Issue with running the Tamp and Kuka examples with args.simulate=True

[klin37]

I've been trying to run examples.pybullet.tamp.run and examples.pybullet.kuka.run with args.simulate set to be True; however, once I reach the simulation (particularly the line with control_commands() and command.control(), respectively), it freezes. In TAMP, the simulation runs through four steps before freezing and the problem seems to be that it cannot step forward in the simulation since some condition is unsatisfied. In Kuka, as soon as the simulating starts, the platform and all objects immediately drop from the plane they are on and the robot is unable to find them so it freezes soon after. This can be recreated by inserting args.simulate=True immediately after args is defined in each of the examples.