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You can increase the simulation speed by changing the physics values in your world.sdf: http://sdformat.org/spec?ver=1.6&elem=physics

For example, I use:

<physics type="ode">
  <max_step_size>0.004</max_step_size>
  <real_time_factor>1.2</real_time_factor>
  <real_time_update_rate>300</real_time_update_rate>
</physics>

This way you can simulate a larger time step per iteration and thus increase the real time factor.