diff --git a/examples/pybullet/examples/getAABB.py b/examples/pybullet/examples/getAABB.py
index 59a2bfce0..ef1d3ee3f 100644
--- a/examples/pybullet/examples/getAABB.py
+++ b/examples/pybullet/examples/getAABB.py
@@ -1,50 +1,51 @@
 import pybullet as p
-p.connect(p.GUI)
+draw=1
+printtext = 0
+
+if (draw):
+	p.connect(p.GUI)
+else:
+	p.connect(p.DIRECT)
 r2d2 = p.loadURDF("r2d2.urdf")
 
-
-aabb = p.getAABB(r2d2)
-aabbMin = aabb[0]
-aabbMax = aabb[1]
-
-f = [aabbMin[0],aabbMin[1],aabbMin[2]]
-t = [aabbMax[0],aabbMin[1],aabbMin[2]]
-p.addUserDebugLine(f,t,[1,1,1])
-f = [aabbMin[0],aabbMin[1],aabbMin[2]]
-t = [aabbMin[0],aabbMax[1],aabbMin[2]]
-p.addUserDebugLine(f,t,[1,1,1])
-f = [aabbMin[0],aabbMin[1],aabbMin[2]]
-t = [aabbMin[0],aabbMin[1],aabbMax[2]]
-p.addUserDebugLine(f,t,[1,1,1])
-
-f = [aabbMax[0],aabbMax[1],aabbMax[2]]
-t = [aabbMin[0],aabbMax[1],aabbMax[2]]
-p.addUserDebugLine(f,t,[1,1,1])
-f = [aabbMax[0],aabbMax[1],aabbMax[2]]
-t = [aabbMax[0],aabbMin[1],aabbMax[2]]
-p.addUserDebugLine(f,t,[1,1,1])
-f = [aabbMax[0],aabbMax[1],aabbMax[2]]
-t = [aabbMax[0],aabbMax[1],aabbMin[2]]
-p.addUserDebugLine(f,t,[1,1,1])
-
-for i in range (p.getNumJoints(r2d2)):
-	aabb = p.getAABB(r2d2,i)
-	aabbMin = aabb[0]
-	aabbMax = aabb[1]
-
+def drawAABB(aabb):
 	f = [aabbMin[0],aabbMin[1],aabbMin[2]]
 	t = [aabbMax[0],aabbMin[1],aabbMin[2]]
-	p.addUserDebugLine(f,t,[1,1,1])
+	p.addUserDebugLine(f,t,[1,0,0])
 	f = [aabbMin[0],aabbMin[1],aabbMin[2]]
 	t = [aabbMin[0],aabbMax[1],aabbMin[2]]
-	p.addUserDebugLine(f,t,[1,1,1])
+	p.addUserDebugLine(f,t,[0,1,0])
 	f = [aabbMin[0],aabbMin[1],aabbMin[2]]
 	t = [aabbMin[0],aabbMin[1],aabbMax[2]]
-	p.addUserDebugLine(f,t,[1,1,1])
+	p.addUserDebugLine(f,t,[0,0,1])
 
-	f = [aabbMax[0],aabbMax[1],aabbMax[2]]
+	f = [aabbMin[0],aabbMin[1],aabbMax[2]]
 	t = [aabbMin[0],aabbMax[1],aabbMax[2]]
 	p.addUserDebugLine(f,t,[1,1,1])
+
+	f = [aabbMin[0],aabbMin[1],aabbMax[2]]
+	t = [aabbMax[0],aabbMin[1],aabbMax[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+
+	f = [aabbMax[0],aabbMin[1],aabbMin[2]]
+	t = [aabbMax[0],aabbMin[1],aabbMax[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+
+	f = [aabbMax[0],aabbMin[1],aabbMin[2]]
+	t = [aabbMax[0],aabbMax[1],aabbMin[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+	
+	f = [aabbMax[0],aabbMax[1],aabbMin[2]]
+	t = [aabbMin[0],aabbMax[1],aabbMin[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+	
+	f = [aabbMin[0],aabbMax[1],aabbMin[2]]
+	t = [aabbMin[0],aabbMax[1],aabbMax[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+	
+	f = [aabbMax[0],aabbMax[1],aabbMax[2]]
+	t = [aabbMin[0],aabbMax[1],aabbMax[2]]
+	p.addUserDebugLine(f,t,[1.0,0.5,0.5])
 	f = [aabbMax[0],aabbMax[1],aabbMax[2]]
 	t = [aabbMax[0],aabbMin[1],aabbMax[2]]
 	p.addUserDebugLine(f,t,[1,1,1])
@@ -52,5 +53,25 @@ for i in range (p.getNumJoints(r2d2)):
 	t = [aabbMax[0],aabbMax[1],aabbMin[2]]
 	p.addUserDebugLine(f,t,[1,1,1])
 
+aabb = p.getAABB(r2d2)
+aabbMin = aabb[0]
+aabbMax = aabb[1]
+if (printtext):
+	print(aabbMin)
+	print(aabbMax)
+if (draw==1):
+	drawAABB(aabb)
+
+for i in range (p.getNumJoints(r2d2)):
+	aabb = p.getAABB(r2d2,i)
+	aabbMin = aabb[0]
+	aabbMax = aabb[1]
+	if (printtext):
+		print(aabbMin)
+		print(aabbMax)
+	if (draw==1):
+		drawAABB(aabb)
+
+
 while(1):
 	a=0
\ No newline at end of file