erwincoumans 22b4809891 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.

2018-01-10 11:16:50 -08:00

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