diff --git a/examples/pybullet/rollPitchYaw.py b/examples/pybullet/rollPitchYaw.py
new file mode 100644
index 000000000..d807fb845
--- /dev/null
+++ b/examples/pybullet/rollPitchYaw.py
@@ -0,0 +1,26 @@
+import pybullet as p
+import time
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	p.connect(p.GUI)
+q = p.loadURDF("quadruped/quadruped.urdf",useFixedBase=True)
+rollId = p.addUserDebugParameter("roll",-1.5,1.5,0)
+pitchId = p.addUserDebugParameter("pitch",-1.5,1.5,0)
+yawId = p.addUserDebugParameter("yaw",-1.5,1.5,0)
+fwdxId = p.addUserDebugParameter("fwd_x",-1,1,0)
+fwdyId = p.addUserDebugParameter("fwd_y",-1,1,0)
+fwdzId = p.addUserDebugParameter("fwd_z",-1,1,0)
+
+while True:
+	roll = p.readUserDebugParameter(rollId)
+	pitch = p.readUserDebugParameter(pitchId)
+	yaw = p.readUserDebugParameter(yawId)
+	x = p.readUserDebugParameter(fwdxId)
+	y = p.readUserDebugParameter(fwdyId)
+	z = p.readUserDebugParameter(fwdzId)
+
+	orn = p.getQuaternionFromEuler([roll,pitch,yaw])
+	p.resetBasePositionAndOrientation(q,[x,y,z],orn)
+	#p.stepSimulation()#not really necessary for this demo, no physics used
+