createMultibody cannot get link state and joint state

[zhangzhongwd]

Because I need to learn mechanical configuration using by reinforce learning, I need to use createMultibody() instead loadurdf directly. But I found when I used createMultibody to get objectUid, I cannot get linkstates or get jointstates. getlinkstates() will return NULL. In addition, getjointstates() return wrong values and remain static.

[unishuai]

hello,I want to get link state now,but it can still not work perfectly。When using createMultibody to create many links,i can just get first link state