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/ImportMJCFDemo/BulletMJCFImporter.cpp

@@ -7,6 +7,7 @@
 #include "../../Utils/b3ResourcePath.h"
 #include <iostream>
 #include <fstream>
+#include "../ImportURDFDemo/URDF2Bullet.h"
 #include "../ImportURDFDemo/UrdfParser.h"
 #include "../ImportURDFDemo/urdfStringSplit.h"
 #include "../ImportURDFDemo/urdfLexicalCast.h"
@@ -190,10 +191,13 @@ struct BulletMJCFImporterInternalData
 	btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
 	mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
 
+	int m_flags;
+
 	BulletMJCFImporterInternalData()
 		:m_inertiaFromGeom(true),
 		m_activeModel(-1),
-		m_activeBodyUniqueId(-1)
+		m_activeBodyUniqueId(-1),
+		m_flags(0)
 	{
 		m_pathPrefix[0] = 0;
 	}
@@ -1370,11 +1374,12 @@ struct BulletMJCFImporterInternalData
 
 };
 
-BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter)
+BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags)
 {
 	m_data = new BulletMJCFImporterInternalData();
 	m_data->m_guiHelper = helper;
 	m_data->m_customVisualShapesConverter = customConverter;
+	m_data->m_flags = flags;
 }
 
 BulletMJCFImporter::~BulletMJCFImporter()
@@ -1897,43 +1902,45 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes( int linkI
 			{
 				if (col->m_geometry.m_hasFromTo)
 				{
-#if 0
+					if (m_data->m_flags&CUF_USE_IMPLICIT_CYLINDER)
-					btVector3 f = col->m_geometry.m_capsuleFrom;
-					btVector3 t = col->m_geometry.m_capsuleTo;
-					btVector3 fromto[2] = {f,t};
-					btScalar radii[2] = {btScalar(col->m_geometry.m_capsuleRadius)
-										,btScalar(col->m_geometry.m_capsuleRadius)};
-
-					btMultiSphereShape* ms = new btMultiSphereShape(fromto,radii,2);
-					childShape = ms;
-#else
-						btVector3 f = col->m_geometry.m_capsuleFrom;
-					btVector3 t = col->m_geometry.m_capsuleTo;
-					
-					//compute the local 'fromto' transform
-					btVector3 localPosition = btScalar(0.5)*(t+f);
-					btQuaternion localOrn;
-					localOrn = btQuaternion::getIdentity();
-
-					btVector3 diff = t-f;
-					btScalar lenSqr = diff.length2();
-					btScalar height = 0.f;
-
-					if (lenSqr > SIMD_EPSILON)
 					{
-						height = btSqrt(lenSqr);
+						btVector3 f = col->m_geometry.m_capsuleFrom;
-						btVector3 ax = diff / height;
+						btVector3 t = col->m_geometry.m_capsuleTo;
+					
+						//compute the local 'fromto' transform
+						btVector3 localPosition = btScalar(0.5)*(t+f);
+						btQuaternion localOrn;
+						localOrn = btQuaternion::getIdentity();
 
-						btVector3 zAxis(0,0,1);
+						btVector3 diff = t-f;
-						localOrn = shortestArcQuat(zAxis,ax);
+						btScalar lenSqr = diff.length2();
+						btScalar height = 0.f;
+
+						if (lenSqr > SIMD_EPSILON)
+						{
+							height = btSqrt(lenSqr);
+							btVector3 ax = diff / height;
+
+							btVector3 zAxis(0,0,1);
+							localOrn = shortestArcQuat(zAxis,ax);
+						}
+						btCapsuleShapeZ* capsule= new btCapsuleShapeZ(col->m_geometry.m_capsuleRadius,height);
+
+						btCompoundShape* compound = new btCompoundShape();
+						btTransform localTransform(localOrn,localPosition);
+						compound->addChildShape(localTransform,capsule);
+						childShape = compound;
+					} else
+					{
+						btVector3 f = col->m_geometry.m_capsuleFrom;
+						btVector3 t = col->m_geometry.m_capsuleTo;
+						btVector3 fromto[2] = {f,t};
+						btScalar radii[2] = {btScalar(col->m_geometry.m_capsuleRadius)
+											,btScalar(col->m_geometry.m_capsuleRadius)};
+
+						btMultiSphereShape* ms = new btMultiSphereShape(fromto,radii,2);
+						childShape = ms;
 					}
-					btCapsuleShapeZ* capsule= new btCapsuleShapeZ(col->m_geometry.m_capsuleRadius,height);
-
-					btCompoundShape* compound = new btCompoundShape();
-					btTransform localTransform(localOrn,localPosition);
-					compound->addChildShape(localTransform,capsule);
-					childShape = compound;
-#endif
 				} else
 				{
 					btCapsuleShapeZ* cap = new btCapsuleShapeZ(col->m_geometry.m_capsuleRadius,

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h

@@ -19,7 +19,7 @@ class BulletMJCFImporter : public URDFImporterInterface
 	struct BulletMJCFImporterInternalData* m_data;
 
 public:
-	BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter);
+	BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags);
 	virtual ~BulletMJCFImporter();
 	
 	virtual bool parseMJCFString(const char* xmlString, MJCFErrorLogger* logger);

examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp

@@ -216,7 +216,8 @@ void ImportMJCFSetup::initPhysics()
 		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 	}
 
-	BulletMJCFImporter importer(m_guiHelper, 0);
+	int flags=0;
+	BulletMJCFImporter importer(m_guiHelper, 0,flags);
 	MyMJCFLogger logger;
 	bool result = importer.loadMJCF(m_fileName,&logger);
 	if (result)

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,

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -2704,7 +2704,7 @@ bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferS
 
 	m_data->m_sdfRecentLoadedBodies.clear();
 
-    BulletMJCFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
+    BulletMJCFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, flags);
 
 	bool useFixedBase = false;
 	MyMJCFLogger2 logger;

examples/SharedMemory/SharedMemoryPublic.h

@@ -673,7 +673,7 @@ enum eURDF_Flags
 	URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
 	URDF_RESERVED=64,
 	URDF_USE_IMPLICIT_CYLINDER =128,
-	URDF_NO_GLOBAL_VELOCITIES_MB =256,
+	URDF_GLOBAL_VELOCITIES_MB =256,
 };
 
 enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes

examples/pybullet/gym/pybullet_envs/robot_bases.py

@@ -55,7 +55,9 @@ class MJCFBasedRobot:
 				parts[part_name] = BodyPart(part_name, bodies, i, -1)
 			for j in range(p.getNumJoints(bodies[i])):
 				p.setJointMotorControl2(bodies[i],j,p.POSITION_CONTROL,positionGain=0.1,velocityGain=0.1,force=0)
-				_,joint_name,_,_,_,_,_,_,_,_,_,_,part_name = p.getJointInfo(bodies[i], j)
+				jointInfo = p.getJointInfo(bodies[i], j)
+				joint_name=jointInfo[1]
+				part_name=jointInfo[12]
 
 				joint_name = joint_name.decode("utf8")
 				part_name = part_name.decode("utf8")
@@ -172,7 +174,11 @@ class Joint:
 		self.bodyIndex = bodyIndex
 		self.jointIndex = jointIndex
 		self.joint_name = joint_name
-		_,_,_,_,_,_,_,_,self.lowerLimit, self.upperLimit,_,_,_ = p.getJointInfo(self.bodies[self.bodyIndex], self.jointIndex)
+		
+		jointInfo = p.getJointInfo(self.bodies[self.bodyIndex], self.jointIndex)
+		self.lowerLimit = jointInfo[8]
+		self.upperLimit = jointInfo[9]
+		
 		self.power_coeff = 0
 
 	def set_state(self, x, vx):

examples/pybullet/pybullet.c

@@ -8817,7 +8817,7 @@ initpybullet(void)
 
 	PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
 	PyModule_AddIntConstant(m, "URDF_USE_IMPLICIT_CYLINDER", URDF_USE_IMPLICIT_CYLINDER);
-	PyModule_AddIntConstant(m, "URDF_NO_GLOBAL_VELOCITIES_MB", URDF_NO_GLOBAL_VELOCITIES_MB);
+	PyModule_AddIntConstant(m, "URDF_GLOBAL_VELOCITIES_MB", URDF_GLOBAL_VELOCITIES_MB);
 		
 	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
 	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);

src/BulletDynamics/Featherstone/btMultiBody.cpp

@@ -122,7 +122,7 @@ btMultiBody::btMultiBody(int n_links,
 		m_dofCount(0),
 		m_posVarCnt(0),
 		m_useRK4(false), 	
-		m_useGlobalVelocities(true),
+		m_useGlobalVelocities(false),
 		m_internalNeedsJointFeedback(false)
 {
 	m_cachedInertiaTopLeft.setValue(0,0,0,0,0,0,0,0,0);