Expose 'flags' option for loadURDF, to allow customization of the URDF loading process while maintaining backward compatibility.

For example: URDF_USE_INERTIA_FROM_FILE flag. By default, URDF2Bullet will re-compute the inertia tensor based on mass and volume, because most URDF files have bogus Inertia values.

examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp

@@ -260,6 +260,8 @@ int b3RobotSimulatorClientAPI::loadURDF(const std::string& fileName, const struc
 
 	//setting the initial position, orientation and other arguments are optional
 
+	b3LoadUrdfCommandSetFlags(command,args.m_flags);
+
 	b3LoadUrdfCommandSetStartPosition(command, args.m_startPosition[0],
 									  args.m_startPosition[1],
 									  args.m_startPosition[2]);

examples/RobotSimulator/b3RobotSimulatorClientAPI.h

@@ -15,12 +15,14 @@ struct b3RobotSimulatorLoadUrdfFileArgs
 	b3Quaternion m_startOrientation;
 	bool m_forceOverrideFixedBase;
 	bool m_useMultiBody;
+	int m_flags;
 
 	b3RobotSimulatorLoadUrdfFileArgs()
 		: m_startPosition(b3MakeVector3(0, 0, 0)),
 		  m_startOrientation(b3Quaternion(0, 0, 0, 1)),
 		  m_forceOverrideFixedBase(false),
-		  m_useMultiBody(true)
+		  m_useMultiBody(true),
+		  m_flags(0)
 	{
 	}
 };

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -238,6 +238,19 @@ int	b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle,
 	return -1;
 }
 
+int	b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_LOAD_URDF);
+	if (command && (command->m_type == CMD_LOAD_URDF))
+	{
+		command->m_updateFlags |= 	URDF_ARGS_HAS_CUSTOM_URDF_FLAGS;
+		command->m_urdfArguments.m_urdfFlags = flags;
+	}
+	return 0;
+}
+
 int	b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
 {
     struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

examples/SharedMemory/PhysicsClientC_API.h

@@ -217,6 +217,7 @@ int	b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle,
 int	b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
 int	b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
 int	b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
+int	b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
 
 b3SharedMemoryCommandHandle	b3LoadBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
 b3SharedMemoryCommandHandle	b3SaveBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -1539,7 +1539,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
 
 
 bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
-                             bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes)
+                             bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags)
 {
 	BT_PROFILE("loadURDF");
 	btAssert(m_data->m_dynamicsWorld);
@@ -1597,7 +1597,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
         //                      printf("urdf root link index = %d\n",rootLinkIndex);
 		MyMultiBodyCreator creation(m_data->m_guiHelper);
 
-        ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix());
+        ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);
 
         for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++)
         {
@@ -2617,6 +2617,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						initialPos[1] = urdfArgs.m_initialPosition[1];
 						initialPos[2] = urdfArgs.m_initialPosition[2];
 					}
+					int urdfFlags = 0;
+					if (clientCmd.m_updateFlags & URDF_ARGS_HAS_CUSTOM_URDF_FLAGS)
+					{
+						urdfFlags = urdfArgs.m_urdfFlags;
+					}
 					if (clientCmd.m_updateFlags & URDF_ARGS_INITIAL_ORIENTATION)
 					{
 						initialOrn[0] = urdfArgs.m_initialOrientation[0];
@@ -2630,8 +2635,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     //load the actual URDF and send a report: completed or failed
                     bool completedOk = loadUrdf(urdfArgs.m_urdfFileName,
                                                initialPos,initialOrn,
-                                               useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
+                                               useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes, urdfFlags);
-
 
                     if (completedOk)
                     {
@@ -5399,7 +5403,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 		btVector3 spawnDir = mat.getColumn(0);
 		btVector3 shiftPos = spawnDir*spawnDistance;
 		btVector3 spawnPos = gVRGripperPos + shiftPos;
-		loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+		loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size(),0);
 		//loadUrdf("lego/lego.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		m_data->m_sphereId = bodyId;
 		InteralBodyData* parentBody = m_data->getHandle(bodyId);

examples/SharedMemory/PhysicsServerCommandProcessor.h

@@ -35,7 +35,7 @@ protected:
 	bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
 
 	bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
-		bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes);
+		bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags=0);
 
 	bool loadMjcf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
 

examples/SharedMemory/SharedMemoryCommands.h

@@ -79,6 +79,7 @@ enum EnumUrdfArgsUpdateFlags
 	URDF_ARGS_INITIAL_ORIENTATION=4,
 	URDF_ARGS_USE_MULTIBODY=8,
 	URDF_ARGS_USE_FIXED_BASE=16,
+	URDF_ARGS_HAS_CUSTOM_URDF_FLAGS = 32
 };
 
 
@@ -89,6 +90,7 @@ struct UrdfArgs
 	double m_initialOrientation[4];
 	int m_useMultiBody;
 	int m_useFixedBase;
+	int m_urdfFlags;
 };
 
 struct MjcfArgs

examples/SharedMemory/SharedMemoryPublic.h

@@ -447,4 +447,9 @@ enum eCONNECT_METHOD {
   eCONNECT_TCP = 5,
 };
 
+enum eURDF_Flags
+{
+	URDF_USE_INERTIA_FROM_FILE=2,//sync with URDF2Bullet.h 'ConvertURDFFlags'
+};
+
 #endif//SHARED_MEMORY_PUBLIC_H

examples/pybullet/pybullet.c

@@ -693,8 +693,9 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	int physicsClientId = 0;
+	int flags = 0;
 
-	static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "physicsClientId", NULL};
+	static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "flags","physicsClientId", NULL};
 
 	static char* kwlistBackwardCompatible4[] = {"fileName", "startPosX", "startPosY", "startPosZ", NULL};
 	static char* kwlistBackwardCompatible8[] = {"fileName", "startPosX", "startPosY", "startPosZ", "startOrnX", "startOrnY", "startOrnZ", "startOrnW", NULL};
@@ -741,7 +742,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
 		double basePos[3];
 		double baseOrn[4];
 
-		if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiii", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &physicsClientId))
+		if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiiii", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &flags, &physicsClientId))
 		{
 			return NULL;
 		}
@@ -790,6 +791,8 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
 		b3SharedMemoryCommandHandle command =
 			b3LoadUrdfCommandInit(sm, urdfFileName);
 
+		b3LoadUrdfCommandSetFlags(command,flags);
+
 		// setting the initial position, orientation and other arguments are
 		// optional
 		b3LoadUrdfCommandSetStartPosition(command, startPosX, startPosY, startPosZ);
@@ -3916,15 +3919,13 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 	b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
 	b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
 
-	b3RequestCameraImageSelectRenderer(command, renderer);
+	b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL
 
 	if (b3CanSubmitCommand(sm))
 	{
 		b3SharedMemoryStatusHandle statusHandle;
 		int statusType;
 
-		// b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
-
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 		statusType = b3GetStatusType(statusHandle);
 		if (statusType == CMD_CAMERA_IMAGE_COMPLETED)
@@ -4349,7 +4350,6 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args)
 		b3SharedMemoryStatusHandle statusHandle;
 		int statusType;
 
-		// b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
 
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 		statusType = b3GetStatusType(statusHandle);
@@ -5422,6 +5422,8 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
 	PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);
 
+	PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
+	
 	PyModule_AddIntConstant(m, "B3G_F1", B3G_F1);
 	PyModule_AddIntConstant(m, "B3G_F2", B3G_F2);
 	PyModule_AddIntConstant(m, "B3G_F3", B3G_F3);