Windows: MuJoCo 3.3.2 Crashes on MjModel.from_xml_string() with Complex Models (Works on Ubuntu)

[MishaTikh]

Intro

Hi!

I'm encountering crashes with MuJoCo 3.3.2 on Windows (both a local laptop with Intel HD 520/NVIDIA GTX 950M and a Shadow PC with NVIDIA Quadro P5000) when loading complex, programmatically generated catheter models. The same MJCF XML compiles and runs perfectly on Ubuntu (on the local laptop). The crash occurs during mujoco.MjModel.from_xml_string() or initial graphics resource setup immediately after, accompanied by a 100% GPU spike on the Windows machines, even before any rendering frames are displayed. MuJoCo's native compile.exe and simulate.exe also crash with this specific XML on Windows.

My setup

The models are procedurally generated. A small number of user-defined sections (e.g., 3) are expanded into a significantly larger number of MuJoCo bodies and joints (e.g., ~77 bodies, ~76 gimbal sets implying ~152 hinge joints, plus ~75 torsional joints). This gimbal strategy is used to achieve independent control over bending and torsional stiffness for physics fidelity. I've ensured the NVIDIA dGPU is active on relevant systems and have been testing with updated drivers.

My question

Given that MuJoCo 3.3.2 handles this complex MJCF on Ubuntu, why might it consistently crash during model compilation/initialization on diverse Windows hardware (including a capable Quadro P5000), exhibiting a 100% GPU spike at that early stage? Are there known Windows-specific limitations, driver interaction patterns, or resource handling differences in MuJoCo 3.3.2 for highly articulated systems that could cause this, which are not present or as stringent on Linux? I'm looking for insights into this platform-specific behavior for complex model loading.

Here is a link to a sample XML that runs fine on Ubuntu but crashes on Windows: https://github.com/MishaTikh/main/blob/main/debug_xml.xml

Minimal model and/or code that explain my question

Too large to attach, see link in description please.

Confirmations

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