How to set Joint limits when creating a multi body object via createMultiBody?

[KarlJosef]

I am trying to create an robotic hand via the createMultiBody functionality. Most of my joints are JOINT_REVOLUTE joints. I would like to specify the lower and upper limit of the angle like one can do this in an URDF file via <limit lower="-0.17" upper="1.8" />.
Is this possible via the current pybullet functionality?

[bdelhaisse]

It would be nice to have a setJointInfo() method in pybullet.