Multibody systems

[louisdehaybe]

Hello,

Is there any example showing how to create a multibody system "programmatically", i.e. using the API (not importing some URDF etc.) ? I want to create a system with rigid links/flexible links + revolute, ball and prismatic joints, each joint being associated with some stiffness and damping coefficients. Is it possible ? I would appreciate some guidance on this.

Thank you