Jerry
99 lines
3.0 KiB
Markdown
99 lines
3.0 KiB
Markdown
# SDF smoke tests
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Use smoke tests after generated SDF passes bundled validation. The goal is to catch simulator and spatial failures that dependency-light XML checks cannot detect.
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## Recommended checks
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### Bundled validation
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```bash
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python scripts/sdf path/to/model.py
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python scripts/sdf path/to/model.py --strict
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```
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Bundled validation runs during explicit target generation. Use `--strict` when warnings should block handoff.
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### SDFormat parser check
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When Gazebo tooling is installed:
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```bash
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gz sdf --check path/to/model.sdf
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```
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or through the skill CLI:
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```bash
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python scripts/sdf path/to/model.py --gz-check auto
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```
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Use the exact simulator environment that will consume the file when possible.
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### Simulator load check
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Load the model or world in the target simulator and check:
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- no parser warnings or plugin load errors;
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- model appears at the intended pose;
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- visual and collision assets resolve;
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- collision geometry is not visibly offset from visuals;
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- dynamic model does not explode, fall through the floor, or produce invalid inertia warnings.
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### Joint motion check
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For each non-fixed joint:
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- command a small positive motion;
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- confirm the moving child moves in the expected direction;
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- confirm limits stop motion where expected;
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- confirm continuous joints can rotate continuously if intended.
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### CAD Viewer static review
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After generating or modifying an `.sdf`, hand the explicit path to `$cad-viewer` for a live viewer link when available.
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- confirm direct model links, joints, frames, visuals, and collisions are placed correctly;
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- confirm includes, plugins, sensors, lights, nested models, and unsupported geometry are listed as static metadata;
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- record any simulator-only behavior that CAD Viewer cannot execute.
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### Sensor and plugin check
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For each sensor or plugin:
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- confirm plugin library loads;
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- confirm expected topics/services appear;
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- confirm frame names match the design ledger;
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- confirm update rate and namespace behavior;
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- capture one sample output if practical.
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### Visual review
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When CAD Viewer or an equivalent viewer is available through `$cad-viewer`, return the viewer link. Visual review is useful but insufficient: it can catch gross placement and mesh problems, but it cannot prove axis frames, inertials, dynamics, or plugin behavior.
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## Report format
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Use a compact report:
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```text
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Checks run:
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- bundled SDF validation: passed
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- gz sdf --check: skipped, gz not installed
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- simulator load: passed in Gazebo Harmonic
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- joint motion: shoulder_pan positive motion verified; gripper joints skipped
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- plugin startup: camera plugin unresolved, requires target simulator package
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Assumptions:
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- Assumed mesh units are meters.
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- Assumed lidar frame is coincident with lidar_link.
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```
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## When to stop
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Stop and fix the generator when:
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- bundled validation has errors;
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- `gz sdf --check` fails under a required external-check policy;
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- the simulator reports invalid inertias or unresolved required assets;
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- a joint moves opposite from the documented positive direction;
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- plugin startup fails for a plugin required by the task.
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