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thowellthowell
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add mesh render benchmark
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‎benchmarks/render/README.md‎

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## Description
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5-
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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GPU ray-traced rendering performance benchmarks. These benchmarks measure rendering speed across both simple primitive layouts and complex high-resolution textured meshes on the GPU.
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### primitives
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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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| Property | Value |
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|----------|-------|
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| Bodies | 126 |
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| Worlds | 8192 |
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![primitives](primitives.webp)
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### mug
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GPU ray-traced rendering of the official [MuJoCo Mug](assets/mug.xml) scene. This benchmark measures rendering performance of a high-resolution, textured OBJ mesh with complex geometry.
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| Property | Value |
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|----------|-------|
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| Bodies | 2 |
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| DoFs | 6 |
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| Geoms | 37 |
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| Cameras | 1 |
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| Resolution | 64×64 |
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| Worlds | 8192 |
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![mug](mug.webp)

‎benchmarks/render/__init__.py‎

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ASSETS = [
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{
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"source": "https://github.com/google-deepmind/mujoco.git",
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"ref": "3f3ff85a59b9ce68cfb9d9a5222bf7e050d966c1",
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}
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]
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BENCHMARKS = [
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{
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"name": "primitives",
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"njmax": 256,
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"nstep": 100,
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},
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{
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"name": "mug",
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"mjcf": "mug.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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"assets": [
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(ASSETS[0], "model/mug", "assets"),
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],
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},
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]

‎benchmarks/render/mug.webp‎

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‎benchmarks/render/mug.xml‎

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<mujoco model="mug">
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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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<texture name="mug" file="assets/mug.png" type="2d"/>
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<material name="mug" texture="mug" specular="1" shininess="1"/>
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<mesh name="mug" file="assets/mug.obj" scale=".01 .01 .01"/>
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</asset>
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<default>
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<default class="cup">
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<geom type="box" group="3" size="0.0026 0.00704 0.033"/>
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</default>
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<default class="handle">
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<geom type="box" group="3" size="0.0025 0.00328 0.0055"/>
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</default>
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</default>
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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="1.1 0.0 0.75" 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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<!-- A table to hold the mug -->
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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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<!-- A single mug above the table -->
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<body name="mug" pos="0.8 0.0 0.6" euler="0 0 90">
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<freejoint name="mug_joint"/>
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<geom type="mesh" mesh="mug" material="mug" euler="90 0 0" group="1" contype="0" conaffinity="0"/>
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<geom class="cup" pos="0.0418 0 0.038" euler="0 0 0"/>
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<geom class="cup" pos="0.0398 0.0129 0.038" euler="0 0 18"/>
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<geom class="cup" pos="0.0339 0.0246 0.038" euler="0 0 36"/>
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<geom class="cup" pos="0.0246 0.0339 0.038" euler="0 0 54"/>
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<geom class="cup" pos="0.0129 0.0398 0.038" euler="0 0 72"/>
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<geom class="cup" pos="0 0.0418 0.038" euler="0 0 90"/>
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<geom class="cup" pos="-0.0129 0.0398 0.038" euler="0 0 108"/>
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<geom class="cup" pos="-0.0246 0.0339 0.038" euler="0 0 126"/>
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<geom class="cup" pos="-0.0339 0.0246 0.038" euler="0 0 144"/>
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<geom class="cup" pos="-0.0398 0.0129 0.038" euler="0 0 162"/>
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<geom class="cup" pos="-0.0418 0 0.038" euler="0 0 180"/>
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<geom class="cup" pos="-0.0398 -0.0129 0.038" euler="0 0 198"/>
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<geom class="cup" pos="-0.0339 -0.0246 0.038" euler="0 0 216"/>
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<geom class="cup" pos="-0.0246 -0.0339 0.038" euler="0 0 234"/>
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<geom class="cup" pos="-0.0129 -0.0398 0.038" euler="0 0 252"/>
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<geom class="cup" pos="0 -0.0418 0.038" euler="0 0 270"/>
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<geom class="cup" pos="0.0129 -0.0398 0.038" euler="0 0 288"/>
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<geom class="cup" pos="0.0246 -0.0339 0.038" euler="0 0 306"/>
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<geom class="cup" pos="0.0339 -0.0246 0.038" euler="0 0 324"/>
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<geom class="cup" pos="0.0398 -0.0129 0.038" euler="0 0 342"/>
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<geom class="cup" type="cylinder" size="0.045 0.0026" pos="0 0 0.0026"/>
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<body name="handle" pos="0.056 0 0.0395" euler="90 0 0">
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<geom class="handle" pos="0.0193 0 0" euler="0 0 0"/>
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<geom class="handle" pos="0.0184 0.00568 0" euler="0 0 17.1"/>
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<geom class="handle" pos="0.0159 0.0108 0" euler="0 0 34.3"/>
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<geom class="handle" pos="0.012 0.0151 0" euler="0 0 51.4"/>
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<geom class="handle" pos="0.00703 0.0179 0" euler="0 0 68.6"/>
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<geom class="handle" pos="0.00144 0.0192 0" euler="0 0 85.7"/>
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<geom class="handle" pos="0.00144 -0.0192 0" euler="0 0 274"/>
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<geom class="handle" pos="0.00703 -0.0179 0" euler="0 0 291"/>
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<geom class="handle" pos="0.012 -0.0151 0" euler="0 0 309"/>
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<geom class="handle" pos="0.0159 -0.0108 0" euler="0 0 326"/>
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<geom class="handle" pos="0.0184 -0.00568 0" euler="0 0 343"/>
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</body>
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</body>
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</worldbody>
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</mujoco>

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