Use ArmarXDataPath::SearchReadableFile to search for model paths

source/RobotAPI/components/ArViz/Client/Client.h

@@ -63,7 +63,6 @@ namespace armarx::viz
             l.add(std::forward<Ts>(elems)...);
             return l;
         }
-
         // ////////////////////////////////////////////////////////////////// //
         //enqueue
         void enqueueLayer(const Layer& l)

source/RobotAPI/components/ArViz/Coin/VisualizationObject.cpp

@@ -26,25 +26,16 @@ namespace armarx::viz::coin
                 return result;
             }
 
-            if (project.size() > 0)
+            ArmarXDataPath::FindPackageAndAddDataPath(project);
+            std::string fullFilename;
+            if (!ArmarXDataPath::SearchReadableFile(filename, fullFilename))
             {
-                ARMARX_INFO << "Adding to datapaths of " << project;
-                armarx::CMakePackageFinder finder(project);
-
-                if (!finder.packageFound())
-                {
-                    ARMARX_WARNING << "ArmarX Package " << project << " has not been found!";
-                }
-                else
-                {
-                    ARMARX_INFO << "Adding to datapaths: " << finder.getDataDir();
-                    armarx::ArmarXDataPath::addDataPaths(finder.getDataDir());
-                }
+                ARMARX_INFO << deactivateSpam()
+                            << "Unable to find readable file for name "
+                            << filename;
+                return result;
             }
 
-            std::string fullFilename = filename;
-            ArmarXDataPath::getAbsolutePath(fullFilename, fullFilename);
-
             try
             {
                 ARMARX_INFO << "Loading object from " << fullFilename;

source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp

+#include <regex>
+#include <fstream>
+
 #include "VisualizationRobot.h"
 
 #include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
@@ -22,30 +25,20 @@ namespace armarx::viz::coin
                 return result;
             }
 
-            if (project.size() > 0)
+            ArmarXDataPath::FindPackageAndAddDataPath(project);
+            std::string fullFilename;
+            if (!ArmarXDataPath::SearchReadableFile(filename, fullFilename))
             {
-                ARMARX_INFO << "Adding to datapaths of " << project;
-                armarx::CMakePackageFinder finder(project);
-
-                if (!finder.packageFound())
-                {
-                    ARMARX_WARNING << "ArmarX Package " << project << " has not been found!";
-                }
-                else
-                {
-                    ARMARX_INFO << "Adding to datapaths: " << finder.getDataDir();
-                    armarx::ArmarXDataPath::addDataPaths(finder.getDataDir());
-                }
+                ARMARX_INFO << deactivateSpam()
+                            << "Unable to find readable file for name "
+                            << filename;
+                return result;
             }
 
-            std::string fullFilename = filename;
-            ArmarXDataPath::getAbsolutePath(fullFilename, fullFilename);
-
-            // Always load full model. Visualization can choose between full and collision model
-            VirtualRobot::RobotIO::RobotDescription loadMode = VirtualRobot::RobotIO::eFull;
-
             try
             {
+                // Always load full model. Visualization can choose between full and collision model
+                VirtualRobot::RobotIO::RobotDescription loadMode = VirtualRobot::RobotIO::eFull;
                 ARMARX_INFO << "Loading robot from " << fullFilename;
                 result = VirtualRobot::RobotIO::loadRobot(fullFilename, loadMode);
                 result->setThreadsafe(false);
@@ -75,12 +68,15 @@ namespace armarx::viz::coin
             {
                 if (loaded.project == project && loaded.filename == filename)
                 {
+                    ARMARX_DEBUG << "loading robot from chace " << VAROUT(project) << ", " << VAROUT(filename);
                     result = loaded;
-                    result.robot = loaded.robot->clone();
+                    //do not scale the robot and do not clone meshes if scaling = 1
+                    result.robot = loaded.robot->clone(nullptr, 1, true);
                     return result;
                 }
             }
 
+            ARMARX_DEBUG << "loading robot from file  " << VAROUT(project) << ", " << VAROUT(filename);
             result.project = project;
             result.filename = filename;
             result.robot = loadRobot(project, filename);