[bindings/parser] reintroduce old signature to not break api

Author: Megane Millan

bindings/python/parsers/mjcf/model.cpp

@@ -21,6 +21,13 @@ namespace pinocchio
       return model;
     }
 
+    Model buildModelFromMJCF(const std::string & filename, const JointModel & root_joint)
+    {
+      Model model;
+      ::pinocchio::mjcf::buildModel(filename, root_joint, "root_joint", model);
+      return model;
+    }
+
     Model buildModelFromMJCF(
       const std::string & filename,
       const JointModel & root_joint,
@@ -39,6 +46,13 @@ namespace pinocchio
         bp::args("mjcf_filename"),
         "Parse the MJCF file given in input and return a pinocchio Model.");
 
+      bp::def(
+        "buildModelFromMJCF",
+        static_cast<Model (*)(const std::string &, const JointModel &)>(
+          pinocchio::python::buildModelFromMJCF),
+        bp::args("mjcf_filename", "root_joint"),
+        "Parse the MJCF file and return a pinocchio Model with the given root Joint and its name.");
+
       bp::def(
         "buildModelFromMJCF",
         static_cast<Model (*)(const std::string &, const JointModel &, const std::string &)>(

bindings/python/parsers/sdf/model.cpp

@@ -30,6 +30,19 @@ namespace pinocchio
       return bp::make_tuple(model, contact_models);
     }
 
+    bp::tuple buildModelFromSdf(
+      const std::string & filename,
+      const JointModel & root_joint,
+      const std::string & root_link_name,
+      const std::vector<std::string> & parent_guidance)
+    {
+      Model model;
+      PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) contact_models;
+      pinocchio::sdf::buildModel(
+        filename, root_joint, "root_joint", model, contact_models, root_link_name, parent_guidance);
+      return bp::make_tuple(model, contact_models);
+    }
+
     bp::tuple buildModelFromSdf(
       const std::string & filename,
       const JointModel & root_joint,
@@ -58,6 +71,16 @@ namespace pinocchio
          bp::arg("parent_guidance") = bp::list()),
         "Parse the SDF file given in input and return a pinocchio Model and constraint models.");
 
+      bp::def(
+        "buildModelFromSdf",
+        static_cast<bp::tuple (*)(
+          const std::string &, const JointModel &, const std::string &,
+          const std::vector<std::string> &)>(pinocchio::python::buildModelFromSdf),
+        (bp::arg("sdf_filename"), bp::arg("root_joint"), bp::arg("root_link_name"),
+         bp::arg("parent_guidance") = bp::list()),
+        "Parse the SDF file given in input and return a pinocchio Model and constraint "
+        "models starting with the given root joint.");
+
       bp::def(
         "buildModelFromSdf",
         static_cast<bp::tuple (*)(

bindings/python/parsers/urdf/model.cpp

@@ -31,6 +31,13 @@ namespace pinocchio
       return pinocchio::urdf::buildModel(filename, model);
     }
 
+    Model buildModelFromUrdf(const std::string & filename, const JointModel & root_joint)
+    {
+      Model model;
+      pinocchio::urdf::buildModel(filename, root_joint, "root_joint", model);
+      return model;
+    }
+
     Model buildModelFromUrdf(
       const std::string & filename,
       const JointModel & root_joint,
@@ -41,6 +48,12 @@ namespace pinocchio
       return model;
     }
 
+    Model &
+    buildModelFromUrdf(const std::string & filename, const JointModel & root_joint, Model & model)
+    {
+      return pinocchio::urdf::buildModel(filename, root_joint, "root_joint", model);
+    }
+
     Model & buildModelFromUrdf(
       const std::string & filename,
       const JointModel & root_joint,
@@ -50,6 +63,13 @@ namespace pinocchio
       return pinocchio::urdf::buildModel(filename, root_joint, rootJointName, model);
     }
 
+    Model buildModelFromXML(const std::string & XMLstream, const JointModel & root_joint)
+    {
+      Model model;
+      pinocchio::urdf::buildModelFromXML(XMLstream, root_joint, "root_joint", model);
+      return model;
+    }
+
     Model buildModelFromXML(
       const std::string & XMLstream,
       const JointModel & root_joint,
@@ -60,6 +80,13 @@ namespace pinocchio
       return model;
     }
 
+    Model &
+    buildModelFromXML(const std::string & XMLstream, const JointModel & root_joint, Model & model)
+    {
+      pinocchio::urdf::buildModelFromXML(XMLstream, root_joint, "root_joint", model);
+      return model;
+    }
+
     Model & buildModelFromXML(
       const std::string & XMLstream,
       const JointModel & root_joint,
@@ -90,6 +117,14 @@ namespace pinocchio
 
 #ifdef PINOCCHIO_WITH_URDFDOM
 
+      bp::def(
+        "buildModelFromUrdf",
+        static_cast<Model (*)(const std::string &, const JointModel &)>(
+          pinocchio::python::buildModelFromUrdf),
+        bp::args("urdf_filename", "root_joint"),
+        "Parse the URDF file given in input and return a pinocchio Model starting with the "
+        "given root joint.");
+
       bp::def(
         "buildModelFromUrdf",
         static_cast<Model (*)(const std::string &, const JointModel &, const std::string &)>(
@@ -112,6 +147,16 @@ namespace pinocchio
         "Append to a given model a URDF structure given by its filename.",
         bp::return_internal_reference<2>());
 
+      bp::def(
+        "buildModelFromUrdf",
+        static_cast<Model & (*)(const std::string &, const JointModel &, Model &)>(
+          pinocchio::python::buildModelFromUrdf),
+        bp::args("urdf_filename", "root_joint", "model"),
+        "Append to a given model a URDF structure given by its filename and the root joint.\n"
+        "Remark: In the URDF format, a joint of type fixed can be defined. For efficiency reasons,"
+        "it is treated as operational frame and not as a joint of the model.",
+        bp::return_internal_reference<3>());
+
       bp::def(
         "buildModelFromUrdf",
         static_cast<Model & (*)(const std::string &, const JointModel &, const std::string &,
@@ -122,6 +167,14 @@ namespace pinocchio
         "it is treated as operational frame and not as a joint of the model.",
         bp::return_internal_reference<3>());
 
+      bp::def(
+        "buildModelFromXML",
+        static_cast<Model (*)(const std::string &, const JointModel &)>(
+          pinocchio::python::buildModelFromXML),
+        bp::args("urdf_xml_stream", "root_joint"),
+        "Parse the URDF XML stream given in input and return a pinocchio Model starting with "
+        "the given root joint.");
+
       bp::def(
         "buildModelFromXML",
         static_cast<Model (*)(const std::string &, const JointModel &, const std::string &)>(
@@ -130,6 +183,15 @@ namespace pinocchio
         "Parse the URDF XML stream given in input and return a pinocchio Model starting with "
         "the given root joint.");
 
+      bp::def(
+        "buildModelFromXML",
+        static_cast<Model & (*)(const std::string &, const JointModel &, Model &)>(
+          pinocchio::python::buildModelFromXML),
+        bp::args("urdf_xml_stream", "root_joint", "model"),
+        "Parse the URDF XML stream given in input and append it to the input model with the "
+        "given interfacing joint.",
+        bp::return_internal_reference<3>());
+
       bp::def(
         "buildModelFromXML",
         static_cast<Model & (*)(const std::string &, const JointModel &, const std::string &,