File size: 1,795 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 | <mujoco>
<compiler autolimits="true"/>
<option density="1000" timestep="0.05" integrator="implicitfast" />
<default>
<geom type="sphere" size="0.1" rgba="1 1 1 1"/>
<joint type="slide" axis="0 0 1"/>
<general ctrlrange="-1 1"/>
<default class="filter">
<general dyntype="filter" gear="100"/>
</default>
<default class="filterexact">
<general dyntype="filterexact" gear="100"/>
</default>
<default class="integrator">
<general dyntype="integrator" actrange="0 2" gear="100"/>
<default class="integrator_actearly">
<general actearly="true"/>
</default>
</default>
</default>
<worldbody>
<geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
<light pos="0 0 20"/>
<body pos="-0.3 0 0.1"><joint name="filter_actearly"/><geom/></body>
<body pos="-0.1 0 0.1"><joint name="filter"/><geom/></body>
<body pos="0.1 0 0.1"><joint name="filterexact_actearly"/><geom/></body>
<body pos="0.3 0 0.1"><joint name="filterexact"/><geom/></body>
<body pos=" 0.5 0 0.1"><joint name="integrator_actearly"/><geom/></body>
<body pos=" 0.7 0 0.1"><joint name="integrator"/><geom/></body>
</worldbody>
<actuator>
<general class="filter" name="filter_actearly" joint="filter_actearly" actearly="true"/>
<general class="filter" name="filter" joint="filter" actearly="false"/>
<general class="filterexact" name="filterexact_actearly" joint="filterexact_actearly" actearly="true"/>
<general class="filterexact" name="filterexact" joint="filterexact" actearly="false"/>
<general class="integrator_actearly" name="integrator_actearly" joint="integrator_actearly"/>
<general class="integrator" name="integrator" joint="integrator" actearly="false"/>
</actuator>
</mujoco>
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