Added fallback to ViSP server when downloading megapose models

script/megapose_server/install.py

@@ -107,13 +107,32 @@ def download_models(megapose_env: str, megapose_path: Path, megapose_data_path:
   Download the megapose deep learning models
   '''
   models_path = megapose_data_path / 'megapose-models'
-  conf_path = megapose_path / 'rclone.conf'
-  rclone = str(get_rclone_for_conda_env(megapose_env).absolute())
-  arguments = [rclone, 'copyto', 'inria_data:megapose-models/',
-                str(models_path), '--exclude', '*epoch*',
-                '--config', str(conf_path), '--progress']
-  print(' '.join(arguments))
-  subprocess.run(arguments, check=True)
+  models_path.mkdir(exist_ok=True)
+  try:
+    conf_path = megapose_path / 'rclone.conf'
+    rclone = str(get_rclone_for_conda_env(megapose_env).absolute())
+    arguments = [rclone, 'copyto', 'inria_data:megapose-models/',
+                  str(models_path), '--exclude', '*epoch*',
+                  '--config', str(conf_path), '--progress']
+    print(' '.join(arguments))
+    subprocess.run(arguments, check=True)
+  except:
+    print('Could not download MegaPose data from the original repo, trying to fetch from the ViSP website')
+    from urllib.request import urlretrieve
+
+    base_url = 'https://visp-doc.inria.fr/download/model-zoo/megapose-models/'
+    dirs = ['coarse-rgb-906902141/', 'refiner-rgb-653307694/', 'refiner-rgbd-288182519/']
+    files_in_each_dir = ['checkpoint.pth.tar', 'config.yaml', 'log.txt']
+    for folder_name in dirs:
+      dir_url = base_url + folder_name
+      save_dir = models_path / folder_name
+      save_dir.mkdir(exist_ok=True)
+      for file_name in files_in_each_dir:
+        full_url = dir_url + file_name
+        print(full_url)
+        _, headers = urlretrieve(full_url, str(save_dir / file_name))
+
+
 
 
 def install_server(megapose_env: str):