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The easiest thing is to change the .world file you are launching. There you can specify the physics engine and the maximum_step_size. You can add the following code to your world file is you want to speed up simulation to the maximum:

<physics type='ode'>
  <max_step_size>0.01</max_step_size>
  <real_time_factor>1</real_time_factor>
  <real_time_update_rate>0</real_time_update_rate>
  <gravity>0 0 -9.8</gravity>
</physics>

The easiest thing is to change the .world file you are launching. There you can specify the physics engine and the maximum_step_size. You can add the following code to your world file is if you want to speed up simulation to the maximum:

<physics type='ode'>
  <max_step_size>0.01</max_step_size>
  <real_time_factor>1</real_time_factor>
  <real_time_update_rate>0</real_time_update_rate>
  <gravity>0 0 -9.8</gravity>
</physics>