Nimrod Gileadi
2c3297b3e7
When filterexact is a new dyntype which is just like the existing `filter`, but the activation state is integrated with exact integration, instead of simple Euler integration. When actearly is specified on a general actuator, `qfrc_actuator` is computed using the next timestep's `act` value, instead of the current value. PiperOrigin-RevId: 554438423 Change-Id: If901e4988fa6b518d6f3097f149770665a189a4b
49 lines
1.8 KiB
XML
49 lines
1.8 KiB
XML
<mujoco>
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<compiler autolimits="true"/>
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<option density="1000" timestep="0.05" integrator="implicitfast" />
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<default>
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<geom type="sphere" size="0.1" rgba="1 1 1 1"/>
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<joint type="slide" axis="0 0 1"/>
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<general ctrlrange="-1 1"/>
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<default class="filter">
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<general dyntype="filter" gear="100"/>
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</default>
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<default class="filterexact">
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<general dyntype="filterexact" gear="100"/>
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</default>
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<default class="integrator">
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<general dyntype="integrator" actrange="0 2" gear="100"/>
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<default class="integrator_actearly">
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<general actearly="true"/>
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</default>
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</default>
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</default>
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<worldbody>
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<geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
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<light pos="0 0 20"/>
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<body pos="-0.3 0 0.1"><joint name="filter_actearly"/><geom/></body>
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<body pos="-0.1 0 0.1"><joint name="filter"/><geom/></body>
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<body pos="0.1 0 0.1"><joint name="filterexact_actearly"/><geom/></body>
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<body pos="0.3 0 0.1"><joint name="filterexact"/><geom/></body>
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<body pos=" 0.5 0 0.1"><joint name="integrator_actearly"/><geom/></body>
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<body pos=" 0.7 0 0.1"><joint name="integrator"/><geom/></body>
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</worldbody>
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<actuator>
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<general class="filter" name="filter_actearly" joint="filter_actearly" actearly="true"/>
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<general class="filter" name="filter" joint="filter" actearly="false"/>
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<general class="filterexact" name="filterexact_actearly" joint="filterexact_actearly" actearly="true"/>
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<general class="filterexact" name="filterexact" joint="filterexact" actearly="false"/>
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<general class="integrator_actearly" name="integrator_actearly" joint="integrator_actearly"/>
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<general class="integrator" name="integrator" joint="integrator" actearly="false"/>
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</actuator>
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</mujoco>
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