import pybullet as p
import time

p.connect(p.GUI)
cartpole=p.loadURDF("cartpole.urdf")
p.setRealTimeSimulation(1)
p.setJointMotorControl2(cartpole,1,p.POSITION_CONTROL,targetPosition=1000,targetVelocity=0,force=1000, positionGain=1, velocityGain=0, maxVelocity=0.5)
while (1):
	p.setGravity(0,0,-10)
	js = p.getJointState(cartpole,1)
	print("position=",js[0],"velocity=",js[1])
	time.sleep(0.01)