diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.cpp
index eaf69f6783f499a7aa432d38d26073e244bc6903..0e14df2e2a5de4155f3bd9c56d04b48cb2c40208 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.cpp
@@ -18,14 +18,14 @@ namespace SimDynamics
         bulletObjectDampingAngular = btScalar(0.85f);
         //            bulletObjectDampingAngular = btScalar(0.1f);
         bulletObjectDeactivation = btScalar(5.0);//1.0);
-        bulletObjectSleepingThresholdLinear = btScalar(0.5f * BulletObject::ScaleFactor);//1.5);
+        bulletObjectSleepingThresholdLinear = btScalar(0.5f * BulletObject::ScaleFactor);
         bulletObjectSleepingThresholdAngular = btScalar(0.5f);//2.5);
 
         bulletSolverIterations = 250;
         bulletSolverGlobalContactForceMixing = 0.0;
-        bulletSolverGlobalErrorReductionParameter = btScalar(0.6);//0.1);
+        bulletSolverGlobalErrorReductionParameter = btScalar(0.6);
         bulletSolverSuccessiveOverRelaxation = btScalar(0.0);
-        bulletSolverContactSurfaceLayer = btScalar(0.001);
+        //bulletSolverContactSurfaceLayer = btScalar(0.001);
         bulletSolverSplitImpulsePenetrationThreshold = btScalar(-0.01);
     }
 
@@ -681,6 +681,11 @@ namespace SimDynamics
             return false;
         }
 
+        if (object->getSimType() != VirtualRobot::SceneObject::Physics::eDynamic)
+        {
+            VR_WARNING << "Sim type of object " << object->getName() << "!=eDynamic. Is this intended?" << endl;
+        }
+
         BulletRobot::LinkInfoPtr link = br->attachObjectLink(nodeName, object);
 
         if (!link)
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.h b/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.h
index 4381f2d809ad7ca0c773c4b19820f40ac306dff0..2d77ad39f3ff6a12948182f874018669b48452dd 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.h
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.h
@@ -61,7 +61,7 @@ namespace SimDynamics
         btScalar bulletSolverGlobalContactForceMixing; // allow to violate constraints (eg joint limits). A value>0 may increase stablity. (standard:0)
         btScalar bulletSolverGlobalErrorReductionParameter; // How hard should the solver try to correct misaligned joints/constraints/links. (standard 0.2
         btScalar bulletSolverSuccessiveOverRelaxation;
-        btScalar bulletSolverContactSurfaceLayer;
+        //btScalar bulletSolverContactSurfaceLayer;
         btScalar bulletSolverSplitImpulsePenetrationThreshold;
     };
 
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp
index 4f97e7b084393e496107102f151a8d644a563011..0b414e148aff98cf25647533bd15f1643613166b 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp
@@ -287,7 +287,7 @@ namespace SimDynamics
         this->rigidBody->setWorldTransform(BulletEngine::getPoseBullet(poseGlobal));
 
         // notify motionState -> not needed, automatically done
-        //motionState->setGlobalPose(pose);
+        motionState->setGlobalPose(pose);
     }
 
     void BulletObject::setPose(const Eigen::Matrix4f& pose)