ohhh great Solly it work very very well :) 
Thanks very much

2006/10/27, Solly Brown <sollyb@cse.unsw.edu.au>:
Hey Valentino,

You're in luck, I wrote a little plugin to do just that (attached). You
can make any object in ODE immovable by having a geom with a null body.

Let me know if you have problems.

Cheers, Solly

Valentino wrote:
> Hi!
> I need  to create immovable objects like colored walls in my gazebo
> world. I don't think that gzbuilder utility can help me because i
> need  these walls must be colored.
> I have tried to create a simple solid but when robot bump against it,
> the  solid  "fly"  in the  world.
> I have also tried to set solid's mass and solid's friction but even if
> it's more stationary, it always move in the world.
> Thanks in advance for answer
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-------------------------------------------------------------------------
Using Tomcat but need to do more? Need to support web services, security?
Get stuff done quickly with pre-integrated technology to make your job easier
Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo
http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642

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