Code:

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cppindex ac67d51a5..6e060bf54 100644--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp@@ -7562,7 +7562,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc                        }                        for (int d = 0; d < mb->getLink(l).m_dofCount; d++)                        {-                               stateDetails->m_jointMotorForce[totalDegreeOfFreedomU] = 0;+                               stateDetails->m_jointMotorForceMultiDof[totalDegreeOfFreedomU] = 0;                                if (mb->getLink(l).m_jointType == btMultibodyLink::eSpherical)                                {

Code:

import pybullet as pimport pybullet_dataimport osimport numpy as npimport timephysicsClient = p.connect(p.GUI)p.resetSimulation() # remove all objects from the world and reset the world to initial conditions. p.configureDebugVisualizer(p.COV_ENABLE_GUI,0,physicsClientId=physicsClient)p.setGravity(0,0,-9.81)planeId = p.loadURDF(os.path.join(pybullet_data.getDataPath(),        "plane100.urdf"))startPosition=[0,0,0.3] # high enough that nothing touches the groundstartOrientationRPY = [0,0,0]startOrientation = p.getQuaternionFromEuler(startOrientationRPY)   robotID = p.loadURDF(             'misc_urdf/m6.urdf',                    basePosition=startPosition, baseOrientation=startOrientation,                   flags= (p.URDF_MAINTAIN_LINK_ORDER                     | p.URDF_USE_SELF_COLLISION                     | p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES))# count all joints, including fixed onesnum_joints_total = p.getNumJoints(robotID,                physicsClientId=physicsClient)# create lists of the joint names, types, and which ones are actuatedmoving_joint_names = []moving_joint_inds = []moving_joint_types = []moving_joint_limits = []moving_joint_centers = []for j_ind in range(num_joints_total):    j_info = p.getJointInfo(robotID,         j_ind)    if j_info[2] != (p.JOINT_FIXED):        moving_joint_inds.append(j_ind)        moving_joint_names.append(j_info[1])        moving_joint_types.append(j_info[2])        j_limits = [j_info[8], j_info[9]]        j_center = (j_info[8] + j_info[9])/2        if j_limits[1]<=j_limits[0]:            j_limits = [-np.inf, np.inf]            j_center = 0        moving_joint_limits.append(j_limits)        moving_joint_centers.append(j_center)# set joint states to a standing up posenum_joints = len(moving_joint_names)for i in range(num_joints):    center = moving_joint_centers[i]    if i in [2,5,8]:        addition = -np.pi/2    elif i in [11,14,17]:        addition = np.pi/2    else:        addition = 0    jind = moving_joint_inds[i]    p.resetJointState( bodyUniqueId=robotID,         jointIndex = jind,        targetValue= center+addition,         targetVelocity = 0 )# enable joint sensorsfor j in moving_joint_inds:    p.enableJointForceTorqueSensor(robotID, j, 1)    # steps to take with no control input before starting up# This drops to robot down to a physically possible resting starting positionfor i in range(200):    p.stepSimulation()        joint_states = p.getJointStates(robotID,            moving_joint_inds,            physicsClientId=physicsClient)    print('----------')    print([j[3] for j in joint_states])    # print out the joint moments too#     print([j[2][3] for j in joint_states])#     print([j[2][4] for j in joint_states])#     print([j[2][5] for j in joint_states])    time.sleep(0.01)