add benchmarks to ci and update benchmarks

[thowell]

• adds option graph_capture to benchmark
• adds option 'device' to 'benchmark'
• run benchmarks with github actions ci (without graph capture in order to work on cpu)
• update AlohaCloth and Cloth benchmarks: increase njmax and add nstep = 100
• add setup for AlohaCloth

[Tanisha-Sharma005]

@thowell

CLA signed with tanishaasharma20@gmail.com at https://cla.developers.google.com
Git email updated to match. Re-triggered checks.

Please verify CLA status.

Thanks!

[thowell]

current nworld for AlohaCloth requires too much memory for github ci