fixed paths type

Author: mhubii

roboreg/io/parsers.py

@@ -148,11 +148,11 @@ def mesh_uris(
             if collision:
                 if link.collision is None:
                     continue
-                paths[link_name] = Path(link.collision.geometry.filename)
+                paths[link_name] = link.collision.geometry.filename
             else:
                 if link.visual is None:
                     continue
-                paths[link_name] = Path(link.visual.geometry.filename)
+                paths[link_name] = link.visual.geometry.filename
         return paths
 
     def mesh_paths_from_ros_registry(

test/io/test_parsers.py

@@ -17,7 +17,12 @@
 def test_urdf_parser() -> None:
     urdf_parser = URDFParser.from_ros_xacro("lbr_description", "urdf/med7/med7.xacro")
     print(urdf_parser.chain_link_names("lbr_link_0", "lbr_link_ee"))
-    print(urdf_parser.raw_mesh_paths("lbr_link_0", "lbr_link_ee"))
+    print(urdf_parser.mesh_uris("lbr_link_0", "lbr_link_ee"))
+    print(
+        URDFParser.resolve_uris_via_ros_registry(
+            urdf_parser.mesh_uris("lbr_link_0", "lbr_link_ee")
+        )
+    )
     print(urdf_parser.mesh_paths_from_ros_registry("lbr_link_0", "lbr_link_ee"))
     print(urdf_parser.mesh_origins("lbr_link_0", "lbr_link_ee"))
     print(urdf_parser.link_names_with_meshes(collision=True))