Merge pull request #1570 from proyan/topic/modelitem

Introduce ModelItem as parent of Frame and GeometryObject

bindings/python/multibody/frame.hpp

@@ -8,6 +8,7 @@
 #include "pinocchio/multibody/fwd.hpp"
 #include "pinocchio/multibody/frame.hpp"
 
+#include "pinocchio/bindings/python/utils/deprecation.hpp"
 #include "pinocchio/bindings/python/utils/cast.hpp"
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/printable.hpp"
@@ -37,8 +38,16 @@ namespace pinocchio
         .def(bp::init<const Frame &>((bp::arg("self"),bp::arg("clone")),"Copy constructor"))
 
         .def_readwrite("name", &Frame::name, "name of the frame")
-        .def_readwrite("parent", &Frame::parent, "id of the parent joint")
-        .def_readwrite("previousFrame", &Frame::previousFrame, "id of the previous frame")
+        .def_readwrite("parentJoint", &Frame::parentJoint, "id of the parent joint")
+        .def_readwrite("parentFrame", &Frame::parentFrame, "id of the parent frame")
+        .add_property("parent",
+                      bp::make_getter(&Frame::parentJoint,
+                                      deprecated_member<bp::return_value_policy<bp::copy_non_const_reference> >("Deprecated. Use parentJoint")),
+                      bp::make_setter(&Frame::parentJoint, deprecated_member<>("Deprecated. Use parentJoint")), "See parent joint")
+        .add_property("previousFrame",
+                      bp::make_getter(&Frame::parentFrame,
+                                      deprecated_member<bp::return_value_policy<bp::copy_non_const_reference> >("Deprecated. Use parentFrame")),
+                      bp::make_setter(&Frame::parentFrame, deprecated_member<>("Deprecated. Use parentFrame")), "See parent frame")          
         .def_readwrite("placement",
                        &Frame::placement,
                        "placement in the parent joint local frame")
@@ -89,14 +98,14 @@ namespace pinocchio
 
         static bp::tuple getstate(const Frame & f)
         {
-          return bp::make_tuple(f.name, f.parent, f.previousFrame, f.placement, (int)f.type, f.inertia);
+          return bp::make_tuple(f.name, f.parentJoint, f.parentFrame, f.placement, (int)f.type, f.inertia);
         }
 
         static void setstate(Frame & f, bp::tuple tup)
         {
           f.name = bp::extract<std::string>(tup[0]); 
-          f.parent = bp::extract<JointIndex>(tup[1]); 
-          f.previousFrame = bp::extract<JointIndex>(tup[2]); 
+          f.parentJoint = bp::extract<JointIndex>(tup[1]); 
+          f.parentFrame = bp::extract<JointIndex>(tup[2]); 
           f.placement = bp::extract<SE3&>(tup[3]); 
           f.type = (FrameType)(int)bp::extract<int>(tup[4]);
           if(bp::len(tup) > 5)

bindings/python/multibody/geometry-object.hpp

@@ -9,6 +9,7 @@
 #include <eigenpy/memory.hpp>
 #include <eigenpy/eigen-to-python.hpp>
 #include "pinocchio/bindings/python/utils/registration.hpp"
+#include "pinocchio/bindings/python/utils/deprecation.hpp"
 
 
 #include "pinocchio/multibody/geometry.hpp"
@@ -30,19 +31,32 @@ namespace pinocchio
       void visit(PyClass& cl) const
       {
         cl
+        .def(bp::init<std::string,JointIndex,FrameIndex,SE3,CollisionGeometryPtr,
+                      bp::optional<std::string,Eigen::Vector3d,bool,Eigen::Vector4d,std::string> >
+             (
+             bp::args("self","name","parent_joint","parent_frame","placement","collision_geometry",
+                       "mesh_path", "mesh_scale", "override_material", "mesh_color", "mesh_texture_path"),
+             "Full constructor of a GeometryObject."))
+        .def(bp::init<std::string,JointIndex,SE3,CollisionGeometryPtr,
+                      bp::optional<std::string,Eigen::Vector3d,bool,Eigen::Vector4d,std::string> >
+             (
+              bp::args("self","name","parent_joint","placement","collision_geometry",
+                        "mesh_path", "mesh_scale", "override_material", "mesh_color", "mesh_texture_path"),
+              "Reduced constructor of a GeometryObject. This constructor does not require to specify the parent frame index."
+              ))
         .def(bp::init<std::string,FrameIndex,JointIndex,CollisionGeometryPtr,SE3,
                       bp::optional<std::string,Eigen::Vector3d,bool,Eigen::Vector4d,std::string> >
              (
              bp::args("self","name","parent_frame","parent_joint","collision_geometry",
                       "placement", "mesh_path", "mesh_scale", "override_material", "mesh_color", "mesh_texture_path"),
-             "Full constructor of a GeometryObject."))
+             "Deprecated. Full constructor of a GeometryObject.")[deprecated_function<>()] )
         .def(bp::init<std::string,JointIndex,CollisionGeometryPtr,SE3,
                       bp::optional<std::string,Eigen::Vector3d,bool,Eigen::Vector4d,std::string> >
              (
               bp::args("self","name","parent_joint","collision_geometry",
                        "placement", "mesh_path", "mesh_scale", "override_material", "mesh_color", "mesh_texture_path"),
-              "Reduced constructor of a GeometryObject. This constructor does not require to specify the parent frame index."
-              ))
+              "Deprecated. Reduced constructor of a GeometryObject. This constructor does not require to specify the parent frame index."
+              )[deprecated_function<>()] )
         .def(bp::init<const GeometryObject&>
              (
               bp::args("self","otherGeometryObject"),
@@ -87,9 +101,9 @@ namespace pinocchio
 #ifdef PINOCCHIO_WITH_HPP_FCL
       static GeometryObject maker_capsule(const double radius, const double length)
       {
-        return GeometryObject("",FrameIndex(0),JointIndex(0),
-                              boost::shared_ptr<fcl::CollisionGeometry>(new fcl::Capsule(radius, length)),
-                              SE3::Identity());
+        return GeometryObject("",JointIndex(0),FrameIndex(0),
+                              SE3::Identity(),
+                              boost::shared_ptr<fcl::CollisionGeometry>(new fcl::Capsule(radius, length)));
 
       }
 #endif // PINOCCHIO_WITH_HPP_FCL

examples/display-shapes.py

@@ -20,7 +20,7 @@ geometries = [
 ]
 for i, geom in enumerate(geometries):
     placement = pin.SE3(np.eye(3), np.array([i, 0, 0]))
-    geom_obj = pin.GeometryObject("obj{}".format(i), 0, 0, geom, placement)
+    geom_obj = pin.GeometryObject("obj{}".format(i), 0, 0, placement,geom)
     color = np.random.uniform(0, 1, 4)
     color[3] = 1
     geom_obj.meshColor = color

examples/simulation-inverted-pendulum.py

@@ -15,7 +15,7 @@ body_mass = 1.
 body_radius = 0.1
 
 shape0 = fcl.Sphere(body_radius)
-geom0_obj = pin.GeometryObject("base", 0, shape0, pin.SE3.Identity())
+geom0_obj = pin.GeometryObject("base", 0, pin.SE3.Identity(), shape0)
 geom0_obj.meshColor = np.array([1.,0.1,0.1,1.])
 geom_model.addGeometryObject(geom0_obj)
 
@@ -30,7 +30,7 @@ for k in range(N):
 
     geom1_name = "ball_" + str(k+1)
     shape1 = fcl.Sphere(body_radius)
-    geom1_obj = pin.GeometryObject(geom1_name, joint_id, shape1, body_placement)
+    geom1_obj = pin.GeometryObject(geom1_name, joint_id, body_placement, shape1)
     geom1_obj.meshColor = np.ones((4))
     geom_model.addGeometryObject(geom1_obj)
 
@@ -39,7 +39,7 @@ for k in range(N):
     shape2_placement = body_placement.copy()
     shape2_placement.translation[2] /= 2.
 
-    geom2_obj = pin.GeometryObject(geom2_name, joint_id, shape2, shape2_placement)
+    geom2_obj = pin.GeometryObject(geom2_name, joint_id, shape2_placement, shape2)
     geom2_obj.meshColor = np.array([0.,0.,0.,1.])
     geom_model.addGeometryObject(geom2_obj)
 

src/algorithm/frames-derivatives.hpp

@@ -70,8 +70,8 @@ namespace pinocchio
     
     const Frame & frame = model.frames[frame_id];
     typename Data::SE3 & oMframe = data.oMf[frame_id];
-    oMframe = data.oMi[frame.parent] * frame.placement; // for backward compatibility
-    getFrameVelocityDerivatives(model,data,frame.parent,frame.placement,rf,
+    oMframe = data.oMi[frame.parentJoint] * frame.placement; // for backward compatibility
+    getFrameVelocityDerivatives(model,data,frame.parentJoint,frame.placement,rf,
                                 PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut1,v_partial_dq),
                                 PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut1,v_partial_dv));
   }
@@ -149,8 +149,8 @@ namespace pinocchio
     
     const Frame & frame = model.frames[frame_id];
     typename Data::SE3 & oMframe = data.oMf[frame_id];
-    oMframe = data.oMi[frame.parent] * frame.placement; // for backward compatibility
-    getFrameAccelerationDerivatives(model,data,frame.parent,frame.placement,rf,
+    oMframe = data.oMi[frame.parentJoint] * frame.placement; // for backward compatibility
+    getFrameAccelerationDerivatives(model,data,frame.parentJoint,frame.placement,rf,
                                     PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut1,v_partial_dq),
                                     PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut2,a_partial_dq),
                                     PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut3,a_partial_dv),
@@ -246,8 +246,8 @@ namespace pinocchio
     
     const Frame & frame = model.frames[frame_id];
     typename Data::SE3 & oMframe = data.oMf[frame_id];
-    oMframe = data.oMi[frame.parent] * frame.placement; // for backward compatibility
-    getFrameAccelerationDerivatives(model,data,frame.parent,frame.placement,rf,
+    oMframe = data.oMi[frame.parentJoint] * frame.placement; // for backward compatibility
+    getFrameAccelerationDerivatives(model,data,frame.parentJoint,frame.placement,rf,
                                     PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut1,v_partial_dq),
                                     PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut2,v_partial_dv),
                                     PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut3,a_partial_dq),

src/algorithm/frames.hpp

@@ -129,7 +129,7 @@ namespace pinocchio
     typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
     const typename Model::Frame & frame = model.frames[frame_id];
 
-    return getFrameVelocity(model, data, frame.parent, frame.placement, rf);
+    return getFrameVelocity(model, data, frame.parentJoint, frame.placement, rf);
   }
 
   
@@ -180,7 +180,7 @@ namespace pinocchio
   {
     typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
     const typename Model::Frame & frame = model.frames[frame_id];
-    return getFrameAcceleration(model, data, frame.parent, frame.placement, rf);
+    return getFrameAcceleration(model, data, frame.parentJoint, frame.placement, rf);
     
   }
   
@@ -234,7 +234,7 @@ namespace pinocchio
   {
     typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
     const typename Model::Frame & frame = model.frames[frame_id];
-    return getFrameClassicalAcceleration(model, data, frame.parent, frame.placement, rf);
+    return getFrameClassicalAcceleration(model, data, frame.parentJoint, frame.placement, rf);
   }
 
   
@@ -338,9 +338,9 @@ namespace pinocchio
     typedef typename Model::Frame Frame;
     
     const Frame & frame = model.frames[frame_id];
-    data.oMf[frame_id] = data.oMi[frame.parent] * frame.placement;
+    data.oMf[frame_id] = data.oMi[frame.parentJoint] * frame.placement;
     
-    getFrameJacobian(model,data,frame.parent,frame.placement,reference_frame,
+    getFrameJacobian(model,data,frame.parentJoint,frame.placement,reference_frame,
                      PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike,J));
   }
 

src/algorithm/frames.hxx

@@ -28,7 +28,7 @@ namespace pinocchio
     for(FrameIndex i=1; i < (FrameIndex) model.nframes; ++i)
     {
       const Frame & frame = model.frames[i];
-      const JointIndex & parent = frame.parent;
+      const JointIndex & parent = frame.parentJoint;
       data.oMf[i] = data.oMi[parent]*frame.placement;
     }
   }
@@ -43,7 +43,7 @@ namespace pinocchio
     
     typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
     const typename Model::Frame & frame = model.frames[frame_id];
-    const typename Model::JointIndex & parent = frame.parent;
+    const typename Model::JointIndex & parent = frame.parentJoint;
     
     data.oMf[frame_id] = data.oMi[parent]*frame.placement;
     
@@ -178,7 +178,7 @@ namespace pinocchio
     typedef typename Model::IndexVector IndexVector;
 
     const Frame & frame = model.frames[frameId];
-    const JointIndex & joint_id = frame.parent;
+    const JointIndex & joint_id = frame.parentJoint;
     
     const IndexVector & joint_support = model.supports[joint_id];
     
@@ -249,7 +249,7 @@ namespace pinocchio
     typedef typename Model::Frame Frame;
     
     const Frame & frame = model.frames[frame_id];
-    const JointIndex & joint_id = frame.parent;
+    const JointIndex & joint_id = frame.parentJoint;
     
     typename Data::SE3 & oMframe = data.oMf[frame_id];
     oMframe = data.oMi[joint_id] * frame.placement;

src/algorithm/model.hxx

@@ -23,7 +23,7 @@ namespace pinocchio
       typedef typename Model::Frame Frame;
 
       const Frame & pframe = model.frames[parentFrame];
-      JointIndex jid = pframe.parent;
+      JointIndex jid = pframe.parentJoint;
       assert(jid < model.joints.size());
 
       // If inertia is not NaN, add it.
@@ -34,21 +34,21 @@ namespace pinocchio
       for (FrameIndex fid = 1; fid < modelAB.frames.size(); ++fid)
       {
         Frame frame = modelAB.frames[fid];
-        if (frame.parent == 0)
+        if (frame.parentJoint == 0)
         {
           PINOCCHIO_CHECK_INPUT_ARGUMENT(!model.existFrame(frame.name, frame.type),
                                          "The two models have conflicting frame names.");
 
-          frame.parent = jid;
-          if (frame.previousFrame != 0)
+          frame.parentJoint = jid;
+          if (frame.parentFrame != 0)
           {
-            frame.previousFrame = model.getFrameId (
-                modelAB.frames[frame.previousFrame].name,
-                modelAB.frames[frame.previousFrame].type);
+            frame.parentFrame = model.getFrameId (
+                modelAB.frames[frame.parentFrame].name,
+                modelAB.frames[frame.parentFrame].type);
           }
           else
           {
-            frame.previousFrame = parentFrame;
+            frame.parentFrame = parentFrame;
           }
           
           // Modify frame placement
@@ -136,17 +136,17 @@ namespace pinocchio
         for (FrameIndex fid = 1; fid < modelAB.frames.size(); ++fid)
         {
           Frame frame = modelAB.frames[fid];
-          if (frame.parent == jmodel_in.id())
+          if (frame.parentJoint == jmodel_in.id())
           {
             PINOCCHIO_CHECK_INPUT_ARGUMENT(!model.existFrame(frame.name, frame.type),
                                            "The two models have conflicting frame names.");
             
-            frame.parent = joint_id_out;
-            assert (frame.previousFrame > 0 || frame.type == JOINT);
-            if (frame.previousFrame != 0)
+            frame.parentJoint = joint_id_out;
+            assert (frame.parentFrame > 0 || frame.type == JOINT);
+            if (frame.parentFrame != 0)
             {
-              frame.previousFrame = model.getFrameId(modelAB.frames[frame.previousFrame].name,
-                                                     modelAB.frames[frame.previousFrame].type);
+              frame.parentFrame = model.getFrameId(modelAB.frames[frame.parentFrame].name,
+                                                     modelAB.frames[frame.parentFrame].type);
             }
             
             model.addFrame(frame);
@@ -223,7 +223,7 @@ namespace pinocchio
 
     // Copy modelA joints until frame.parentJoint
     details::appendUniverseToModel (modelA, geomModelA, 0, id, model, geomModel);
-    for (JointIndex jid = 1; jid <= frame.parent; ++jid)
+    for (JointIndex jid = 1; jid <= frame.parentJoint; ++jid)
     {
       ArgsType args (modelA, geomModelA, 0, id, model, geomModel);
       AppendJointOfModelAlgo::run (modelA.joints[jid], args);
@@ -235,12 +235,12 @@ namespace pinocchio
     for (JointIndex jid = 1; jid < modelB.joints.size(); ++jid)
     {
       SE3 pMi = (jid == 1 ? frame.placement * aMb : id);
-      ArgsType args (modelB, geomModelB, frame.parent, pMi, model, geomModel);
+      ArgsType args (modelB, geomModelB, frame.parentJoint, pMi, model, geomModel);
       AppendJointOfModelAlgo::run (modelB.joints[jid], args);
     }
 
     // Copy remaining joints of modelA
-    for (JointIndex jid = frame.parent+1; jid < modelA.joints.size(); ++jid)
+    for (JointIndex jid = frame.parentJoint+1; jid < modelA.joints.size(); ++jid)
     {
       ArgsType args (modelA, geomModelA, 0, id, model, geomModel);
       AppendJointOfModelAlgo::run (modelA.joints[jid], args);
@@ -345,7 +345,7 @@ namespace pinocchio
       const JointIndex reduced_parent_joint_index
       = exist_parent_joint
       ? reduced_model.getJointId(parent_joint_name)
-      : reduced_model.frames[reduced_model.getFrameId(parent_joint_name)].parent;
+      : reduced_model.frames[reduced_model.getFrameId(parent_joint_name)].parentJoint;
       
       const SE3 parent_frame_placement
       = exist_parent_joint
@@ -373,7 +373,7 @@ namespace pinocchio
                             input_model.inertias[joint_id]);
         
         FrameIndex frame_id = reduced_model.addFrame(frame);
-        reduced_model.frames[frame_id].previousFrame = frame_id; // a bit weird, but this is a solution for missing parent frame
+        reduced_model.frames[frame_id].parentFrame = frame_id; // a bit weird, but this is a solution for missing parent frame
         
         current_index_to_lock++;
       }
@@ -432,11 +432,11 @@ namespace pinocchio
     for(++frame_it;frame_it != input_model.frames.end(); ++frame_it)
     {
       const Frame & input_frame = *frame_it;
-      const std::string & support_joint_name = input_model.names[input_frame.parent];
+      const std::string & support_joint_name = input_model.names[input_frame.parentJoint];
       
       std::vector<JointIndex>::const_iterator support_joint_it = std::find(list_of_joints_to_lock.begin(),
                                                                            list_of_joints_to_lock.end(),
-                                                                           input_frame.parent);
+                                                                           input_frame.parentJoint);
       
       if(support_joint_it != list_of_joints_to_lock.end())
       {
@@ -450,15 +450,15 @@ namespace pinocchio
         const Frame & joint_frame = reduced_model.frames[joint_frame_id];
         Frame reduced_frame = input_frame;
         reduced_frame.placement = joint_frame.placement * input_frame.placement;
-        reduced_frame.parent = joint_frame.parent;
-        reduced_frame.previousFrame = reduced_model.getFrameId(input_model.frames[input_frame.previousFrame].name);
+        reduced_frame.parentJoint = joint_frame.parentJoint;
+        reduced_frame.parentFrame = reduced_model.getFrameId(input_model.frames[input_frame.parentFrame].name);
         reduced_model.addFrame(reduced_frame, false);
       }
       else
       {
         Frame reduced_frame = input_frame;
-        reduced_frame.parent = reduced_model.getJointId(input_model.names[input_frame.parent]);
-        reduced_frame.previousFrame = reduced_model.getFrameId(input_model.frames[input_frame.previousFrame].name);
+        reduced_frame.parentJoint = reduced_model.getJointId(input_model.names[input_frame.parentJoint]);
+        reduced_frame.parentFrame = reduced_model.getFrameId(input_model.frames[input_frame.parentFrame].name);
         reduced_model.addFrame(reduced_frame, false);
       }
     }
@@ -526,7 +526,7 @@ namespace pinocchio
         else // The joint is now a frame
         {
           const FrameIndex reduced_frame_id = reduced_model.getFrameId(parent_joint_name);
-          reduced_joint_id = reduced_model.frames[reduced_frame_id].parent;
+          reduced_joint_id = reduced_model.frames[reduced_frame_id].parentJoint;
           relative_placement = reduced_model.frames[reduced_frame_id].placement;
         }
 

src/algorithm/regressor.hxx

@@ -104,9 +104,9 @@ namespace pinocchio
     typedef typename Model::Frame Frame;
 
     const Frame & frame = model.frames[frame_id];
-    data.oMf[frame_id] = data.oMi[frame.parent] * frame.placement;
+    data.oMf[frame_id] = data.oMi[frame.parentJoint] * frame.placement;
     
-    internal::computeJointKinematicRegressorGeneric(model,data,frame.parent,rf,data.oMf[frame_id],
+    internal::computeJointKinematicRegressorGeneric(model,data,frame.parentJoint,rf,data.oMf[frame_id],
                                                     kinematic_regressor.const_cast_derived());
   }
   
@@ -265,7 +265,7 @@ namespace pinocchio
     typedef typename Model::SE3 SE3;
 
     const Frame & frame = model.frames[frameId];
-    const JointIndex & parent = frame.parent;
+    const JointIndex & parent = frame.parentJoint;
     const SE3 & placement = frame.placement;
 
     bodyRegressor(placement.actInv(data.v[parent]), placement.actInv(data.a_gf[parent]), data.bodyRegressor);

src/multibody/fcl.hpp

@@ -7,6 +7,7 @@
 
 #include "pinocchio/spatial/se3.hpp"
 #include "pinocchio/multibody/fwd.hpp"
+#include "pinocchio/multibody/model-item.hpp"
 #include "pinocchio/container/aligned-vector.hpp"
 
 #ifdef PINOCCHIO_WITH_HPP_FCL
@@ -40,7 +41,6 @@
   #include "pinocchio/spatial/fcl-pinocchio-conversions.hpp"
 #endif
 
-#include <iostream>
 #include <map>
 #include <vector>
 #include <utility>
@@ -58,7 +58,7 @@ namespace pinocchio
 
     typedef std::pair<GeomIndex, GeomIndex> Base;
    
-    /// \brief Empty constructor
+    /// \brief Empty constructor
     CollisionPair();
     
     ///
@@ -115,24 +115,31 @@ enum GeometryType
   COLLISION
 };
 
-struct GeometryObject
+struct GeometryObject; //fwd
+
+template<>
+struct traits<GeometryObject>
+{
+  typedef double Scalar;
+  enum { Options = 0};
+};
+
+struct GeometryObject : public ModelItem<GeometryObject>
 {
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  typedef ModelItem<GeometryObject> Base;
+  typedef typename traits<GeometryObject>::Scalar Scalar;
+  enum { Options = traits<GeometryObject>::Options };
+
+  typedef SE3Tpl<Scalar,Options> SE3;
   
   typedef boost::shared_ptr<fcl::CollisionGeometry> CollisionGeometryPtr;
-  
-  /// \brief Name of the geometry object
-  std::string name;
-
-  /// \brief Index of the parent frame
-  ///
-  /// Parent frame may be unset (to the std::numeric_limits<FrameIndex>::max() value) as it is mostly used as a documentation of the tree, or in third-party libraries.
-  /// The URDF parser of Pinocchio is setting it to the proper value according to the urdf link-joint tree.
-  /// In particular, anchor joints of URDF would cause parent frame to be different to joint frame.
-  FrameIndex parentFrame;
 
-  /// \brief Index of the parent joint
-  JointIndex parentJoint;
+  using Base::name;
+  using Base::parentFrame;
+  using Base::parentJoint;
+  using Base::placement;
 
   /// \brief The FCL CollisionGeometry (might be a Mesh, a Geometry Primitive, etc.)
   CollisionGeometryPtr geometry;
@@ -141,9 +148,6 @@ struct GeometryObject
   /// \deprecated It is now deprecated and has been renamed GeometryObject::geometry
   PINOCCHIO_DEPRECATED CollisionGeometryPtr & fcl;
 
-  /// \brief Position of geometry object in parent joint frame
-  SE3 placement;
-
   /// \brief Absolute path to the mesh file (if the fcl pointee is also a Mesh)
   std::string meshPath;
 
@@ -168,10 +172,10 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
   /// \brief Full constructor.
   ///
   /// \param[in] name  Name of the geometry object.
-  /// \param[in] parent_frame  Index of the parent frame.
   /// \param[in] parent_joint  Index of the parent joint (that supports the geometry).
-  /// \param[in] collision_geometry The FCL collision geometry object.
+  /// \param[in] parent_frame  Index of the parent frame.
   /// \param[in] placement Placement of the geometry with respect to the joint frame.
+  /// \param[in] collision_geometry The FCL collision geometry object.
   /// \param[in] meshPath Path of the mesh (may be needed extarnally to load the mesh inside a viewer for instance) [if applicable].
   /// \param[in] meshScale Scale of the mesh [if applicable].
   /// \param[in] overrideMaterial If true, this option allows to overrite the material [if applicable].
@@ -179,21 +183,18 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
   /// \param[in] meshTexturePath Path to the file containing the texture information [if applicable].
   ///
   GeometryObject(const std::string & name,
-                 const FrameIndex parent_frame,
                  const JointIndex parent_joint,
-                 const CollisionGeometryPtr & collision_geometry,
+                 const FrameIndex parent_frame,
                  const SE3 & placement,
+                 const CollisionGeometryPtr & collision_geometry,
                  const std::string & meshPath = "",
                  const Eigen::Vector3d & meshScale = Eigen::Vector3d::Ones(),
                  const bool overrideMaterial = false,
                  const Eigen::Vector4d & meshColor = Eigen::Vector4d::Zero(),
                  const std::string & meshTexturePath = "")
-  : name(name)
-  , parentFrame(parent_frame)
-  , parentJoint(parent_joint)
+  : Base(name, parent_joint, parent_frame, placement)
   , geometry(collision_geometry)
   , fcl(geometry)
-  , placement(placement)
   , meshPath(meshPath)
   , meshScale(meshScale)
   , overrideMaterial(overrideMaterial)
@@ -201,6 +202,44 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
   , meshTexturePath(meshTexturePath)
   , disableCollision(false)
   {}
+
+  ///
+  /// \brief Full constructor.
+  ///
+  /// \param[in] name  Name of the geometry object.
+  /// \param[in] parent_frame  Index of the parent frame.
+  /// \param[in] parent_joint  Index of the parent joint (that supports the geometry).
+  /// \param[in] collision_geometry The FCL collision geometry object.
+  /// \param[in] placement Placement of the geometry with respect to the joint frame.
+  /// \param[in] meshPath Path of the mesh (may be needed extarnally to load the mesh inside a viewer for instance) [if applicable].
+  /// \param[in] meshScale Scale of the mesh [if applicable].
+  /// \param[in] overrideMaterial If true, this option allows to overrite the material [if applicable].
+  /// \param[in] meshColor Color of the mesh [if applicable].
+  /// \param[in] meshTexturePath Path to the file containing the texture information [if applicable].
+  ///
+  /// \deprecated This constructor is now deprecated, and its argument order has been changed.
+  ///
+  PINOCCHIO_DEPRECATED GeometryObject(const std::string & name,
+                                      const FrameIndex parent_frame,
+                                      const JointIndex parent_joint,
+                                      const CollisionGeometryPtr & collision_geometry,
+                                      const SE3 & placement,
+                                      const std::string & meshPath = "",
+                                      const Eigen::Vector3d & meshScale = Eigen::Vector3d::Ones(),
+                                      const bool overrideMaterial = false,
+                                      const Eigen::Vector4d & meshColor = Eigen::Vector4d::Zero(),
+                                      const std::string & meshTexturePath = "")
+  : Base(name, parent_joint, parent_frame, placement)
+  , geometry(collision_geometry)
+  , fcl(geometry)
+  , meshPath(meshPath)
+  , meshScale(meshScale)
+  , overrideMaterial(overrideMaterial)
+  , meshColor(meshColor)
+  , meshTexturePath(meshTexturePath)
+  , disableCollision(false)
+  {}
+
 PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
 PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
@@ -211,8 +250,8 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
   ///
   /// \param[in] name  Name of the geometry object.
   /// \param[in] parent_joint  Index of the parent joint (that supports the geometry).
-  /// \param[in] collision_geometry The FCL collision geometry object.
   /// \param[in] placement Placement of the geometry with respect to the joint frame.
+  /// \param[in] collision_geometry The FCL collision geometry object.
   /// \param[in] meshPath Path of the mesh (may be needed extarnally to load the mesh inside a viewer for instance) [if applicable].
   /// \param[in] meshScale Scale of the mesh [if applicable].
   /// \param[in] overrideMaterial If true, this option allows to overrite the material [if applicable].
@@ -221,19 +260,53 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
   ///
   GeometryObject(const std::string & name,
                  const JointIndex parent_joint,
-                 const CollisionGeometryPtr & collision_geometry,
                  const SE3 & placement,
+                 const CollisionGeometryPtr & collision_geometry,
                  const std::string & meshPath = "",
                  const Eigen::Vector3d & meshScale = Eigen::Vector3d::Ones(),
                  const bool overrideMaterial = false,
                  const Eigen::Vector4d & meshColor = Eigen::Vector4d::Zero(),
                  const std::string & meshTexturePath = "")