text: import pybullet as p
  import time
  
  p.connect(p.GUI)
  fileIO = p.loadPlugin("fileIOPlugin")
  if (fileIO>=0):
  	p.executePluginCommand(fileIO, "pickup.zip", [p.AddFileIOAction, p.ZipFileIO])
  	objs= p.loadSDF("pickup/model.sdf")
  	dobot =objs[0]
  	p.changeVisualShape(dobot,-1,rgbaColor=[1,1,1,1])
  		
  else:
  	print("fileIOPlugin is disabled.")
  
  
  p.setPhysicsEngineParameter(enableFileCaching=False)
  
  while (1):
  	p.stepSimulation()
  	time.sleep(1./240.)