Physics engine configuration. At most one per extension block.
<plugin> Element
[0..*]
Simulation plugin declaration. Zero or more plugins can be defined,
each with its own name, library filename, and plugin-specific parameters.
<model-physics> Element
Model-scope simulation flags (static, self_collide, allow_auto_disable,
enable_wind, canonical_link) round-tripped through the gazebo extension. At most one.
<link-physics> Element
[0..*]
Per-link simulation flags (gravity, self_collide, kinematic,
must_be_base_link, velocity_decay), one entry per link, round-tripped through the extension.
<engine> Element
Values: ode | bullet | dart | simbody | tpe
Physics engine backend to use (ode, bullet, dart, simbody, tpe).
Defaults to "ode" if not specified.
<max-step-size> Element
Type: xs:double
Maximum physics time step in seconds (e.g., 0.001 for 1 ms).
Smaller values increase accuracy but reduce simulation speed.
Typical range: 0.0001 to 0.01.
<real-time-factor> Element
Type: xs:double
Target ratio of simulation time to wall-clock time.
1.0 means real-time, 0.5 means half-speed, 2.0 means double-speed.
Set to 0 for maximum speed (no throttling).
name Attribute
Type: xs:string (required): Unique name identifying this plugin instance within the model
(e.g., "aerodynamics", "motor_model", "contact_sensor").
filename Attribute
Type: xs:string (required): Shared library filename for the plugin
(e.g., "libAerodynamicsPlugin.so", "libMotorModelPlugin.so").
Gazebo searches its plugin path for this library at load time.
<linear> Element
Type: xs:double
Linear velocity decay factor (SDF velocity_decay/linear).