expose PyBullet.setPhysicsEngineParameter(jointFeedbackMode)

use p.JOINT_FEEDBACK_IN_JOINT_FRAME if you want the joint feedback expressed in joint frame (instead of link inertial frame)
use p.JOINT_FEEDBACK_IN_WORLD_SPACE if you want the joint feedback in world space coordinates, instead of local link/joint coordinates.
Example: p.setPhysicsEngineParameter(jointFeedbackMode=p.JOINT_FEEDBACK_IN_WORLD_SPACE+p.JOINT_FEEDBACK_IN_JOINT_FRAME)

examples/SharedMemory/SharedMemoryCommands.h

@@ -447,6 +447,7 @@ enum EnumSimParamUpdateFlags
 	SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP = 32768,
 	SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS = 65536,
 	SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION = 131072,
+	SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE = 262144,
 };
 
 enum EnumLoadSoftBodyUpdateFlags