Merge dc2d705 into 5f59efb

CHANGELOG.md

@@ -4,6 +4,10 @@ All notable changes to this project will be documented in this file.
 
 ## [Unreleased]
 
+### Added
+
+- BulletInterface: Add a new parameter to allow additional URDFs.
+
 ### Removed
 
 - Bazel: dependencies based on ``pip_parse`` from ``rules_python``

vulp/actuation/BulletInterface.cpp

@@ -78,6 +78,15 @@ BulletInterface::BulletInterface(const ServoLayout& layout,
     }
   }
 
+  // Load additional URDFs
+  for (const auto& urdf_path : params.extra_urdf_paths) {
+    spdlog::info("Loading additional URDF: ", urdf_path);
+    if (bullet_.loadURDF(urdf_path) < 0) {
+      throw std::runtime_error("Could not load the additional URDF: " +
+                               urdf_path);
+    }
+  }
+
   // Start visualizer and configure simulation
   bullet_.configureDebugVisualizer(COV_ENABLE_RENDERING, 1);
   reset(Dictionary{});

vulp/actuation/BulletInterface.h

@@ -4,10 +4,12 @@
 #pragma once
 
 #include <palimpsest/Dictionary.h>
+#include <spdlog/spdlog.h>
 
 #include <limits>
 #include <map>
 #include <string>
+#include <vector>
 
 #include "RobotSimulator/b3RobotSimulatorClientAPI.h"
 #include "vulp/actuation/BulletImuData.h"
@@ -119,6 +121,9 @@ class BulletInterface : public Interface {
      */
     std::string urdf_path;
 
+    //! Paths to extra URDFs to load.
+    std::vector<std::string> extra_urdf_paths;
+
     //! Gain for joint velocity control feedback
     double torque_control_kd = 1.0;