Physics Engine

Understand and configure physics simulation in Gazebo.

Physics Engines

Gazebo supports multiple physics engines:

• ODE (Open Dynamics Engine)
• Bullet
• DART
• Simbody

Configuring Physics

Physics parameters control simulation accuracy and speed.

<physics type='ode'>
  <max_step_size>0.001</max_step_size>
  <real_time_factor>1.0</real_time_factor>
  <real_time_update_rate>1000</real_time_update_rate>
</physics>