Added psutil reinstall; reworked open3d kill

Author: rustlluk

Docker/Dockerfile

@@ -58,6 +58,7 @@ RUN echo "export PATH=/usr/local/bin:$PATH" >> /home/docker/.bashrc
 # pybullet, robot_description, numpy, etc.
 RUN python$PYTHON_VER -m pip install --user --upgrade pip && python$PYTHON_VER -m pip install pybullet "numpy<2" scipy cython matplotlib roboticstoolbox-python --ignore-installed --verbose --no-cache-dir
 RUN cd /home/docker && git clone https://github.com/rustlluk/pyCub.git && cd pyCub && git checkout dev && python$PYTHON_VER setup.py install --user
+RUN python$PYTHON_VER -m pip install psutil --force-reinstall
 
 # Delete thingies from aptitude
 RUN rm -Rf /var/lib/apt/lists/*

Docker/Dockerfile.gitpod

@@ -93,9 +93,11 @@ RUN python$PYTHON_VER -m pip install --user --upgrade pip && python$PYTHON_VER -
 
 USER gitpod
 RUN cd /home/gitpod && git clone https://github.com/rustlluk/pyCub.git && cd pyCub && git checkout dev && python$PYTHON_VER setup.py install --user
+RUN python$PYTHON_VER -m pip install psutil --force-reinstall
 
 RUN sudo ln -sf /usr/bin/python$PYTHON_VER /usr/local/bin/python && sudo ln -sf /usr/bin/python$PYTHON_VER /usr/local/bin/python3
 RUN echo "export PATH=/usr/local/bin:$PATH" >> /home/gitpod/.bashrc
+RUN echo "export BROWSER=/usr/bin/firefox" >> /home/gitpod/.bashrc
 
 # Clean up unnecessary installation products
 RUN sudo rm -Rf /var/lib/apt/lists/*

Docker/Dockerfile.vnc

@@ -100,9 +100,11 @@ RUN python$PYTHON_VER -m pip install --user --upgrade pip && python$PYTHON_VER -
 
 USER docker
 RUN cd /home/docker && git clone https://github.com/rustlluk/pyCub.git && cd pyCub && git checkout dev && python$PYTHON_VER setup.py install --user
+RUN python$PYTHON_VER -m pip install psutil --force-reinstall
 
 RUN sudo ln -sf /usr/bin/python$PYTHON_VER /usr/local/bin/python && sudo ln -sf /usr/bin/python$PYTHON_VER /usr/local/bin/python3
 RUN echo "export PATH=/usr/local/bin:$PATH" >> /home/docker/.bashrc
+RUN echo "export BROWSER=/usr/bin/firefox" >> /home/docker/.bashrc
 
 # Clean up unnecessary installation products
 RUN sudo rm -Rf /var/lib/apt/lists/*

icub_pybullet/configs/default.yaml

@@ -12,7 +12,7 @@ robot_urdf_path: "../iCub/full.urdf" # path to Robot URDF file relative to pycub
                                      # default: "../iCub/full.urdf"
                                      # str
 gui:
-  standard: False
+  standard: True
   web: False
 tolerance:
   joint: 1e-3 # circa 2 degrees

icub_pybullet/configs/skin_test.yaml

@@ -12,7 +12,7 @@ robot_urdf_path: "../iCub/full.urdf" # path to Robot URDF file relative to pycub
                                      # default: "../iCub/full.urdf"
                                      # str
 gui:
-  standard: False
+  standard: True
   web: False
 tolerance:
   joint: 1e-3 # circa 2 degrees

icub_pybullet/configs/with_ball.yaml

@@ -12,7 +12,7 @@ robot_urdf_path: "../iCub/full.urdf" # path to Robot URDF file relative to pycub
                                      # default: "../iCub/full.urdf"
                                      # str
 gui:
-  standard: False
+  standard: True
   web: False
 tolerance:
   joint: 1e-3 # circa 2 degrees

icub_pybullet/pycub.py

@@ -2,6 +2,7 @@
 import glob
 import time
 import numpy as np
+import psutil
 import pybullet as p
 from pybullet_utils.bullet_client import BulletClient
 import os
@@ -11,11 +12,9 @@
 import logging
 import datetime
 import inspect
-from subprocess import call
+import psutil
 import atexit
 import roboticstoolbox as rtb
-import signal
-import psutil
 
 
 class pyCub(BulletClient):
@@ -262,10 +261,21 @@ def get_camera_images(self):
             images.append(np.asarray(ew.last_image))
         return images
 
+    def find_processes_by_name(self):
+        matching_pids = []
+        for process in psutil.process_iter(attrs=['pid', 'name', 'cmdline']):
+            try:
+                if self.parent_name in ' '.join(process.info['cmdline']):
+                    matching_pids.append(process.info['pid'])
+            except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess):
+                pass
+        return matching_pids
+
     def kill_open3d(self):
-        # a bit of a workaround to kill open3d, that seems to hang for some reason
-        for _ in os.popen("pgrep -f " + self.parent_name).read().strip().splitlines():
-            call("kill -9 " + _, shell=True)
+        # a bit of a workaround to kill open3d, that seems to hang for some
+        for _ in self.find_processes_by_name():
+            psutil.Process(_).kill()
+
 
     def init_robot(self):
         """