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[guolin-11]

Intro

Hi!

I am a ([graduate / undergrad] student / professor / researcher) at XYZ, I use MuJoCo for my research on ABC.

My setup

![Uploading 企业微信截图_17478196976387.png…]()

My question

When using SDF plug-in, it often takes a long time to load the model. Is this normal? And what are the factors that determine the loading time of a model?

Minimal model and/or code that explain my question

If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).

Model:

minimal XML

<mujoco>
  <worldbody>
    <light pos="0 0 1"/>
    <geom type="sphere" size="1" rgba="1 0 0 1"/>
  </worldbody>
</mujoco>

Code:

import mujoco
import mediapy as media
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)

with mujoco.Renderer(model) as renderer:
  mujoco.mj_forward(model, data)
  renderer.update_scene(data)

  media.show_image(renderer.render())

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.