Code:

import pybullet as pimport timeimport numpy as np    p.connect(p.GUI)p.createCollisionShape(p.GEOM_PLANE)p.createMultiBody(0,0)#Sat part shapesSat_body = p.createCollisionShape(p.GEOM_BOX,halfExtents=[2.0  , 2.3, 3.0])Panel_right = p.createCollisionShape(p.GEOM_BOX,halfExtents=[2, 0.2, 3])Panel_left = p.createCollisionShape(p.GEOM_BOX,halfExtents=[2, 0.2, 3])#The with other shapes linked to itbody_Mass = 500visualShapeId = -1link_Masses=[10, 10, 10, 10]linkCollisionShapeIndices=[Panel_right, Panel_right, Panel_left, Panel_left]nlnk=len(link_Masses)linkVisualShapeIndices=[-1]*nlnk    #=[-1,-1,-1, ... , -1]#link positions wrt the link they are attached toBasePositionR_body = [4.2,0,0]BasePositionR_panel = [4.2,0,0]BasePositionL_body = [-4.2,0,0]BasePositionL_panel = [-4.2,0,0]linkPositions=[BasePositionR_body, BasePositionR_panel, BasePositionL_body, BasePositionL_panel,]linkOrientations=[[0,0,0,1]]*nlnklinkInertialFramePositions=[[0,0,0]]*nlnk#linkInertialFramePositions = [BasePositionR_body, BasePositionR_body+BasePositionR_panel, BasePositionL_body, BasePositionL_body+BasePositionL_panel,]print(linkInertialFramePositions)#Note the orientations are given in quaternions (4 params). There are function to convert of Euler angles and backlinkInertialFrameOrientations=[[0,0,0,1]]*nlnk#indices determine for each link which other link it is attached to# for example 3rd index = 2 means that the front left knee jjoint is attached to the front left hipindices=[0, 1, 0, 3]#Most joint are revolving. The prismatic joints are kept fixed for nowjointTypes=[p.JOINT_REVOLUTE, p.JOINT_REVOLUTE, p.JOINT_REVOLUTE, p.JOINT_REVOLUTE]# JOINT_SPHERICAL,JOINT_REVOLUTE#revolution axis for each revolving jointaxis=[[0,0,1], [0,0,1], [0,0,1], [0,0,1]]#Drop the body in the scene at the following body coordinatesbasePosition = [0,0,0]baseOrientation = [0,0,0,1]#Main function that creates the dogsat = p.createMultiBody(body_Mass,Sat_body,visualShapeId,basePosition,baseOrientation,                        linkMasses=link_Masses,                        linkCollisionShapeIndices=linkCollisionShapeIndices,                        linkVisualShapeIndices=linkVisualShapeIndices,                        linkPositions=linkPositions,                        linkOrientations=linkOrientations,                        linkInertialFramePositions=linkInertialFramePositions,                        linkInertialFrameOrientations=linkInertialFrameOrientations,                        linkParentIndices=indices,                        linkJointTypes=jointTypes,                        linkJointAxis=axis)##Add earth like gravityp.setGravity(0,0,0)