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.