Add loadURDF kwargs for flexibility of loading.

Author: Danfoa

robot_descriptions/loaders/pybullet.py

@@ -25,19 +25,23 @@
 import pybullet
 
 
-def load_robot_description(
-    description_name: str,
-    commit: Optional[str] = None,
-) -> int:
-    """Load a robot description in PyBullet.
+def load_robot_description(description_name: str,
+                           basePosition=(0, 0, 0), baseOrientation=(0, 0, 0, 1), flags=-1,
+                           useFixedBase=0, physicsClientId=0, commit=None) -> int:
+    """
+    Load a robot description in PyBullet.
 
     Args:
         description_name: Name of the robot description.
-        commit: If specified, check out that commit from the cloned robot
-            description repository.
+        basePosition: 3D position of the base of the robot in world coordinates.
+        baseOrientation: orientation in quaternion (xyzw) of the base of the robot in world coordinates.
+        flags: int flags for the URDF loading in pybullet.
+        useFixedBase: boolean indicating use a fix joint between world and robot base.
+        physicsClientId: int indicating the pybullet client id.
+        commit: If specified, check out that commit from the cloned robot description repository.
 
     Returns:
-        Identifier of the robot in PyBullet.
+        Integer identifier of the robot in PyBullet.
     """
     if commit is not None:
         os.environ["ROBOT_DESCRIPTION_COMMIT"] = commit
@@ -46,5 +50,7 @@ def load_robot_description(
         raise ValueError(f"{description_name} is not a URDF description")
 
     pybullet.setAdditionalSearchPath(module.PACKAGE_PATH)
-    robot = pybullet.loadURDF(module.URDF_PATH)
+    robot = pybullet.loadURDF(module.URDF_PATH,
+                              basePosition=basePosition, baseOrientation=baseOrientation, flags=flags,
+                              useFixedBase=useFixedBase, physicsClientId=physicsClientId)
     return robot