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Update Model parsing #2402
Update Model parsing #2402
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Maybe, we can append the rootJointName variable just after the rootJoint.
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Currently, there is a break of API. You should keep the initial signature and create a new one. The original one should then call the new signature with default name being "root_joint".
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There is still one major issue regarding empty rootJointName
argument.
@MegMll COuld you also uniformize the coding style?
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There is still one major issue regarding empty rootJointName
argument.
@MegMll COuld you also uniformize the coding style?
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Add some C++ and Python test and its good to me.
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…t when this flag is defined
## [3.3.0] - 2024-11-06 ### Added - Default visualizer can be changed with `PINOCCHIO_VIEWER` environment variable stack-of-tasks/pinocchio#2419 - Add more Python and C++ examples related to inverse kinematics with 3d tasks stack-of-tasks/pinocchio#2428 - Add parsing of equality/connect tag for closed-loop chains for MJCF format stack-of-tasks/pinocchio#2413 - Add compatibility with NumPy 2 `__array__` API stack-of-tasks/pinocchio#2436 - Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) stack-of-tasks/pinocchio#2402 - Allow use of `pathlib.Path | str` for paths in python bindings stack-of-tasks/pinocchio#2431 - Add Pseudo inertia and Log-cholesky parametrization stack-of-tasks/pinocchio#2296 - Add Pixi support stack-of-tasks/pinocchio#2459 ### Fixed - Fix linkage of Boost.Serialization on Windows stack-of-tasks/pinocchio#2400 - Fix mjcf parser appending of inertias at root joint stack-of-tasks/pinocchio#2403 - Fix unit tests with GCC 13.3 stack-of-tasks/pinocchio#2416) - Fix class abstract error for Rviz viewer stack-of-tasks/pinocchio#2425 - Fix compilation issue with MSCV and C++17 stack-of-tasks/pinocchio#2437 - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support stack-of-tasks/pinocchio#2437 - Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size stack-of-tasks/pinocchio#2296 - Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` stack-of-tasks/pinocchio#2443 - Fix build with CppAd 2024 stack-of-tasks/pinocchio#2459 - Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 stack-of-tasks/pinocchio#2459 - Fix `pinocchio-test-cpp-constraint-variants` uninitialized values stack-of-tasks/pinocchio#2459 - Fix mixing library symbols between Pinocchio scalar bindings stack-of-tasks/pinocchio#2459 - Fix bug for get{Joint,Frame}JacobianTimeVariation stack-of-tasks/pinocchio#2466 ### Changed - Modernize python code base with ruff stack-of-tasks/pinocchio#2418 - Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided stack-of-tasks/pinocchio#2402
## [3.3.0] - 2024-11-06 ### Added - Default visualizer can be changed with `PINOCCHIO_VIEWER` environment variable stack-of-tasks/pinocchio#2419 - Add more Python and C++ examples related to inverse kinematics with 3d tasks stack-of-tasks/pinocchio#2428 - Add parsing of equality/connect tag for closed-loop chains for MJCF format stack-of-tasks/pinocchio#2413 - Add compatibility with NumPy 2 `__array__` API stack-of-tasks/pinocchio#2436 - Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) stack-of-tasks/pinocchio#2402 - Allow use of `pathlib.Path | str` for paths in python bindings stack-of-tasks/pinocchio#2431 - Add Pseudo inertia and Log-cholesky parametrization stack-of-tasks/pinocchio#2296 - Add Pixi support stack-of-tasks/pinocchio#2459 ### Fixed - Fix linkage of Boost.Serialization on Windows stack-of-tasks/pinocchio#2400 - Fix mjcf parser appending of inertias at root joint stack-of-tasks/pinocchio#2403 - Fix unit tests with GCC 13.3 stack-of-tasks/pinocchio#2416) - Fix class abstract error for Rviz viewer stack-of-tasks/pinocchio#2425 - Fix compilation issue with MSCV and C++17 stack-of-tasks/pinocchio#2437 - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support stack-of-tasks/pinocchio#2437 - Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size stack-of-tasks/pinocchio#2296 - Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` stack-of-tasks/pinocchio#2443 - Fix build with CppAd 2024 stack-of-tasks/pinocchio#2459 - Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 stack-of-tasks/pinocchio#2459 - Fix `pinocchio-test-cpp-constraint-variants` uninitialized values stack-of-tasks/pinocchio#2459 - Fix mixing library symbols between Pinocchio scalar bindings stack-of-tasks/pinocchio#2459 - Fix bug for get{Joint,Frame}JacobianTimeVariation stack-of-tasks/pinocchio#2466 ### Changed - Modernize python code base with ruff stack-of-tasks/pinocchio#2418 - Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided stack-of-tasks/pinocchio#2402
## [3.3.0] - 2024-11-06 ### Added - Default visualizer can be changed with `PINOCCHIO_VIEWER` environment variable stack-of-tasks/pinocchio#2419 - Add more Python and C++ examples related to inverse kinematics with 3d tasks stack-of-tasks/pinocchio#2428 - Add parsing of equality/connect tag for closed-loop chains for MJCF format stack-of-tasks/pinocchio#2413 - Add compatibility with NumPy 2 `__array__` API stack-of-tasks/pinocchio#2436 - Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) stack-of-tasks/pinocchio#2402 - Allow use of `pathlib.Path | str` for paths in python bindings stack-of-tasks/pinocchio#2431 - Add Pseudo inertia and Log-cholesky parametrization stack-of-tasks/pinocchio#2296 - Add Pixi support stack-of-tasks/pinocchio#2459 ### Fixed - Fix linkage of Boost.Serialization on Windows stack-of-tasks/pinocchio#2400 - Fix mjcf parser appending of inertias at root joint stack-of-tasks/pinocchio#2403 - Fix unit tests with GCC 13.3 stack-of-tasks/pinocchio#2416) - Fix class abstract error for Rviz viewer stack-of-tasks/pinocchio#2425 - Fix compilation issue with MSCV and C++17 stack-of-tasks/pinocchio#2437 - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support stack-of-tasks/pinocchio#2437 - Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size stack-of-tasks/pinocchio#2296 - Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` stack-of-tasks/pinocchio#2443 - Fix build with CppAd 2024 stack-of-tasks/pinocchio#2459 - Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 stack-of-tasks/pinocchio#2459 - Fix `pinocchio-test-cpp-constraint-variants` uninitialized values stack-of-tasks/pinocchio#2459 - Fix mixing library symbols between Pinocchio scalar bindings stack-of-tasks/pinocchio#2459 - Fix bug for get{Joint,Frame}JacobianTimeVariation stack-of-tasks/pinocchio#2466 ### Changed - Modernize python code base with ruff stack-of-tasks/pinocchio#2418 - Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided stack-of-tasks/pinocchio#2402
This pr is related to #2328.
After discussion, it was decided to let users decide of the root joint name, when there is one and to remove the fixed frame, that was added when a root joint was not provided.