Does not seem to support it unfortunately:
- 2015 thread: pybullet.org/Bullet/phpBB3/viewtopic.php?t=10783. On the reply pybullet.org/Bullet/phpBB3/viewtopic.php?p=36197&sid=5fbceed0c3a5ebcf233d328bb4ee1342#p36197 Erwin Coumans says there's no support, and no support planned.