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It's because of this allow_auto_disable parameter. When the model's speed is smaller than the threshold value for a while, the physics update for that model will be disabled. It takes some force and time to enable the model back again. By default, it's set to true. If you want the sphere to rotate forever, set this to false in the sdf.
I think the minimum speed and time can be set through the code, not in the sdf. You can also enable/disable the model from the code as well (via world plugin or model plugin, for example.)
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