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Does the robot move fast enough if you visualize it in gzclient? If not, you might want to take steps to speed the simulation up before worrying about GzWeb.

There may be many reasons for GzWeb to lag, involving your network for example. If your issue had been with the time to load your model, I'd recommend you generate coarse versions of your meshes when you deploy GzWeb, but it might not make a difference after the meshes have already been loaded.