{"action":"closed","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4231","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4231/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4231/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4231/events","html_url":"https://github.com/RobotLocomotion/drake/issues/4231","id":191130349,"number":4231,"title":"Update Gravity Compensation Unit Test To Not Repeat Code Logic","user":{"login":"liangfok","id":1388098,"avatar_url":"https://avatars3.githubusercontent.com/u/1388098?v=3","gravatar_id":"","url":"https://api.github.com/users/liangfok","html_url":"https://github.com/liangfok","followers_url":"https://api.github.com/users/liangfok/followers","following_url":"https://api.github.com/users/liangfok/following{/other_user}","gists_url":"https://api.github.com/users/liangfok/gists{/gist_id}","starred_url":"https://api.github.com/users/liangfok/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/liangfok/subscriptions","organizations_url":"https://api.github.com/users/liangfok/orgs","repos_url":"https://api.github.com/users/liangfok/repos","events_url":"https://api.github.com/users/liangfok/events{/privacy}","received_events_url":"https://api.github.com/users/liangfok/received_events","type":"User","site_admin":false},"labels":[{"id":351649295,"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/team:%20dynamics","name":"team: dynamics","color":"0052cc","default":false},{"id":77797960,"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/type:%20idea","name":"type: idea","color":"0e8a16","default":false}],"state":"closed","locked":false,"assignee":{"login":"naveenoid","id":3089530,"avatar_url":"https://avatars3.githubusercontent.com/u/3089530?v=3","gravatar_id":"","url":"https://api.github.com/users/naveenoid","html_url":"https://github.com/naveenoid","followers_url":"https://api.github.com/users/naveenoid/followers","following_url":"https://api.github.com/users/naveenoid/following{/other_user}","gists_url":"https://api.github.com/users/naveenoid/gists{/gist_id}","starred_url":"https://api.github.com/users/naveenoid/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/naveenoid/subscriptions","organizations_url":"https://api.github.com/users/naveenoid/orgs","repos_url":"https://api.github.com/users/naveenoid/repos","events_url":"https://api.github.com/users/naveenoid/events{/privacy}","received_events_url":"https://api.github.com/users/naveenoid/received_events","type":"User","site_admin":false},"assignees":[{"login":"naveenoid","id":3089530,"avatar_url":"https://avatars3.githubusercontent.com/u/3089530?v=3","gravatar_id":"","url":"https://api.github.com/users/naveenoid","html_url":"https://github.com/naveenoid","followers_url":"https://api.github.com/users/naveenoid/followers","following_url":"https://api.github.com/users/naveenoid/following{/other_user}","gists_url":"https://api.github.com/users/naveenoid/gists{/gist_id}","starred_url":"https://api.github.com/users/naveenoid/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/naveenoid/subscriptions","organizations_url":"https://api.github.com/users/naveenoid/orgs","repos_url":"https://api.github.com/users/naveenoid/repos","events_url":"https://api.github.com/users/naveenoid/events{/privacy}","received_events_url":"https://api.github.com/users/naveenoid/received_events","type":"User","site_admin":false}],"milestone":null,"comments":5,"created_at":"2016-11-22T21:35:20Z","updated_at":"2017-03-02T15:39:04Z","closed_at":"2017-03-02T15:39:04Z","body":"From @naveenoid's comment in #4099:\r\n\r\n> As an alternative to repeating the computation inside gravity compensation, I'm wondering if it's better to compute the gravity torque, feed it into the system being controlled and then demonstrate that the resulting motion is of 0 acceleration and 0 velocity instead. This might overcome hidden problems in repeating the controller logic as a verification.\r\n\r\nAnother idea is to simply manually derive the expected gravity comp vector and verify that the output of the `GravityCompensatorSystem` matches this vector."}}
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