text: import pybullet as p
  from time import sleep
  from PIL import Image
  import matplotlib.pyplot as plt
  import numpy as np
  
  physicsClient = p.connect(p.GUI)
  
  p.setGravity(0,0,0)
  bearStartPos1 = [-3.3,0,0]
  bearStartOrientation1 = p.getQuaternionFromEuler([0,0,0])
  bearId1 = p.loadURDF("teddy_large.urdf", bearStartPos1, bearStartOrientation1)
  bearStartPos2 = [0,0,0]
  bearStartOrientation2 = p.getQuaternionFromEuler([0,0,0])
  bearId2 = p.loadURDF("teddy_large.urdf",bearStartPos2, bearStartOrientation2)
  textureId = p.loadTexture("checker_grid.jpg")
  p.changeVisualShape(objectUniqueId=0, linkIndex=-1, textureUniqueId=textureId)
  p.changeVisualShape(objectUniqueId=1, linkIndex=-1, textureUniqueId=textureId)
  
  
  useRealTimeSimulation = 1
  
  if (useRealTimeSimulation):
  	p.setRealTimeSimulation(1)
  
  while 1:
  	if (useRealTimeSimulation):
  		p.setGravity(0,0,0)
  		sleep(0.01) # Time in seconds.
  	else:
  		p.stepSimulation()
  