simulation/VALIDATION.md

Validation Record

Validated on September 23, 2026 (Asia/Shanghai). See ENVIRONMENT.txt for reference system and package versions.

• Parsed all 13 world/SDF files: four worlds, one drone SDF, and eight base-model SDF versions.
• Resolved every model:// and file:// reference to bundled assets or the local Gazebo installation. All four custom-material textures and every SDF referenced by model.config are present.
• All five shell scripts passed bash -n.
• Starting with an empty build directory, bash build.sh successfully generated libSimpleDronePlugin.so; ldd reported no missing shared libraries.
• SIMPLE_DRONE_RENDER_BACKEND=xvfb bash smoke.sh v1 exited with status 0. The capture script's image quality checks passed; all four PNG files are 640 x 480, and the CSV contains capture metadata.
• Under Xvfb software rendering, physical camera frames were initially rejected for excessive gray pixels. The plugin's existing single-camera sweep fallback completed capture. This validates playback and fallback capture, not successful direct capture from all four physical cameras.
• Worlds v2/v3/v4 received resource and structural checks only. Full capture in those worlds, installation on a separate clean machine, full dataset generation, and paper benchmark reproduction were not performed.

Build and capture logs, with terminal color codes removed, are available at validation/build.log and validation/smoke.log. Local smoke outputs remain in datasets/smoke_world_v1/ and are excluded from the release archive.

Documentation was subsequently translated into English for publication. Simulation assets and executable scripts were not changed by that documentation update.

Published logs use paths relative to the environment root (.). Paths under system-root/ are recorded relative to the operating-system root; this is a logical label in these historical logs, not a directory required for execution. SOURCE_FILES.json describes its logical upstream roots in source_roots. Personal directory names and the local network address have been removed. These edits normalize recorded paths; they do not represent a new simulation run.