Merge branch 'StaticRobotFix' into 'master'

fix for static robot

See merge request !16

SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp

@@ -286,8 +286,11 @@ namespace SimDynamics
         Eigen::Matrix4f poseGlobal = sceneObject->getGlobalPose() * poseLocal;
         this->rigidBody->setWorldTransform(BulletEngine::getPoseBullet(poseGlobal));
 
-        // notify motionState
-        motionState->setGlobalPose(pose);
+        // notify motionState of non-robot nodes
+        if(!boost::dynamic_pointer_cast<VirtualRobot::RobotNode>(sceneObject))
+        {
+            motionState->setGlobalPose(pose);
+        }
     }
 
     void BulletObject::setPose(const Eigen::Matrix4f& pose)

SimDynamics/DynamicsEngine/DynamicsObject.cpp

@@ -41,7 +41,14 @@ namespace SimDynamics
             VR_ERROR << "Could not move static object, use kinematic instead, aborting..." << endl;
             return;
         }
-        sceneObject->setGlobalPose(pose);
+        try
+        {
+            sceneObject->setGlobalPose(pose);
+        }
+        catch(...) // robot node does not allow to set the pose
+        {
+
+        }
     }
 
     void DynamicsObject::setPosition(const Eigen::Vector3f& posMM)