createMultiBody for JOINT_SPHERICAL

[unishuai]

i want to create multibody to simulate cable.And I referred to the code in the snake.py example, but unfortunately, it didn't produce any effect.i check the console ,but there are no problems.my code is here:

visualShapeId = -1
link_Masses = []
linkCollisionShapeIndices = []
linkVisualShapeIndices = []
linkPositions = []
linkOrientations = []
linkInertialFramePositions = []
linkInertialFrameOrientations = []
indices = []
jointTypes = []
axis = []

for i in range(36):
link_Masses.append(5)
colBallId = p.createCollisionShape(p.GEOM_CAPSULE,
radius=sphereRadius, height=height)
linkCollisionShapeIndices.append(colBallId)
linkVisualShapeIndices.append(-1)

# basePosition = [0, i * sphereRadius * 2 + i * height, 0.1]
baseOrientation = p.getQuaternionFromEuler(baseAngle)
linkPositions.append([0, 0, sphereRadius * 2.0 +height])

linkOrientations.append([0,0,0,1])
linkInertialFramePositions.append([0, 0, 0])
linkInertialFrameOrientations.append([0, 0, 0, 1])
indices.append(i)
if i ==0:
    jointTypes.append(p.JOINT_FIXED)
else:
    jointTypes.append(p.JOINT_SPHERICAL)
axis.append([0, 0, 0])

basePosition = [0, 0, 1]
baseOrientation = [0, 0, 0, 1]
sphereUid = p.createMultiBody(mass,
colBallId,
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
)
cableTest.txt

it`s similar to the snake.py, but it does not work