text: import pybullet as p
  from time import sleep
  import pybullet_data
  
  physicsClient = p.connect(p.GUI)
  
  p.setAdditionalSearchPath(pybullet_data.getDataPath())
  
  p.resetSimulation(p.RESET_USE_REDUCED_DEFORMABLE_WORLD)
  p.resetDebugVisualizerCamera(4,-40,-30,[0, 0, 0])
  p.setGravity(0, 0, -10)
  
  tex = p.loadTexture("uvmap.png")
  planeId = p.loadURDF("plane.urdf", [0,0,-2])
  
  boxId = p.loadURDF("cube.urdf", [1,1,3],useMaximalCoordinates = True)
  
  # p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "reduced_torus.mp4")
  cube = p.loadURDF("reduced_torus/reduced_torus.urdf", [1,1,1])
  p.changeVisualShape(cube, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0)
  p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
  p.setRealTimeSimulation(0)
  
  while p.isConnected():
    p.stepSimulation()
    p.getCameraImage(320,200)
    p.setGravity(0,0,-10)
  