Ian Chen

after taking a closer look, I think this is unrelated to #472. Tested and saw that warnings are still printed.

Windows CI build: https://build.osrfoundation.org/job/_test_conda_gz_gui-pr-clowin/4/ [](https://build.osrfoundation.org/job/_test_conda_gz_gui-pr-clowin/4/)

looking at the code, I see that `set_physics` eventually just [sets step size and rtf](https://github.com/gazebosim/gz-sim/blob/ec0cac5675c0a0ec4c744bc603f36ff4da40d6cb/src/SimulationRunner.cc#L396). I also noticed that [gravity is only set](https://github.com/gazebosim/gz-sim/blob/ec0cac5675c0a0ec4c744bc603f36ff4da40d6cb/src/systems/physics/Physics.cc#L1055) when the world is first created. So...

Instead of the above patch, can you take a look see if any of the steps for troubleshooting rendering issues works for you? https://gazebosim.org/docs/latest/troubleshooting/#unable-to-create-the-rendering-window

we actually had the surface format set to 3.3 before in https://github.com/gazebosim/gz-sim/pull/339, but that plugin was replaced by the [minimal_scene](https://github.com/gazebosim/gz-gui/tree/gz-gui9/src/plugins/minimal_scene) in gz-gui, which no longer has the surface format setting....

yeah that's a good idea. We should still keep the `IGN_RENDERING_RESOURCE_PATH` there for backward compatibility. Removing this from Core Development since optix is lower priority now.

I wrote some notes down not long ago on what sensors need optical frames: > Regarding optical frames, I looked back at what we did in subt and mbzirc and...

Based on the comments above and in #29, the issue came from https://github.com/gazebosim/gz-sensors/pull/458 (and https://github.com/gazebosim/gz-sensors/pull/362 for DepthCameraSensor) since they incorrectly set the point cloud msg to optical frame. These PRs...

Thanks for helping to work on this. Before going straight into implementation, I would like to get some feedback on the proposal first. I talked to @azeey about this and...

> Hi, I’m following up on this issue. Are there any updates or additional information [@iche033[](https://teams.googleplex.com/[email protected])](https://github.com/iche033)? @azeey, any thoughts?