python/meshcat: fix loading of BVH model

BVH models should be loaded in a raw manner after checking if they are not related to a specific file

bindings/python/pinocchio/visualize/meshcat_visualizer.py

@@ -134,6 +134,17 @@ def loadPrimitive(self, geometry_object):
 
         return obj
 
+    def isMesh(self, geometry_object):
+        """ Check whether the geometry object contains a Mesh supported by MeshCat """
+        if geometry_object.meshPath == "":
+            return False
+
+        _, file_extension = os.path.splitext(geometry_object.meshPath)
+        if file_extension.lower() in [".dae", ".obj", ".stl"]:
+            return True
+
+        return False
+
     def loadMesh(self, geometry_object):
 
         import meshcat.geometry
@@ -168,10 +179,14 @@ def loadViewerGeometryObject(self, geometry_object, geometry_type, color=None):
         try:
             if WITH_HPP_FCL_BINDINGS and isinstance(geometry_object.geometry, hppfcl.ShapeBase):
                 obj = self.loadPrimitive(geometry_object)
+            elif self.isMesh(geometry_object):
+                obj = self.loadMesh(geometry_object)
             elif WITH_HPP_FCL_BINDINGS and isinstance(geometry_object.geometry, hppfcl.BVHModelBase):
                 obj = loadBVH(geometry_object.geometry)
             else:
-                obj = self.loadMesh(geometry_object)
+                msg = "The geometry object named " + geometry_object.name + " is not supported by Pinocchio/MeshCat for vizualization."
+                warnings.warn(msg, category=UserWarning, stacklevel=2)
+                return
             if obj is None:
                 return
         except Exception as e: