Merge branch 'Danfoa-master'

Author: stephane-caron

robot_descriptions/_repositories.py

@@ -178,7 +178,7 @@ class Repository:
         cache_path="reachy_description",
     ),
     "rhea_description": Repository(
-        url="https://github.com/tasts-robots/rhea_description.git",
+        url="https://github.com/G-Levine/rhea_description.git",
         commit="1dc0f1abcf51b5d8a8f7ff8a548399ff0df1414f",
         cache_path="rhea_description",
     ),

robot_descriptions/loaders/pybullet.py

@@ -28,16 +28,26 @@
 def load_robot_description(
     description_name: str,
     commit: Optional[str] = None,
+    **kwargs,
 ) -> 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.
+        kwargs: arguments passed to pybullet.loadURDF function, including:
+            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.
 
     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 +56,5 @@ 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, **kwargs)
     return robot