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add mesh render benchmark #1351

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19 changes: 18 additions & 1 deletion benchmarks/render/README.md
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## 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 |
Expand All @@ -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)
19 changes: 19 additions & 0 deletions benchmarks/render/__init__.py
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ASSETS = [
{
"source": "https://github.com/google-deepmind/mujoco.git",
"ref": "3f3ff85a59b9ce68cfb9d9a5222bf7e050d966c1",
}
]

BENCHMARKS = [
{
"name": "primitives",
Expand All @@ -8,4 +15,16 @@
"njmax": 256,
"nstep": 100,
},
{
"name": "mug",
"mjcf": "mug.xml",
"function": "render",
"nworld": 8192,
"nconmax": 100,
"njmax": 256,
"nstep": 100,
"assets": [
(ASSETS[0], "model/mug", "assets"),
],
},
]
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33 changes: 33 additions & 0 deletions benchmarks/render/mug.xml
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<mujoco model="mug">
<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="1.1 0.0 0.75" 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>
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