[benchmark] Update urdf parameters

Author: Megane Millan

benchmark/timings-cg.cpp

@@ -57,7 +57,7 @@ int main(int argc, const char ** argv)
   if (filename == "H")
     pinocchio::buildModels::humanoidRandom(model, true);
   else if (with_ff)
-    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), model);
+    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), "root_joint" model);
   else
     pinocchio::urdf::buildModel(filename, model);
 

benchmark/timings-cholesky.cpp

@@ -39,7 +39,7 @@ int main(int argc, const char ** argv)
   if (filename == "HS")
     pinocchio::buildModels::humanoidRandom(model, true);
   else
-    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), model);
+    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), "root_joint", model);
   std::cout << "nq = " << model.nq << std::endl;
 
   pinocchio::Data data(model);

benchmark/timings-constrained-dynamics-derivatives.cpp

@@ -46,7 +46,7 @@ int main(int argc, const char ** argv)
   if (filename == "HS")
     buildModels::humanoidRandom(model, true);
   else if (with_ff)
-    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), model);
+    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), "root_joint", model);
   //      pinocchio::urdf::buildModel(filename,JointModelRX(),model);
   else
     pinocchio::urdf::buildModel(filename, model);

benchmark/timings-contact-dynamics.cpp

@@ -52,7 +52,7 @@ int main(int argc, const char ** argv)
   if (filename == "HS")
     buildModels::humanoidRandom(model, true);
   else if (with_ff)
-    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), model);
+    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), "root_joint", model);
   //      pinocchio::urdf::buildModel(filename,JointModelRX(),model);
   else
     pinocchio::urdf::buildModel(filename, model);

benchmark/timings-delassus-operations.cpp

@@ -52,7 +52,7 @@ int main(int argc, const char ** argv)
   if (filename == "HS")
     buildModels::humanoidRandom(model, true);
   else if (with_ff)
-    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), model);
+    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), "root_joint", model);
   //      pinocchio::urdf::buildModel(filename,JointModelRX(),model);
   else
     pinocchio::urdf::buildModel(filename, model);

benchmark/timings-derivatives.cpp

@@ -145,7 +145,7 @@ int main(int argc, const char ** argv)
   if (filename == "HS")
     buildModels::humanoidRandom(model, true);
   else if (with_ff)
-    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), model);
+    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), "root_joint", model);
   //      pinocchio::urdf::buildModel(filename,JointModelRX(),model);
   else
     pinocchio::urdf::buildModel(filename, model);

benchmark/timings-geometry.cpp

@@ -38,7 +38,8 @@ int main()
   package_dirs.push_back(romeo_meshDir);
 
   pinocchio::Model model;
-  pinocchio::urdf::buildModel(romeo_filename, pinocchio::JointModelFreeFlyer(), model);
+  pinocchio::urdf::buildModel(
+    romeo_filename, pinocchio::JointModelFreeFlyer(), "root_joint", model);
   pinocchio::GeometryModel geom_model;
   pinocchio::urdf::buildGeom(model, romeo_filename, COLLISION, geom_model, package_dirs);
 #ifdef PINOCCHIO_WITH_HPP_FCL

benchmark/timings-impulse-dynamics-derivatives.cpp

@@ -44,7 +44,7 @@ int main(int argc, const char ** argv)
   if (filename == "HS")
     buildModels::humanoidRandom(model, true);
   else if (with_ff)
-    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), model);
+    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), "root_joint", model);
   //      pinocchio::urdf::buildModel(filename,JointModelRX(),model);
   else
     pinocchio::urdf::buildModel(filename, model);

benchmark/timings-impulse-dynamics.cpp

@@ -51,7 +51,7 @@ int main(int argc, const char ** argv)
   if (filename == "HS")
     buildModels::humanoidRandom(model, true);
   else if (with_ff)
-    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), model);
+    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), "root_joint", model);
   //      pinocchio::urdf::buildModel(filename,JointModelRX(),model);
   else
     pinocchio::urdf::buildModel(filename, model);

benchmark/timings-jacobian.cpp

@@ -44,7 +44,7 @@ int main(int argc, const char ** argv)
   if (filename == "HS")
     pinocchio::buildModels::humanoidRandom(model, true);
   else if (with_ff)
-    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), model);
+    pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), "root_joint", model);
   else
     pinocchio::urdf::buildModel(filename, model);
   std::cout << "nq = " << model.nq << std::endl;