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

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Minor fix to memory usage printing in simulate.

PiperOrigin-RevId: 683787943
Change-Id: I0a42dacc8af0e659c3817df57bceb76d9e4d5ae3
This commit is contained in:
Yuval Tassa
2024-10-08 15:35:18 -07:00
committed by Copybara-Service
parent fa22e6d001
commit 395129bbd3
4 changed files with 10 additions and 4 deletions
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model/humanoid/22_humanoids.xml
+7 -2
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@@ -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>