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 (3):
    cubeStartPos = [0,0,i]
    cubeStartOrientation = p.getQuaternionFromEuler([0, 0, 0])
    boxId = p.loadURDF("r2d2.urdf", cubeStartPos, cubeStartOrientation)



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

time.sleep(10000)

cubePos, cubeOrn = p.getBasePositionAndOrientation(boxId)
print(cubePos,cubeOrn)
p.disconnect()