PyBullet: All link arrays need to be same size

Question

When trying to create a Multibody with a base and a link (or even more links) i get the error from the title.

I checked that all the length of arrays(lists) are the same and made a super simple version with only a base and one link.

p.createMultiBody(baseMass=1, 
baseCollisionShapeIndex=1, 
baseVisualShapeIndex=1, 
basePosition = [0,0,0], 
baseOrientation=[0,0,0,1], 
linkMasses=[1],  
linkCollisionShapeIndices=[2],
linkVisualShapeIndices=[2], 
linkPositions=[[0,0,1]], 
linkOrientations=[[0,0,0,0]], 
linkParentIndices=[1], 
linkJointTypes=[p.JOINT_FIXED], 
linkJointAxis=[[0,0,1]])

pybullet.error: All link arrays need to be same size.

If you have any hint what I'm doing wrong, help me out.

Answer 1

You are missing the arguments linkInertialFramePositions and linkInertialFrameOrientations. These arguments are labelled as optional in the Quickstart Guide, but must be provided if the body has any joints.