Errors occurs in generate_segment_pics function in bimanual/helpers.py: parser.multibody.parsing.Parser object has no method AddModelFromFile

[hanlanqian]

Hello, Thanks for you guys' great work. I'm encounting some problems when tring to replication the bimanual simulation. Seems that there is no AddModelFromFile method in Parser Object in the latest version of drake. Is there any alternative method for implement the same functionality?

def generate_segment_pics(traj, segment, meshcat):
      ...
      iiwa1_goal = parser.AddModelFromFile(iiwa_file, "iiwa1_goal")
      wsg1_goal = parser.AddModelFromFile(wsg_file, "wsg1_goal")
      iiwa2_goal = parser.AddModelFromFile(iiwa_file, "iiwa2_goal")
      wsg2_goal = parser.AddModelFromFile(wsg_file, "wsg2_goal")
      ...