https://mulhamfetna.com/tags/performance/ Recent content in Performance on Mulham Fetna Hugo -- gohugo.io en contact@mulhamfetna.com (Mulham Fetna) contact@mulhamfetna.com (Mulham Fetna) © 2026 Mulham Fetna Wed, 16 Sep 2026 00:00:00 +0000 https://mulhamfetna.com/projects/ros2-tendon-driven-hand-mujoco-digital-twin-vision-teleoperation/latency-benchmark/ Wed, 16 Sep 2026 00:00:00 +0000 contact@mulhamfetna.com (Mulham Fetna) https://mulhamfetna.com/projects/ros2-tendon-driven-hand-mujoco-digital-twin-vision-teleoperation/latency-benchmark/ <div class="lead text-neutral-500 dark:text-neutral-400 !mb-9 text-xl"> The single-script version felt smoother than the containers. The obvious suspect was Docker. The measurements say otherwise — and point at something more interesting: two programs sharing one integrated GPU. </div> <h2 class="relative group">Setup <div id="setup" class="anchor"></div> <span class="absolute top-0 w-6 transition-opacity opacity-0 -start-6 not-prose group-hover:opacity-100 select-none"> <a class="text-primary-300 dark:text-neutral-700 !no-underline" href="#setup" aria-label="Anchor">#</a> </span> </h2> <p>Laptop with an Intel Comet Lake CPU (12 threads) and Intel UHD Graphics; Linux on Wayland with XWayland; USB webcam at 640×480, 30 fps, YUYV. Each row: mean of 150 frames after a 10-frame warm-up, no hand in view. Measured 2026-09-16.</p> <h2 class="relative group">The result <div id="the-result" class="anchor"></div> <span class="absolute top-0 w-6 transition-opacity opacity-0 -start-6 not-prose group-hover:opacity-100 select-none"> <a class="text-primary-300 dark:text-neutral-700 !no-underline" href="#the-result" aria-label="Anchor">#</a> </span> </h2> <div class="chart"> <canvas id="chart-f3b6ad3cd76a079ab08a776ccfdc0f69"></canvas> <script type="text/javascript"> window.addEventListener("DOMContentLoaded", (event) => { const ctx = document.getElementById("chart-f3b6ad3cd76a079ab08a776ccfdc0f69"); const chart = new Chart(ctx, { type: 'bar', data: { labels: ['Vision alone (container)', 'Vision alone (host venv)', '+ 1-core CPU burner', '+ MuJoCo viewer (host, no Docker)', '+ mujoco_twin (loop capped 30 Hz)', '+ mujoco_twin (as shipped)'], datasets: [{ label: 'MediaPipe time per frame (ms)', data: [19.0, 19.2, 23.5, 54.9, 63.7, 85.6], backgroundColor: ['rgba(42,120,214,0.75)','rgba(42,120,214,0.75)','rgba(42,120,214,0.75)','rgba(235,104,52,0.75)','rgba(235,104,52,0.75)','rgba(235,104,52,0.75)'] }] }, options: { indexAxis: 'y', plugins: { legend: { display: false }, title: { display: true, text: 'MediaPipe inference time by what else is running (30 fps budget = 33 ms)' } }, scales: { x: { min: 0, max: 100, title: { display: true, text: 'ms per frame' } } } } }); }); </script> </div> <table> <thead> <tr> <th>Condition</th> <th>Camera read</th> <th>MediaPipe</th> <th><code>imshow</code></th> <th>Loop</th> </tr> </thead> <tbody> <tr> <td>Vision alone, <strong>container</strong></td> <td>10.0 ms</td> <td><strong>19.0 ms</strong></td> <td>4.5 ms</td> <td><strong>29.8 Hz</strong></td> </tr> <tr> <td>Vision alone, <strong>host venv</strong> (MediaPipe 0.10.11)</td> <td>10.6 ms</td> <td><strong>19.2 ms</strong></td> <td>3.9 ms</td> <td><strong>29.7 Hz</strong></td> </tr> <tr> <td>Container vision + <strong>1-core CPU burner</strong></td> <td>8.2 ms</td> <td>23.5 ms</td> <td>3.9 ms</td> <td>28.1 Hz</td> </tr> <tr> <td>Host vision + <strong>plain MuJoCo viewer on host</strong> (no Docker, no ROS)</td> <td>1.6 ms</td> <td><strong>54.9 ms</strong></td> <td>5.9 ms</td> <td>16.0 Hz</td> </tr> <tr> <td>Container vision + <strong><code>mujoco_twin</code> capped at 30 Hz</strong></td> <td>1.7 ms</td> <td><strong>63.7 ms</strong></td> <td>8.1 ms</td> <td>13.6 Hz</td> </tr> <tr> <td>Container vision + <strong><code>mujoco_twin</code> as shipped</strong></td> <td>1.9 ms</td> <td><strong>85.6 ms</strong></td> <td>10.2 ms</td> <td><strong>10.2 Hz</strong></td> </tr> </tbody> </table> <p>End to end, <code>ros2 topic hz /hand/target_flexions</code> read <strong>30.0 Hz</strong> with only <code>vision_tracker</code> running and <strong>10.7 Hz</strong> once <code>mujoco_twin</code> started.</p>