Update jiminy 1.8.3 -> 1.8.5.post1, extreme slow down using "spring_damper" model

[mwulfman]

I have just tried updating to the last version of jiminy (1.8.5.post1) from jiminy 1.8.3 and while the "spring_damper" model was already fairly slow for my use case, now it is significantly slower for some simulations. Any ideas where that could come from, or if I need to adapt solver parameters following the update to solve this issue ?

[duburcqa]

Interesting... Do you known if 1.8.4 was causing the same issue (and ideally also 1.8.5). To my knowledge I changed nothing regarding the spring-damper model in particular. May be it is "just" `reset that is slower than before, slowing down the whole process. Now we are logging the whole robot. But I don't expect that to take so much time since it is pure C++.

[duburcqa]

What do you mean ? You were overriding it or it is a bug in Jiminy ?

[mwulfman]

I was overriding it. With backlashes disabled, I ran 100 simulation in 26s. Thanks !

[duburcqa]

So it is still much slower than before ?

On 1.8.3, I am able to run 10 simulations of 30s in ~4.8s.

[mwulfman]

No, it appears faster 4.8s versus 2.6s for 10 simulations. Though it is simulations with heterogeneous duration (in which we give random position command) so further testing is needed to confirm the speed increase.

[duburcqa]

Ah yes indeed i missed one zero. Glad to hear that all sortef out then !