Merge pull request #2478 from abussy-aldebaran/topic/dae_texture

meshcat_visualizer: force type of image paths to pathlib.Path

CHANGELOG.md

@@ -12,6 +12,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ### Fixed
 - Fix mjcf parsing of armature and of the default tag in models ([#2477](https://github.com/stack-of-tasks/pinocchio/pull/2477))
 - Fix undefined behavior when using the site attribute in mjcf ([#2477](https://github.com/stack-of-tasks/pinocchio/pull/2477))
+- Fix the type of image paths when loading textures in the meshcat visualizer ([#2478](https://github.com/stack-of-tasks/pinocchio/pull/2478))
 
 ### Changed
 - On GNU/Linux and macOS, hide all symbols by default ([#2469](https://github.com/stack-of-tasks/pinocchio/pull/2469))

bindings/python/pinocchio/visualize/meshcat_visualizer.py

@@ -143,9 +143,9 @@ def __init__(self, dae_path: str, cache: Optional[Set[str]] = None) -> None:
 
                 # Encode texture in base64
                 img_path_abs = img_path
-                if not img_path.is_absolute():
+                if not Path(img_path).is_absolute():
                     img_path_abs = os.path.normpath(dae_dir / img_path_abs)
-                if not img_path_abs.is_file():
+                if not Path(img_path_abs).is_file():
                     raise UserWarning(f"Texture '{img_path}' not found.")
                 with Path(img_path_abs).open("rb") as img_file:
                     img_data = base64.b64encode(img_file.read())