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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/humanoid.xml
+1 -1
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@@ -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"/>