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mID = createMultibody(...)
- spherical joints do not seem to work. As far as I was able to follow the code, the problem lies in class examples/SharedMemory/PhysicsServerCommandProcessor which creates a multibody object with a ProgrammaticUrdfInterface instance. Is there a possibility to bypass the loading of an URDF file on multibody creation to directly create a btMultiBody object? Or would this need a rewriting of the pybullet/C API?
- even when using rotary joints (to create a 2D representation) I was not able to create the joints between the ends of two links. Instead, the joint was always rotating around the center of mass of the parent link. Is there a way to specify the joint position w.r.t. the parent body, which I missed? I only found the linkPositions parameter specifying the position from joint to child body.