Stop over-allocating memory in Newton solver.

PiperOrigin-RevId: 684797464 Change-Id: I3389416cb69a8564b5119f6e3944b579893ea511
2024-10-11 05:08:27 -07:00
parent 9aca4bccac
commit 2dd518734f
8 changed files with 220 additions and 99 deletions
@@ -0,0 +1,50 @@
+<!-- Copyright 2021 DeepMind Technologies Limited
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+         http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+
+<mujoco model="100 Humanoids">
+  <option timestep="0.005"/>
+
+  <size memory="100M"/>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
+    <texture name="floor" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
+    <material name="floor" texture="floor" texrepeat="1 1" texuniform="true" reflectance=".2"/>
+    <model name="humanoid" file="humanoid.xml"/>
+  </asset>
+
+  <visual>
+    <map force="0.1" zfar="30"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <quality shadowsize="4096" numslices="16" numstacks="8"/>
+    <global offwidth="800" offheight="800"/>
+  </visual>
+
+  <worldbody>
+    <geom name="floor" size="10 10 .05" type="plane" material="floor" condim="3"/>
+    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
+    <light name="spotlight" mode="targetbodycom" target="world" diffuse="1 1 1" specular="0.3 0.3 0.3" pos="-6 -6 4" cutoff="60"/>
+    <replicate count="10" euler="0 0 36" sep="-">
+      <frame pos="1 0 0">
+        <replicate count="10" euler="0 0 15" sep="-" offset="0.5 0 0">
+          <attach model="humanoid" body="torso" prefix="_"/>
+        </replicate>
+      </frame>
+    </replicate>
+    <replicate count="5" euler="0 0 72" sep="-">
+      <light pos="0 -4 4"/>
+    </replicate>
+  </worldbody>
+</mujoco>