def _create_pure_shape(self, primitive_type, options, sizes, mass, precision):
        """ Create Pure Shape """
        lua_code = "simCreatePureShape({}, {}, {{{}, {}, {}}}, {}, {{{}, {}}})".format(
            primitive_type, options, sizes[0], sizes[1], sizes[2], mass, precision[0], precision[1])
        self._inject_lua_code(lua_code)