I suspect that it wouldn’t be a large change code-wise. The 2 questions that immediately jump to my mind (neither of which I have answers to) would be a) how much of an effect jittering adjustment would have in most cases (given that the initialization is designed to immediately move away from the initial values/mass matrix) and b) how much can be expected of users to know about the “scale” of the jitter needed in their particular case. I would say it’s worth opening an issue to get some feedback on these and other relevant matters (that I haven’t thought of).
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