benchmark render flex

thowell · thowell · commit e69d8bc0c221 · 2026-05-13T09:24:14.000+01:00
diff --git a/benchmarks/cloth/README.md b/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 `front` camera.
+
+| Property | Value |
+|----------|-------|
+| Bodies | 918 |
+| DoFs | 2706 |
+| Actuators | 0 |
+| Geoms | 21 |
+| Cameras | 1 |
+| Resolution | 64×64 |
+| Worlds | 2048 |
+
+![cloth_render](rollout_cloth_render.webp)
+
diff --git a/benchmarks/cloth/__init__.py b/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,
+  },
 ]
diff --git a/benchmarks/cloth/mannequin.xml b/benchmarks/cloth/mannequin.xml
@@ -107,14 +107,12 @@
     <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
     <body name="torso" pos="0 0 1.282" childclass="body">
       <light name="top" pos="0 0 2" mode="trackcom"/>
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
+      <camera pos="3 0 1" xyaxes="0 1 0 -1 0 2" mode="trackcom"/>
       <freejoint name="root"/>
       <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
       <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
       <body name="head" pos="0 0 .19">
         <geom name="head" type="sphere" size=".09"/>
-        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
       </body>
       <body name="neck">
         <geom type="cylinder" size=".03" fromto="0 0 .07 0 0 .1"/>
diff --git a/benchmarks/cloth/rollout_cloth_render.webp b/benchmarks/cloth/rollout_cloth_render.webp
