The general rule of thumb is 60 to 90 seconds between sets for BB'ing. Most BB'ers do, or should, keep an eye on the second hand of the clock during training sessions. A few will have a stopwatch with them, me included for certain workouts. That 60-90 thing also goes for rest periods between different exercises for the same muscle group. If three guy's are workout partners, say working the bench, they will do a set one right after the other. This keeps the pace high. Of course they are pretty much with the same same strength level. Arnold, Franco and who ever the partner of the day was, had this as the core of their workouts. Lot's of men, back in the day, did this as standard workouts.
Doesn't matter if your working the back, legs, etc. Stamina (endurance & strength) will develop as the workouts progress. With the correct selection of weight used on the bar, 90 seconds should be in the abilities of most everyone. Training with serious intent should be on the mind as soon as one steps onto the gym floor. Sorry to say but, quite a few people really think their working hard, but probably are with in the range of 70% to 80% of their actual mental and physical workout abilities. Guy's who tell me that they go to failure on every set of a ten set muscle group exercise workout are misleading themselves. If true, absolute failure is ever reach on the first set than maybe another set could be preformed after that. But I would doubt that a third set could be accomplished without seeking medical attention. The CNS would slow down functions as a way to protect it's self. And little in the way of physical effort could be done after that. The term "Failure" is tossed about way too much in the subcultire of the BB'ing world.
Can't speak for HedgeHog, but I believe he is into heavier lifting than general BB'ing. Strength athleles tend to take longer time between sets and exercises. A few of the PL'ers I've worked with can rest any where from 5 to 10 minutes between the squat or DL. Conditioning has a lot to do with over all training for PL'ing or Olympic lifting. They find resting too little or too much takes the edge off of a good , productive workout. These guy's don't care too much about pretty BB'ing muscles, just functional strength and power. Good Luck.