Preliminary version of pybullet.createMultiBody including links connected to parent by a joint.

See createMultiBodyLinks.py example.

examples/pybullet/examples/createMultiBodyLinks.py

@@ -0,0 +1,57 @@
+import pybullet as p
+import time
+
+
+p.connect(p.GUI)
+p.createCollisionShape(p.GEOM_PLANE)
+p.createMultiBody(0,0)
+
+sphereRadius = 0.05
+colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
+colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
+
+mass = 1
+visualShapeId = -1
+
+#"linkMasses","linkCollisionShapeIndices", "linkVisualShapeIndices",
+#"linkPositions", "linkOrientations","linkParentIndices", "linkJointTypes","linkJointAxis", 
+
+linkMasses=[1]
+linkCollisionShapeIndices=[colBoxId]
+linkVisualShapeIndices=[-1]
+linkPositions=[[0,0,0.11]]
+linkOrientations=[[0,0,0,1]]
+linkInertialFramePositions=[[0,0,0]]
+linkInertialFrameOrientations=[[0,0,0,1]]
+indices=[0]
+jointTypes=[p.JOINT_REVOLUTE]
+axis=[[0,0,1]]
+
+for i in range (3):
+	for j in range (3):
+		for k in range (3):
+			basePosition = [1+i*5*sphereRadius,1+j*5*sphereRadius,1+k*5*sphereRadius+1]
+			baseOrientation = [0,0,0,1]
+			if (k&2):
+				sphereUid = p.createMultiBody(mass,colSphereId,visualShapeId,basePosition,baseOrientation)
+			else:
+				sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,basePosition,baseOrientation,linkMasses,linkCollisionShapeIndices,linkVisualShapeIndices,linkPositions,linkOrientations,linkInertialFramePositions, linkInertialFrameOrientations,linkParentIndices=indices,linkJointTypes=jointTypes,linkJointAxis=axis)			
+			
+			p.changeDynamics(sphereUid,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
+			for joint in range (p.getNumJoints(sphereUid)):
+				p.setJointMotorControl2(sphereUid,joint,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
+
+
+p.setGravity(0,0,-10)
+#p.setRealTimeSimulation(1)
+
+p.getNumJoints(sphereUid)
+for i in range (p.getNumJoints(sphereUid)):
+	p.getJointInfo(sphereUid,i)
+	
+while (1):
+	events = p.getKeyboardEvents()
+	if (len(events)):
+		p.stepSimulation()
+	time.sleep(0.01)
+