import pybullet as p
import time
import pybullet_data

# Start pybullet simulation
p.connect(p.GUI)
#p.connect(p.DIRECT) # don't render

# load urdf file path
p.setAdditionalSearchPath(pybullet_data.getDataPath())

# load urdf and set gravity
p.setGravity(0,0,-10)
planeId = p.loadURDF("plane.urdf")
basePos = [0,0,3]
robot = p.loadURDF("./double_pendulum.urdf",basePos,useFixedBase=1)

# step through the simluation
for i in range (10000):
  p.stepSimulation()
  time.sleep(1./240.)

p.disconnect()