def METHOD_NAME(self):
    self.world.loadTerrain('data/terrains/plane.off')
    self.world.loadRigidObject('data/objects/sphere_5cm.obj')
    self.assertEqual(self.world.numRobots(),1)
    self.assertEqual(self.world.numRigidObjects(),1)
    sphere = self.world.rigidObject(0)
    mass = sphere.getMass()
    mass.setMass(100)
    mass.setInertia([100,100,100])
    sphere.setMass(mass)
    #need to set up contact parameters so the mesh doesn't just fall through too quickly
    cparams = sphere.getContactParameters()
    cparams.kStiffness = 10000.0
    cparams.kDamping = 2500.0
    sphere.setContactParameters(cparams)
    hadAdaptiveTimeStepping = False
    ct = sphere.getTransform()
    sphere.setTransform(ct[0], [0, 0, 0.0263])
    sim = SimpleSimulator(self.world)
    for i in range(20):
        sim.simulate(0.01)
        print "CURRENT STATUS",sim.getStatus()
        if sim.getStatus() == Simulator.STATUS_ADAPTIVE_TIME_STEPPING:
            hadAdaptiveTimeStepping = True
    self.assertEqual(hadAdaptiveTimeStepping,True)