From 57809f58a4ef77c79b8bd05bec5aa3c25cd27f06 Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Tue, 12 May 2026 14:12:57 +0100
Subject: [PATCH] add mesh render benchmark

---
 benchmarks/render/README.md   |  19 ++++++++++++++++++-
 benchmarks/render/__init__.py |  19 +++++++++++++++++++
 benchmarks/render/mug.webp    | Bin 0 -> 892 bytes
 benchmarks/render/mug.xml     |  34 ++++++++++++++++++++++++++++++++++
 4 files changed, 71 insertions(+), 1 deletion(-)
 create mode 100644 benchmarks/render/mug.webp
 create mode 100644 benchmarks/render/mug.xml

diff --git a/benchmarks/render/README.md b/benchmarks/render/README.md
index 0f4e46656..0f7114bdb 100644
--- a/benchmarks/render/README.md
+++ b/benchmarks/render/README.md
@@ -2,10 +2,12 @@
 
 ## Description
 
-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.
+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.
 
 ### primitives
 
+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.
+
 | Property | Value |
 |----------|-------|
 | Bodies | 126 |
@@ -16,3 +18,18 @@ GPU ray-traced rendering of the [primitives](../../mujoco_warp/test_data/primiti
 | Worlds | 8192 |
 
 ![primitives](primitives.webp)
+
+### mug
+
+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.
+
+| Property | Value |
+|----------|-------|
+| Bodies | 2 |
+| DoFs | 6 |
+| Geoms | 37 |
+| Cameras | 1 |
+| Resolution | 64×64 |
+| Worlds | 8192 |
+
+![mug](mug.webp)
diff --git a/benchmarks/render/__init__.py b/benchmarks/render/__init__.py
index 972afc77a..62a5faacf 100644
--- a/benchmarks/render/__init__.py
+++ b/benchmarks/render/__init__.py
@@ -1,3 +1,10 @@
+ASSETS = [
+  {
+    "source": "https://github.com/google-deepmind/mujoco.git",
+    "ref": "3f3ff85a59b9ce68cfb9d9a5222bf7e050d966c1",
+  }
+]
+
 BENCHMARKS = [
   {
     "name": "primitives",
@@ -8,4 +15,16 @@
     "njmax": 256,
     "nstep": 100,
   },
+  {
+    "name": "mug",
+    "mjcf": "mug.xml",
+    "function": "render",
+    "nworld": 8192,
+    "nstep": 100,
+    "render_width": 64,
+    "render_height": 64,
+    "assets": [
+      (ASSETS[0], "model/mug", "assets"),
+    ],
+  },
 ]
diff --git a/benchmarks/render/mug.webp b/benchmarks/render/mug.webp
new file mode 100644
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GIT binary patch
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diff --git a/benchmarks/render/mug.xml b/benchmarks/render/mug.xml
new file mode 100644
index 000000000..a7a5ba56d
--- /dev/null
+++ b/benchmarks/render/mug.xml
@@ -0,0 +1,34 @@
+<mujoco model="mug">
+  <option gravity="0 0 0"/>
+  <visual>
+    <map znear="0.01" zfar="200" />
+    <quality shadowsize="8192" />
+    <headlight diffuse=".8 .8 .8" ambient=".2 .2 .2" specular="1 1 1" />
+    <global azimuth="140" elevation="-20" />
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="800" height="800" />
+    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
+    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
+
+    <texture name="mug" file="assets/mug.png" type="2d"/>
+    <material name="mug" texture="mug" specular="1" shininess="1"/>
+    <mesh name="mug" file="assets/mug.obj" scale=".01 .01 .01"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 .05" type="plane" material="grid" contype="1" conaffinity="1"/>
+    <camera pos="1.0 0.0 0.74" xyaxes="0 1 0 -0.6 0 1"/>
+    <light pos="0 0 3" dir="0 0 -1" directional="true" />
+
+    <!-- A table to hold the mug -->
+    <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"/>
+
+    <!-- A single mug above the table -->
+    <body name="mug" pos="0.8 0.0 0.6" euler="0 0 90">
+      <freejoint name="mug_joint"/>
+      <geom type="mesh" mesh="mug" material="mug" euler="90 0 0" group="1" contype="0" conaffinity="0"/>
+    </body>
+  </worldbody>
+</mujoco>