My simulation is going lagging at some points. If I check the real time factor presented by Gazebo, it goes as low as 0.32.

Is that expected? I have an i7-6700 CPU, 16GB RAM, and a GTX 1070 but still does not seem to be enough. I understand that the ODE physics engine underneath Gazebo does not make use of a GPU, like bullet3.

However, why the suddenly drop in performance? Why does it not go back to 0.99 or 1.0 even when the experiment is over?

[Start of the simulation]

Factor[1.00] SimTime[6.17] RealTime[7.81] Paused[F]

Factor[1.00] SimTime[6.38] RealTime[8.01] Paused[F]

Factor[1.00] SimTime[6.58] RealTime[8.21] Paused[F]

Factor[1.00] SimTime[6.78] RealTime[8.41] Paused[F]

Factor[1.00] SimTime[6.98] RealTime[8.61] Paused[F]

Factor[1.00] SimTime[7.18] RealTime[8.81] Paused[F]

…

[At one of the points where if goes lagging]

Factor[0.46] SimTime[121.83] RealTime[154.42] Paused[F]

Factor[0.48] SimTime[121.93] RealTime[154.62] Paused[F]

Factor[0.48] SimTime[122.02] RealTime[154.82] Paused[F]

Factor[0.48] SimTime[122.07] RealTime[155.03] Paused[F]

Factor[0.48] SimTime[122.16] RealTime[155.23] Paused[F]

Factor[0.47] SimTime[122.25] RealTime[155.43] Paused[F]

Factor[0.47] SimTime[122.35] RealTime[155.63] Paused[F]

Factor[0.47] SimTime[122.45] RealTime[155.83] Paused[F]

Factor[0.47] SimTime[122.55] RealTime[156.03] Paused[F]

Factor[0.47] SimTime[122.65] RealTime[156.23] Paused[F]

Factor[0.47] SimTime[122.75] RealTime[156.43] Paused[F]

…

[Nothing is moving, competition done]

Factor[0.68] SimTime[298.30] RealTime[436.40] Paused[F]

Factor[0.68] SimTime[298.44] RealTime[436.60] Paused[F]

Factor[0.68] SimTime[298.57] RealTime[436.80] Paused[F]

Factor[0.69] SimTime[298.71] RealTime[437.00] Paused[F]

Factor[0.69] SimTime[298.84] RealTime[437.20] Paused[F]

Factor[0.70] SimTime[298.96] RealTime[437.41] Paused[F]

Factor[0.70] SimTime[299.09] RealTime[437.61] Paused[F]