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thowellthowell
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add primitives rendering benchmark (#1346)
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‎benchmarks/render/README.md‎

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# Render
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## Description
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GPU ray-traced rendering of the [primitives](../../mujoco_warp/test_data/primitives.xml) scene. This benchmark measures rendering performance using a 5×5 grid of spheres, capsules, ellipsoids, cylinders, and boxes above a plane.
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### primitives
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| Property | Value |
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|----------|-------|
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| Bodies | 126 |
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| DoFs | 750 |
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| Geoms | 127 |
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| Cameras | 1 |
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| Resolution | 64×64 |
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| Worlds | 8192 |
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![primitives](primitives.webp)

‎benchmarks/render/__init__.py‎

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BENCHMARKS = [
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{
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"name": "primitives",
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"mjcf": "primitives.xml",
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"function": "render",
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"nworld": 8192,
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"nconmax": 100,
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"njmax": 256,
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"nstep": 100,
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},
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]

‎benchmarks/render/primitives.webp‎

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‎benchmarks/render/primitives.xml‎

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<mujoco model="primitives">
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<visual>
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<map znear="0.01" zfar="200" />
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<quality shadowsize="8192" />
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<headlight diffuse=".8 .8 .8" ambient=".2 .2 .2" specular="1 1 1" />
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<global azimuth="140" elevation="-20" />
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="800" height="800" />
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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</asset>
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<worldbody>
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<geom name="floor" size="0 0 .05" type="plane" material="grid" contype="1" conaffinity="1"/>
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<camera pos="3 0 2" xyaxes="0 1 0 -0.6 0 1"/>
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<light pos="0 0 3" dir="0 0 -1" directional="true" />
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<geom name="table" pos="0.8 0.0 0.5" type="box" size="0.5 1.0 0.01" quat="1.0 0.0 0.0 0.0" contype="1" conaffinity="1"/>
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<replicate count="5" offset="0.1 0 0">
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<replicate count="5" offset="0 0.2 0">
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<body name="sphere" pos="0.6 -0.4 0.8">
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<freejoint name="sphere"/>
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<geom name="geom_sphere" type="sphere" size="0.05" contype="1" conaffinity="1" rgba="1 0 0 1"/>
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</body>
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</replicate>
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</replicate>
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<replicate count="5" offset="0.1 0 0">
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<replicate count="5" offset="0 0.2 0">
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<body name="capsule" pos="0.6 -0.4 0.95">
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<freejoint name="capsule"/>
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<geom name="geom_capsule" type="capsule" size="0.04 0.05" contype="1" conaffinity="1" rgba="0 1 0 1"/>
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</body>
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</replicate>
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</replicate>
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<replicate count="5" offset="0.1 0 0">
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<replicate count="5" offset="0 0.2 0">
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<body name="ellipsoid" pos="0.6 -0.4 1.1">
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<freejoint name="ellipsoid"/>
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<geom name="geom_ellipsoid" type="ellipsoid" size="0.05 0.04 0.03" contype="1" conaffinity="1" rgba="0 0 1 1"/>
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</body>
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</replicate>
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</replicate>
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<replicate count="5" offset="0.1 0 0">
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<replicate count="5" offset="0 0.2 0">
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<body name="cylinder" pos="0.6 -0.4 1.2">
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<freejoint name="cylinder"/>
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<geom name="geom_cylinder" type="cylinder" size="0.04 0.04" contype="1" conaffinity="1" rgba="1 1 0 1"/>
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</body>
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</replicate>
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</replicate>
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<replicate count="5" offset="0.1 0 0">
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<replicate count="5" offset="0 0.2 0">
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<body name="box1" pos="0.6 -0.4 1.4">
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<freejoint name="joint1"/>
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<geom name="geom1" type="box" size="0.03 0.03 0.03" contype="1" conaffinity="1" rgba="0 1 1 1"/>
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</body>
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</replicate>
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</replicate>
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</worldbody>
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</mujoco>

‎benchmarks/run.py‎

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_ARGS = None # module level variable that gets populated with argparse results
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# Ensure the active virtual environment's bin directory is in PATH so 'uv' can be found
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_venv_bin = Path(sys.executable).parent.as_posix()
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if _venv_bin not in os.environ.get("PATH", ""):
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os.environ["PATH"] = f"{_venv_bin}{os.path.pathsep}{os.environ.get('PATH', '')}"
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logging.basicConfig(format="[%(asctime)s] %(message)s", datefmt="%Y-%m-%d %H:%M:%S", level=logging.INFO)
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log = logging.getLogger(__name__)
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"--measure_solver=true",
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"--measure_alloc=true",
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]
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if "nconmax" in bm:
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cmd.append(f"--nconmax={bm['nconmax']}")
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if "njmax" in bm:
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cmd.append(f"--njmax={bm['njmax']}")
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for field in ("nconmax", "njmax", "function", "nstep", "render_width", "render_height"):
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if field in bm:
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cmd.append(f"--{field}={bm[field]}")
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if "replay" in bm:
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replay_path = Path(_ARGS.assets_root) / bm["name"] / bm["replay"]
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cmd.append(f"--replay={replay_path.as_posix()}")
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if "nstep" in bm:
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cmd.append(f"--nstep={bm['nstep']}")
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result = _uv_run(*cmd, cwd=input_dir)
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‎benchmarks/sweep.py‎

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_ARGS = None # module level variable that gets populated with argparse results
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# Ensure the active virtual environment's bin directory is in PATH so 'uv' can be found
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_venv_bin = Path(sys.executable).parent.as_posix()
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if _venv_bin not in os.environ.get("PATH", ""):
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os.environ["PATH"] = f"{_venv_bin}{os.path.pathsep}{os.environ.get('PATH', '')}"
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logging.basicConfig(format="[%(asctime)s] %(message)s", datefmt="%Y-%m-%d %H:%M:%S", level=logging.INFO)
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log = logging.getLogger(__name__)
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"--measure_solver=true",
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"--measure_alloc=true",
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]
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if "nconmax" in bm:
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cmd.append(f"--nconmax={bm['nconmax']}")
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if "njmax" in bm:
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cmd.append(f"--njmax={bm['njmax']}")
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for field in ("nconmax", "njmax", "function", "render_width", "render_height"):
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if field in bm:
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cmd.append(f"--{field}={bm[field]}")
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if "replay" in bm:
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replay_path = Path(_ARGS.assets_root) / bm["name"] / bm["replay"]
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cmd.append(f"--replay={replay_path.as_posix()}")

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