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There are a few things you could try:

  • Simplify the scenario (use objects made up of lower polygon meshes, or even better, primitives instead of meshes)
  • Change the physics engine parameters to use fewer iterations/adjust time step (risks sim becoming instable)
  • Run on a beefier CPU :)
  • Run headless (without gzclient GUI)

See also this older question about how to make Gazebo faster. Also, you might want to ask this on instead.