Direct mode multibody getNumJoints issue

[Woutah]

We're trying to create a simple snake-like creature for reinforcement learning purposes using createMultiBody. This works fine when using:
BulletClient(connection_mode=p.GUI)
(the snake renders fine and all joints are detected)

However, when we try to run the environment in direct mode, getNumJoints always returns 0.

Is there something obvious we could be missing? I would be happy to provide our code, however, as I am uncertain where the issue lies I''l attach only the snake creation for now:

``
mass = 1
visualShapeId = -1
useMaximalCoordinates = True
sphereRadius = 0.25
colBoxId = self._client.createCollisionShape(p.GEOM_BOX,
halfExtents=[sphereRadius, sphereRadius, sphereRadius])
link_Masses = []
linkCollisionShapeIndices = []
linkVisualShapeIndices = []
linkPositions = []
linkOrientations = []
linkInertialFramePositions = []
linkInertialFrameOrientations = []
indices = []
jointTypes = []
axis = []

	for i in range(self.LENGTH):
		link_Masses.append(1)
		linkCollisionShapeIndices.append(colBoxId)
		linkVisualShapeIndices.append(-1)
		linkPositions.append([0, sphereRadius * 2.0 + 0.01, 0])
		linkOrientations.append([0, 0, 0, 1])
		linkInertialFramePositions.append([0, 0, 0])
		linkInertialFrameOrientations.append([0, 0, 0, 1])
		indices.append(i)
		jointTypes.append(p.JOINT_REVOLUTE)
		axis.append([0, 0, 1])

	basePosition = [0, 0, 1]
	baseOrientation = [0, 0, 0, 1]
	uid = self._client.createMultiBody(
							mass,
							colBoxId,
							visualShapeId,
							basePosition,
							baseOrientation,
							linkMasses=link_Masses,
							linkCollisionShapeIndices=linkCollisionShapeIndices,
							linkVisualShapeIndices=linkVisualShapeIndices,
							linkPositions=linkPositions,
							linkOrientations=linkOrientations,
							linkInertialFramePositions=linkInertialFramePositions,
							linkInertialFrameOrientations=linkInertialFrameOrientations,
							linkParentIndices=indices,
							linkJointTypes=jointTypes,
							linkJointAxis=axis,
							useMaximalCoordinates=useMaximalCoordinates
							
							)
	
	

	anistropicFriction = [1, 0.01, 0.01]
	self._client.changeDynamics(uid, -1, lateralFriction=2, anisotropicFriction=anistropicFriction)
	for i in range(self._client.getNumJoints(uid)):
		self._client.changeDynamics(uid, i, lateralFriction=2, anisotropicFriction=anistropicFriction)

`

[Woutah]

Turned out that useMaximalCoordinates=True was the issue.