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Regarding your first question the SDF specification states:

<real_time_update_rate>
 Description: Rate at which to update the physics engine (UpdatePhysics calls per real-time second).  (was physics.sdf's update_rate).
 Required: 1    Type: double    Default: 1000

How often the world state is updated depends on what is written in the "world-file" to be simulated. Regarding the other questions – I would be very interested in answers as well!