diff --git a/docs/source/reference/index.rst b/docs/source/reference/index.rst
index 704ffe8e..239faf28 100644
--- a/docs/source/reference/index.rst
+++ b/docs/source/reference/index.rst
@@ -15,3 +15,4 @@ API Reference
    sdfs
    planner
    viewers
+   robot_model_tips
diff --git a/docs/source/reference/robot_model_tips.rst b/docs/source/reference/robot_model_tips.rst
new file mode 100644
index 00000000..ef80ff8e
--- /dev/null
+++ b/docs/source/reference/robot_model_tips.rst
@@ -0,0 +1,30 @@
+Robot Model Tips
+================
+
+Loading the Robot Model Without Mesh Data
+---------------------------------------
+
+Sometimes, loading a robot model with full mesh data can be slow and resource-intensive. If mesh data is not necessary for your use case, you can improve the loading speed by disabling mesh data loading as shown below:
+
+.. code-block:: python
+
+    from datetime import datetime
+
+    from skrobot.models import PR2
+    from skrobot.utils.urdf import no_mesh_load_mode
+
+    start = datetime.now()
+    robot_no_mesh = PR2()
+    end = datetime.now()
+    print(end - start)
+    # 0:00:00.269310
+
+    # Load the PR2 model without mesh data for faster initialization
+    start = datetime.now()
+    with no_mesh_load_mode():
+        robot_no_mesh = PR2()
+    end = datetime.now()
+    print(end - start)
+    # 0:00:00.083222
+
+This approach is useful when you only need the basic structure of the robot without the visual details of the mesh, which can be beneficial in scenarios where performance is prioritized over graphical fidelity.