Hi, I captured a simulation. However when I replay it, the replay speed fluctuates... https://youtu.be/-3GEdqrSCyA

I checked the state.log file by the "gz log -s -f xx.log" command, and found that the "sim_time difference" between each record/iteration will usually increment by 0.002-0.003, but sometime the increment will be 0.02-0.03, or even 0.2-0.3.

Any idea how to fix this?

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I even tried to decrease the real-time factor to 0.1, and applied the following settings: 0.001 0.1 100 0 0 -9.8

However, the problem still maintains.