A generalized inverse kinematics solver that supports closed chains for parallel kinematics systems, dynamic reconfiguration, and arbitrary joint configuration based on damped least squares error minimization techniques
Seems to be related to to the number of objects to be rendered. Robonaut contains 71 meshes. Possibly reusing a single material could improve performance.
Likely related to matrix update performance and copying results from IK.
https://developer.mozilla.org/en-US/docs/Tools/about:debugging