Is your comment here to refute a claim you saw somewhere, or to simply point this out? I wouldn’t expect this to be real-time, given the complexity, nor do I believe it needs to be in order to be useful.
It is good to point it out it is for offline simulations. There is some related recent work, Offset Geometric Contact that is suitable for interactive use: https://ankachan.github.io/Projects/OGC/index.html
Also assumed by default we were talking about real-time, but then I saw Python/juPyter and a rendered videos, got a bit confused, then came across "46.4s/frame" for one of the examples and finally registered it wasn't about real-time.
I agree it doesn't have to be real-time to be valid, I think my mindset just goes to physics in video games which are usually real-time when I see contact solvers or most other things related to simulations.