Add an actuator with actearly and dyntype="filterexact" to the test model.

PiperOrigin-RevId: 554441792 Change-Id: Ibd67b2516bf0f01417936ce183856756885002c2
2023-08-07 05:07:50 -07:00
parent 2c3297b3e7
commit 574ae6ab91
1 changed files with 1 additions and 0 deletions
@@ -137,6 +137,7 @@
    <intvelocity joint="hipz_0" kp="100" actrange="-1 1"/>
    <general site="wheel_0" gear="0 0 0 0 10 0" dyntype="filter" dynprm="1"/>
    <general joint="wheel_1" biastype="affine" dyntype="integrator" dynprm="1" biasprm="0 -1"/>
+    <general joint="hipy_1" actearly="true" dyntype="filterexact" dynprm="0.9" gear="12.1" />
  </actuator>

  <sensor>