benchmark render flex

Author: thowell

benchmarks/cloth/README.md

@@ -20,3 +20,19 @@ A soft-body simulation benchmark featuring a cloth draped over the MuJoCo humano
 
 ![cloth](rollout.webp)
 
+### cloth_render
+
+GPU ray-traced rendering of the draping soft-body flex cloth scene. This benchmark measures rendering performance of deformable meshes and soft-body grids on the GPU. The rollout video below is rendered from the viewpoint of the pre-defined `back` camera.
+
+| Property | Value |
+|----------|-------|
+| Bodies | 918 |
+| DoFs | 2706 |
+| Actuators | 0 |
+| Geoms | 21 |
+| Cameras | 3 |
+| Resolution | 64×64 |
+| Worlds | 2048 |
+
+![cloth_render](rollout_cloth_render.webp)
+

benchmarks/cloth/__init__.py

@@ -5,5 +5,14 @@
     "nworld": 32,
     "nconmax": 4000,
     "njmax": 32000,
-  }
+  },
+  {
+    "name": "cloth_render",
+    "mjcf": "scene.xml",
+    "function": "render",
+    "nworld": 2048,
+    "nconmax": 4000,
+    "njmax": 32000,
+    "nstep": 200,
+  },
 ]

benchmarks/cloth/rollout_cloth_render.webp

@@ -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 rigid layouts and complex soft-body flex objects 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)
+
+### cloth
+
+GPU ray-traced rendering of the MuJoCo [Cloth](cloth.xml) scene featuring a towel poncho draped over a humanoid mannequin. This benchmark measures rendering and shading performance of deformable soft-body grids (MuJoCo flexcomp objects).
+
+| Property | Value |
+|----------|-------|
+| Bodies | 918 |
+| DoFs | 2706 |
+| Geoms | 21 |
+| Cameras | 3 |
+| Resolution | 64×64 |
+| Worlds | 2048 |
+
+![cloth](cloth.webp)