mujoco

<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>