leave m_useGlobalVelocities to false, until enabled, for backward compatibility

use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF.
fix robot_bases.py due to new fields in getJointInfo.
backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.

examples/Importers/ImportURDFDemo/URDF2Bullet.cpp

@@ -344,9 +344,9 @@ void ConvertURDF2BulletInternal(
                 bool isFixedBase = (mass==0);//todo: figure out when base is fixed
                 int totalNumJoints = cache.m_totalNumJoints1;
                 cache.m_bulletMultiBody = creation.allocateMultiBody(urdfLinkIndex, totalNumJoints,mass, localInertiaDiagonal, isFixedBase, canSleep);
-				if (flags & CUF_NO_GLOBAL_VELOCITIES_MB)
+				if (flags & CUF_GLOBAL_VELOCITIES_MB)
 				{
-					cache.m_bulletMultiBody->useGlobalVelocities(false);
+					cache.m_bulletMultiBody->useGlobalVelocities(true);
 				}
 				if (flags & CUF_USE_MJCF)
 				{

examples/Importers/ImportURDFDemo/URDF2Bullet.h

@@ -24,7 +24,7 @@ enum ConvertURDFFlags {
   CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
   CUF_RESERVED=64,
   CUF_USE_IMPLICIT_CYLINDER=128,
-  CUF_NO_GLOBAL_VELOCITIES_MB=256,
+  CUF_GLOBAL_VELOCITIES_MB=256,
 };
 
 void ConvertURDF2Bullet(const URDFImporterInterface& u2b,