MultiBodyViz bug in addActors()

[ahundt]

In MultiBody.ipynb t

# draw the robot
from graph.multibody import MultiBodyViz
​
# add visualization of the of the b4 and b5 body that don't have any successors
X_b4_ef = sva.PTransformd(sva.RotY(-np.pi/2.), e.Vector3d(0.2, 0., 0.))
X_b5_ef = sva.PTransformd(sva.RotX(-np.pi/2.), e.Vector3d(0., 0.2, 0.))
mbv = MultiBodyViz(mbg, mb, endEffectorDict={'b4':(X_b4_ef, 0.1, (1., 1., 0.)),
                                             'b5':(X_b5_ef, 0.1, (1., 1., 0.))})
​
mbv.addActors(viewer.scene)

Error:

---------------------------------------------------------------------------
TypeError                                 Traceback (most recent call last)
<ipython-input-14-7731b7605e8a> in <module>
      8                                              'b5':(X_b5_ef, 0.1, (1., 1., 0.))})
      9 
---> 10 mbv.addActors(viewer.scene)

~/src/jrl-umi3218/sva_rbdyn_tutorials/graph/multibody.py in addActors(self, scene)
     81               map(lambda aj: aj[1], self.aJoints)]
     82     for actor in actors:
---> 83       scene.renderer.add_actor(actor)
     84 
     85 

~/src/mayavi/tvtk/tvtk_classes.zip/tvtk_classes/renderer.pyc in add_actor(self, *args)

~/src/mayavi/tvtk/tvtk_base.py in _wrap_call(self, vtk_method, *args)
    593         mtime = self._wrapped_mtime(vtk_obj) + 1
    594         try:
--> 595             ret = vtk_method(*args)
    596         finally:
    597             self._in_set -= 1

TypeError: AddActor argument 1: method requires a VTK object

The code in multibody.py::addActors is very strange:

  def addActors(self, scene):
    """
    Add all actors to the scene.
    """
    actors = map(lambda ab: ab[1], self.aBodies) +\
      map(lambda aj: aj[1], self.aJoints)
    for actor in actors:
      scene.renderer.add_actor(actor)

I'm not really sure what is supposed to be achieved by this, or how to fix it. Any ideas?

[ahundt]

@gergondet

[ahundt]

You can see this problem by running MultiBody.ipynb with the changes in pull request https://github.com/jrl-umi3218/sva_rbdyn_tutorials/pull/3