diff --git a/test/engine/testdata/collision_convex/perf/mixed.xml b/test/engine/testdata/collision_convex/perf/mixed.xml
new file mode 100644
index 00000000..11a52bab
--- /dev/null
+++ b/test/engine/testdata/collision_convex/perf/mixed.xml
@@ -0,0 +1,107 @@
+<mujoco model="Mixed convex objects">
+  <statistic extent="1.5" meansize=".05"/>
+
+  <visual>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <map shadowscale="0.5" zfar="40"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
+    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
+    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
+    <mesh name="icosahedron" scale=".05 .05 .05"
+          vertex="0         1       1.618
+                  0        -1       1.618
+                  0         1      -1.618
+                  0        -1      -1.618
+                  1         1.618   0
+                 -1         1.618   0
+                  1        -1.618   0
+                 -1        -1.618   0
+                  1.618     0       1
+                  1.618     0      -1
+                 -1.618     0       1
+                 -1.618     0      -1"/>
+    <mesh name="meshbox" scale=".05 .05 .05"
+          vertex="-1 -1 -1
+                   1 -1 -1
+                   1  1 -1
+                   1  1  1
+                   1 -1  1
+                  -1  1 -1
+                  -1  1  1
+                  -1 -1  1"/>
+    <hfield name="hfield" nrow="5" ncol="5" size=".53 .53 .03 .03"
+            elevation="1 0 1 0 1
+                       0 2 0 2 0
+                       1 0 1 0 1
+                       0 2 0 2 0
+                       1 0 1 0 1"/>
+  </asset>
+
+  <default>
+    <geom condim="1" solref="2e-3 1" size=".05 .15 .07"/>
+  </default>
+
+  <option timestep="1e-3" solver="CG" iterations="20"/>
+
+  <worldbody>
+    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" castshadow="false"/>
+    <light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4"/>
+
+    <geom type="hfield" hfield="hfield" rgba=".5 .5 .5 .2"/>
+    <replicate count="4" euler="0 0 90">
+      <geom type="hfield" hfield="hfield" zaxis="1 0 0"  pos="-.5 0 .5" rgba=".5 .5 .5 .2"/>
+    </replicate>
+
+    <replicate count="15" euler="0 0 60" offset="0 0 .15">
+      <body pos="-.3 -.3 .3" euler="10 20 30">
+        <freejoint/>
+        <geom type="ellipsoid"/>
+      </body>
+    </replicate>
+
+    <replicate count="15" euler="0 0 60" offset="0 0 .15">
+      <body pos="-.3 -.3 1" euler="10 20 30">
+        <freejoint/>
+        <geom type="box"/>
+      </body>
+    </replicate>
+
+    <replicate count="15" euler="0 0 60" offset="0 0 .15">
+      <body pos="-.3 -.3 .6" euler="10 20 30">
+        <freejoint/>
+        <geom type="capsule"/>
+      </body>
+    </replicate>
+
+    <replicate count="15" euler="0 0 60" offset="0 0 .15">
+      <body pos="-.3 .3 .3" euler="10 20 30">
+        <freejoint/>
+        <geom type="cylinder"/>
+      </body>
+    </replicate>
+
+    <replicate count="20" euler="0 0 60" offset="0 0 .15">
+      <body pos="-.15 .15 .3" euler="10 20 30">
+        <freejoint/>
+        <geom type="mesh" mesh="icosahedron"/>
+      </body>
+    </replicate>
+
+    <replicate count="20" euler="0 0 60" offset="0 0 .15">
+      <body pos=".15 -.15 .3" euler="10 20 30">
+        <freejoint/>
+        <geom type="mesh" mesh="meshbox"/>
+      </body>
+    </replicate>
+
+    <replicate count="15" euler="0 0 60" offset="0 0 .15">
+      <body pos=".05 0 .3" euler="10 20 30">
+        <freejoint/>
+        <geom type="sphere"/>
+      </body>
+    </replicate>
+  </worldbody>
+</mujoco>
