sdf

[guolin-11]

Intro

Hi!

I am a student;

My setup

mjx

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

No response

Confirmations

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

[quagla]

Hi, do you mean an SDF plugin of type mujoco.sdf.sdflib? That's because SdfLib has to create an octree representation of the geometry, which requires evaluating the SDF multiple times during the compilation using TriMeshDistance, which is slow. At runtime, the SDF is evaluated only using the Octree, which is fast.