Better memory setting and reporting, updated example models.

- 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

model/composite/cloth.xml

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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">