import pybullet as p
import time
import pybullet_data

#physicaClient = p.connect(p.GUI, options="--opengl3")
# tiny renderer 좋다. 

physicsClient = p.connect(p.GUI)                        # or p.DIRECT for non-graphical version

p.setAdditionalSearchPath(pybullet_data.getDataPath())  # optionally

p.setGravity(0,0,-10)

planeId = p.loadURDF("plane.urdf")

cubeStartPos = [0,0,1]
cubeStartOrientation = p.getQuaternionFromEuler([0,0,0])

boxId = p.loadURDF("r2d2.urdf",cubeStartPos, cubeStartOrientation)

for i in range (10000):
    p.stepSimulation()
    time.sleep(1./240.)

cubePos, cubeOrn = p.getBasePositionAndOrientation(boxId)

print(cubePos,cubeOrn)

p.disconnect()
