I'm trying to run a simulation in gazebo fortress for reinforcement learning. I can't set the step size. My sdf file looks like this:

<sdf version="1.5">
<world name="rl_world">
    <plugin filename="libignition-gazebo6-contact-system" name="ignition::gazebo::systems::Contact" />
    <plugin filename="libignition-gazebo6-physics-system" name="ignition::gazebo::systems::Physics">
    <plugin filename="libignition-gazebo6-scene-broadcaster-system" name="ignition::gazebo::systems::SceneBroadcaster" />

But in gazebo I see this:

screenshot of gazebo GUI  with step size set to 0.001

I'm also unable to change those values - they immediately revert to the defaults. I'm not seeing any error messages when I run gazebo with "-v 4".

It also uses that step size (0.001) when I run gazebo via the c++ api as part of my RL algorithm.


1 Answer 1


You have added the max_step_size, real_time_update_rate and real_time_factor parameters to the Physics system's XML <plugin/> block, but these parameters should be added to a <physics/> XML block as a child of the <world/> element. See one of the example worlds from gz-sim for reference:



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