diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7215216cebac0..ceaba67dd502a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,6 +13,10 @@
 
   * Remove DART_BUILD_DARTPY option: [#1600](https://github.com/dartsim/dart/pull/1600)
 
+* Parsers
+
+  * Added default options to DartLoader for missing properties in URDF files: : [#1605](https://github.com/dartsim/dart/pull/1605)
+
 ### [DART 6.11.1 (2021-08-23)](https://github.com/dartsim/dart/milestone/67?closed=1)
 
 * Dynamics
diff --git a/dart/utils/urdf/DartLoader.cpp b/dart/utils/urdf/DartLoader.cpp
index ea4785aaeea94..11ae87e7ad2ab 100644
--- a/dart/utils/urdf/DartLoader.cpp
+++ b/dart/utils/urdf/DartLoader.cpp
@@ -62,8 +62,21 @@ namespace utils {
 
 using ModelInterfacePtr = urdf_shared_ptr<urdf::ModelInterface>;
 
-DartLoader::DartLoader()
-  : mLocalRetriever(new common::LocalResourceRetriever),
+DartLoader::Options::Options(
+    common::ResourceRetrieverPtr resourceRetriever,
+    RootJointType defaultRootJointType,
+    const dynamics::Inertia& defaultInertia)
+  : mResourceRetriever(std::move(resourceRetriever)),
+    mDefaultRootJointType(defaultRootJointType),
+    mDefaultInertia(defaultInertia)
+{
+  // Do nothing
+}
+
+//==============================================================================
+DartLoader::DartLoader(const Options& options)
+  : mOptions(options),
+    mLocalRetriever(new common::LocalResourceRetriever),
     mPackageRetriever(new utils::PackageResourceRetriever(mLocalRetriever)),
     mRetriever(new utils::CompositeResourceRetriever)
 {
@@ -72,22 +85,52 @@ DartLoader::DartLoader()
   mRetriever->addSchemaRetriever("dart", DartResourceRetriever::create());
 }
 
+//==============================================================================
+void DartLoader::setOptions(const Options& options)
+{
+  mOptions = options;
+}
+
+//==============================================================================
+const DartLoader::Options& DartLoader::getOptions() const
+{
+  return mOptions;
+}
+
+//==============================================================================
 void DartLoader::addPackageDirectory(
     const std::string& _packageName, const std::string& _packageDirectory)
 {
   mPackageRetriever->addPackageDirectory(_packageName, _packageDirectory);
 }
 
+//==============================================================================
 dynamics::SkeletonPtr DartLoader::parseSkeleton(
     const common::Uri& _uri,
     const common::ResourceRetrieverPtr& _resourceRetriever,
     unsigned int flags)
+{
+  const auto oldOptions = mOptions;
+  auto options = mOptions;
+  options.mResourceRetriever = _resourceRetriever;
+  if (flags & DartLoader::Flags::FIXED_BASE_LINK)
+    options.mDefaultRootJointType = RootJointType::FIXED;
+  else
+    options.mDefaultRootJointType = RootJointType::FLOATING;
+  mOptions = options;
+  auto out = parseSkeleton(_uri);
+  mOptions = oldOptions;
+  return out;
+}
+
+//==============================================================================
+dynamics::SkeletonPtr DartLoader::parseSkeleton(const common::Uri& uri)
 {
   const common::ResourceRetrieverPtr resourceRetriever
-      = getResourceRetriever(_resourceRetriever);
+      = getResourceRetriever(mOptions.mResourceRetriever);
 
   std::string content;
-  if (!readFileToString(resourceRetriever, _uri, content))
+  if (!readFileToString(resourceRetriever, uri, content))
     return nullptr;
 
   // Use urdfdom to load the URDF file.
@@ -95,28 +138,46 @@ dynamics::SkeletonPtr DartLoader::parseSkeleton(
   if (!urdfInterface)
   {
     dtwarn << "[DartLoader::readSkeleton] Failed loading URDF file '"
-           << _uri.toString() << "'.\n";
+           << uri.toString() << "'.\n";
     return nullptr;
   }
 
   return modelInterfaceToSkeleton(
-      urdfInterface.get(), _uri, resourceRetriever, flags);
+      urdfInterface.get(), uri, resourceRetriever, mOptions);
 }
 
+//==============================================================================
 dynamics::SkeletonPtr DartLoader::parseSkeletonString(
     const std::string& _urdfString,
     const common::Uri& _baseUri,
     const common::ResourceRetrieverPtr& _resourceRetriever,
     unsigned int flags)
 {
-  if (_urdfString.empty())
+  const auto oldOptions = mOptions;
+  auto options = mOptions;
+  options.mResourceRetriever = _resourceRetriever;
+  if (flags & DartLoader::Flags::FIXED_BASE_LINK)
+    options.mDefaultRootJointType = RootJointType::FIXED;
+  else
+    options.mDefaultRootJointType = RootJointType::FLOATING;
+  mOptions = options;
+  auto out = parseSkeletonString(_urdfString, _baseUri);
+  mOptions = oldOptions;
+  return out;
+}
+
+//==============================================================================
+dynamics::SkeletonPtr DartLoader::parseSkeletonString(
+    const std::string& urdfString, const common::Uri& baseUri)
+{
+  if (urdfString.empty())
   {
     dtwarn << "[DartLoader::parseSkeletonString] A blank string cannot be "
            << "parsed into a Skeleton. Returning a nullptr\n";
     return nullptr;
   }
 
-  ModelInterfacePtr urdfInterface = urdf::parseURDF(_urdfString);
+  ModelInterfacePtr urdfInterface = urdf::parseURDF(urdfString);
   if (!urdfInterface)
   {
     dtwarn << "[DartLoader::parseSkeletonString] Failed loading URDF.\n";
@@ -125,36 +186,71 @@ dynamics::SkeletonPtr DartLoader::parseSkeletonString(
 
   return modelInterfaceToSkeleton(
       urdfInterface.get(),
-      _baseUri,
-      getResourceRetriever(_resourceRetriever),
-      flags);
+      baseUri,
+      getResourceRetriever(mOptions.mResourceRetriever),
+      mOptions);
 }
 
+//==============================================================================
 simulation::WorldPtr DartLoader::parseWorld(
     const common::Uri& _uri,
     const common::ResourceRetrieverPtr& _resourceRetriever,
     unsigned int flags)
+{
+  const auto oldOptions = mOptions;
+  auto options = mOptions;
+  options.mResourceRetriever = _resourceRetriever;
+  if (flags & DartLoader::Flags::FIXED_BASE_LINK)
+    options.mDefaultRootJointType = RootJointType::FIXED;
+  else
+    options.mDefaultRootJointType = RootJointType::FLOATING;
+  mOptions = options;
+  auto out = parseWorld(_uri);
+  mOptions = oldOptions;
+  return out;
+}
+
+//==============================================================================
+simulation::WorldPtr DartLoader::parseWorld(const common::Uri& uri)
 {
   const common::ResourceRetrieverPtr resourceRetriever
-      = getResourceRetriever(_resourceRetriever);
+      = getResourceRetriever(mOptions.mResourceRetriever);
 
   std::string content;
-  if (!readFileToString(resourceRetriever, _uri, content))
+  if (!readFileToString(resourceRetriever, uri, content))
     return nullptr;
 
-  return parseWorldString(content, _uri, _resourceRetriever, flags);
+  return parseWorldString(content, uri);
 }
 
+//==============================================================================
 simulation::WorldPtr DartLoader::parseWorldString(
     const std::string& _urdfString,
     const common::Uri& _baseUri,
     const common::ResourceRetrieverPtr& _resourceRetriever,
     unsigned int flags)
+{
+  const auto oldOptions = mOptions;
+  auto options = mOptions;
+  options.mResourceRetriever = _resourceRetriever;
+  if (flags & DartLoader::Flags::FIXED_BASE_LINK)
+    options.mDefaultRootJointType = RootJointType::FIXED;
+  else
+    options.mDefaultRootJointType = RootJointType::FLOATING;
+  mOptions = options;
+  auto out = parseWorldString(_urdfString, _baseUri);
+  mOptions = oldOptions;
+  return out;
+}
+
+//==============================================================================
+simulation::WorldPtr DartLoader::parseWorldString(
+    const std::string& urdfString, const common::Uri& baseUri)
 {
   const common::ResourceRetrieverPtr resourceRetriever
-      = getResourceRetriever(_resourceRetriever);
+      = getResourceRetriever(mOptions.mResourceRetriever);
 
-  if (_urdfString.empty())
+  if (urdfString.empty())
   {
     dtwarn << "[DartLoader::parseWorldString] A blank string cannot be "
            << "parsed into a World. Returning a nullptr\n";
@@ -162,7 +258,7 @@ simulation::WorldPtr DartLoader::parseWorldString(
   }
 
   std::shared_ptr<urdf_parsing::World> worldInterface
-      = urdf_parsing::parseWorldURDF(_urdfString, _baseUri, resourceRetriever);
+      = urdf_parsing::parseWorldURDF(urdfString, baseUri, resourceRetriever);
 
   if (!worldInterface)
   {
@@ -176,7 +272,7 @@ simulation::WorldPtr DartLoader::parseWorldString(
   {
     const urdf_parsing::Entity& entity = worldInterface->models[i];
     dynamics::SkeletonPtr skeleton = modelInterfaceToSkeleton(
-        entity.model.get(), entity.uri, resourceRetriever, flags);
+        entity.model.get(), entity.uri, resourceRetriever, mOptions);
 
     if (!skeleton)
     {
@@ -207,7 +303,7 @@ dynamics::SkeletonPtr DartLoader::modelInterfaceToSkeleton(
     const urdf::ModelInterface* model,
     const common::Uri& baseUri,
     const common::ResourceRetrieverPtr& resourceRetriever,
-    unsigned int flags)
+    const Options& options)
 {
   dynamics::SkeletonPtr skeleton = dynamics::Skeleton::create(model->getName());
 
@@ -237,7 +333,7 @@ dynamics::SkeletonPtr DartLoader::modelInterfaceToSkeleton(
               nullptr,
               baseUri,
               resourceRetriever,
-              flags))
+              options))
       {
         return nullptr;
       }
@@ -246,7 +342,13 @@ dynamics::SkeletonPtr DartLoader::modelInterfaceToSkeleton(
   else
   {
     if (!createSkeletonRecursive(
-            model, skeleton, root, nullptr, baseUri, resourceRetriever, flags))
+            model,
+            skeleton,
+            root,
+            nullptr,
+            baseUri,
+            resourceRetriever,
+            options))
     {
       return nullptr;
     }
@@ -267,7 +369,7 @@ bool DartLoader::createSkeletonRecursive(
     dynamics::BodyNode* parentNode,
     const common::Uri& baseUri,
     const common::ResourceRetrieverPtr& resourceRetriever,
-    unsigned int flags)
+    const Options& options)
 {
   assert(lk);
 
@@ -278,11 +380,12 @@ bool DartLoader::createSkeletonRecursive(
   }
 
   dynamics::BodyNode::Properties properties;
-  if (!createDartNodeProperties(lk, properties, baseUri, resourceRetriever))
+  if (!createDartNodeProperties(
+          lk, properties, baseUri, resourceRetriever, options))
     return false;
 
   dynamics::BodyNode* node = createDartJointAndNode(
-      lk->parent_joint.get(), properties, parentNode, skel, flags);
+      lk->parent_joint.get(), properties, parentNode, skel, options);
 
   if (!node)
     return false;
@@ -302,7 +405,7 @@ bool DartLoader::createSkeletonRecursive(
             node,
             baseUri,
             resourceRetriever,
-            flags))
+            options))
     {
       return false;
     }
@@ -380,23 +483,35 @@ dynamics::BodyNode* createDartJointAndNodeForRoot(
     const dynamics::BodyNode::Properties& _body,
     dynamics::BodyNode* _parent,
     dynamics::SkeletonPtr _skeleton,
-    unsigned int flags)
+    const DartLoader::Options& options)
 {
   dynamics::Joint::Properties basicProperties("rootJoint");
 
   dynamics::GenericJoint<math::R1Space>::UniqueProperties singleDof;
   std::pair<dynamics::Joint*, dynamics::BodyNode*> pair;
-  if (flags & DartLoader::Flags::FIXED_BASE_LINK)
+  switch (options.mDefaultRootJointType)
   {
-    pair = _skeleton->createJointAndBodyNodePair<dynamics::WeldJoint>(
-        _parent, basicProperties, _body);
-  }
-  else
-  {
-    dynamics::GenericJoint<math::SE3Space>::Properties properties(
-        basicProperties);
-    pair = _skeleton->createJointAndBodyNodePair<dynamics::FreeJoint>(
-        _parent, properties, _body);
+    case DartLoader::RootJointType::FLOATING: {
+      dynamics::GenericJoint<math::SE3Space>::Properties properties(
+          basicProperties);
+      pair = _skeleton->createJointAndBodyNodePair<dynamics::FreeJoint>(
+          _parent, properties, _body);
+      break;
+    }
+    case DartLoader::RootJointType::FIXED: {
+      pair = _skeleton->createJointAndBodyNodePair<dynamics::WeldJoint>(
+          _parent, basicProperties, _body);
+      break;
+    }
+    default: {
+      dterr << "Unsupported RootJointType '"
+            << static_cast<int>(options.mDefaultRootJointType)
+            << "'. Using FLOATING instead.\n";
+      dynamics::GenericJoint<math::SE3Space>::Properties properties(
+          basicProperties);
+      pair = _skeleton->createJointAndBodyNodePair<dynamics::FreeJoint>(
+          _parent, properties, _body);
+    }
   }
 
   return pair.second;
@@ -410,14 +525,14 @@ dynamics::BodyNode* DartLoader::createDartJointAndNode(
     const dynamics::BodyNode::Properties& _body,
     dynamics::BodyNode* _parent,
     dynamics::SkeletonPtr _skeleton,
-    unsigned int flags)
+    const Options& options)
 {
   // Special case for the root link (A root link doesn't have the parent joint).
   // We don't have sufficient information what the joint type should be for the
   // root link. So we create the root joint by the specified flgas.
   if (!_jt)
   {
-    return createDartJointAndNodeForRoot(_body, _parent, _skeleton, flags);
+    return createDartJointAndNodeForRoot(_body, _parent, _skeleton, options);
   }
 
   dynamics::Joint::Properties basicProperties;
@@ -545,7 +660,8 @@ bool DartLoader::createDartNodeProperties(
     const urdf::Link* _lk,
     dynamics::BodyNode::Properties& node,
     const common::Uri& /*_baseUri*/,
-    const common::ResourceRetrieverPtr& /*_resourceRetriever*/)
+    const common::ResourceRetrieverPtr& /*_resourceRetriever*/,
+    const Options& options)
 {
   node.mName = _lk->name;
 
@@ -570,6 +686,10 @@ bool DartLoader::createDartNodeProperties(
     node.mInertia.setMoment(
         J(0, 0), J(1, 1), J(2, 2), J(0, 1), J(0, 2), J(1, 2));
   }
+  else
+  {
+    node.mInertia = options.mDefaultInertia;
+  }
 
   return true;
 }
diff --git a/dart/utils/urdf/DartLoader.hpp b/dart/utils/urdf/DartLoader.hpp
index 931c0cfa70cfa..81df0581a8534 100644
--- a/dart/utils/urdf/DartLoader.hpp
+++ b/dart/utils/urdf/DartLoader.hpp
@@ -77,6 +77,8 @@ namespace utils {
 class DartLoader
 {
 public:
+  /// \deprecated Deprecated in 6.11. Use RootJointType and Options instead.
+  ///
   /// Flags for specifying URDF file parsing policies.
   enum Flags
   {
@@ -90,8 +92,46 @@ class DartLoader
     DEFAULT = NONE,
   };
 
+  /// Root joint type to be used when the parent joint of the root link is not
+  /// specified in the URDF file.
+  enum class RootJointType
+  {
+    /// Floating joint type of URDF.
+    FLOATING = 0,
+
+    /// Fixed joint type of URDF.
+    FIXED = 1,
+  };
+
+  /// Options to be used in parsing URDF files.
+  struct Options
+  {
+    /// Resource retriever. LocalResourceRetriever is used if it's nullptr.
+    common::ResourceRetrieverPtr mResourceRetriever;
+
+    /// Default root joint type to be used when the parent joint of the root
+    /// link is not specified in the URDF file.
+    RootJointType mDefaultRootJointType;
+
+    /// Default inertia properties to be used when the inertial element is not
+    /// specified in the link element.
+    dynamics::Inertia mDefaultInertia;
+
+    /// Default constructor
+    Options(
+        common::ResourceRetrieverPtr resourceRetriever = nullptr,
+        RootJointType defaultRootJointType = RootJointType::FLOATING,
+        const dynamics::Inertia& defaultInertia = dynamics::Inertia());
+  };
+
   /// Constructor with the default ResourceRetriever.
-  DartLoader();
+  explicit DartLoader(const Options& options = Options());
+
+  /// Sets options
+  void setOptions(const Options& options);
+
+  /// Returns options
+  const Options& getOptions() const;
 
   /// Specify the directory of a ROS package. In your URDF files, you may see
   /// strings with a package URI pattern such as:
@@ -113,34 +153,52 @@ class DartLoader
   /// specify as the package directory will end up replacing the 'package
   /// keyword' and 'package name' components of the URI string.
   void addPackageDirectory(
-      const std::string& _packageName, const std::string& _packageDirectory);
+      const std::string& packageName, const std::string& packageDirectory);
 
   /// Parse a file to produce a Skeleton
+  DART_DEPRECATED(6.11)
   dynamics::SkeletonPtr parseSkeleton(
-      const common::Uri& _uri,
-      const common::ResourceRetrieverPtr& _resourceRetriever = nullptr,
+      const common::Uri& uri,
+      const common::ResourceRetrieverPtr& resourceRetriever,
       unsigned int flags = DEFAULT);
 
+  /// Parse a file to produce a Skeleton
+  dynamics::SkeletonPtr parseSkeleton(const common::Uri& uri);
+
   /// Parse a text string to produce a Skeleton
+  DART_DEPRECATED(6.11)
   dynamics::SkeletonPtr parseSkeletonString(
-      const std::string& _urdfString,
-      const common::Uri& _baseUri,
-      const common::ResourceRetrieverPtr& _resourceRetriever = nullptr,
+      const std::string& urdfString,
+      const common::Uri& baseUri,
+      const common::ResourceRetrieverPtr& resourceRetriever,
       unsigned int flags = DEFAULT);
 
+  /// Parse a text string to produce a Skeleton
+  dynamics::SkeletonPtr parseSkeletonString(
+      const std::string& urdfString, const common::Uri& baseUri);
+
   /// Parse a file to produce a World
+  DART_DEPRECATED(6.11)
   dart::simulation::WorldPtr parseWorld(
-      const common::Uri& _uri,
-      const common::ResourceRetrieverPtr& _resourceRetriever = nullptr,
+      const common::Uri& uri,
+      const common::ResourceRetrieverPtr& resourceRetriever,
       unsigned int flags = DEFAULT);
 
+  /// Parse a file to produce a World
+  dart::simulation::WorldPtr parseWorld(const common::Uri& uri);
+
   /// Parse a text string to produce a World
+  DART_DEPRECATED(6.11)
   dart::simulation::WorldPtr parseWorldString(
-      const std::string& _urdfString,
-      const common::Uri& _baseUri,
-      const common::ResourceRetrieverPtr& _resourceRetriever = nullptr,
+      const std::string& urdfString,
+      const common::Uri& baseUri,
+      const common::ResourceRetrieverPtr& resourceRetriever,
       unsigned int flags = DEFAULT);
 
+  /// Parse a text string to produce a World
+  dart::simulation::WorldPtr parseWorldString(
+      const std::string& urdfString, const common::Uri& baseUri);
+
 private:
   typedef std::shared_ptr<dynamics::BodyNode::Properties> BodyPropPtr;
   typedef std::shared_ptr<dynamics::Joint::Properties> JointPropPtr;
@@ -150,7 +208,7 @@ class DartLoader
       const urdf::ModelInterface* model,
       const common::Uri& baseUri,
       const common::ResourceRetrieverPtr& resourceRetriever,
-      unsigned int flags);
+      const Options& options);
 
   static bool createSkeletonRecursive(
       const urdf::ModelInterface* model,
@@ -159,7 +217,7 @@ class DartLoader
       dynamics::BodyNode* parent,
       const common::Uri& baseUri,
       const common::ResourceRetrieverPtr& _resourceRetriever,
-      unsigned int flags);
+      const Options& options);
 
   static bool addMimicJointsRecursive(
       const urdf::ModelInterface* model,
@@ -177,13 +235,14 @@ class DartLoader
       const dynamics::BodyNode::Properties& _body,
       dynamics::BodyNode* _parent,
       dynamics::SkeletonPtr _skeleton,
-      unsigned int flgas);
+      const Options& options);
 
   static bool createDartNodeProperties(
       const urdf::Link* _lk,
       dynamics::BodyNode::Properties& properties,
       const common::Uri& _baseUri,
-      const common::ResourceRetrieverPtr& _resourceRetriever);
+      const common::ResourceRetrieverPtr& _resourceRetriever,
+      const Options& options);
 
   static bool createShapeNodes(
       const urdf::ModelInterface* model,
@@ -203,6 +262,7 @@ class DartLoader
       const common::Uri& _uri,
       std::string& _output);
 
+  Options mOptions;
   common::LocalResourceRetrieverPtr mLocalRetriever;
   utils::PackageResourceRetrieverPtr mPackageRetriever;
   utils::CompositeResourceRetrieverPtr mRetriever;
diff --git a/python/dartpy/utils/DartLoader.cpp b/python/dartpy/utils/DartLoader.cpp
index 2a3658c75d3a7..24a4381092090 100644
--- a/python/dartpy/utils/DartLoader.cpp
+++ b/python/dartpy/utils/DartLoader.cpp
@@ -41,94 +41,136 @@ namespace python {
 
 void DartLoader(py::module& m)
 {
-  ::py::class_<dart::utils::DartLoader>(m, "DartLoader")
-      .def(::py::init<>())
-      .def(
-          "addPackageDirectory",
-          +[](dart::utils::DartLoader* self,
-              const std::string& _packageName,
-              const std::string& _packageDirectory) -> void {
-            return self->addPackageDirectory(_packageName, _packageDirectory);
-          },
-          ::py::arg("packageName"),
-          ::py::arg("packageDirectory"))
-      .def(
-          "parseSkeleton",
-          +[](dart::utils::DartLoader* self,
-              const dart::common::Uri& _uri) -> dart::dynamics::SkeletonPtr {
-            return self->parseSkeleton(_uri);
-          },
-          ::py::arg("uri"))
-      .def(
-          "parseSkeleton",
-          +[](dart::utils::DartLoader* self,
-              const dart::common::Uri& _uri,
-              const dart::common::ResourceRetrieverPtr& _resourceRetriever)
-              -> dart::dynamics::SkeletonPtr {
-            return self->parseSkeleton(_uri, _resourceRetriever);
-          },
-          ::py::arg("uri"),
-          ::py::arg("resourceRetriever"))
-      .def(
-          "parseSkeletonString",
-          +[](dart::utils::DartLoader* self,
-              const std::string& _urdfString,
-              const dart::common::Uri& _baseUri)
-              -> dart::dynamics::SkeletonPtr {
-            return self->parseSkeletonString(_urdfString, _baseUri);
-          },
-          ::py::arg("urdfString"),
-          ::py::arg("baseUri"))
-      .def(
-          "parseSkeletonString",
-          +[](dart::utils::DartLoader* self,
-              const std::string& _urdfString,
-              const dart::common::Uri& _baseUri,
-              const dart::common::ResourceRetrieverPtr& _resourceRetriever)
-              -> dart::dynamics::SkeletonPtr {
-            return self->parseSkeletonString(
-                _urdfString, _baseUri, _resourceRetriever);
-          },
-          ::py::arg("urdfString"),
-          ::py::arg("baseUri"),
-          ::py::arg("resourceRetriever"))
-      .def(
-          "parseWorld",
-          +[](dart::utils::DartLoader* self, const dart::common::Uri& _uri)
-              -> dart::simulation::WorldPtr { return self->parseWorld(_uri); },
-          ::py::arg("uri"))
-      .def(
-          "parseWorld",
-          +[](dart::utils::DartLoader* self,
-              const dart::common::Uri& _uri,
-              const dart::common::ResourceRetrieverPtr& _resourceRetriever)
-              -> dart::simulation::WorldPtr {
-            return self->parseWorld(_uri, _resourceRetriever);
-          },
-          ::py::arg("uri"),
-          ::py::arg("resourceRetriever"))
-      .def(
-          "parseWorldString",
-          +[](dart::utils::DartLoader* self,
-              const std::string& _urdfString,
-              const dart::common::Uri& _baseUri) -> dart::simulation::WorldPtr {
-            return self->parseWorldString(_urdfString, _baseUri);
-          },
-          ::py::arg("urdfString"),
-          ::py::arg("baseUri"))
-      .def(
-          "parseWorldString",
-          +[](dart::utils::DartLoader* self,
-              const std::string& _urdfString,
-              const dart::common::Uri& _baseUri,
-              const dart::common::ResourceRetrieverPtr& _resourceRetriever)
-              -> dart::simulation::WorldPtr {
-            return self->parseWorldString(
-                _urdfString, _baseUri, _resourceRetriever);
-          },
-          ::py::arg("urdfString"),
-          ::py::arg("baseUri"),
-          ::py::arg("resourceRetriever"));
+  auto dartLoaderFlags
+      = ::py::enum_<utils::DartLoader::Flags>(m, "DartLoaderFlags")
+            .value("NONE", utils::DartLoader::Flags::NONE)
+            .value("FIXED_BASE_LINK", utils::DartLoader::Flags::FIXED_BASE_LINK)
+            .value("DEFAULT", utils::DartLoader::Flags::DEFAULT);
+
+  auto dartLoaderRootJointType
+      = ::py::enum_<utils::DartLoader::RootJointType>(
+            m, "DartLoaderRootJointType")
+            .value("FLOATING", utils::DartLoader::RootJointType::FLOATING)
+            .value("FIXED", utils::DartLoader::RootJointType::FIXED);
+
+  auto dartLoaderOptions
+      = ::py::class_<utils::DartLoader::Options>(m, "DartLoaderOptions")
+            .def(
+                ::py::init<
+                    common::ResourceRetrieverPtr,
+                    utils::DartLoader::RootJointType,
+                    const dynamics::Inertia&>(),
+                ::py::arg("resourceRetriever") = nullptr,
+                ::py::arg("defaultRootJointType")
+                = utils::DartLoader::RootJointType::FLOATING,
+                ::py::arg("defaultInertia") = dynamics::Inertia())
+            .def_readwrite(
+                "mResourceRetriever",
+                &utils::DartLoader::Options::mResourceRetriever)
+            .def_readwrite(
+                "mDefaultRootJointType",
+                &utils::DartLoader::Options::mDefaultRootJointType)
+            .def_readwrite(
+                "mDefaultInertia",
+                &utils::DartLoader::Options::mDefaultInertia);
+
+  auto dartLoader
+      = ::py::class_<utils::DartLoader>(m, "DartLoader")
+            .def(::py::init<>())
+            .def(
+                "setOptions",
+                &utils::DartLoader::setOptions,
+                ::py::arg("options") = utils::DartLoader::Options())
+            .def("getOptions", &utils::DartLoader::getOptions)
+            .def(
+                "addPackageDirectory",
+                &utils::DartLoader::addPackageDirectory,
+                ::py::arg("packageName"),
+                ::py::arg("packageDirectory"))
+            .def(
+                "parseSkeleton",
+                +[](dart::utils::DartLoader* self,
+                    const dart::common::Uri& uri,
+                    const common::ResourceRetrieverPtr& resourceRetriever,
+                    unsigned int flags) -> dart::dynamics::SkeletonPtr {
+                  DART_SUPPRESS_DEPRECATED_BEGIN
+                  return self->parseSkeleton(uri, resourceRetriever, flags);
+                  DART_SUPPRESS_DEPRECATED_END
+                },
+                ::py::arg("uri"),
+                ::py::arg("resourceRetriever"),
+                ::py::arg("flags") = utils::DartLoader::DEFAULT)
+            .def(
+                "parseSkeleton",
+                ::py::overload_cast<const common::Uri&>(
+                    &utils::DartLoader::parseSkeleton),
+                ::py::arg("uri"))
+            .def(
+                "parseSkeletonString",
+                +[](utils::DartLoader* self,
+                    const std::string& urdfString,
+                    const common::Uri& baseUri,
+                    const common::ResourceRetrieverPtr& resourceRetriever,
+                    unsigned int flags) -> dynamics::SkeletonPtr {
+                  DART_SUPPRESS_DEPRECATED_BEGIN
+                  return self->parseSkeletonString(
+                      urdfString, baseUri, resourceRetriever, flags);
+                  DART_SUPPRESS_DEPRECATED_END
+                },
+                ::py::arg("urdfString"),
+                ::py::arg("baseUri"),
+                ::py::arg("resourceRetriever"),
+                ::py::arg("flags") = utils::DartLoader::DEFAULT)
+            .def(
+                "parseSkeletonString",
+                ::py::overload_cast<const std::string&, const common::Uri&>(
+                    &utils::DartLoader::parseSkeletonString),
+                ::py::arg("urdfString"),
+                ::py::arg("baseUri"))
+            .def(
+                "parseWorld",
+                +[](utils::DartLoader* self,
+                    const common::Uri& _uri,
+                    const common::ResourceRetrieverPtr& resourceRetriever,
+                    unsigned int flags) -> simulation::WorldPtr {
+                  DART_SUPPRESS_DEPRECATED_BEGIN
+                  return self->parseWorld(_uri, resourceRetriever, flags);
+                  DART_SUPPRESS_DEPRECATED_END
+                },
+                ::py::arg("uri"),
+                ::py::arg("resourceRetriever"),
+                ::py::arg("flags") = utils::DartLoader::DEFAULT)
+            .def(
+                "parseWorld",
+                ::py::overload_cast<const common::Uri&>(
+                    &utils::DartLoader::parseWorld),
+                ::py::arg("uri"))
+            .def(
+                "parseWorldString",
+                +[](utils::DartLoader* self,
+                    const std::string& urdfString,
+                    const common::Uri& baseUri,
+                    const common::ResourceRetrieverPtr& resourceRetriever,
+                    unsigned int flags) -> simulation::WorldPtr {
+                  DART_SUPPRESS_DEPRECATED_BEGIN
+                  return self->parseWorldString(
+                      urdfString, baseUri, resourceRetriever, flags);
+                  DART_SUPPRESS_DEPRECATED_END
+                },
+                ::py::arg("urdfString"),
+                ::py::arg("baseUri"),
+                ::py::arg("resourceRetriever"),
+                ::py::arg("flags") = utils::DartLoader::DEFAULT)
+            .def(
+                "parseWorldString",
+                ::py::overload_cast<const std::string&, const common::Uri&>(
+                    &utils::DartLoader::parseWorldString),
+                ::py::arg("urdfString"),
+                ::py::arg("baseUri"));
+
+  dartLoader.attr("Flags") = dartLoaderFlags;
+  dartLoader.attr("RootJointType") = dartLoaderRootJointType;
+  dartLoader.attr("Options") = dartLoaderOptions;
 }
 
 } // namespace python
diff --git a/unittests/unit/test_DartLoader.cpp b/unittests/unit/test_DartLoader.cpp
index a7446ecafd818..44984a042aeba 100644
--- a/unittests/unit/test_DartLoader.cpp
+++ b/unittests/unit/test_DartLoader.cpp
@@ -39,6 +39,8 @@
 #include "dart/dynamics/WeldJoint.hpp"
 #include "dart/utils/urdf/DartLoader.hpp"
 
+#include "TestHelpers.hpp"
+
 using namespace dart;
 using dart::common::Uri;
 using dart::utils::DartLoader;
@@ -209,22 +211,28 @@ TEST(DartLoader, parseUrdfWithoutWorldLink)
   // clang-format on
 
   DartLoader loader;
+  DartLoader::Options options;
 
-  auto robot1 = loader.parseSkeletonString(urdfStr, "", nullptr);
+  // Default
+  auto robot1 = loader.parseSkeletonString(urdfStr, "");
   ASSERT_TRUE(nullptr != robot1);
   EXPECT_EQ(
       robot1->getRootJoint()->getType(), dynamics::FreeJoint::getStaticType());
   EXPECT_EQ(robot1->getRootJoint()->getName(), "rootJoint");
 
-  auto robot2 = loader.parseSkeletonString(
-      urdfStr, "", nullptr, DartLoader::Flags::NONE);
+  // Floating
+  options.mDefaultRootJointType = DartLoader::RootJointType::FLOATING;
+  loader.setOptions(options);
+  auto robot2 = loader.parseSkeletonString(urdfStr, "");
   ASSERT_TRUE(nullptr != robot2);
   EXPECT_EQ(
       robot2->getRootJoint()->getType(), dynamics::FreeJoint::getStaticType());
   EXPECT_EQ(robot2->getRootJoint()->getName(), "rootJoint");
 
-  auto robot3 = loader.parseSkeletonString(
-      urdfStr, "", nullptr, DartLoader::Flags::FIXED_BASE_LINK);
+  // Fixed
+  options.mDefaultRootJointType = DartLoader::RootJointType::FIXED;
+  loader.setOptions(options);
+  auto robot3 = loader.parseSkeletonString(urdfStr, "");
   ASSERT_TRUE(nullptr != robot3);
   EXPECT_EQ(
       robot3->getRootJoint()->getType(), dynamics::WeldJoint::getStaticType());
@@ -591,3 +599,40 @@ TEST(DartLoader, parseVisualCollisionName)
   EXPECT_EQ(shape_nodes1[0]->getName(), body1->getName() + "_ShapeNode_0");
   EXPECT_EQ(shape_nodes1[1]->getName(), body1->getName() + "_ShapeNode_1");
 }
+
+//==============================================================================
+TEST(DartLoader, Options)
+{
+  // clang-format off
+  std::string urdfStr = R"(
+    <robot name="testRobot">
+      <link name="link_0">
+      </link>
+    </robot>
+  )";
+  // clang-format on
+
+  DartLoader loader;
+  DartLoader::Options options;
+
+  // Default inertia
+  auto robot = loader.parseSkeletonString(urdfStr, "");
+  ASSERT_TRUE(nullptr != robot);
+  auto link_0 = robot->getBodyNode("link_0");
+  ASSERT_TRUE(link_0 != nullptr);
+  EXPECT_TRUE(equals(
+      link_0->getInertia().getSpatialTensor(),
+      dynamics::Inertia().getSpatialTensor()));
+
+  // Custom inertia
+  options.mDefaultInertia.setMass(5);
+  options.mDefaultInertia.setMoment(1, 2, 3, 4, 5, 6);
+  loader.setOptions(options);
+  robot = loader.parseSkeletonString(urdfStr, "");
+  ASSERT_TRUE(nullptr != robot);
+  link_0 = robot->getBodyNode("link_0");
+  ASSERT_TRUE(link_0 != nullptr);
+  EXPECT_TRUE(equals(
+      link_0->getInertia().getSpatialTensor(),
+      options.mDefaultInertia.getSpatialTensor()));
+}