diff --git a/panda_gazebo/launch/start_pick_and_place_world.launch b/panda_gazebo/launch/start_pick_and_place_world.launch
index fefb129c..0bb812bd 100644
--- a/panda_gazebo/launch/start_pick_and_place_world.launch
+++ b/panda_gazebo/launch/start_pick_and_place_world.launch
@@ -5,6 +5,7 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
+  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
 
   <!--Start the gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch">
@@ -12,5 +13,6 @@
     <arg name="verbose" value="$(arg verbose)"/>
     <arg name="paused" value="$(arg paused)"/>
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+    <arg name="physics" value="$(arg physics)"/>
   </include>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/start_push_world.launch b/panda_gazebo/launch/start_push_world.launch
index 8c07c6f8..5757649b 100644
--- a/panda_gazebo/launch/start_push_world.launch
+++ b/panda_gazebo/launch/start_push_world.launch
@@ -5,6 +5,7 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
+  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
 
   <!--Start the gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch">
@@ -12,5 +13,6 @@
     <arg name="verbose" value="$(arg verbose)"/>
     <arg name="paused" value="$(arg paused)"/>
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+    <arg name="physics" value="$(arg physics)"/>
   </include>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/start_reach_world.launch b/panda_gazebo/launch/start_reach_world.launch
index 5d73d92b..97c2a4b3 100644
--- a/panda_gazebo/launch/start_reach_world.launch
+++ b/panda_gazebo/launch/start_reach_world.launch
@@ -5,6 +5,7 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
+  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
 
   <!--Start the gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch">
@@ -12,5 +13,6 @@
     <arg name="verbose" value="$(arg verbose)"/>
     <arg name="paused" value="$(arg paused)"/>
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+    <arg name="physics" value="$(arg physics)"/>
   </include>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/start_simulation.launch b/panda_gazebo/launch/start_simulation.launch
index 2739a3ef..0173b31f 100755
--- a/panda_gazebo/launch/start_simulation.launch
+++ b/panda_gazebo/launch/start_simulation.launch
@@ -7,6 +7,7 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
+  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
   <!--Control arguments-->
   <!--    The control type used for controlling the robot (Options: Trajectory, position, effort)-->
   <arg name="control_type" default="effort" doc="The type of control used for controlling the arm. Options: trajectory, position, effort"/>
@@ -17,6 +18,7 @@
     <arg name="paused" value="$(arg paused)"/>
     <arg name="verbose" value="$(arg verbose)"/>
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+    <arg name="physics" value="$(arg physics)"/>
   </include>
 
   <!--Put the robot into the simulation-->
diff --git a/panda_gazebo/launch/start_slide_world.launch b/panda_gazebo/launch/start_slide_world.launch
index 1aaa1d50..359cb229 100644
--- a/panda_gazebo/launch/start_slide_world.launch
+++ b/panda_gazebo/launch/start_slide_world.launch
@@ -5,6 +5,7 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
+  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
 
   <!--Start the gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch">
@@ -12,5 +13,6 @@
     <arg name="verbose" value="$(arg verbose)"/>
     <arg name="paused" value="$(arg paused)"/>
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+    <arg name="physics" value="$(arg physics)"/>
   </include>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/start_world.launch b/panda_gazebo/launch/start_world.launch
index b4db3500..b29be001 100644
--- a/panda_gazebo/launch/start_world.launch
+++ b/panda_gazebo/launch/start_world.launch
@@ -5,6 +5,7 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
+  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
 
   <!--Start the gazebo world-->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">