gazebosim/sdformat

gz sdf --inertial-stats should process world files

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#1,342 opened on Oct 30, 2023

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enhancementhelp wanted

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Description

Desired behavior

Currently the gz sdf --inertial-stats command can parse SDFormat files containing a single model and print aggregate inertial statistics (total mass, aggregate center of mass and moment of inertia matrix), but it fails when trying to load an SDFormat world file with Error: Expected a model file but received a world file.

It would be convenient to parse a world file and print the inertial stats for each model contained in the world along with the name of the model.

Alternatives considered

Implementation suggestion

Additional context

Contributor guide

Research direction
Examine the code handling the inertial stats flag in the gz sdf CLI and modify it to also accept world files, iterating over each model and printing inertial stats.
Tech stack
None
Domain
cliapi
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Half day
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++SDFormat
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
60