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One possibility is that you have simply too many vertices/faces in your mesh. PR2 URDF has been simplified to around 1k faces per STL/DAE component, the original PR2 CAD file had about 300X that number of faces/vertices straight out of Solidworks. Try keeping the total number of faces of your robot mesh (collision and visual) to less than 50k should correlate to loading time of under a second. I don't have an exact number, maybe your data point could shed some light on that topic and potentially identify bottlenecks for model loading if it's pertinent to your work?

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