From 2d91e1388618c3ccb18723737cb77435cc13bd89 Mon Sep 17 00:00:00 2001
From: Erwin Coumans
 <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>
Date: Sun, 24 Sep 2017 21:37:31 -0700
Subject: [PATCH] tweak pybullet examples a bit (mac OSX OpenGL runs in
 mainloop, with python interpreter, so it needs some 'ping' command bump up
 pybullet to version 1.4.6

---
 examples/pybullet/examples/mimicJointConstraint.py |  3 ++-
 examples/pybullet/examples/quadruped.py            |  1 +
 examples/pybullet/examples/vr_kuka_setup.py        | 10 +++++++++-
 setup.py                                           |  2 +-
 4 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/examples/pybullet/examples/mimicJointConstraint.py b/examples/pybullet/examples/mimicJointConstraint.py
index 60a0625d9..968a24354 100644
--- a/examples/pybullet/examples/mimicJointConstraint.py
+++ b/examples/pybullet/examples/mimicJointConstraint.py
@@ -23,6 +23,7 @@ p.changeConstraint(c,gearRatio=-1, maxForce=10000)
 
 p.setRealTimeSimulation(1)
 while(1):
+	p.setGravity(0,0,-10)
 	time.sleep(0.01)
 #p.removeConstraint(c)
-	
\ No newline at end of file
+	
diff --git a/examples/pybullet/examples/quadruped.py b/examples/pybullet/examples/quadruped.py
index 19527fa47..7e3ee1262 100644
--- a/examples/pybullet/examples/quadruped.py
+++ b/examples/pybullet/examples/quadruped.py
@@ -187,6 +187,7 @@ t = 0.0
 t_end = t + 15
 ref_time = time.time()
 while (t<t_end):
+	p.setGravity(0,0,-10)
 	if (useRealTime):
 		t = time.time()-ref_time
 	else:
diff --git a/examples/pybullet/examples/vr_kuka_setup.py b/examples/pybullet/examples/vr_kuka_setup.py
index 5362fa38d..3b06c2573 100644
--- a/examples/pybullet/examples/vr_kuka_setup.py
+++ b/examples/pybullet/examples/vr_kuka_setup.py
@@ -1,6 +1,8 @@
 import pybullet as p
+import time
 #p.connect(p.UDP,"192.168.86.100")
 
+
 cid = p.connect(p.SHARED_MEMORY)
 if (cid<0):
 	p.connect(p.GUI)
@@ -80,6 +82,12 @@ p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
 p.setGravity(0.000000,0.000000,0.000000)
 p.setGravity(0,0,-10)
 
-p.stepSimulation()
+##show this for 10 seconds
+#now = time.time()
+#while (time.time() < now+10):
+#	p.stepSimulation()
+p.setRealTimeSimulation(1)
 
+while (1):
+	p.setGravity(0,0,-10)
 p.disconnect()
diff --git a/setup.py b/setup.py
index 4fa65f731..6f6b16fcb 100644
--- a/setup.py
+++ b/setup.py
@@ -441,7 +441,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.4.5',
+	version='1.4.6',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',