| <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> | |