Allow to load a urdf file in the testplugin.cpp, as first quick test, example pybullet script:

import pybullet as p
p.connect(p.GUI)
pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
commandUid = 0
argument = "plane.urdf"
p.executePluginCommand(pluginUid,commandUid,argument)
p.unloadPlugin(pluginUid)

examples/SharedMemory/plugins/b3PluginContext.h

@@ -0,0 +1,13 @@
+#ifndef B3_PLUGIN_CONTEXT_H
+#define B3_PLUGIN_CONTEXT_H
+
+#include "../PhysicsClientC_API.h"
+
+struct b3PluginContext
+{
+	const char* m_arguments;
+
+	b3PhysicsClientHandle	m_physClient;
+};
+
+#endif //B3_PLUGIN_CONTEXT_H