{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3492","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3492/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3492/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3492/events","html_url":"https://github.com/RobotLocomotion/drake/issues/3492","id":177624541,"number":3492,"title":"RigidBodyPlant Unit Test Should Not Rely on Parsers","user":{"login":"liangfok","id":1388098,"avatar_url":"https://avatars.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":[{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/type:%20onramp","name":"type: onramp","color":"0e8a16"}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2016-09-18T02:32:34Z","updated_at":"2016-09-18T10:09:05Z","closed_at":null,"body":"# Problem Definition\r\n\r\nThe unit test for `RigidBodyPlant`is:\r\n\r\n[drake-distro/drake/systems/plants/rigid_body_plant/test/rigid_body_plant_test.cc](https://github.com/RobotLocomotion/drake/blob/131f6f42d0041c910bacee5e7d186c498d137405/drake/systems/plants/rigid_body_plant/test/rigid_body_plant_test.cc)\r\n\r\nIt currently uses [Drake's URDF parser](https://github.com/RobotLocomotion/drake/blob/ad24abbd7213876169e978fbb383d0561f99e199/drake/systems/plants/parser_urdf.h) to load the `RigidBodyTree` within the `RigidBodyPlant`. This makes the unit test brittle since it will fail on parser-specific bugs. Ideally, it should only fail on bugs that are `RigidBodyPlant`-specific.\r\n\r\nA second problem is we want to eventually decouple the parsers from the multi-body dynamics model (which includes the `RigidBodyTree`). Our goal is to allow the software libraries that contain the parsers to link against the libraries that contain the multi-body dynamics model, sensors, actuators, etc., but not the other way around.\r\n\r\n# Action Item\r\n\r\nRemove the use of the parser from the unit test. Programmatically initialize the `RigidBodyTree` within the `RigidBodyPlant` using its C++ API."},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/247839012","html_url":"https://github.com/RobotLocomotion/drake/issues/3492#issuecomment-247839012","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3492","id":247839012,"user":{"login":"RussTedrake","id":6442292,"avatar_url":"https://avatars.githubusercontent.com/u/6442292?v=3","gravatar_id":"","url":"https://api.github.com/users/RussTedrake","html_url":"https://github.com/RussTedrake","followers_url":"https://api.github.com/users/RussTedrake/followers","following_url":"https://api.github.com/users/RussTedrake/following{/other_user}","gists_url":"https://api.github.com/users/RussTedrake/gists{/gist_id}","starred_url":"https://api.github.com/users/RussTedrake/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RussTedrake/subscriptions","organizations_url":"https://api.github.com/users/RussTedrake/orgs","repos_url":"https://api.github.com/users/RussTedrake/repos","events_url":"https://api.github.com/users/RussTedrake/events{/privacy}","received_events_url":"https://api.github.com/users/RussTedrake/received_events","type":"User","site_admin":false},"created_at":"2016-09-18T10:09:05Z","updated_at":"2016-09-18T10:09:05Z","body":"I don’t see that as a problem?  perhaps we need coverage for the c++ api, but what you describe sounds to me like the test gives coverage to both the tree and the parser. \n\n"}}
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