From 574ae6ab91a75bd0bcbaf1258fb107aa723036e2 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Mon, 7 Aug 2023 05:07:50 -0700
Subject: [PATCH] Add an actuator with actearly and dyntype="filterexact" to
 the test model.

PiperOrigin-RevId: 554441792
Change-Id: Ibd67b2516bf0f01417936ce183856756885002c2
---
 test/testdata/model.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/test/testdata/model.xml b/test/testdata/model.xml
index f15d9247..8ae54f4d 100644
--- a/test/testdata/model.xml
+++ b/test/testdata/model.xml
@@ -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>