PyBullet Code

[mhansen12]

Hi all, I am new to pybullet, normally I work with matlab/simscape but I want to switch to pybullet. I have a few questions.

1. Is there a joint with 6DoF? I haven't found one. In Matlab you can use the bushing joint for that. In a URDF it is described as a floating joint.
2. Is it possible that each degree of freedom has its own stiffness and damping parameters? and if so, how can I model that?
3. Can I apply a force to the tool centre in each direction of the degree of freedom? and if so, how can I do this and how can I determine the resulting displacement?

thank you for your help