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Updated links to lines of code #259

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Jun 8, 2021
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Updated links to lines of code #259

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4 changes: 2 additions & 2 deletions tutorials/06-physics-simulation-concepts.md
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Expand Up @@ -69,9 +69,9 @@ second in Z-axis.

Note that the mechanism to move the car is different depending on the used physics
engine. Using [dartsim](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics4/dartsim),
the car is moved by applying force on the joints, please see [DiffDrive.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/diff_drive/DiffDrive.cc#L333) code.
the car is moved by applying force on the joints, please see [DiffDrive.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/diff_drive/DiffDrive.cc#L392-L422) code.
Using [TPE](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics4/tpe),
TPE directly sets model velocity in [VelocityControl.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/velocity_control/VelocityControl.cc#L117) code.
TPE directly sets model velocity in [VelocityControl.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/velocity_control/VelocityControl.cc#L205-L215) code.

#### Monitoring the model and its links pose

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