Is it possible to change the order of joints in pinocchio::model when multiple joints are connected by a floating base?

[Zionshang]

I loaded a model of a quadruped robot from URDF, its joint order in pinocchio::model looks like this:

0     : universe                
1     : floating_base           
2     : FL_hip_joint            
3     : FL_thigh_joint          
4     : FL_calf_joint           
5     : FR_hip_joint            
6     : FR_thigh_joint          
7     : FR_calf_joint           
8     : RL_hip_joint            
9     : RL_thigh_joint          
10    : RL_calf_joint           
11    : RR_hip_joint            
12    : RR_thigh_joint          
13    : RR_calf_joint           

I want to change the order of the four legs FL, FR, RL, RR, is it possible?
For example, the result is

0     : universe                
1     : floating_base           
2     : FR_hip_joint            
3     : FR_thigh_joint          
4     : FR_calf_joint           
5     : RR_hip_joint            
6     : RR_thigh_joint          
7     : RR_calf_joint           
8     : FL_hip_joint            
9     : FL_thigh_joint          
10    : FL_calf_joint           
11    : RL_hip_joint            
12    : RL_thigh_joint          
13    : RL_calf_joint           

I would be very grateful if you could help me!

[jcarpent]

There is not yet this feature. But it could be easy to add it. We just need to ensure that the new ordering is compact for efficiency.