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How to freeze Bullet simulation between two env.step ? #425

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For this purpose you can run the simulation with the --nb-substeps parameters. For instance, if the simulation spine runs at 1,000 Hz (default) and the agent runs at 200 Hz as in your example, you should set --nb-substeps 5:

Using the simulation script

./start_simulation.sh --show --nb-substeps 5

I've just pushed this update in 11f4f93 so make sure you git pull before trying this 👆

Under the hood: using Bazel

$ ./tools/bazelisk run //spines:bullet_spine -- --show --nb-substeps 5

You can also check out all available options by:

$ ./tools/bazelisk run //spines:bullet_spine -- --help
INFO: ...

Optional arguments:

-h, --help
    Print this help and exit.
--log-dir <path>
    Path to a direc…

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@charlypg
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