diff --git a/setup.py b/setup.py
index 3e82f5e36a..9983607a0f 100644
--- a/setup.py
+++ b/setup.py
@@ -67,6 +67,7 @@
     extras_require={
         "test": [
             # The following are for testing
+            "ipykernel",
             "pytest",
             "pytest-benchmark",
             "pytest-cov",
diff --git a/tools/pybullet_vehicle_example.py b/tools/pybullet_vehicle_example.py
index 215672a9bd..d40ed46e16 100644
--- a/tools/pybullet_vehicle_example.py
+++ b/tools/pybullet_vehicle_example.py
@@ -34,7 +34,7 @@ def look_at(client, position=(0, 0, 0), top_down=True):
         )
 
 
-def run(base, client, vehicle, plane_body_id, sliders, n_steps=1e6):
+def run(client, vehicle, plane_body_id, sliders, n_steps=1e6):
     prev_friction_sum = None
 
     controller_state = ActuatorDynamicControllerState()
@@ -53,8 +53,7 @@ def run(base, client, vehicle, plane_body_id, sliders, n_steps=1e6):
         )
 
         client.stepSimulation()
-        vehicle.sync_to_panda3d()
-        showbase.taskMgr.step()
+        vehicle.sync_to_renderer()
 
         frictions_ = frictions(sliders)
 
@@ -145,7 +144,6 @@ def frictions(sliders):
         )
 
         run(
-            showbase,
             client,
             vehicle,
             plane_body_id,