text: import pybullet as p
  import pybullet_data as pd
  import time
  p.connect(p.GUI)
  p.setAdditionalSearchPath(pd.getDataPath())
  objects=[]
  useMaximalCoordinates=False
  
  if 0:
    collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_SPHERE, radius = 0.1)
    batchPositions = []
    index = 1
    for x in range(2):
      for y in range(1):
        for z in range(1):
          batchPositions.append(arr[index])
          index=index+1
    bodyUids = p.createMultiBody(baseMass=10,
                                baseInertialFramePosition=[0, 0, 0],
                                baseCollisionShapeIndex=collisionShapeId,
                                baseVisualShapeIndex=-1,
                                basePosition=[0, 0, 2],
                                batchPositions=batchPositions,
                                useMaximalCoordinates=useMaximalCoordinates)
    for b in bodyUids:
      objects.append(b)
  
  else:
    for i in range(2):
      for j in range(1):
        for k in range(1):
          ob = p.loadURDF("sphere_1cm.urdf", [0.210050 * i, 0.210050 * j, 1 + 0.210050 * k],globalScaling=20,
                          useMaximalCoordinates=useMaximalCoordinates)
          objects.append(ob)
          p.changeDynamics(ob, -1, activationState=p.ACTIVATION_STATE_ENABLE_SLEEPING, linearDamping=0, angularDamping=0, sleepThreshold=0.05)
          if (i==0):
            p.resetBaseVelocity(ob, [0,0,0], [0,0,0.22])
          
          
  timeid = p.addUserDebugText("t=", [0,0,2])
  lvelid = p.addUserDebugText("lvel", [0,0,1.8])
  avelid = p.addUserDebugText("avel", [0,0,1.6])
  t=0
  dt=1./240.
  while p.isConnected():
    p.stepSimulation()
    t+=dt
    txtid = p.addUserDebugText("t="+str(t), [0,0,2],replaceItemUniqueId=timeid)
    lin, ang = p.getBaseVelocity(ob)
    txtid = p.addUserDebugText("lvel="+"{:.4f}".format(lin[0])+","+"{:.4f}".format(lin[1])+","+"{:.4f}".format(lin[2]), [0,0,1.8],replaceItemUniqueId=lvelid)
    txtid = p.addUserDebugText("avel="+"{:.4f}".format(ang[0])+","+"{:.4f}".format(ang[1])+","+"{:.4f}".format(ang[2]), [0,0,1.6],replaceItemUniqueId=avelid)
    time.sleep(dt)
    