From c31f11824ed0e0687c4e7dceaff780e605b57f64 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Mon, 29 Sep 2025 06:21:36 -0700
Subject: [PATCH] Add hfields to cache_hits benchmark.

PiperOrigin-RevId: 812759213
Change-Id: I155c2db58811dd1efa56a6361fd39aac669b63e7
---
 test/benchmark/testdata/cache_hits.xml | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/test/benchmark/testdata/cache_hits.xml b/test/benchmark/testdata/cache_hits.xml
index cbc5f2f6..f070fd98 100644
--- a/test/benchmark/testdata/cache_hits.xml
+++ b/test/benchmark/testdata/cache_hits.xml
@@ -30,6 +30,14 @@
     <mesh name="mesh8" file="highres_sphere.obj"/>
     <mesh name="mesh9" file="highres_sphere.obj"/>
     <mesh name="mesh10" file="highres_sphere.obj"/>
+    <hfield name="hfield1" size="10 10 10 0.1" file="noise.png"/>
+    <hfield name="hfield2" size="10 10 10 0.1" file="noise.png"/>
+    <hfield name="hfield3" size="10 10 10 0.1" file="noise.png"/>
+    <hfield name="hfield4" size="10 10 10 0.1" file="noise.png"/>
+    <hfield name="hfield5" size="10 10 10 0.1" file="noise.png"/>
+    <hfield name="hfield6" size="10 10 10 0.1" file="noise.png"/>
+    <hfield name="hfield7" size="10 10 10 0.1" file="noise.png"/>
+    <hfield name="hfield8" size="10 10 10 0.1" file="noise.png"/>
   </asset>
   <worldbody>
     <geom type="mesh" mesh="mesh1" material="mat1" pos="0 0 0"/>
@@ -42,5 +50,13 @@
     <geom type="mesh" mesh="mesh8" material="mat8" pos="0.6 0.3 0"/>
     <geom type="mesh" mesh="mesh9" material="mat9" pos="0.9 0.3 0"/>
     <geom type="mesh" mesh="mesh10" material="mat10" pos="1.2 0.3 0"/>
+    <geom type="hfield" hfield="hfield1" pos="0 0 0"/>
+    <geom type="hfield" hfield="hfield2" pos="0 0 10"/>
+    <geom type="hfield" hfield="hfield3" pos="0 0 20"/>
+    <geom type="hfield" hfield="hfield4" pos="0 0 30"/>
+    <geom type="hfield" hfield="hfield5" pos="0 0 40"/>
+    <geom type="hfield" hfield="hfield6" pos="0 0 50"/>
+    <geom type="hfield" hfield="hfield7" pos="0 0 60"/>
+    <geom type="hfield" hfield="hfield8" pos="0 0 70"/>
   </worldbody>
 </mujoco>