gazebosim/sdformat

Add DOM classes for *_state elements

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#1,554 opened on Apr 7, 2025

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enhancementhelp wanted

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Description

Desired behavior

The syntax for specifying model, link, and joint states was updated in the SDFormat specification in https://github.com/gazebosim/sdformat/pull/1461 (inspired by the prototype in https://github.com/gazebosim/gz-sim/pull/2359). The next step is creating DOM classes for the following SDFormat elements to simplify their use in the C++ and python API:

  • Create JointAxisState class for //joint_state/axis_state and //joint_state/axis2_state
  • Create JointState class for //joint_state
  • Create LinkState class for //link_state
  • Create ModelState class for //model_state

Alternatives considered

Implementation suggestion

Follow the patterns used by our existing DOM classes.

Additional context

Contributor guide

Research direction
Study the existing DOM classes (e.g., JointAxis) to understand the pattern for creating classes with load, Element, and Python bindings. Then implement similar classes for JointAxisState, JointState, LinkState, and ModelState, following the same structure and conventions.
Tech stack
None
Domain
backend
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.
1-2 days
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++PythonGit
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
65