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The real_time_update_rate parameter determines the rate at which physics updates are taken. In conjunction with max_step_size parameter, the expected real-time factor can be determined. These parameters can be set via the gzclient gui or inside of world files (see for an example).

To make the physics updates go as fast as possible, set the real_time_update_rate parameter to 0.0, and <joke>make sure the Turbo button is set to On</joke>.

An empty world goes over 200x real-time on my desktop. Inserting a double_pendulum_with_base model brings it down to about 20x.