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Skip Model SDF serialization #3070

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a9d0bac
Skip Model sdf serialization
iche033 Sep 5, 2025
a53c290
remove more code, fix test
iche033 Sep 9, 2025
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76 changes: 14 additions & 62 deletions include/gz/sim/components/Model.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -41,52 +41,17 @@ namespace serializers
/// \param[in] _time Model to stream
/// \return The stream.
public: static std::ostream &Serialize(std::ostream &_out,
const sdf::Model &_model)
const sdf::Model &)
{
sdf::ElementPtr modelElem = _model.Element();
if (!modelElem)
{
gzwarn << "Unable to serialize sdf::Model" << std::endl;
return _out;
}

bool skip = false;
if (modelElem->HasElement("pose"))
{
sdf::ElementPtr poseElem = modelElem->GetElement("pose");
if (poseElem->GetAttribute("relative_to")->GetSet())
{
// Skip serializing models with //pose/@relative_to attribute
// since deserialization will fail. This could be a nested model.
// see https://github.com/gazebosim/gz-sim/issues/1071
// Once https://github.com/gazebosim/sdformat/issues/820 is
// resolved, there should be an API that returns sdf::Errors objects
// instead of printing console msgs so it would be easier to ignore
// specific errors in Deserialize.
static bool warned = false;
if (!warned)
{
gzwarn << "Skipping serialization / deserialization for models "
<< "with //pose/@relative_to attribute."
<< std::endl;
warned = true;
}
skip = true;
}
}

if (!skip)
{
_out << "<?xml version=\"1.0\" ?>"
<< "<sdf version='" << SDF_PROTOCOL_VERSION << "'>"
<< modelElem->ToString("")
<< "</sdf>";

}
else
{
_out << "";
}
// Skip serialization of model sdf
// \todo(iche033) It was found that deserialization is
// very expensive, which impacts initial load time of a world with many
// entities. Currently only the server consumes ModelSdf components
// so let's skip serialization until either the deserialization
// performance is improved or when the GUI needs the to use Model SDF
// components.
// see, https://github.com/gazebosim/sdformat/issues/1478
_out << "";
return _out;
}

Expand All @@ -95,24 +60,11 @@ namespace serializers
/// \param[out] _model Model to populate
/// \return The stream.
public: static std::istream &Deserialize(std::istream &_in,
sdf::Model &_model)
sdf::Model &)
{
std::string sdf(std::istreambuf_iterator<char>(_in), {});
if (sdf.empty())
{
return _in;
}

// Its super expensive to create an SDFElement for some reason
sdf::Root root;
sdf::Errors errors = root.LoadSdfString(sdf);
if (!root.Model())
{
gzwarn << "Unable to deserialize sdf::Model " << sdf<< std::endl;
return _in;
}

_model = *root.Model();
// Its super expensive to create an SDFElement for some reason.
// So seriazliation / deserialization of model sdf is skipped
// https://github.com/gazebosim/sdformat/issues/1478
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@azeey azeey Sep 5, 2025

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We can remove all the code in here as well since we know we won't be deserializing anything.

return _in;
}
};
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6 changes: 4 additions & 2 deletions test/integration/components.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1276,8 +1276,10 @@ TEST_F(ComponentsTest, ModelSdf)
std::istringstream istr(ostr.str());
comp2.Deserialize(istr);

EXPECT_EQ("my_model", comp2.Data().Name());
EXPECT_EQ(1u, comp2.Data().LinkCount());
// Model sdf serialization / deserialization is disabled due to perf issue
// https://github.com/gazebosim/sdformat/issues/1478
// EXPECT_EQ("my_model", comp2.Data().Name());
// EXPECT_EQ(1u, comp2.Data().LinkCount());
}

/////////////////////////////////////////////////
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