Improvements to lighting and replication logic in humanoid.xml and 22_humanoids.xml.

Minor fix to memory usage printing in simulate.

PiperOrigin-RevId: 683787943
Change-Id: I0a42dacc8af0e659c3817df57bceb76d9e4d5ae3

model/humanoid/22_humanoids.xml

@@ -36,8 +36,13 @@
     <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="22" euler="0 0 16.36" sep="-" offset="1 0 0">
-      <attach model="humanoid" body="torso" prefix="_"/>
+    <replicate count="22" euler="0 0 16.36" sep="-">
+      <frame pos="0 -4 0">
+        <attach model="humanoid" body="torso" prefix="_"/>
+      </frame>
+    </replicate>
+    <replicate count="5" euler="0 0 72" sep="-">
+      <light pos="0 -4 4"/>
     </replicate>
   </worldbody>
 </mujoco>

model/humanoid/README.md

@@ -13,6 +13,7 @@ in the DeepMind Control Suite [2], which has fairly realistic actuator gains.
 
 ## Changelog
 
+* 08-10-2024: Moved tracking light from the torso to the world.
 * 20-02-2024: Sorted actuators in the same order as the joints.
 * 02-01-2024: Add more keyframes.
 * 27-11-2023: Move humanoid geoms to group 1.

model/humanoid/humanoid.xml

@@ -104,8 +104,8 @@
   <worldbody>
     <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
     <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
+    <light name="top" pos="0 0 2" mode="trackcom"/>
     <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"/>
       <freejoint name="root"/>

simulate/simulate.cc

@@ -603,7 +603,7 @@ void UpdateInfoText(mj::Simulate* sim, const mjModel* m, const mjData* d,
   // prepare info text
   mju::strcpy_arr(title, "Time\nSize\nCPU\nSolver   \nFPS\nMemory");
   mju::sprintf_arr(content,
-                   "%-9.3f\n%d  (%d con)\n%.3f\n%.1f  (%d it)\n%s\n%.1g%% of %s",
+                   "%-9.3f\n%d  (%d con)\n%.3f\n%.1f  (%d it)\n%s\n%.1f%% of %s",
                    d->time,
                    d->nefc, d->ncon,
                    sim->run ?