diff --git a/Changelog.md b/Changelog.md
index de89e01b82..67303f56cb 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -573,6 +573,41 @@
 
 ## Ignition Gazebo 4.x
 
+### Ignition Gazebo 4.13.0 (2021-11-15)
+
+1. Prevent creation of spurious `<plugin>` elements when saving worlds
+    * [Pull request #1192](https://github.com/ignitionrobotics/ign-gazebo/pull/1192)
+
+1. Add support for tracked vehicles
+    * [Pull request #869](https://github.com/ignitionrobotics/ign-gazebo/pull/869)
+
+1. Add components to dynamically set joint limits
+    * [Pull request #847](https://github.com/ignitionrobotics/ign-gazebo/pull/847)
+
+1. Fix updating component from state
+    * [Pull request #1181](https://github.com/ignitionrobotics/ign-gazebo/pull/1181)
+
+1. Fix updating a component's data via SerializedState msg
+    * [Pull request #1149](https://github.com/ignitionrobotics/ign-gazebo/pull/1149)
+
+1. Sensor systems work if loaded after sensors
+    * [Pull request #1104](https://github.com/ignitionrobotics/ign-gazebo/pull/1104)
+
+1. Fix generation of systems library symlinks in build directory
+    * [Pull request #1160](https://github.com/ignitionrobotics/ign-gazebo/pull/1160)
+
+1. Edit material colors in component inspector
+    * [Pull request #1123](https://github.com/ignitionrobotics/ign-gazebo/pull/1123)
+
+1. Support setting the background color for sensors
+    * [Pull request #1147](https://github.com/ignitionrobotics/ign-gazebo/pull/1147)
+
+1. Use uint64_t for ComponentInspector Entity IDs
+    * [Pull request #1144](https://github.com/ignitionrobotics/ign-gazebo/pull/1144)
+
+1. Fix integers and floats on component inspector
+    * [Pull request #1143](https://github.com/ignitionrobotics/ign-gazebo/pull/1143)
+
 ### Ignition Gazebo 4.12.0 (2021-10-22)
 
 1. Fix performance issue with contact data and AABB updates.
diff --git a/src/SdfEntityCreator_TEST.cc b/src/SdfEntityCreator_TEST.cc
index eac28eef0c..12554dbf7e 100644
--- a/src/SdfEntityCreator_TEST.cc
+++ b/src/SdfEntityCreator_TEST.cc
@@ -127,7 +127,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities)
 
       EXPECT_EQ("default", _name->Data());
       EXPECT_DOUBLE_EQ(0.001, _physics->Data().MaxStepSize());
-      EXPECT_DOUBLE_EQ(1.0, _physics->Data().RealTimeFactor());
+      EXPECT_DOUBLE_EQ(0.0, _physics->Data().RealTimeFactor());
 
       worldCount++;
 
diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc
index ecdd6eb7f9..41b89ed5eb 100644
--- a/src/SimulationRunner.cc
+++ b/src/SimulationRunner.cc
@@ -103,8 +103,15 @@ SimulationRunner::SimulationRunner(const sdf::World *_world,
   // So to get a given RTF, our desired period is:
   //
   // period = step_size / RTF
-  this->updatePeriod = std::chrono::nanoseconds(
-      static_cast<int>(this->stepSize.count() / this->desiredRtf));
+  if (this->desiredRtf < 1e-9)
+  {
+    this->updatePeriod = 0ms;
+  }
+  else
+  {
+    this->updatePeriod = std::chrono::nanoseconds(
+        static_cast<int>(this->stepSize.count() / this->desiredRtf));
+  }
 
   this->pauseConn = this->eventMgr.Connect<events::Pause>(
       std::bind(&SimulationRunner::SetPaused, this, std::placeholders::_1));
diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc
index 2e5b49d2b4..a881e7d06f 100644
--- a/src/SimulationRunner_TEST.cc
+++ b/src/SimulationRunner_TEST.cc
@@ -1073,7 +1073,7 @@ TEST_P(SimulationRunnerTest, Time)
   EXPECT_EQ(0u, runner.CurrentInfo().iterations);
   EXPECT_EQ(0ms, runner.CurrentInfo().simTime);
   EXPECT_EQ(0ms, runner.CurrentInfo().dt);
-  EXPECT_EQ(1ms, runner.UpdatePeriod());
+  EXPECT_EQ(0ms, runner.UpdatePeriod());
   EXPECT_EQ(1ms, runner.StepSize());
 
   runner.SetPaused(false);
@@ -1086,7 +1086,7 @@ TEST_P(SimulationRunnerTest, Time)
   EXPECT_EQ(100u, runner.CurrentInfo().iterations);
   EXPECT_EQ(100ms, runner.CurrentInfo().simTime);
   EXPECT_EQ(1ms, runner.CurrentInfo().dt);
-  EXPECT_EQ(1ms, runner.UpdatePeriod());
+  EXPECT_EQ(0ms, runner.UpdatePeriod());
   EXPECT_EQ(1ms, runner.StepSize());
 
   int sleep = 0;
@@ -1107,7 +1107,7 @@ TEST_P(SimulationRunnerTest, Time)
   EXPECT_EQ(200u, runner.CurrentInfo().iterations);
   EXPECT_EQ(300ms, runner.CurrentInfo().simTime);
   EXPECT_EQ(2ms, runner.CurrentInfo().dt);
-  EXPECT_EQ(1ms, runner.UpdatePeriod());
+  EXPECT_EQ(0ms, runner.UpdatePeriod());
   EXPECT_EQ(2ms, runner.StepSize());
 
   sleep = 0;
@@ -1127,7 +1127,7 @@ TEST_P(SimulationRunnerTest, Time)
   EXPECT_EQ(200u, runner.CurrentInfo().iterations);
   EXPECT_EQ(300ms, runner.CurrentInfo().simTime);
   EXPECT_EQ(2ms, runner.CurrentInfo().dt);
-  EXPECT_EQ(1ms, runner.UpdatePeriod());
+  EXPECT_EQ(0ms, runner.UpdatePeriod());
   EXPECT_EQ(2ms, runner.StepSize());
 
   // Verify info published to /clock topic
@@ -1145,7 +1145,7 @@ TEST_P(SimulationRunnerTest, Time)
   EXPECT_EQ(500ms, runner.CurrentInfo().simTime)
     << runner.CurrentInfo().simTime.count();
   EXPECT_EQ(2ms, runner.CurrentInfo().dt);
-  EXPECT_EQ(1ms, runner.UpdatePeriod());
+  EXPECT_EQ(0ms, runner.UpdatePeriod());
   EXPECT_EQ(2ms, runner.StepSize());
 
   sleep = 0;
diff --git a/src/gui/plugins/visualize_lidar/VisualizeLidar.cc b/src/gui/plugins/visualize_lidar/VisualizeLidar.cc
index aed80f1a06..a8f4c26665 100644
--- a/src/gui/plugins/visualize_lidar/VisualizeLidar.cc
+++ b/src/gui/plugins/visualize_lidar/VisualizeLidar.cc
@@ -291,8 +291,13 @@ void VisualizeLidar::Update(const UpdateInfo &,
           for (auto child : children)
           {
             std::string nextstring = lidarURIVec[i+1];
+            auto comp = _ecm.Component<components::Name>(child);
+            if (!comp)
+            {
+              continue;
+            }
             std::string childname = std::string(
-                            _ecm.Component<components::Name>(child)->Data());
+                            comp->Data());
             if (nextstring.compare(childname) == 0)
             {
               parent = child;
diff --git a/src/systems/battery_plugin/LinearBatteryPlugin.cc b/src/systems/battery_plugin/LinearBatteryPlugin.cc
index 8c8f94b32d..1b484783cf 100644
--- a/src/systems/battery_plugin/LinearBatteryPlugin.cc
+++ b/src/systems/battery_plugin/LinearBatteryPlugin.cc
@@ -69,6 +69,15 @@ class ignition::gazebo::systems::LinearBatteryPluginPrivate
   /// \param[in] _req This value should be true.
   public: void OnDisableRecharge(const ignition::msgs::Boolean &_req);
 
+  /// \brief Callback connected to additional topics that can start battery
+  /// draining.
+  /// \param[in] _data Message data.
+  /// \param[in] _size Message data size.
+  /// \param[in] _info Information about the message.
+  public: void OnBatteryDrainingMsg(
+    const char *_data, const size_t _size,
+    const ignition::transport::MessageInfo &_info);
+
   /// \brief Name of model, only used for printing warning when battery drains.
   public: std::string modelName;
 
@@ -153,6 +162,9 @@ class ignition::gazebo::systems::LinearBatteryPluginPrivate
 
   /// \brief Battery state of charge message publisher
   public: transport::Node::Publisher statePub;
+
+  /// \brief Whether a topic has received any battery-draining command.
+  public: bool startDrainingFromTopics = false;
 };
 
 /////////////////////////////////////////////////
@@ -340,6 +352,23 @@ void LinearBatteryPlugin::Configure(const Entity &_entity,
             << "in LinearBatteryPlugin SDF" << std::endl;
   }
 
+  // Subscribe to power draining topics, if any.
+  if (_sdf->HasElement("power_draining_topic"))
+  {
+    sdf::ElementConstPtr sdfElem = _sdf->FindElement("power_draining_topic");
+    while (sdfElem)
+    {
+      const auto &topic = sdfElem->Get<std::string>();
+      this->dataPtr->node.SubscribeRaw(topic,
+          std::bind(&LinearBatteryPluginPrivate::OnBatteryDrainingMsg,
+          this->dataPtr.get(), std::placeholders::_1, std::placeholders::_2,
+          std::placeholders::_3));
+      ignmsg << "LinearBatteryPlugin subscribes to power draining topic ["
+             << topic << "]." << std::endl;
+      sdfElem = sdfElem->GetNextElement("power_draining_topic");
+    }
+  }
+
   ignmsg << "LinearBatteryPlugin configured. Battery name: "
          << this->dataPtr->battery->Name() << std::endl;
   igndbg << "Battery initial voltage: " << this->dataPtr->battery->InitVoltage()
@@ -371,6 +400,7 @@ void LinearBatteryPluginPrivate::Reset()
   this->iraw = 0.0;
   this->ismooth = 0.0;
   this->q = this->q0;
+  this->startDrainingFromTopics = false;
 }
 
 /////////////////////////////////////////////////
@@ -395,13 +425,24 @@ void LinearBatteryPluginPrivate::OnDisableRecharge(
   this->startCharging = false;
 }
 
+//////////////////////////////////////////////////
+void LinearBatteryPluginPrivate::OnBatteryDrainingMsg(
+  const char *, const size_t, const ignition::transport::MessageInfo &)
+{
+  this->startDrainingFromTopics = true;
+}
+
 //////////////////////////////////////////////////
 void LinearBatteryPlugin::PreUpdate(
   const ignition::gazebo::UpdateInfo &/*_info*/,
   ignition::gazebo::EntityComponentManager &_ecm)
 {
   IGN_PROFILE("LinearBatteryPlugin::PreUpdate");
-  this->dataPtr->startDraining = false;
+
+  // \todo(anyone) Add in the ability to stop the battery from draining
+  // after it has been started by a topic. See this comment:
+  // https://github.com/ignitionrobotics/ign-gazebo/pull/1255#discussion_r770223092
+  this->dataPtr->startDraining = this->dataPtr->startDrainingFromTopics;
   // Start draining the battery if the robot has started moving
   if (!this->dataPtr->startDraining)
   {
diff --git a/src/systems/battery_plugin/LinearBatteryPlugin.hh b/src/systems/battery_plugin/LinearBatteryPlugin.hh
index 75149eef0f..e98460a15b 100644
--- a/src/systems/battery_plugin/LinearBatteryPlugin.hh
+++ b/src/systems/battery_plugin/LinearBatteryPlugin.hh
@@ -58,6 +58,11 @@ namespace systems
   ///                 (Required if `<enable_recharge>` is set to true)
   /// - `<fix_issue_225>` True to change the battery behavior to fix some issues
   /// described in https://github.com/ignitionrobotics/ign-gazebo/issues/225.
+  /// - `<power_draining_topic>` A topic that is used to start battery
+  /// discharge. Any message on the specified topic will cause the batter to
+  /// start draining. This element can be specified multiple times if
+  /// multiple topics should be monitored. Note that this mechanism will
+  /// start the battery draining, and once started will keep drainig.
   class LinearBatteryPlugin
       : public System,
         public ISystemConfigure,
diff --git a/test/integration/battery_plugin.cc b/test/integration/battery_plugin.cc
index 34fed41f79..78d6ba6e77 100644
--- a/test/integration/battery_plugin.cc
+++ b/test/integration/battery_plugin.cc
@@ -23,6 +23,7 @@
 #include <ignition/common/Console.hh>
 #include <ignition/common/Util.hh>
 #include <ignition/common/Filesystem.hh>
+#include <ignition/transport/Node.hh>
 #include <ignition/utilities/ExtraTestMacros.hh>
 
 #include <sdf/Root.hh>
@@ -136,20 +137,107 @@ TEST_F(BatteryPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SingleBattery))
   EXPECT_LT(batComp->Data(), 12.592);
 
   // Check there is a single battery matching exactly the one specified
-  int batCount = 0;
+  int linearBatCount = 0;
+  int totalBatCount = 0;
   ecm->Each<components::BatterySoC, components::Name>(
       [&](const Entity &_batEntity, components::BatterySoC *_batComp,
           components::Name *_nameComp) -> bool
       {
-        batCount++;
+        totalBatCount++;
+        if (_nameComp->Data() == "linear_battery")
+        {
+          linearBatCount++;
 
-        EXPECT_NE(kNullEntity, _batEntity);
-        EXPECT_EQ(_nameComp->Data(), "linear_battery");
+          EXPECT_NE(kNullEntity, _batEntity);
+          EXPECT_EQ(_nameComp->Data(), "linear_battery");
 
-        // Check battery component voltage data is lower than initial voltage
-        EXPECT_LT(_batComp->Data(), 12.592);
+          // Check battery component voltage data is lower than initial voltage
+          EXPECT_LT(_batComp->Data(), 12.592);
+        }
 
         return true;
       });
-  EXPECT_EQ(batCount, 1);
+  EXPECT_EQ(linearBatCount, 1);
+  EXPECT_EQ(totalBatCount, 2);
+}
+
+/////////////////////////////////////////////////
+// Battery with  power draining topics
+// See https://github.com/ignitionrobotics/ign-gazebo/issues/1175
+TEST_F(BatteryPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PowerDrainTopic))
+{
+  const auto sdfPath = common::joinPaths(std::string(PROJECT_SOURCE_PATH),
+    "test", "worlds", "battery.sdf");
+  sdf::Root root;
+  EXPECT_EQ(root.Load(sdfPath).size(), 0lu);
+  EXPECT_GT(root.WorldCount(), 0lu);
+
+  ServerConfig serverConfig;
+  serverConfig.SetSdfFile(sdfPath);
+
+  // A pointer to the ecm. This will be valid once we run the mock system
+  gazebo::EntityComponentManager *ecm = nullptr;
+  this->mockSystem->preUpdateCallback =
+    [&ecm](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm)
+    {
+      ecm = &_ecm;
+
+      // Check a battery exists
+      EXPECT_TRUE(ecm->HasComponentType(components::BatterySoC::typeId));
+
+      // Find the battery entity
+      Entity batEntity = ecm->EntityByComponents(components::Name(
+        "linear_battery_topics"));
+      EXPECT_NE(kNullEntity, batEntity);
+
+      // Find the battery component
+      EXPECT_TRUE(ecm->EntityHasComponentType(batEntity,
+        components::BatterySoC::typeId));
+      auto batComp = ecm->Component<components::BatterySoC>(batEntity);
+
+      // Check voltage is never zero.
+      // This check is here to guarantee that components::BatterySoC in
+      // the LinearBatteryPlugin is not zero when created. If
+      // components::BatterySoC is zero on start, then the Physics plugin
+      // can disable a joint. This in turn can prevent the joint from
+      // rotating. See https://github.com/ignitionrobotics/ign-gazebo/issues/55
+      EXPECT_GT(batComp->Data(), 0);
+    };
+
+  // Start server
+  Server server(serverConfig);
+  server.AddSystem(this->systemPtr);
+  server.Run(true, 100, false);
+  EXPECT_NE(nullptr, ecm);
+
+  // Check a battery exists
+  EXPECT_TRUE(ecm->HasComponentType(components::BatterySoC::typeId));
+
+  // Find the battery entity
+  Entity batEntity = ecm->EntityByComponents(components::Name(
+    "linear_battery_topics"));
+  EXPECT_NE(kNullEntity, batEntity);
+
+  // Find the battery component
+  EXPECT_TRUE(ecm->EntityHasComponentType(batEntity,
+    components::BatterySoC::typeId));
+  auto batComp = ecm->Component<components::BatterySoC>(batEntity);
+
+  // Check state of charge should be 1, since the batery has not drained
+  // and the <initial_charge> is equivalent ot the <capacity>.
+  EXPECT_DOUBLE_EQ(batComp->Data(), 1.0);
+
+  // Send a message on one of the <power_draining_topic> topics, which will
+  // start the battery draining when the server starts again.
+  ignition::transport::Node node;
+  auto pub = node.Advertise<msgs::StringMsg>("/battery/discharge2");
+  msgs::StringMsg msg;
+  pub.Publish(msg);
+
+  // Run the server again.
+  server.Run(true, 100, false);
+
+  // The state of charge should be <1, since the batery has started
+  // draining.
+  EXPECT_LT(batComp->Data(), 1.0);
 }
diff --git a/test/integration/imu_system.cc b/test/integration/imu_system.cc
index 9eb0083a37..388da45bae 100644
--- a/test/integration/imu_system.cc
+++ b/test/integration/imu_system.cc
@@ -225,8 +225,6 @@ TEST_F(ImuTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OrientationDisabled))
   EXPECT_FALSE(server.Running());
   EXPECT_FALSE(*server.Running(0));
 
-  const std::string sensorName = "imu_sensor";
-
   auto topic =
       "world/imu_sensor/model/imu_model/link/link/sensor/imu_sensor/imu";
 
diff --git a/test/integration/scene_broadcaster_system.cc b/test/integration/scene_broadcaster_system.cc
index d8cfadf1d1..aa5edc0a8d 100644
--- a/test/integration/scene_broadcaster_system.cc
+++ b/test/integration/scene_broadcaster_system.cc
@@ -518,7 +518,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StateStatic))
   // Start server
   ignition::gazebo::ServerConfig serverConfig;
   serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
-      "/examples/worlds/empty.sdf");
+      "/test/worlds/empty.sdf");
 
   gazebo::Server server(serverConfig);
   EXPECT_FALSE(server.Running());
diff --git a/test/integration/sensors_system.cc b/test/integration/sensors_system.cc
index 661a92819e..6165ee9620 100644
--- a/test/integration/sensors_system.cc
+++ b/test/integration/sensors_system.cc
@@ -87,6 +87,17 @@ void testDefaultTopics()
   std::vector<transport::MessagePublisher> publishers;
   transport::Node node;
 
+  // Sensors are created in a separate thread, so we sleep here to give them
+  // time
+  int sleep{0};
+  int maxSleep{30};
+  for (; sleep < maxSleep && !node.TopicInfo(topics.front(), publishers);
+      ++sleep)
+  {
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+  }
+  ASSERT_LT(sleep, maxSleep);
+
   for (const std::string &topic : topics)
   {
     bool result = node.TopicInfo(topic, publishers);
diff --git a/test/integration/touch_plugin.cc b/test/integration/touch_plugin.cc
index 1c376022ba..60813c9a8a 100644
--- a/test/integration/touch_plugin.cc
+++ b/test/integration/touch_plugin.cc
@@ -298,7 +298,7 @@ TEST_F(TouchPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SpawnedEntities))
   auto testFunc = [&](const std::string &_box1, const std::string &_box2)
   {
     this->server.reset();
-    this->StartServer("/examples/worlds/empty.sdf");
+    this->StartServer("/test/worlds/empty.sdf");
 
     whiteTouched = false;
     req.set_sdf(_box1);
diff --git a/test/integration/user_commands.cc b/test/integration/user_commands.cc
index ca74b42607..4011cfaccf 100644
--- a/test/integration/user_commands.cc
+++ b/test/integration/user_commands.cc
@@ -56,7 +56,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Create))
   // Start server
   ServerConfig serverConfig;
   const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
-    "/examples/worlds/empty.sdf";
+    "/test/worlds/empty.sdf";
   serverConfig.SetSdfFile(sdfFile);
 
   Server server(serverConfig);
@@ -693,7 +693,8 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Pose))
 }
 
 /////////////////////////////////////////////////
-TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Light))
+// https://github.com/ignitionrobotics/ign-gazebo/issues/634
+TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
 {
   // Start server
   ServerConfig serverConfig;
@@ -960,7 +961,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Physics))
   auto physicsComp = ecm->Component<components::Physics>(worldEntity);
   ASSERT_NE(nullptr, physicsComp);
   EXPECT_DOUBLE_EQ(0.001, physicsComp->Data().MaxStepSize());
-  EXPECT_DOUBLE_EQ(1.0, physicsComp->Data().RealTimeFactor());
+  EXPECT_DOUBLE_EQ(0.0, physicsComp->Data().RealTimeFactor());
 
   // Set physics properties
   msgs::Physics req;
diff --git a/test/worlds/ackermann_steering.sdf b/test/worlds/ackermann_steering.sdf
index 28a3b3d432..fbc52aacbe 100644
--- a/test/worlds/ackermann_steering.sdf
+++ b/test/worlds/ackermann_steering.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/ackermann_steering_custom_frame_id.sdf b/test/worlds/ackermann_steering_custom_frame_id.sdf
index e3b57c9c6d..f7fbf53d4b 100644
--- a/test/worlds/ackermann_steering_custom_frame_id.sdf
+++ b/test/worlds/ackermann_steering_custom_frame_id.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ignored">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/ackermann_steering_custom_topics.sdf b/test/worlds/ackermann_steering_custom_topics.sdf
index 607fc3af25..9f1a759749 100644
--- a/test/worlds/ackermann_steering_custom_topics.sdf
+++ b/test/worlds/ackermann_steering_custom_topics.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ignored">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/ackermann_steering_limited_joints_pub.sdf b/test/worlds/ackermann_steering_limited_joints_pub.sdf
index bf2a494140..0774b698a1 100644
--- a/test/worlds/ackermann_steering_limited_joints_pub.sdf
+++ b/test/worlds/ackermann_steering_limited_joints_pub.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ignored">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/ackermann_steering_slow_odom.sdf b/test/worlds/ackermann_steering_slow_odom.sdf
index 4f17959603..a55700d14b 100644
--- a/test/worlds/ackermann_steering_slow_odom.sdf
+++ b/test/worlds/ackermann_steering_slow_odom.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/air_pressure.sdf b/test/worlds/air_pressure.sdf
index b4b6bdb468..d61a95aac3 100644
--- a/test/worlds/air_pressure.sdf
+++ b/test/worlds/air_pressure.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="air_pressure_sensor">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-air-pressure-system"
       name="ignition::gazebo::systems::AirPressure">
diff --git a/test/worlds/altimeter.sdf b/test/worlds/altimeter.sdf
index 7b8c209632..7e93238220 100644
--- a/test/worlds/altimeter.sdf
+++ b/test/worlds/altimeter.sdf
@@ -3,7 +3,7 @@
   <world name="altimeter_sensor">
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/altimeter_with_pose.sdf b/test/worlds/altimeter_with_pose.sdf
index fda866b333..b008b5d453 100644
--- a/test/worlds/altimeter_with_pose.sdf
+++ b/test/worlds/altimeter_with_pose.sdf
@@ -3,7 +3,7 @@
   <world name="altimeter_sensor">
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/apply_joint_force.sdf b/test/worlds/apply_joint_force.sdf
index bdc7e56f92..e9943f8016 100644
--- a/test/worlds/apply_joint_force.sdf
+++ b/test/worlds/apply_joint_force.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/battery.sdf b/test/worlds/battery.sdf
index bc5f91d44d..9078867090 100644
--- a/test/worlds/battery.sdf
+++ b/test/worlds/battery.sdf
@@ -3,7 +3,7 @@
   <world name="batteries">
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
@@ -58,5 +58,37 @@
 
     </model>
 
+    <model name="linear_battery_demo_model_with_topics">
+      <pose>1 0 0 0 0 0</pose>
+      <static>false</static>
+      <link name="body">
+        <pose>0 0 0.5 0 0 0</pose>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+        </visual>
+      </link>
+
+      <plugin filename="ignition-gazebo-linearbatteryplugin-system"
+        name="ignition::gazebo::systems::LinearBatteryPlugin">
+        <battery_name>linear_battery_topics</battery_name>
+        <voltage>12.592</voltage>
+        <open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
+        <open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
+        <initial_charge>1.2009</initial_charge>
+        <capacity>1.2009</capacity>
+        <resistance>0.061523</resistance>
+        <smooth_current_tau>1.9499</smooth_current_tau>
+        <!-- Consumer-specific -->
+        <power_load>500</power_load>  <!-- high load to quickly drain battery -->
+        <power_draining_topic>/battery/discharge1</power_draining_topic>
+        <power_draining_topic>/battery/discharge2</power_draining_topic>
+      </plugin>
+
+    </model>
+
   </world>
 </sdf>
diff --git a/test/worlds/breadcrumbs.sdf b/test/worlds/breadcrumbs.sdf
index fae8d86898..a8b75f9899 100644
--- a/test/worlds/breadcrumbs.sdf
+++ b/test/worlds/breadcrumbs.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/breadcrumbs_levels.sdf b/test/worlds/breadcrumbs_levels.sdf
index d0f83e52b3..a8b9fde158 100644
--- a/test/worlds/breadcrumbs_levels.sdf
+++ b/test/worlds/breadcrumbs_levels.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="libignition-gazebo-physics-system.so"
diff --git a/test/worlds/buoyancy.sdf.in b/test/worlds/buoyancy.sdf.in
index 8d4588e791..88a6361b9a 100644
--- a/test/worlds/buoyancy.sdf.in
+++ b/test/worlds/buoyancy.sdf.in
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="libignition-gazebo-physics-system.so"
diff --git a/test/worlds/camera_sensor_empty_scene.sdf b/test/worlds/camera_sensor_empty_scene.sdf
index 1f5db3260a..013cced7a1 100644
--- a/test/worlds/camera_sensor_empty_scene.sdf
+++ b/test/worlds/camera_sensor_empty_scene.sdf
@@ -3,7 +3,7 @@
   <world name="sensors">
     <physics name="1ms" type="ignored">
       <max_step_size>.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/camera_video_record.sdf b/test/worlds/camera_video_record.sdf
index 3a08ef9fa9..9465521888 100644
--- a/test/worlds/camera_video_record.sdf
+++ b/test/worlds/camera_video_record.sdf
@@ -5,7 +5,7 @@
 
     <physics name="1ms" type="ignored">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="libignition-gazebo-physics-system.so"
diff --git a/test/worlds/canonical.sdf b/test/worlds/canonical.sdf
index b45d3de65b..145c958809 100644
--- a/test/worlds/canonical.sdf
+++ b/test/worlds/canonical.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/collada_world_exporter.sdf b/test/worlds/collada_world_exporter.sdf
index b65709b628..01f7ea7da4 100644
--- a/test/worlds/collada_world_exporter.sdf
+++ b/test/worlds/collada_world_exporter.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="collada_world_exporter_box_test">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
 
     <plugin
       filename="ignition-gazebo-collada-world-exporter-system"
diff --git a/test/worlds/collada_world_exporter_lights.sdf b/test/worlds/collada_world_exporter_lights.sdf
index bc5ac45460..86ae3a84ae 100644
--- a/test/worlds/collada_world_exporter_lights.sdf
+++ b/test/worlds/collada_world_exporter_lights.sdf
@@ -1,6 +1,9 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="collada_world_exporter_lights_test">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
 
     <plugin
       filename="ignition-gazebo-collada-world-exporter-system"
diff --git a/test/worlds/collada_world_exporter_submesh.sdf b/test/worlds/collada_world_exporter_submesh.sdf
index 08380069a4..df8c052595 100644
--- a/test/worlds/collada_world_exporter_submesh.sdf
+++ b/test/worlds/collada_world_exporter_submesh.sdf
@@ -4,6 +4,10 @@
 -->
 <sdf version="1.6">
   <world name="collada_world_exporter_submesh_test">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="libignition-gazebo-physics-system.so"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/contact.sdf b/test/worlds/contact.sdf
index 395e450dcc..10c4afb1da 100644
--- a/test/worlds/contact.sdf
+++ b/test/worlds/contact.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="contact_sensor">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/conveyor.sdf b/test/worlds/conveyor.sdf
index f4cd000ad8..f33ba10c3f 100644
--- a/test/worlds/conveyor.sdf
+++ b/test/worlds/conveyor.sdf
@@ -6,7 +6,7 @@
         -->
         <physics name="1ms" type="ignored">
             <max_step_size>0.001</max_step_size>
-            <real_time_factor>10.0</real_time_factor>
+            <real_time_factor>0</real_time_factor>
         </physics>
         <plugin
                 filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/demo_joint_types.sdf b/test/worlds/demo_joint_types.sdf
index 12bedec0c4..31058e5d98 100644
--- a/test/worlds/demo_joint_types.sdf
+++ b/test/worlds/demo_joint_types.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/depth_camera_sensor.sdf b/test/worlds/depth_camera_sensor.sdf
index f6fd16a163..7791ad3dbc 100644
--- a/test/worlds/depth_camera_sensor.sdf
+++ b/test/worlds/depth_camera_sensor.sdf
@@ -7,7 +7,7 @@
   <world name="depth_camera_sensor">
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/detachable_joint.sdf b/test/worlds/detachable_joint.sdf
index 821d5a1a0f..ac3be7c50a 100644
--- a/test/worlds/detachable_joint.sdf
+++ b/test/worlds/detachable_joint.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="detachable_joint">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics"/>
 
diff --git a/test/worlds/diff_drive.sdf b/test/worlds/diff_drive.sdf
index dcb6a1fc2e..bfd7352a00 100644
--- a/test/worlds/diff_drive.sdf
+++ b/test/worlds/diff_drive.sdf
@@ -2,9 +2,9 @@
 <sdf version="1.6">
   <world name="diff_drive">
 
-    <physics name="1ms" type="ode">
+    <physics name="1ms" type="ignored">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/diff_drive_custom_frame_id.sdf b/test/worlds/diff_drive_custom_frame_id.sdf
index 41d9f1b4b9..1fdd850ec0 100644
--- a/test/worlds/diff_drive_custom_frame_id.sdf
+++ b/test/worlds/diff_drive_custom_frame_id.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/diff_drive_custom_tf_topic.sdf b/test/worlds/diff_drive_custom_tf_topic.sdf
index 131207f3ef..03a4091024 100644
--- a/test/worlds/diff_drive_custom_tf_topic.sdf
+++ b/test/worlds/diff_drive_custom_tf_topic.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/diff_drive_custom_topics.sdf b/test/worlds/diff_drive_custom_topics.sdf
index 15a414d1e3..06f8080108 100644
--- a/test/worlds/diff_drive_custom_topics.sdf
+++ b/test/worlds/diff_drive_custom_topics.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/diff_drive_limited_joint_pub.sdf b/test/worlds/diff_drive_limited_joint_pub.sdf
index 33baaea880..978975105b 100644
--- a/test/worlds/diff_drive_limited_joint_pub.sdf
+++ b/test/worlds/diff_drive_limited_joint_pub.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/diff_drive_skid.sdf b/test/worlds/diff_drive_skid.sdf
index 1adff231cf..b4ae8dee22 100644
--- a/test/worlds/diff_drive_skid.sdf
+++ b/test/worlds/diff_drive_skid.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/empty.sdf b/test/worlds/empty.sdf
new file mode 100644
index 0000000000..d700350605
--- /dev/null
+++ b/test/worlds/empty.sdf
@@ -0,0 +1,67 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="empty">
+    <physics name="fast" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>0</real_time_factor>
+    </physics>
+    <plugin
+      filename="ignition-gazebo-physics-system"
+      name="ignition::gazebo::systems::Physics">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-user-commands-system"
+      name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-contact-system"
+      name="ignition::gazebo::systems::Contact">
+    </plugin>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+  </world>
+</sdf>
diff --git a/test/worlds/event_trigger.sdf b/test/worlds/event_trigger.sdf
index 2ccc046837..a0f4aa5e40 100644
--- a/test/worlds/event_trigger.sdf
+++ b/test/worlds/event_trigger.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="EventTriggerSystem"
       name="ignition::gazebo::EventTriggerSystem">
diff --git a/test/worlds/falling.sdf b/test/worlds/falling.sdf
index 9e69c968e6..cc09166afb 100644
--- a/test/worlds/falling.sdf
+++ b/test/worlds/falling.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/follow_actor.sdf b/test/worlds/follow_actor.sdf
index a02a444fc6..c1ac2046fe 100644
--- a/test/worlds/follow_actor.sdf
+++ b/test/worlds/follow_actor.sdf
@@ -1,6 +1,9 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="actors">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
 
     <!-- add sensors system and camera so that the rendering code is also tested
     -->
diff --git a/test/worlds/friction.sdf b/test/worlds/friction.sdf
index f4ce49cf4d..42f4c6da26 100644
--- a/test/worlds/friction.sdf
+++ b/test/worlds/friction.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/gpu_lidar_sensor.sdf b/test/worlds/gpu_lidar_sensor.sdf
index a8748e419b..463314ebf0 100644
--- a/test/worlds/gpu_lidar_sensor.sdf
+++ b/test/worlds/gpu_lidar_sensor.sdf
@@ -7,7 +7,7 @@
   <world name="gpu_lidar_sensor">
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/heightmap.sdf b/test/worlds/heightmap.sdf
index 08eada3e70..6cc2834cfe 100644
--- a/test/worlds/heightmap.sdf
+++ b/test/worlds/heightmap.sdf
@@ -1,6 +1,9 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
 
     <model name="Heightmap Bowl">
       <static>true</static>
diff --git a/test/worlds/imu.sdf b/test/worlds/imu.sdf
index 4bd476afa6..e2983ccb31 100644
--- a/test/worlds/imu.sdf
+++ b/test/worlds/imu.sdf
@@ -4,7 +4,7 @@
     <gravity>0 0 -5</gravity>
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/imu_no_orientation.sdf b/test/worlds/imu_no_orientation.sdf
index 22e17f3663..caf1e9f1e7 100644
--- a/test/worlds/imu_no_orientation.sdf
+++ b/test/worlds/imu_no_orientation.sdf
@@ -4,7 +4,7 @@
     <gravity>0 0 -5</gravity>
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/include.sdf b/test/worlds/include.sdf
index e42f8443bd..ed6f427d9a 100644
--- a/test/worlds/include.sdf
+++ b/test/worlds/include.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <include>
       <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/ground plane/1</uri>
     </include>
diff --git a/test/worlds/include_connected_nested_models.sdf b/test/worlds/include_connected_nested_models.sdf
index f579ad30f1..3e03aa35eb 100644
--- a/test/worlds/include_connected_nested_models.sdf
+++ b/test/worlds/include_connected_nested_models.sdf
@@ -3,7 +3,7 @@
   <world name="include_connected_nested_models_world">
     <physics name="1ms" type="ignored">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="libignition-gazebo-physics-system.so"
diff --git a/test/worlds/include_nested_models.sdf b/test/worlds/include_nested_models.sdf
index cdaef99343..39e29f3a08 100644
--- a/test/worlds/include_nested_models.sdf
+++ b/test/worlds/include_nested_models.sdf
@@ -3,7 +3,7 @@
   <world name="include_nested_models_world">
     <physics name="1ms" type="ignored">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="libignition-gazebo-physics-system.so"
diff --git a/test/worlds/joint_controller.sdf b/test/worlds/joint_controller.sdf
index 0f3678be24..c16f46af9f 100644
--- a/test/worlds/joint_controller.sdf
+++ b/test/worlds/joint_controller.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/joint_controller_invalid.sdf b/test/worlds/joint_controller_invalid.sdf
index 4621474f99..45a8494ca4 100644
--- a/test/worlds/joint_controller_invalid.sdf
+++ b/test/worlds/joint_controller_invalid.sdf
@@ -1,6 +1,9 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
     <model name="joint_controller_test">
       <link name="base_link">
       </link>
diff --git a/test/worlds/joint_position_controller.sdf b/test/worlds/joint_position_controller.sdf
index 906521db60..cc52a7cea7 100644
--- a/test/worlds/joint_position_controller.sdf
+++ b/test/worlds/joint_position_controller.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/joint_trajectory_controller.sdf b/test/worlds/joint_trajectory_controller.sdf
index 4aaee68ca5..16ca6785b8 100644
--- a/test/worlds/joint_trajectory_controller.sdf
+++ b/test/worlds/joint_trajectory_controller.sdf
@@ -2,6 +2,9 @@
 <sdf version="1.6">
   <world name="default">
     <!-- Physics -->
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
@@ -402,7 +405,7 @@
         <!-- Test custom topic name -->
         <topic>test_custom_topic/velocity_control</topic>
 
-        <!-- Test a case where joint names are omitted. These gains will cause the test to fail 
+        <!-- Test a case where joint names are omitted. These gains will cause the test to fail
         if they are applied in the reversed order -->
         <velocity_p_gain>0.6</velocity_p_gain>
         <velocity_i_gain>175</velocity_i_gain>
diff --git a/test/worlds/level_performance.sdf b/test/worlds/level_performance.sdf
index febf0168e6..2ba3d61de0 100644
--- a/test/worlds/level_performance.sdf
+++ b/test/worlds/level_performance.sdf
@@ -7,6 +7,10 @@
 -->
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
      filename="ignition-gazebo-physics-system"
      name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/levels.sdf b/test/worlds/levels.sdf
index f0724beedb..ce2568ec70 100644
--- a/test/worlds/levels.sdf
+++ b/test/worlds/levels.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="levels">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-scene-broadcaster-system"
       name="ignition::gazebo::systems::SceneBroadcaster">
diff --git a/test/worlds/levels_no_performers.sdf b/test/worlds/levels_no_performers.sdf
index 2332f0d329..a83859439d 100644
--- a/test/worlds/levels_no_performers.sdf
+++ b/test/worlds/levels_no_performers.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="levels">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-scene-broadcaster-system"
       name="ignition::gazebo::systems::SceneBroadcaster">
diff --git a/test/worlds/lift_drag.sdf b/test/worlds/lift_drag.sdf
index 4926c4d9a8..2ee782834c 100644
--- a/test/worlds/lift_drag.sdf
+++ b/test/worlds/lift_drag.sdf
@@ -2,6 +2,10 @@
 <!-- Adapted from osrf/gazebo/test/worlds/lift_drag_plugin.world  -->
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
 
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/lift_drag_nested_model.sdf b/test/worlds/lift_drag_nested_model.sdf
index 1838aabc7a..0c8f54df84 100644
--- a/test/worlds/lift_drag_nested_model.sdf
+++ b/test/worlds/lift_drag_nested_model.sdf
@@ -2,6 +2,9 @@
 <!-- Adapted from osrf/gazebo/test/worlds/lift_drag_plugin.world  -->
 <sdf version="1.8">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
 
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/lights.sdf b/test/worlds/lights.sdf
index 6f5daa40af..8150fcad1e 100644
--- a/test/worlds/lights.sdf
+++ b/test/worlds/lights.sdf
@@ -3,7 +3,7 @@
   <world name="lights">
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/lights_render.sdf b/test/worlds/lights_render.sdf
index 3f4d677460..6abff89c28 100644
--- a/test/worlds/lights_render.sdf
+++ b/test/worlds/lights_render.sdf
@@ -3,7 +3,7 @@
   <world name="lights_command">
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-scene-broadcaster-system"
diff --git a/test/worlds/log_playback.sdf b/test/worlds/log_playback.sdf
index b46b04d357..2218dd7848 100644
--- a/test/worlds/log_playback.sdf
+++ b/test/worlds/log_playback.sdf
@@ -1,6 +1,10 @@
 <?xml version='1.0'?>
 <sdf version='1.6'>
   <world name='default'>
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin filename='ignition-gazebo-scene-broadcaster-system'
             name='ignition::gazebo::systems::SceneBroadcaster'>
     </plugin>
diff --git a/test/worlds/log_record_dbl_pendulum.sdf b/test/worlds/log_record_dbl_pendulum.sdf
index 6b79cc1a43..6aa86c0955 100644
--- a/test/worlds/log_record_dbl_pendulum.sdf
+++ b/test/worlds/log_record_dbl_pendulum.sdf
@@ -10,7 +10,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/log_record_resources.sdf b/test/worlds/log_record_resources.sdf
index 6bf9adb87c..c0e2761c55 100644
--- a/test/worlds/log_record_resources.sdf
+++ b/test/worlds/log_record_resources.sdf
@@ -9,6 +9,10 @@
 -->
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
      filename="ignition-gazebo-physics-system"
      name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/logical_audio_sensor_plugin.sdf b/test/worlds/logical_audio_sensor_plugin.sdf
index acd2318c7e..4bc8537dba 100644
--- a/test/worlds/logical_audio_sensor_plugin.sdf
+++ b/test/worlds/logical_audio_sensor_plugin.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="logical_audio_sensor">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <model name="source_model">
       <pose>0 0 0 0 0 0</pose>
       <link name="source_link">
diff --git a/test/worlds/logical_audio_sensor_plugin_services.sdf b/test/worlds/logical_audio_sensor_plugin_services.sdf
index 5722016b69..47b4ec6fc3 100644
--- a/test/worlds/logical_audio_sensor_plugin_services.sdf
+++ b/test/worlds/logical_audio_sensor_plugin_services.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="logical_audio_sensor">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <model name="model_playing">
       <pose>0 0 0 0 0 0</pose>
       <link name="audio_link">
diff --git a/test/worlds/logical_camera_sensor.sdf b/test/worlds/logical_camera_sensor.sdf
index 96623b7d8e..9ec9feeaed 100644
--- a/test/worlds/logical_camera_sensor.sdf
+++ b/test/worlds/logical_camera_sensor.sdf
@@ -4,7 +4,7 @@
   <world name="logical_camera_sensor">
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/magnetometer.sdf b/test/worlds/magnetometer.sdf
index 9fb5bda4ca..c6a17181a1 100644
--- a/test/worlds/magnetometer.sdf
+++ b/test/worlds/magnetometer.sdf
@@ -4,7 +4,7 @@
     <magnetic_field>0.94 0.76 -0.12</magnetic_field>
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/mesh.sdf b/test/worlds/mesh.sdf
index dd2d47ce04..ac782d24be 100644
--- a/test/worlds/mesh.sdf
+++ b/test/worlds/mesh.sdf
@@ -3,7 +3,7 @@
   <world name="shapes">
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/model_nested_include.sdf b/test/worlds/model_nested_include.sdf
index 28f785cd48..f007fbc4f9 100644
--- a/test/worlds/model_nested_include.sdf
+++ b/test/worlds/model_nested_include.sdf
@@ -3,7 +3,7 @@
   <world name="model_nested_include_world">
     <physics name="1ms" type="ignored">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="libignition-gazebo-physics-system.so"
diff --git a/test/worlds/multiple_worlds.sdf b/test/worlds/multiple_worlds.sdf
index 7453367c5d..7c8717c596 100644
--- a/test/worlds/multiple_worlds.sdf
+++ b/test/worlds/multiple_worlds.sdf
@@ -60,7 +60,7 @@
 
     <physics name="default" type="ode">
       <max_step_size>0.005</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
 
     <light type="directional" name="sun">
diff --git a/test/worlds/nested_model.sdf b/test/worlds/nested_model.sdf
index b22c0dd17d..06063d67eb 100644
--- a/test/worlds/nested_model.sdf
+++ b/test/worlds/nested_model.sdf
@@ -3,7 +3,7 @@
   <world name="nested_model_world">
     <physics name="1ms" type="ignored">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="libignition-gazebo-physics-system.so"
diff --git a/test/worlds/nested_model_canonical_link.sdf b/test/worlds/nested_model_canonical_link.sdf
index 9a5664ca22..df4344d1cd 100644
--- a/test/worlds/nested_model_canonical_link.sdf
+++ b/test/worlds/nested_model_canonical_link.sdf
@@ -3,7 +3,7 @@
   <world name="nested_model_world">
     <physics name="1ms" type="ignored">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="libignition-gazebo-physics-system.so"
diff --git a/test/worlds/nondefault_canonical.sdf b/test/worlds/nondefault_canonical.sdf
index 56c303542d..26c2650949 100644
--- a/test/worlds/nondefault_canonical.sdf
+++ b/test/worlds/nondefault_canonical.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.7">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/odometry_publisher.sdf b/test/worlds/odometry_publisher.sdf
index e572a8cc88..ccda8141bd 100644
--- a/test/worlds/odometry_publisher.sdf
+++ b/test/worlds/odometry_publisher.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/odometry_publisher_3d.sdf b/test/worlds/odometry_publisher_3d.sdf
index e1ec514a65..4b870b0e4f 100644
--- a/test/worlds/odometry_publisher_3d.sdf
+++ b/test/worlds/odometry_publisher_3d.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/odometry_publisher_custom.sdf b/test/worlds/odometry_publisher_custom.sdf
index 7ef913aea1..8adab5b1c4 100644
--- a/test/worlds/odometry_publisher_custom.sdf
+++ b/test/worlds/odometry_publisher_custom.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/office.sdf b/test/worlds/office.sdf
index baa2c15981..461718a968 100644
--- a/test/worlds/office.sdf
+++ b/test/worlds/office.sdf
@@ -2,7 +2,7 @@
   <world name="office_world">
     <physics name="10ms" type="ode">
       <max_step_size>0.01</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands">
     </plugin>
diff --git a/test/worlds/only_canonical_link_moves.sdf b/test/worlds/only_canonical_link_moves.sdf
index 4afef7d849..5649e3facc 100644
--- a/test/worlds/only_canonical_link_moves.sdf
+++ b/test/worlds/only_canonical_link_moves.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <sdf version="1.7">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/optical_tactile_plugin.sdf b/test/worlds/optical_tactile_plugin.sdf
index 8c8a5770b5..253a94b3ed 100644
--- a/test/worlds/optical_tactile_plugin.sdf
+++ b/test/worlds/optical_tactile_plugin.sdf
@@ -2,6 +2,10 @@
 
 <sdf version="1.6">
   <world name="optical_tactile_plugin">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="libignition-gazebo-physics-system.so"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/particle_emitter.sdf b/test/worlds/particle_emitter.sdf
index 12912e5f5b..18509d10ff 100644
--- a/test/worlds/particle_emitter.sdf
+++ b/test/worlds/particle_emitter.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
 
     <gui fullscreen="0">
diff --git a/test/worlds/particle_emitter2.sdf b/test/worlds/particle_emitter2.sdf
index 0fcf08df97..e9ff514141 100644
--- a/test/worlds/particle_emitter2.sdf
+++ b/test/worlds/particle_emitter2.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
 
     <plugin
diff --git a/test/worlds/performer_detector.sdf b/test/worlds/performer_detector.sdf
index faa7cef57d..20889c3ac4 100644
--- a/test/worlds/performer_detector.sdf
+++ b/test/worlds/performer_detector.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="performer_detector">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/performers.sdf b/test/worlds/performers.sdf
index de0f736973..ec194696e9 100644
--- a/test/worlds/performers.sdf
+++ b/test/worlds/performers.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
 
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>
diff --git a/test/worlds/physics_options.sdf b/test/worlds/physics_options.sdf
index d4fcae60e1..0351a2495e 100644
--- a/test/worlds/physics_options.sdf
+++ b/test/worlds/physics_options.sdf
@@ -8,6 +8,7 @@
           <solver_type>pgs</solver_type>
         </solver>
       </dart>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/plugins.sdf b/test/worlds/plugins.sdf
index 21f38291ee..466215d186 100644
--- a/test/worlds/plugins.sdf
+++ b/test/worlds/plugins.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="TestWorldSystem"
       name="ignition::gazebo::TestWorldSystem">
diff --git a/test/worlds/plugins_empty.sdf b/test/worlds/plugins_empty.sdf
index ac6128380c..6061dfccde 100644
--- a/test/worlds/plugins_empty.sdf
+++ b/test/worlds/plugins_empty.sdf
@@ -2,6 +2,10 @@
 <!-- plugins.sdf without the plugins -->
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <model name="box">
       <link name="link_1">
         <sensor name="camera" type="camera">
diff --git a/test/worlds/pose_publisher.sdf b/test/worlds/pose_publisher.sdf
index fadf485754..2bacec9d5d 100644
--- a/test/worlds/pose_publisher.sdf
+++ b/test/worlds/pose_publisher.sdf
@@ -4,7 +4,7 @@
 
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/quadcopter.sdf b/test/worlds/quadcopter.sdf
index e6c7aa5a7b..c5531c2ee5 100644
--- a/test/worlds/quadcopter.sdf
+++ b/test/worlds/quadcopter.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="quadcopter">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/quadcopter_velocity_control.sdf b/test/worlds/quadcopter_velocity_control.sdf
index fc8adea119..6a4d08b813 100644
--- a/test/worlds/quadcopter_velocity_control.sdf
+++ b/test/worlds/quadcopter_velocity_control.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="quadcopter">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/resource_paths.sdf b/test/worlds/resource_paths.sdf
index ff5c5910f4..84f44e79ab 100644
--- a/test/worlds/resource_paths.sdf
+++ b/test/worlds/resource_paths.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <!-- Physics plugin to load meshes -->
     <plugin
       filename="libignition-gazebo-physics-system.so"
diff --git a/test/worlds/revolute_joint.sdf b/test/worlds/revolute_joint.sdf
index fd9632f5cd..6f918c9ea6 100644
--- a/test/worlds/revolute_joint.sdf
+++ b/test/worlds/revolute_joint.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/revolute_joint_equilibrium.sdf b/test/worlds/revolute_joint_equilibrium.sdf
index cf967f17b3..1af50f31cc 100644
--- a/test/worlds/revolute_joint_equilibrium.sdf
+++ b/test/worlds/revolute_joint_equilibrium.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="default">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/rgbd_camera_sensor.sdf b/test/worlds/rgbd_camera_sensor.sdf
index 5759741e11..6aee476435 100644
--- a/test/worlds/rgbd_camera_sensor.sdf
+++ b/test/worlds/rgbd_camera_sensor.sdf
@@ -3,7 +3,7 @@
   <world name="rgbd_camera_sensor">
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/save_world.sdf b/test/worlds/save_world.sdf
index e6a431d4e6..2b2ee0b778 100644
--- a/test/worlds/save_world.sdf
+++ b/test/worlds/save_world.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="save_world">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/sensor.sdf b/test/worlds/sensor.sdf
index aebb32104c..68ccfcd989 100644
--- a/test/worlds/sensor.sdf
+++ b/test/worlds/sensor.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="camera_sensor">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-sensors-system"
       name="ignition::gazebo::systems::Sensors">
diff --git a/test/worlds/shapes.sdf b/test/worlds/shapes.sdf
index 90c7b82a87..345d0a2732 100644
--- a/test/worlds/shapes.sdf
+++ b/test/worlds/shapes.sdf
@@ -3,7 +3,7 @@
   <world name="default">
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
 
     <gui fullscreen="0">
diff --git a/test/worlds/static_diff_drive_vehicle.sdf b/test/worlds/static_diff_drive_vehicle.sdf
index 179a11ef20..ddadbde39c 100644
--- a/test/worlds/static_diff_drive_vehicle.sdf
+++ b/test/worlds/static_diff_drive_vehicle.sdf
@@ -5,7 +5,7 @@
 
     <physics name="1ms" type="ignored">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/thermal.sdf b/test/worlds/thermal.sdf
index 5274b749b0..56a2544de4 100644
--- a/test/worlds/thermal.sdf
+++ b/test/worlds/thermal.sdf
@@ -8,7 +8,7 @@
   <world name="thermal_camera">
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/thermal_invalid.sdf b/test/worlds/thermal_invalid.sdf
index 11cc94c6e0..960c072b0f 100644
--- a/test/worlds/thermal_invalid.sdf
+++ b/test/worlds/thermal_invalid.sdf
@@ -8,7 +8,7 @@
   <world name="thermal_camera">
     <physics name="1ms" type="ode">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/tire_drum.sdf b/test/worlds/tire_drum.sdf
index db64213473..1a812108c3 100644
--- a/test/worlds/tire_drum.sdf
+++ b/test/worlds/tire_drum.sdf
@@ -9,10 +9,9 @@
           <sor>1.0</sor>
         </solver>
       </ode>
+      <real_time_factor>0</real_time_factor>
     </physics>
 
-
-    
     <model name="tire">
       <pose>0 0 0.5  0 0 0</pose>
 
@@ -222,7 +221,7 @@
     </model>
 
 
-    
+
     <model name="drum">
       <pose>0 0 -4.0  1.5707963267948966 0 0</pose>
 
diff --git a/test/worlds/touch_plugin.sdf b/test/worlds/touch_plugin.sdf
index 4ff260b7f3..d108699e92 100644
--- a/test/worlds/touch_plugin.sdf
+++ b/test/worlds/touch_plugin.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="touch">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">
diff --git a/test/worlds/tracked_vehicle_simple.sdf b/test/worlds/tracked_vehicle_simple.sdf
index 5a54f56958..cbe39175b6 100644
--- a/test/worlds/tracked_vehicle_simple.sdf
+++ b/test/worlds/tracked_vehicle_simple.sdf
@@ -6,7 +6,7 @@
         -->
         <physics name='4ms' type='ignored'>
             <max_step_size>0.001</max_step_size>
-            <real_time_factor>1.0</real_time_factor>
+            <real_time_factor>0</real_time_factor>
             <real_time_update_rate>1000</real_time_update_rate>
         </physics>
         <plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
diff --git a/test/worlds/triball_drift.sdf b/test/worlds/triball_drift.sdf
index d574e2a2b6..831c82a0a3 100644
--- a/test/worlds/triball_drift.sdf
+++ b/test/worlds/triball_drift.sdf
@@ -2,6 +2,9 @@
 
 <sdf version="1.6">
   <world name="triball_drift">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
     <gravity>1 0 -9.8</gravity>
     <plugin
       filename="libignition-gazebo-physics-system.so"
diff --git a/test/worlds/triggered_publisher.sdf b/test/worlds/triggered_publisher.sdf
index 2c9aec273b..7c9f21c568 100644
--- a/test/worlds/triggered_publisher.sdf
+++ b/test/worlds/triggered_publisher.sdf
@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="triggered_publisher">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin filename="ignition-gazebo-triggered-publisher-system" name="ignition::gazebo::systems::TriggeredPublisher">
       <input type="ignition.msgs.Empty" topic="/in_0"/>
       <output type="ignition.msgs.Empty" topic="/out_0"/>
diff --git a/test/worlds/trisphere_cycle_wheel_slip.sdf b/test/worlds/trisphere_cycle_wheel_slip.sdf
index b086b05a0f..3e1f44bfe2 100644
--- a/test/worlds/trisphere_cycle_wheel_slip.sdf
+++ b/test/worlds/trisphere_cycle_wheel_slip.sdf
@@ -2,6 +2,9 @@
 
 <sdf version="1.6">
   <world name="wheel_slip">
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
     <gravity>-2 0 -9.8</gravity>
 
     <plugin
diff --git a/test/worlds/velocity_control.sdf b/test/worlds/velocity_control.sdf
index d3659d4884..ae7bb605fc 100644
--- a/test/worlds/velocity_control.sdf
+++ b/test/worlds/velocity_control.sdf
@@ -14,7 +14,7 @@
 
     <physics name="1ms" type="ignored">
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
+      <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
       filename="ignition-gazebo-physics-system"
diff --git a/test/worlds/wind_effects.sdf b/test/worlds/wind_effects.sdf
index af2cfcb2b3..fa2b9c691f 100644
--- a/test/worlds/wind_effects.sdf
+++ b/test/worlds/wind_effects.sdf
@@ -3,6 +3,10 @@
   <world name="wind_demo">
     <gravity>0 0 0</gravity>
 
+    <physics name="fast" type="ignored">
+      <real_time_factor>0</real_time_factor>
+    </physics>
+
     <plugin
       filename="ignition-gazebo-physics-system"
       name="ignition::gazebo::systems::Physics">