Simulation Speed in Gazebo about ICRA2023 Quadruped Robot Challenges

[Czworldy]

Dear Jeongmin:
Hi!
I try to use your the ​ICRA2023 Quadruped Robot Challenges envirment​ in Gazebo but when my robot touch down in the map terrain, it suddenly get slowing down and the robot can barely move​.
The real_time_factor is almost 0.05, but once the robot leave the surface it can speed up to 1.

P.S. the physics config used in my world is

<physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>

and my system is ubuntu 20.04 and use ROS noetic.

Am I in a correct configuration?
And is there any way to speed up my simlation?

Thanks a lot!

​

[LJoson]

hello,guys,May I ask if you have Linux on a physical machine?