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<?xml version="1.0" ?>
<sdf version="1.7"
xmlns:experimental="http://sdformat.org/schemas/experimental">
<world name="world_invalid_custom_model">
<model name="robot">
<include>
<uri>robot</uri>
<experimental:params>
<!-- missing element_id attribute (i.e., element identifier) -->
<foo/>
<!-- element does not exist -->
<visual element_id="chassis::camera_visual" action="modify">
<pose>-1.06 0 0 0 0 3.14</pose>
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<!-- element already exists -->
<visual element_id="chassis" name="visual" action="add">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<!-- parent of new element does not exist -->
<visual element_id="chassis::test" name="visual" action="add">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<!-- missing name after :: -->
<link element_id="chassis::test::" name="foo" action="add"/>
<visual element_id="top::camera_visual">
<!-- missing action attribute -->
<transparency>0.2</transparency>
<!-- incorrect schema (missing required attributes) -->
<plugin action="add"/>
<!-- not defined sdf element -->
<test action="add"/>
</visual>
<!-- not defined sdf element -->
<test element_id="chassis" name="new_elem" action="add"/>
<!-- missing 'name' attribute -->
<plugin element_id="chassis" action="add"/>
<!-- 'name' attribute is empty -->
<plugin element_id="chassis" name="" action="add"/>
<!-- incorrect schema (missing required 'filename' attribute) -->
<plugin element_id="chassis" name="some_plugin" action="add"/>
<!-- invalid action -->
<link element_id="top" action="test"/>
<collision element_id="left_wheel::collision">
<!-- invalid child action -->
<geometry action="test"/>
<!-- child element does not exist -->
<laser_retro action="remove"/>
<!-- child <box> (child of <geometry>) does not exist -->
<geometry action="remove">
<box/>
</geometry>
</collision>
<link element_id="top">
<!-- child element (w/ name attribute) does not exist -->
<collision name="collision" action="remove"/>
<!-- child element does not exist -->
<collision name="collision" action="replace"/>
<!-- missing 'name' attribute -->
<collision action="replace"/>
<!-- invalid attribute -->
<collision name="top_collision" action="modify" test="foo"/>
<!-- element missing -->
<geometry action="modify">
<box>
<size>1 1 1</size>
</box>
</geometry>
</link>
<!-- incorrect schema (missing required 'type' attribute) -->
<sensor element_id="chassis::camera" name="camera" action="replace"/>
<!-- invalid attribute -->
<link element_id="top" action="modify" test="foo">
<!-- element missing -->
<inertial/>
<collision name="top_collision">
<!-- element missing -->
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<!-- element has invalid value -->
<geometry>
<box>
<size>0.5 0.5</size>
</box>
</geometry>
<!-- no modifications listed, warning is printed (not error) -->
<geometry/>
</collision>
</link>
</experimental:params>
</include>
</model>
</world>
</sdf>
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