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Better memory setting and reporting, updated example models.

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- Memory heuristic rounds up to the nearest MB.
- `simulate` reports total memory currently allocated in the info box.
- All example models use `<size memory/>` rather than legacy attributes.
- Regenerated `example_saved.xml` and reformatted original model in [overview chapter](https://mujoco.readthedocs.io/en/latest/overview.html?#examples).
- `<size>` top-level section does not get written if empty.

PiperOrigin-RevId: 486702670
Change-Id: I0306e335f32344c59562ba606664ec9d2101f8a8
This commit is contained in:
Yuval Tassa
2022-11-07 10:35:50 -08:00
committed by Copybara-Service
parent 9370039015
commit 5004a4c8c5
18 changed files with 107 additions and 101 deletions
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model/adhesion/active_adhesion.xml
+1 -1
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@@ -4,7 +4,7 @@
-->
<option viscosity="1"/>
<size nconmax="500" njmax="1000"/>
<size memory="10M"/>
<visual>
<headlight diffuse=".2 .2 .2"/>
model/composite/cloth.xml
+1 -1
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@@ -18,7 +18,7 @@
<option timestep="0.002" solver="CG" tolerance="1e-6"/>
<size nconmax="300" njmax="1000" nstack="1000000"/>
<size memory="10M"/>
<worldbody>
model/composite/grid2pin.xml
+1 -1
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@@ -16,7 +16,7 @@
<mujoco model="2D grid with pins">
<include file="scene.xml"/>
<size nconmax="200" njmax="1000" nstack="1000000"/>
<size memory="10M"/>
<worldbody>
<composite type="grid" count="9 9 1" spacing="0.05" offset="0 0 1">
model/composite/loop.xml
+1 -1
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@@ -18,7 +18,7 @@
<option timestep="0.002" jacobian="dense"/>
<size nconmax="100" njmax="300" nstack="50000"/>
<size memory="2M"/>
<worldbody>
<body name="B0" pos="0 0 1">
model/composite/particle.xml
+1 -1
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@@ -21,7 +21,7 @@
<option solver="CG" tolerance="1e-6" timestep=".01"/>
<size nconmax="6000" njmax="6000" nstack="50000000"/>
<size memory="1G"/>
<visual>
<map stiffness="100"/>
model/composite/rope.xml
+1 -1
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@@ -18,7 +18,7 @@
<option timestep="0.002" jacobian="dense"/>
<size nconmax="100" njmax="300" nstack="50000"/>
<size memory="2M"/>
<worldbody>
<body name="B10" pos="0 0 1">
model/composite/softbox.xml
+1 -1
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@@ -22,7 +22,7 @@
<option solver="CG" tolerance="1e-6"/>
<size nconmax="500" njmax="5000" nstack="5000000"/>
<size memory="30M"/>
<worldbody>
<body pos="0 0 1">
model/hammock/hammock.xml
+1 -1
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@@ -24,7 +24,7 @@
<option timestep="0.005" solver="CG" iterations="30" tolerance="1e-6"/>
<size njmax="1000" nconmax="100" nstack="1000000"/>
<size memory="20M"/>
<visual>
<map force="0.1" zfar="30"/>
model/humanoid/22_humanoids.xml
+1 -1
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@@ -16,7 +16,7 @@
<mujoco model="22 Humanoids">
<option timestep="0.005"/>
<size nconmax="1000" njmax="3000"/>
<size memory="100M"/>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
model/humanoid100/humanoid100.xml
+1 -1
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@@ -23,7 +23,7 @@
<option timestep="0.005"/>
<size nconmax="500" njmax="1500" nstack="5000000"/>
<size memory="100M"/>
<default>
<geom solimp=".9 .9 .01"/>
model/plugin/cable.xml
+2 -2
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@@ -27,7 +27,7 @@
<compiler autolimits="true"/>
<size nconmax="100" njmax="300" nstack="500000"/>
<size memory="2M"/>
<worldbody>
<composite type="cable" curve="s" count="41 1 1" size="1" offset="-.3 0 .6" initial="none">
@@ -53,4 +53,4 @@
<actuator>
<motor site="S_last" gear="0 0 0 1 0 0" ctrlrange="-.03 .03"/>
</actuator>
</mujoco>
</mujoco>
model/tendon_arm/arm26.xml
-2
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@@ -16,8 +16,6 @@
<mujoco model="2-link 6-muscle arm">
<option timestep="0.005" iterations="50" solver="Newton" tolerance="1e-10"/>
<size njmax="50" nconmax="10" nstack="200"/>
<visual>
<rgba haze=".3 .3 .3 1"/>
</visual>