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At the moment multi-threading is not supported. There used to be a parallel_quickstep extension which allegedly worked in cturtle or diamondback but even there I only got it to compile but not run on multiple cores or even the GPU.

The only solution to this problem is probably to wait for a month until Bullet integration is finished which has a parallel solver and GPU support.

At the moment multi-threading is not supported. There used to be a parallel_quickstep extension which allegedly worked in cturtle or diamondback but even there I only got it to compile but not run on multiple cores or even the GPU.

The only solution to this problem is probably to wait for a month until Bullet integration is finished which has a parallel solver and GPU support.

Btw. make sure you increase the update rate when decreasing the step size. 0.08 looks like you're running a 1e-4 step-size without increasing the update rate to 10k.