example_demo.py

import pybullet as p
import time
import pybullet_data
physicsClient = p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
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()