You might want to use monkeyrunner like this:
$ monkeyrunner
>>> from com.android.monkeyrunner import MonkeyRunner, MonkeyDevice
>>> device = MonkeyRunner.waitForConnection()
>>> device.touch(200, 400, MonkeyDevice.DOWN_AND_UP)
You can also do a drag, start activies etc.
Have a look at the api for MonkeyDevice.