Standalone `gz sdf` executable #1539

sauk2 · 2025-02-07T08:25:20Z

🎉 New feature

Part of gazebosim/gz-tools#7 and a continuation of #1465

Summary

This PR introduces a standalone gz sdf executable following a similar approach to gz-transport. It is a continuation of #1465 with all the review comments addressed.

Test it

Check for UNIT_gz_TEST

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
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Signed-off-by: Steve Peters <scpeters@openrobotics.org>

* Fixed cmake to find source file for FrameSemantics * Updated exe location in ruby script * Add a dependency on gz-sdformat-sdf to the sdf_descriptions target * Updated cmd line arguments in executable tests * Added dummy flags to make tests pass --------- Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com> Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

src/cmd/sdf_main.cc

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

src/cmd/gz.hh

azeey · 2025-02-10T21:08:27Z

src/gz.hh

It would be great to use git mv on this file to preserve history. Currently it looks like it's being removed here and added in cmd/gz.hh.

I tried to do this but subsequent modifications made the file too different for git to recognize it

src/cmd/gz.cc

src/cmd/gz_TEST.cc

src/cmd/sdf_main.cc

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

src/cmd/gz.cc

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

src/cmd/gz.hh

j-rivero · 2025-02-17T11:10:35Z

sdf/CMakeLists.txt

@@ -47,5 +47,7 @@ if (GZ_PROGRAM)
      COMMENT "Generating full description for spec ${desc_ver}"
      VERBATIM)
  endforeach()
-  add_custom_target(sdf_descriptions DEPENDS ${description_targets} ${PROJECT_LIBRARY_TARGET_NAME})


Was the removal of PROJECT_LIBRARY_TARGET_NAME from DEPENDS intended?

@sauk2 this final question and we are good to go !

Oh sorry, I forgot to reply. This change was made by @azeey as a part of this commit (615048c) of this PR (#1489). He'd be the best person to clarify so tagging him here!

Since we're adding a dependency on gz-sdformat-sdf below, which is ultimately what is used to generate these files, this target no longer needs to depend on PROJECT_LIBRARY_TARGET_NAME

sdf/CMakeLists.txt

src/cmd/CMakeLists.txt

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

j-rivero

Final comments from the runtime check. Let me know @sauk2 if you need help implementing them.

j-rivero · 2025-02-25T18:58:09Z

src/cmd/sdf_main.cc

+    ->expected(0, 1)
+    ->default_val(SDF_PROTOCOL_VERSION);
+
+  command->add_option_function<std::string>("-g,--graph",


Can not make this work sorry

./bin/gz-sdformat-sdf --graph /usr/share/gz/gz-sim7/worlds/apply_joint_force.sdf --graph requires filepath Run with --help for more information.

Sorry for the confusion. This option needs a following pose or frame text as argument. I have changed the description to reflect this (b15e767).

I have also added a validation that enforces the argument to be either pose or frame.

Now it looks like this in the help output

-g [--graph] TEXT:{pose,frame} Print the PoseRelativeTo or FrameAttachedTo graph by following with either pose or frame as argument respectively. (WARNING: This is for advanced use only and the output may change without any promise of stability) Requires: filepath

Much better thanks!

Is still true the message that says "Requires: filepath" ?

Yes, it still shows a dependency on filepath because the --graph requires it as this function is called to process that flag.

src/cmd/sdf_main.cc

j-rivero · 2025-02-25T19:04:12Z

src/cmd/sdf_main.cc

+}
+
+//////////////////////////////////////////////////
+void addSdfFlags(CLI::App &_app)


The current message is:

Usage: ./bin/gz-sdformat-sdf [OPTIONS] [filepath]

I think that it is not very usable since the expected schema is more something like:

gz-sdformat-sdf [command] [command-options] [filepath]

Somehow: specify that command is the main first argument and that options are really affecting the way that commands work and probably that they don't work without a command. Also great if command can appear before the options and the filepath.

The usage message seems to be generated by gz-utils. I could not find any setting I could change in the executable to reflect this change.

Do you think it would be a good idea to make changes in gz-utils side to bring about this change?

I think that the relevant changes needs to go into the GzFormatter in https://github.com/gazebosim/gz-utils/blob/fd0a40c09be4fd7b2a40d877bb56d2fa1c7607e3/cli/include/gz/utils/cli/GzFormatter.hpp#L42-L65

It would be great to have them in but it is out of the scope for this PR I would say. Feel free to create an issue or a PR for it.

@j-rivero I'm not sure what you mean. The gz-sdformat-sdf is not intended to be used directly, but through the gz tool. When you run gz sdf, it'll be running gz-sdformat-sdf under the hood. So as long as the usage is gz sdf [OPTIONS] ..., which is what the current usage (before this PR) is, I think we're good.

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

j-rivero

Another great contribution @sauk2 , thanks !

j-rivero · 2025-02-26T17:20:54Z

ops, I think that we need your approval @azeey here.

azeey · 2025-02-26T18:54:58Z

src/gz.cc

Can you use gz mv to move this file to cmd/gz.cc to preserve history? Right now, it looks like this is removed and a new file is being added in cmd/gz.cc.

I tried to do this, but git does not recognize the files as moved due to successive modifications. Locally, I am able to see 'renamed' when I drop the similarity index to 10% but I don't know how to enforce this on GitHub.
Same with gz.hh

azeey · 2025-02-26T18:55:14Z

src/gz.hh

Can you use gz mv to move this file to cmd/gz.hh to preserve history? Right now, it looks like this is removed and a new file is being added in cmd/gz.hh.

azeey · 2025-02-26T18:59:55Z

src/cmd/sdf_main.cc

+  auto filepathOpt =
+    _app.add_option("filepath", opt->filepath,
+                    "Path to an SDFormat file.");
+  _app.add_flag("-i,--preserve-includes", opt->preserveIncludes,


Many of these options are relevant when the -p flag is active. If you see how the usage is printed in the original gz sdf version, you'll see the relationship:

-g [ --graph ] <pose, frame> arg Print the PoseRelativeTo or FrameAttachedTo graph. (WARNING: This is for advanced use only and the output may change without any promise of stability) -p [ --print ] arg Print converted arg. Note the quaternion representation of the rotational part of poses and unit vectors will be normalized. -i [ --preserve-includes ] Preserve included tags when printing converted arg (does not preserve merge-includes). --degrees Pose rotation angles are printed in degrees. --snap-to-degrees arg Snap pose rotation angles to this specified interval in degrees. This value must be larger than 0, less than or equal to 360, and larger than the defined snap tolerance. --snap-tolerance arg Used in conjunction with --snap-to-degrees, specifies the tolerance at which snapping occurs. This value must be larger than 0, less than 360, and less than the defined degrees value to snap to. If unspecified, its default value is 0.01. --inertial-stats arg Prints moment of inertia, centre of mass, and total mass from a model sdf file. --precision arg Set the output stream precision for floating point numbers. The arg must be a positive integer. -h [ --help ] Print this help message.

Is there a way to add this type of dependency in CLI11?

Done! I added a dependence on --print.

The usage looks like this now.

Positionals: filepath TEXT Path to an SDFormat file. Required by: --print Required by: --inertial-stats Required by: --graph Required by: --check Options: -h [--help] Print this help message and exit -v [--version] Print the current library version --force-version Use a specific library version. --versions Show the available versions. -i [--preserve-includes] Preserve included tags when printing converted arg (does not preserve merge-includes). Requires: --print --degrees Printed pose rotations are will be in degrees. Requires: --print --expand-auto-inertials Auto-computed inertial values will be printed. Requires: --print --precision INT Set the output stream precision for floating point numbers. Requires: --print --snap-to-degrees INT Printed rotations are snapped to specified degree intervals. Requires: --print --snap-tolerance FLOAT Printed rotations are snapped if they are within this specified tolerance. Requires: --print [Option Group: command] Command to be executed. Options: -k [--check] Check if an SDFormat file is valid. Requires: filepath -d [--describe] TEXT=1.12 Print the aggregated SDFormat spec description. Latest version (1.12) -g [--graph] TEXT:{pose,frame} Print the PoseRelativeTo or FrameAttachedTo graph by following with either pose or frame as argument respectively. (WARNING: This is for advanced use only and the output may change without any promise of stability) Requires: filepath --inertial-stats Prints moment of inertia, centre of mass, and total mass from a model sdf file. Requires: filepath -p [--print] Print converted arg. Note the quaternion representation of the rotational part of poses and unit vectors will be normalized. Requires: filepath Required by: --snap-tolerance Required by: --snap-to-degrees Required by: --precision Required by: --expand-auto-inertials Required by: --degrees Required by: --preserve-includes

Blocking issues have been addressed

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

scpeters and others added 8 commits June 9, 2024 00:00

Implement gz sdf as standalone executable

d823820

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Merge branch 'sdf15' into scpeters/gz_sdf_executable

ce14de5

Merge branch 'sdf15' into scpeters/gz_sdf_executable

aafefa1

Merge branch 'sdf15' into scpeters/gz_sdf_executable

f4fc058

Moved tests and deleted redundant files

c4f155f

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

Updated cmake to build moved test

756ba94

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

Skipped creation of static lib for standalone exe creation

193a1f1

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

sauk2 requested review from azeey and scpeters as code owners February 7, 2025 08:25

github-actions bot added 🏛️ ionic Gazebo Ionic 🪵 jetty Gazebo Jetty labels Feb 7, 2025

sauk2 mentioned this pull request Feb 7, 2025

WIP: Implement gz sdf as standalone executable #1465

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Added includes

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Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

sauk2 requested a review from ahcorde February 7, 2025 13:24

azeey previously requested changes Feb 10, 2025

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Restoring previous files to save commit history

7b27baa

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

sauk2 force-pushed the gz_sdf_executable branch from 289d27e to 7b27baa Compare February 11, 2025 10:13

sauk2 added 3 commits February 11, 2025 18:19

Removed gz files from cmd

9714658

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

Moved cmd files by preserving history

5dae7f4

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

Added namespace to cmd line hooks

71edff4

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

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sauk2 added 2 commits February 11, 2025 21:06

Changed types from int to bool for flags

d834355

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

Defined test config path as alias and populated it from cmake

22d78cc

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

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sauk2 requested review from azeey and ahcorde February 11, 2025 15:45

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Merge branch 'sdf15' into gz_sdf_executable

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j-rivero reviewed Feb 17, 2025

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Removed GZ_PROGRAM dependency from sdf_descriptions target

51e8485

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

j-rivero reviewed Feb 25, 2025

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Added concise description and validation to -g option

b15e767

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

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sauk2 added 5 commits February 27, 2025 21:35

Removed function to print gz version

3505c3d

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

Added dependency on -p for print specific flags

eacb7b3

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

Added back files for eventual git rename

3f35036

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

Moved cmd source files

5fdfb42

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

Added modification to cmd source files

0f40dd5

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

sauk2 requested a review from azeey February 27, 2025 15:29

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Standalone `gz sdf` executable #1539

Standalone `gz sdf` executable #1539

sauk2 commented Feb 7, 2025

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Standalone gz sdf executable #1539

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Standalone gz sdf executable #1539

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sauk2 commented Feb 7, 2025

🎉 New feature

Summary

Test it

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Standalone `gz sdf` executable #1539

Standalone `gz sdf` executable #1539

sauk2 Feb 25, 2025 •

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