeshcatProvider
 from robot_log_visualizer.signal_provider.realtime_signal_provider import (
     RealtimeSignalProvider,
@@ -155,9 +157,7 @@ def build_plot_title_box_dialog():
     la = QVBoxLayout(dlg)
     line_edit = QLineEdit()
     la.addWidget(line_edit)
-    bb = QDialogButtonBox(
-        QDialogButtonBox.StandardButton.Ok | QDialogButtonBox.StandardButton.Cancel
-    )
+    bb = QDialogButtonBox(QDialogButtonBox.Ok | QDialogButtonBox.Cancel)
     bb.clicked.connect(dlg.accept)
     bb.rejected.connect(dlg.reject)
     la.addWidget(bb)
@@ -169,8 +169,8 @@ def get_icon(icon_name):
     icon = QtGui.QIcon()
     icon.addPixmap(
         QtGui.QPixmap(str(pathlib.Path(__file__).parent / "misc" / icon_name)),
-        QtGui.QIcon.Mode.Normal,
-        QtGui.QIcon.State.Off,
+        QtGui.QIcon.Normal,
+        QtGui.QIcon.Off,
     )
     return icon
 
@@ -281,9 +281,7 @@ def __init__(self, signal_provider_period, meshcat_provider, animation_period):
         self.ui.tabPlotWidget.currentChanged.connect(self.plotTabBar_currentChanged)
 
         # add a custom context menu to the variable tree widget
-        self.ui.variableTreeWidget.setContextMenuPolicy(
-            Qt.ContextMenuPolicy.CustomContextMenu
-        )
+        self.ui.variableTreeWidget.setContextMenuPolicy(Qt.CustomContextMenu)
         self.ui.variableTreeWidget.customContextMenuRequested.connect(
             self.variableTreeWidget_on_right_click
         )
@@ -329,8 +327,8 @@ def keyPressEvent(self, event):
         if not self.dataset_loaded:
             return
 
-        if event.modifiers() & Qt.KeyboardModifier.ControlModifier:
-            if event.key() == Qt.Key.Key_B:
+        if event.modifiers() & Qt.ControlModifier:
+            if event.key() == Qt.Key_B:
                 self.slider_pressed = True
                 new_index = int(self.ui.timeSlider.value()) - 1
                 dataset_percentage = float(new_index) / float(
@@ -352,7 +350,7 @@ def keyPressEvent(self, event):
                 # update the time slider
                 self.ui.timeSlider.setValue(new_index)
                 self.slider_pressed = False
-            elif event.key() == Qt.Key.Key_F:
+            elif event.key() == Qt.Key_F:
                 self.slider_pressed = True
                 new_index = int(self.ui.timeSlider.value()) + 1
                 dataset_percentage = float(new_index) / float(
@@ -375,7 +373,7 @@ def keyPressEvent(self, event):
                 self.slider_pressed = False
         else:
             # If the user presses the space bar, the play/pause state is toggled.
-            if event.key() == Qt.Key.Key_Space:
+            if event.key() == Qt.Key_Space:
                 # toggle the play/pause button
                 if self.ui.startButton.isEnabled():
                     self.ui.startButton.click()
@@ -458,7 +456,7 @@ def plotTabCloseButton_on_click(self, index):
 
     def plotTabBar_on_doubleClick(self, index):
         dlg, plot_title = build_plot_title_box_dialog()
-        if dlg.exec() == QDialog.DialogCode.Accepted:
+        if dlg.exec_() == QDialog.Accepted:
             self.ui.tabPlotWidget.setTabText(index, plot_title.text())
 
     def variableTreeWidget_on_click(self):
@@ -645,7 +643,7 @@ def __populate_variable_tree_widget(self, obj, parent) -> QTreeWidgetItem:
         for key, value in obj.items():
             item = QTreeWidgetItem([key])
             item = self.__populate_variable_tree_widget(value, item)
-            item.setFlags(item.flags() & ~Qt.ItemFlag.ItemIsSelectable)
+            item.setFlags(item.flags() & ~Qt.ItemIsSelectable)
             parent.addChild(item)
         return parent
 
@@ -660,7 +658,7 @@ def __populate_text_logging_tree_widget(self, obj, parent) -> QTreeWidgetItem:
             item = QTreeWidgetItem([key])
             item = self.__populate_text_logging_tree_widget(value, item)
             if "data" not in value.keys():
-                item.setFlags(item.flags() & ~Qt.ItemFlag.ItemIsSelectable)
+                item.setFlags(item.flags() & ~Qt.ItemIsSelectable)
             parent.addChild(item)
         return parent
 
@@ -696,7 +694,7 @@ def __load_mat_file(self, file_name):
         # populate tree
         root = list(self.signal_provider.data.keys())[0]
         root_item = QTreeWidgetItem([root])
-        root_item.setFlags(root_item.flags() & ~Qt.ItemFlag.ItemIsSelectable)
+        root_item.setFlags(root_item.flags() & ~Qt.ItemIsSelectable)
         items = self.__populate_variable_tree_widget(
             self.signal_provider.data[root], root_item
         )
@@ -706,7 +704,7 @@ def __load_mat_file(self, file_name):
         if self.signal_provider.text_logging_data:
             root = list(self.signal_provider.text_logging_data.keys())[0]
             root_item = QTreeWidgetItem([root])
-            root_item.setFlags(root_item.flags() & ~Qt.ItemFlag.ItemIsSelectable)
+            root_item.setFlags(root_item.flags() & ~Qt.ItemIsSelectable)
             items = self.__populate_text_logging_tree_widget(
                 self.signal_provider.text_logging_data[root], root_item
             )
@@ -779,7 +777,7 @@ def connect_realtime_logger(self):
         # only display one root in the gui
         root = list(self.signal_provider.data.keys())[0]
         root_item = QTreeWidgetItem([root])
-        root_item.setFlags(root_item.flags() & ~Qt.ItemFlag.ItemIsSelectable)
+        root_item.setFlags(root_item.flags() & ~Qt.ItemIsSelectable)
         items = self.__populate_variable_tree_widget(
             self.signal_provider.data[root], root_item
         )
@@ -819,18 +817,15 @@ def open_set_robot_model(self):
             self,
             self.dataset_loaded,
         )
-        outcome = dlg.exec()
-        if outcome == QDialog.DialogCode.Accepted:
+        outcome = dlg.exec_()
+        if outcome == QDialog.Accepted:
 
             # check which button was clicked
             button_role = dlg.get_clicked_button_role()
             button_text = dlg.get_clicked_button_text()
             std_button = dlg.get_clicked_standard_button()
 
-            if (
-                std_button
-                == QtWidgets.QDialogButtonBox.StandardButton.SaveAll
-            ):
+            if std_button == QtWidgets.QDialogButtonBox.SaveAll:
                 if not self.dataset_loaded:
                     self.meshcat_provider.model_path = dlg.get_urdf_path()
                     self.meshcat_provider.custom_package_dir = (
@@ -845,7 +840,7 @@ def open_set_robot_model(self):
                 self.signal_provider.set_custom_max_arrow(
                     not dlg.ui.arrowScaling_checkBox.isChecked(), arrow_scaling_value
                 )
-            if std_button == QtWidgets.QDialogButtonBox.StandardButton.Save:
+            if std_button == QtWidgets.QDialogButtonBox.Save:
                 # we need to check which tab is selected in the dlg
                 if dlg.ui.tabWidget.currentIndex() == 0:
                     if not self.dataset_loaded:
@@ -895,7 +890,7 @@ def variableTreeWidget_on_right_click(self, item_position):
         if self.ui.variableTreeWidget.topLevelItemCount() == 0:
             menu = QtWidgets.QMenu()
             menu.addAction("Open a mat file")
-            action = menu.exec(self.ui.variableTreeWidget.mapToGlobal(item_position))
+            action = menu.exec_(self.ui.variableTreeWidget.mapToGlobal(item_position))
             if action is None:
                 return
             if action.text() == "Open a mat file":
@@ -986,7 +981,7 @@ def variableTreeWidget_on_right_click(self, item_position):
                 menu.addAction(add_3d_arrow_str)
 
         # show the menu
-        action = menu.exec(self.ui.variableTreeWidget.mapToGlobal(item_position))
+        action = menu.exec_(self.ui.variableTreeWidget.mapToGlobal(item_position))
         if action is None:
             return
 
@@ -1187,4 +1182,8 @@ 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 be72504..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>PyQt6.QtMultimediaWidgets</header>
+    <class>QVideoWidget</class>
+    <extends>QWidget</extends>
+    <header>qtpy.QtMultimediaWidgets</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 2e73e4c..68c06b5 100644
--- a/robot_log_visualizer/ui/plot_item.py
+++ b/robot_log_visualizer/ui/plot_item.py
@@ -2,7 +2,7 @@
 # This software may be modified and distributed under the terms of the
 # Released under the terms of the BSD 3-Clause License
 
-from PyQt6.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
diff --git a/robot_log_visualizer/ui/text_logging.py b/robot_log_visualizer/ui/text_logging.py
index 14b00dc..dcb2403 100644
--- a/robot_log_visualizer/ui/text_logging.py
+++ b/robot_log_visualizer/ui/text_logging.py
@@ -1,6 +1,6 @@
-from PyQt6 import QtWidgets
-from PyQt6.QtGui import QColor, QBrush
-from PyQt6.QtWidgets import QTableWidgetItem
+from qtpy import QtWidgets
+from qtpy.QtGui import QColor, QBrush
+from qtpy.QtWidgets import QTableWidgetItem
 
 
 class TextLoggingItem:
@@ -32,9 +32,7 @@ def clean(self):
         self.table_widget.resizeColumnToContents(1)
         self.table_widget.clear()
         header = self.table_widget.horizontalHeader()
-        header.setSectionResizeMode(
-            QtWidgets.QHeaderView.ResizeMode.ResizeToContents
-        )
+        header.setSectionResizeMode(QtWidgets.QHeaderView.ResizeToContents)
         self.index_coloured_cell = None
 
     def highlight_cell(self, index):
diff --git a/robot_log_visualizer/ui/video_item.py b/robot_log_visualizer/ui/video_item.py
index 6fc021e..e8efa5b 100644
--- a/robot_log_visualizer/ui/video_item.py
+++ b/robot_log_visualizer/ui/video_item.py
@@ -2,9 +2,9 @@
 # This software may be modified and distributed under the terms of the
 # Released under the terms of the BSD 3-Clause License
 
-from PyQt6.QtCore import QUrl
-from PyQt6.QtMultimedia import QAudioOutput, QMediaPlayer
-from PyQt6.QtWidgets import QFrame
+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
 import os
diff --git a/setup.cfg b/setup.cfg
index 7bac303..698c659 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
-    PyQt6
-    PyQt6-WebEngine
-   pyqtconsole
-   matplotlib
-   h5py
-   pyqtgraph
+    idyntree >= 10.2.0
+    meshcat
+    numpy
+        PySide6
+    qtpy
+    pyqtconsole
+    matplotlib
+    h5py
+    pyqtgraph
 include_package_data = True
 
 [options.entry_points]

From 9988670a2ad2e3af0dc1fa7904760049539afed3 Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Sun, 5 Oct 2025 16:33:59 +0200
Subject: [PATCH 4/5] Refactor UI loading mechanism and remove autogenerated
 files

---
 .github/workflows/ci.yml                      |  39 ---
 generate-ui.sh                                |  91 ------
 .../ui/autogenerated/__init__.py              |   0
 .../ui/autogenerated/about.py                 |  34 ---
 .../ui/autogenerated/plot_tab.py              |  27 --
 .../ui/autogenerated/set_robot_model.py       | 128 --------
 .../ui/autogenerated/video_tab.py             |  28 --
 .../ui/autogenerated/visualizer.py            | 285 ------------------
 robot_log_visualizer/ui/gui.py                |  14 +-
 robot_log_visualizer/ui/misc/visualizer.ui    |   2 +-
 robot_log_visualizer/ui/plot_item.py          |   5 +-
 robot_log_visualizer/ui/ui_loader.py          |  55 ++++
 robot_log_visualizer/ui/video_item.py         |   5 +-
 setup.cfg                                     |   2 +-
 14 files changed, 66 insertions(+), 649 deletions(-)
 delete mode 100755 generate-ui.sh
 delete mode 100644 robot_log_visualizer/ui/autogenerated/__init__.py
 delete mode 100644 robot_log_visualizer/ui/autogenerated/about.py
 delete mode 100644 robot_log_visualizer/ui/autogenerated/plot_tab.py
 delete mode 100644 robot_log_visualizer/ui/autogenerated/set_robot_model.py
 delete mode 100644 robot_log_visualizer/ui/autogenerated/video_tab.py
 delete mode 100644 robot_log_visualizer/ui/autogenerated/visualizer.py
 create mode 100644 robot_log_visualizer/ui/ui_loader.py

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index ad91922..4d06c23 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -23,42 +23,3 @@ jobs:
              exit 1
           fi
           exit 0
-
-  build:
-    name: Generate python files from ui
-    runs-on: ubuntu-24.04
-    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 $apt_file; done
-      - name: Dependencies [Ubuntu]
-        run: |
-          sudo apt update
-          sudo apt install -y pyside6-tools
-      - name: Generate python files
-        run: |
-          bash ./generate-ui.sh
-
-      - name: Archive artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: autogenerated_files
-          path: robot_log_visualizer/ui/autogenerated
-
-  deploy:
-    runs-on: ubuntu-24.04
-    needs: [build]
-    if: github.ref == 'refs/heads/main'
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Download artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: autogenerated_files
-          path: robot_log_visualizer/ui/autogenerated
-      - name: Deploy
-        uses: stefanzweifel/git-auto-commit-action@v5
-        with:
-          commit_message: ⚙️ Automatic update of the python UI classes
diff --git a/generate-ui.sh b/generate-ui.sh
deleted file mode 100755
index 2486d76..0000000
--- a/generate-ui.sh
+++ /dev/null
@@ -1,91 +0,0 @@
-#! /bin/bash
-SCRIPT_DIR=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
-cd "${SCRIPT_DIR}" || exit 1
-
-if [ -x "${SCRIPT_DIR}/.venv/bin/python" ] && "${SCRIPT_DIR}/.venv/bin/python" -c "import importlib.util as _il; mod=_il.find_spec('qtpy.uic.pyuic'); import sys; sys.exit(0 if mod else 1)" >/dev/null 2>&1; then
-	PYUIC_CMD=("${SCRIPT_DIR}/.venv/bin/python" "-m" "qtpy.uic.pyuic")
-elif command -v python >/dev/null 2>&1 && python -c "import importlib.util as _il; mod=_il.find_spec('qtpy.uic.pyuic'); import sys; sys.exit(0 if mod else 1)" >/dev/null 2>&1; then
-	PYUIC_CMD=(python "-m" "qtpy.uic.pyuic")
-elif command -v python3 >/dev/null 2>&1 && python3 -c "import importlib.util as _il; mod=_il.find_spec('qtpy.uic.pyuic'); import sys; sys.exit(0 if mod else 1)" >/dev/null 2>&1; then
-	PYUIC_CMD=(python3 "-m" "qtpy.uic.pyuic")
-elif command -v pyside6-uic >/dev/null 2>&1; then
-	PYUIC_CMD=(pyside6-uic)
-elif [ -x "${SCRIPT_DIR}/.venv/bin/pyside6-uic" ]; then
-	PYUIC_CMD=("${SCRIPT_DIR}/.venv/bin/pyside6-uic")
-elif [ -x "${SCRIPT_DIR}/.venv/bin/python" ]; then
-	PYUIC_CMD=("${SCRIPT_DIR}/.venv/bin/python" "-m" "PySide6.scripts.uic")
-elif command -v python >/dev/null 2>&1; then
-	PYUIC_CMD=(python "-m" "PySide6.scripts.uic")
-elif command -v python3 >/dev/null 2>&1; then
-	PYUIC_CMD=(python3 "-m" "PySide6.scripts.uic")
-else
-	echo "Error: pyside6-uic or qtpy.uic.pyuic not found. Please install the Qt tools." >&2
-	exit 1
-fi
-
-echo "Generate the main window"
-"${PYUIC_CMD[@]}" -o robot_log_visualizer/ui/autogenerated/visualizer.py robot_log_visualizer/ui/misc/visualizer.ui
-
-echo "Generate Additional windows"
-"${PYUIC_CMD[@]}" -o  robot_log_visualizer/ui/autogenerated/about.py robot_log_visualizer/ui/misc/about.ui
-"${PYUIC_CMD[@]}" -o  robot_log_visualizer/ui/autogenerated/set_robot_model.py robot_log_visualizer/ui/misc/set_robot_model.ui
-
-echo "Generate tab"
-"${PYUIC_CMD[@]}" -o  robot_log_visualizer/ui/autogenerated/plot_tab.py robot_log_visualizer/ui/misc/plot_tab.ui
-"${PYUIC_CMD[@]}" -o  robot_log_visualizer/ui/autogenerated/video_tab.py robot_log_visualizer/ui/misc/video_tab.ui
-
-if [ -x "${SCRIPT_DIR}/.venv/bin/python" ]; then
-	POST_PYTHON="${SCRIPT_DIR}/.venv/bin/python"
-elif command -v python >/dev/null 2>&1; then
-	POST_PYTHON=$(command -v python)
-elif command -v python3 >/dev/null 2>&1; then
-	POST_PYTHON=$(command -v python3)
-else
-	echo "Error: Python interpreter not found for post-processing." >&2
-	exit 1
-fi
-
-"${POST_PYTHON}" <<'PYCODE'
-from pathlib import Path
-
-AUTOGEN_DIR = Path("robot_log_visualizer/ui/autogenerated")
-
-REPLACEMENTS = {
-	"from PyQt6 import QtCore, QtGui, QtWidgets": "from qtpy import QtCore, QtGui, QtWidgets",
-	"from PyQt6 import QtWebEngineWidgets": "from qtpy import QtWebEngineWidgets",
-	"from PyQt6.QtMultimediaWidgets import QVideoWidget": "from qtpy.QtMultimediaWidgets import QVideoWidget",
-	"from PySide6 import QtCore, QtGui, QtWidgets": "from qtpy import QtCore, QtGui, QtWidgets",
-	"from PySide6 import QtWebEngineWidgets": "from qtpy import QtWebEngineWidgets",
-	"from PySide6.QtMultimediaWidgets import QVideoWidget": "from qtpy.QtMultimediaWidgets import QVideoWidget",
-	"QtWidgets.QSizePolicy.Policy.": "QtWidgets.QSizePolicy.",
-	"QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.": "QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.",
-	"QtCore.Qt.Orientation.": "QtCore.Qt.",
-	"QtWidgets.QFrame.Shape.": "QtWidgets.QFrame.",
-	"QtWidgets.QFrame.Shadow.": "QtWidgets.QFrame.",
-	"QtWidgets.QAbstractItemView.SelectionMode.": "QtWidgets.QAbstractItemView.",
-	"QtWidgets.QAbstractItemView.EditTrigger.": "QtWidgets.QAbstractItemView.",
-	"QtWidgets.QAbstractScrollArea.SizeAdjustPolicy.": "QtWidgets.QAbstractScrollArea.",
-	"QtWidgets.QAbstractItemView.ScrollMode.": "QtWidgets.QAbstractItemView.",
-	"QtCore.Qt.ScrollBarPolicy.": "QtCore.Qt.",
-	"QtCore.Qt.PenStyle.": "QtCore.Qt.",
-	"QtWidgets.QTabWidget.TabPosition.": "QtWidgets.QTabWidget.",
-	"QtWidgets.QHeaderView.ResizeMode.": "QtWidgets.QHeaderView.",
-	"QtGui.QIcon.Mode.": "QtGui.QIcon.",
-	"QtGui.QIcon.State.": "QtGui.QIcon.",
-	"QtGui.QCursor(QtCore.Qt.CursorShape.": "QtGui.QCursor(QtCore.Qt.",
-	"QtCore.Qt.ContextMenuPolicy.": "QtCore.Qt.",
-	"QtWidgets.QDialogButtonBox.StandardButton.": "QtWidgets.QDialogButtonBox.",
-}
-
-for path in AUTOGEN_DIR.glob("*.py"):
-	text = path.read_text()
-	original = text
-	for old, new in REPLACEMENTS.items():
-		text = text.replace(old, new)
-	text = text.replace("PyQt6 UI code generator", "Qt-based UI code generator")
-	text = text.replace("PySide6 UI code generator", "Qt-based UI code generator")
-	if text != original:
-		path.write_text(text)
-PYCODE
-
-echo "The ui is generated"
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 9e00f6f..0000000
--- a/robot_log_visualizer/ui/autogenerated/about.py
+++ /dev/null
@@ -1,34 +0,0 @@
-# Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/about.ui'
-#
-# Created by: Qt-based UI code generator
-#
-# WARNING: Any manual changes made to this file will be lost when pyuic6 is
-# run again.  Do not edit this file unless you know what you are doing.
-
-
-from qtpy 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(parent=aboutWindow)
-        self.centralwidget.setObjectName("centralwidget")
-        self.horizontalLayout = QtWidgets.QHBoxLayout(self.centralwidget)
-        self.horizontalLayout.setObjectName("horizontalLayout")
-        self.label_2 = QtWidgets.QLabel(parent=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 e1af271..0000000
--- a/robot_log_visualizer/ui/autogenerated/plot_tab.py
+++ /dev/null
@@ -1,27 +0,0 @@
-# Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/plot_tab.ui'
-#
-# Created by: Qt-based UI code generator
-#
-# WARNING: Any manual changes made to this file will be lost when pyuic6 is
-# run again.  Do not edit this file unless you know what you are doing.
-
-
-from qtpy 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 c522aeb..0000000
--- a/robot_log_visualizer/ui/autogenerated/set_robot_model.py
+++ /dev/null
@@ -1,128 +0,0 @@
-# Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/set_robot_model.ui'
-#
-# Created by: Qt-based UI code generator
-#
-# WARNING: Any manual changes made to this file will be lost when pyuic6 is
-# run again.  Do not edit this file unless you know what you are doing.
-
-
-from qtpy 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(parent=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(parent=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(parent=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(parent=self.frame)
-        self.robotModelToolButton.setObjectName("robotModelToolButton")
-        self.gridLayout_2.addWidget(self.robotModelToolButton, 1, 1, 1, 1)
-        self.label = QtWidgets.QLabel(parent=self.frame)
-        self.label.setObjectName("label")
-        self.gridLayout_2.addWidget(self.label, 0, 0, 1, 1)
-        self.robotModelLineEdit = QtWidgets.QLineEdit(parent=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(parent=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(parent=self.frame_2)
-        self.packageDirToolButton.setObjectName("packageDirToolButton")
-        self.gridLayout_3.addWidget(self.packageDirToolButton, 1, 1, 1, 1)
-        self.label_3 = QtWidgets.QLabel(parent=self.frame_2)
-        self.label_3.setObjectName("label_3")
-        self.gridLayout_3.addWidget(self.label_3, 0, 0, 1, 1)
-        self.packageDirLineEdit = QtWidgets.QLineEdit(parent=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(parent=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(parent=self.frame_3)
-        self.label_5.setObjectName("label_5")
-        self.formLayout_2.setWidget(0, QtWidgets.QFormLayout.ItemRole.LabelRole, self.label_5)
-        self.frameNameComboBox = QtWidgets.QComboBox(parent=self.frame_3)
-        self.frameNameComboBox.setMaxVisibleItems(5)
-        self.frameNameComboBox.setObjectName("frameNameComboBox")
-        self.formLayout_2.setWidget(1, QtWidgets.QFormLayout.ItemRole.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(parent=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(parent=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(parent=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(parent=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 2ccdb22..0000000
--- a/robot_log_visualizer/ui/autogenerated/video_tab.py
+++ /dev/null
@@ -1,28 +0,0 @@
-# Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/video_tab.ui'
-#
-# Created by: Qt-based UI code generator
-#
-# WARNING: Any manual changes made to this file will be lost when pyuic6 is
-# run again.  Do not edit this file unless you know what you are doing.
-
-
-from qtpy 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(parent=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 qtpy.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 23ea21a..0000000
--- a/robot_log_visualizer/ui/autogenerated/visualizer.py
+++ /dev/null
@@ -1,285 +0,0 @@
-# Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/visualizer.ui'
-#
-# Created by: Qt-based UI code generator
-#
-# WARNING: Any manual changes made to this file will be lost when pyuic6 is
-# run again.  Do not edit this file unless you know what you are doing.
-
-
-from qtpy 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(parent=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(parent=self.centralwidget)
-        self.splitter_2.setOrientation(QtCore.Qt.Vertical)
-        self.splitter_2.setChildrenCollapsible(False)
-        self.splitter_2.setObjectName("splitter_2")
-        self.dataVisualizationFrame = QtWidgets.QFrame(parent=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(parent=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(parent=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(parent=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(parent=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(parent=self.dataVisualizationFrame)
-        self.splitter.setOrientation(QtCore.Qt.Horizontal)
-        self.splitter.setChildrenCollapsible(True)
-        self.splitter.setObjectName("splitter")
-        self.variableTreeWidget = QtWidgets.QTreeWidget(parent=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(parent=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(parent=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(parent=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(parent=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(parent=self.yarpTextLogWidget)
-        self.splitter_3.setOrientation(QtCore.Qt.Horizontal)
-        self.splitter_3.setObjectName("splitter_3")
-        self.yarpTextLogTreeWidget = QtWidgets.QTreeWidget(parent=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(parent=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(parent=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(parent=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(parent=MainWindow)
-        self.menubar.setGeometry(QtCore.QRect(0, 0, 929, 22))
-        self.menubar.setObjectName("menubar")
-        self.menuFile = QtWidgets.QMenu(parent=self.menubar)
-        self.menuFile.setObjectName("menuFile")
-        self.menuHelp = QtWidgets.QMenu(parent=self.menubar)
-        self.menuHelp.setObjectName("menuHelp")
-        self.menuEdit = QtWidgets.QMenu(parent=self.menubar)
-        self.menuEdit.setObjectName("menuEdit")
-        MainWindow.setMenuBar(self.menubar)
-        self.actionQuit = QtGui.QAction(parent=MainWindow)
-        icon = QtGui.QIcon.fromTheme("exit")
-        self.actionQuit.setIcon(icon)
-        self.actionQuit.setObjectName("actionQuit")
-        self.actionOpen = QtGui.QAction(parent=MainWindow)
-        icon = QtGui.QIcon.fromTheme("document-open")
-        self.actionOpen.setIcon(icon)
-        self.actionOpen.setObjectName("actionOpen")
-        self.actionAbout = QtGui.QAction(parent=MainWindow)
-        self.actionAbout.setObjectName("actionAbout")
-        self.actionSet_Robot_Model = QtGui.QAction(parent=MainWindow)
-        self.actionSet_Robot_Model.setObjectName("actionSet_Robot_Model")
-        self.actionRealtime_Connect = QtGui.QAction(parent=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 qtpy import QtWebEngineWidgets
diff --git a/robot_log_visualizer/ui/gui.py b/robot_log_visualizer/ui/gui.py
index d6af97c..0e66a27 100644
--- a/robot_log_visualizer/ui/gui.py
+++ b/robot_log_visualizer/ui/gui.py
@@ -4,6 +4,7 @@
 
 # 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,
@@ -47,9 +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
@@ -64,8 +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
@@ -147,8 +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():
@@ -191,8 +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"))
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 68c06b5..c0889c0 100644
--- a/robot_log_visualizer/ui/plot_item.py
+++ b/robot_log_visualizer/ui/plot_item.py
@@ -5,14 +5,13 @@
 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/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 e8efa5b..723573e 100644
--- a/robot_log_visualizer/ui/video_item.py
+++ b/robot_log_visualizer/ui/video_item.py
@@ -6,15 +6,14 @@
 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(self)
         self.audio_output = QAudioOutput(self)
diff --git a/setup.cfg b/setup.cfg
index 698c659..8122e5a 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -56,4 +56,4 @@ console_scripts =
    robot-log-visualizer = robot_log_visualizer.__main__:main
 
 [options.package_data]
-* = *.png, *.svg
+* = *.png, *.svg, *.ui

From 7f0c55fb4eab604e76a02864b705f3c99d7ee561 Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Sun, 5 Oct 2025 19:47:58 +0200
Subject: [PATCH 5/5] Switch from PySide6 to PySide2 in configuration and
 signal provider

---
 robot_log_visualizer/__init__.py                               | 2 +-
 .../signal_provider/realtime_signal_provider.py                | 3 ++-
 setup.cfg                                                      | 2 +-
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/robot_log_visualizer/__init__.py b/robot_log_visualizer/__init__.py
index 44f7859..88cb257 100644
--- a/robot_log_visualizer/__init__.py
+++ b/robot_log_visualizer/__init__.py
@@ -1,4 +1,4 @@
 import os
 
 # Prefer the PySide6 backend when QtPy resolves the Qt binding.
-os.environ.setdefault("QT_API", "pyside6")
+os.environ.setdefault("QT_API", "pyside2")
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/setup.cfg b/setup.cfg
index 8122e5a..0d9cb5c 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -43,7 +43,7 @@ install_requires =
     idyntree >= 10.2.0
     meshcat
     numpy
-        PySide6
+    PySide2
     qtpy
     pyqtconsole
     matplotlib