Planetary system BC by Aristarchus of Samos, but received no support from most other ancient astronomers. "De revolutionibus orbium coelestium" by Nicolaus Copernicus, published in 1543, was the first mathematically predictive heliocentric model of a planetary system. 17th-century successors Galileo Galilei, Johannes Kepler, and Isaac Newton developed an understanding of physics which led to the gradual acceptance of the idea that the Earth moves round the Sun and that the planets are governed by the same physical laws that governed the Earth. In the 16th century the Italian philosopher Giordano Bruno, an early supporter of the Copernican theory that the Earth and
Bodhisattvas of the Earth more references to the Lotus Sutra in his commentaries than any other sutras. His commentaries focused primarily on the 15th (Emerging from the Earth) and 16th (Life Span) Chapters of the Lotus Sutra. Dōgen made numerous speculations about the significance of the bodhisattvas who emerged from the underground. As conceived by Dōgen, the stories of the underground bodhisattvas and the Buddha's inconceivable life-span serve as a fundamental shift in the development of East Asian Mahayana understanding of Buddhahood, an immediate attainment based on fundamental awakening rather than an achievement based on lifetimes of arduous practice. This can be conceived as