From 932508642a2bd087207d089115ba39833e13d16f Mon Sep 17 00:00:00 2001
From: Rick Staa <rick.staa@outlook.com>
Date: Wed, 13 Dec 2023 16:39:06 +0100
Subject: [PATCH] refactor: change default physics engine

This commit changes the default physics engine back from DART to ODE.
---
 panda_gazebo/launch/put_robot_in_world.launch         | 2 +-
 panda_gazebo/launch/start_pick_and_place_world.launch | 2 +-
 panda_gazebo/launch/start_push_world.launch           | 2 +-
 panda_gazebo/launch/start_reach_world.launch          | 2 +-
 panda_gazebo/launch/start_simulation.launch           | 2 +-
 panda_gazebo/launch/start_slide_world.launch          | 2 +-
 panda_gazebo/launch/start_world.launch.xml            | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/panda_gazebo/launch/put_robot_in_world.launch b/panda_gazebo/launch/put_robot_in_world.launch
index b4d5cc39..ddad77fb 100644
--- a/panda_gazebo/launch/put_robot_in_world.launch
+++ b/panda_gazebo/launch/put_robot_in_world.launch
@@ -25,7 +25,7 @@
   <arg name="pitch" default="0" doc="How much to rotate the base of the robot around its Y-axis in [rad]?"/>
   <arg name="yaw" default="0" doc="How much to rotate the base of the robot around its Z-axis in [rad]?"/>
   <!--  The used phyics engine (options: dart and ode)-->
-  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
+  <arg name="physics" default="ode" doc="The physics engine used by gazebo"/>
   <!--Control arguments-->
   <!--  The control type used for controlling the robot (Options: Trajectory, position, effort)-->
   <arg name="control_type" default="trajectory" doc="The type of control used for controlling the arm. Options: trajectory, position, effort"/>
diff --git a/panda_gazebo/launch/start_pick_and_place_world.launch b/panda_gazebo/launch/start_pick_and_place_world.launch
index 81ce80aa..cda457a0 100644
--- a/panda_gazebo/launch/start_pick_and_place_world.launch
+++ b/panda_gazebo/launch/start_pick_and_place_world.launch
@@ -6,7 +6,7 @@
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
   <!--  The used phyics engine (options: dart and ode)-->
-  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
+  <arg name="physics" default="ode" doc="The physics engine used by gazebo"/>
 
   <!--Start the Gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch.xml">
diff --git a/panda_gazebo/launch/start_push_world.launch b/panda_gazebo/launch/start_push_world.launch
index 4b2e2552..707512b3 100644
--- a/panda_gazebo/launch/start_push_world.launch
+++ b/panda_gazebo/launch/start_push_world.launch
@@ -6,7 +6,7 @@
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
   <!--  The used phyics engine (options: dart and ode)-->
-  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
+  <arg name="physics" default="ode" doc="The physics engine used by gazebo"/>
 
   <!--Start the Gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch.xml">
diff --git a/panda_gazebo/launch/start_reach_world.launch b/panda_gazebo/launch/start_reach_world.launch
index 5a0f9154..e7f200ce 100644
--- a/panda_gazebo/launch/start_reach_world.launch
+++ b/panda_gazebo/launch/start_reach_world.launch
@@ -6,7 +6,7 @@
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
   <!--  The used phyics engine (options: dart and ode)-->
-  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
+  <arg name="physics" default="ode" doc="The physics engine used by gazebo"/>
 
   <!--Start the Gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch.xml">
diff --git a/panda_gazebo/launch/start_simulation.launch b/panda_gazebo/launch/start_simulation.launch
index 36c292db..c0c98a92 100755
--- a/panda_gazebo/launch/start_simulation.launch
+++ b/panda_gazebo/launch/start_simulation.launch
@@ -9,7 +9,7 @@
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
   <!--  The used phyics engine (options: dart and ode)-->
-  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
+  <arg name="physics" default="ode" doc="The physics engine used by gazebo"/>
   <!--Control arguments-->
   <!--  The control type used for controlling the robot (Options: Trajectory, position, effort)-->
   <arg name="control_type" default="trajectory" doc="The type of control used for controlling the arm. Options: trajectory, position, effort"/>
diff --git a/panda_gazebo/launch/start_slide_world.launch b/panda_gazebo/launch/start_slide_world.launch
index 19d71edf..7875f992 100644
--- a/panda_gazebo/launch/start_slide_world.launch
+++ b/panda_gazebo/launch/start_slide_world.launch
@@ -6,7 +6,7 @@
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
   <!--  The used phyics engine (options: dart and ode)-->
-  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
+  <arg name="physics" default="ode" doc="The physics engine used by gazebo"/>
 
   <!--Start the Gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch.xml">
diff --git a/panda_gazebo/launch/start_world.launch.xml b/panda_gazebo/launch/start_world.launch.xml
index 1f7a7ace..2fec8900 100644
--- a/panda_gazebo/launch/start_world.launch.xml
+++ b/panda_gazebo/launch/start_world.launch.xml
@@ -6,7 +6,7 @@
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
   <!--  The used phyics engine (options: dart and ode)-->
-  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
+  <arg name="physics" default="ode" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
 
   <!--Start the gazebo world-->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">