# Step 4: debugging performance issues¶

## Context¶

Now the robot is moving, we fixed the problems. Though the simulation is rather slow. We can use the performance monitor to find out what is consuming resources.

## The performance monitor¶

Select the performance monitor to see which processes consume the most resources. You will see that the “csv_robot_position” transfer function is consuming a disproportional amount of CPU. Go to the transfer function editor and remove the useless for loop inside.

for i in range(1,1000000):
j = i*52,7


You can also remove your logging line from linear_twist. The experiment should now run at full speed!