Fix non working examples.

Author: AnnaMarchalBoneva

stlib/__init__.py

@@ -22,10 +22,12 @@ def checkName(context : Sofa.Core.Node, name):
             name = findName(name, names)
         return name
 
+    def is_prefab(typeSpecifier):
+        return isinstance(typeSpecifier, type) and issubclass(typeSpecifier, BasePrefab)
 
     # Check if a name is provided, if not, use the one of the class
     params = kwargs.copy()
-    if isinstance(typeName, type) and issubclass(typeName, BasePrefab): #Only for prefabs
+    if is_prefab(typeName): #Only for prefabs
         if len(params.keys()) > 1 or (len(params.keys()) == 1 and "parameters" not in params):
             raise RuntimeError("Invalid argument, a prefab takes only the \"parameters\" kwargs as input")
 
@@ -43,13 +45,13 @@ def checkName(context : Sofa.Core.Node, name):
         else:
             raise RuntimeError("Invalid argument ", typeName)
 
-    if isinstance(typeName, type) and issubclass(typeName, BasePrefab) and len(params.keys()) == 1:
+    if is_prefab(typeName) and len(params.keys()) == 1:
         params["parameters"].name = checkName(self, params["parameters"].name)
     else:
         params["name"] = checkName(self, params["name"])
 
     # Dispatch the creation to either addObject or addChild
-    if isinstance(typeName, type) and issubclass(typeName, BasePrefab):
+    if is_prefab(typeName):
         pref = self.addChild(typeName(**params))
         pref.init()
     elif isinstance(typeName, Sofa.Core.Node):

stlib/collision.py

@@ -27,7 +27,7 @@ def __init__(self, parameters: CollisionParameters):
 
     def init(self):
 
-        geom = self.add(Geometry, self.parameters.geometry)
+        geom = self.add(Geometry, parameters=self.parameters.geometry)
 
         self.addObject("MechanicalObject", template="Vec3", position=f"@{self.parameters.geometry.name}/container.position")
         for primitive in self.parameters.primitives:
@@ -55,7 +55,7 @@ def createScene(root):
     # parameters.kwargs = {
     #                     "TriangleCollisionModel":{"contactStiffness": 100.0, "contactFriction": 0.5}
     #                 }
-    collision = root.add(Collision, parameters)
+    collision = root.add(Collision, parameters=parameters)
 
     # OR set the parameters post creation
     # collision.TriangleCollisionModel.contactStiffness = 100.0

stlib/visual.py

@@ -36,4 +36,4 @@ def createScene(root):
     parameters = Visual.getParameters() 
     parameters.name = "LiverVisual"
     parameters.geometry = FileParameters(filename="mesh/liver.obj")
-    root.add(Visual, parameters)
+    root.add(Visual, parameters=parameters)