Diff of the two buildlogs:

--
--- b1/build.log	2023-04-15 12:13:06.635099584 +0000
+++ b2/build.log	2023-04-15 12:22:06.207129981 +0000
@@ -1,6 +1,6 @@
 I: pbuilder: network access will be disabled during build
-I: Current time: Fri Apr 14 23:43:32 -12 2023
-I: pbuilder-time-stamp: 1681559012
+I: Current time: Sat May 18 08:36:08 +14 2024
+I: pbuilder-time-stamp: 1715970968
 I: Building the build Environment
 I: extracting base tarball [/var/cache/pbuilder/bookworm-reproducible-base.tgz]
 I: copying local configuration
@@ -16,7 +16,7 @@
 I: copying [./sdformat_12.3.0+ds.orig.tar.xz]
 I: copying [./sdformat_12.3.0+ds-2.debian.tar.xz]
 I: Extracting source
-gpgv: Signature made Tue Jan 11 06:07:39 2022 -12
+gpgv: Signature made Wed Jan 12 08:07:39 2022 +14
 gpgv:                using RSA key A08161BBEC1CC063961459035E946C090AFF0427
 gpgv:                issuer "jrivero@osrfoundation.org"
 gpgv: Can't check signature: No public key
@@ -33,135 +33,167 @@
 dpkg-source: info: applying 0001_detect_ign_no_cmake.patch
 I: Not using root during the build.
 I: Installing the build-deps
-I: user script /srv/workspace/pbuilder/711679/tmp/hooks/D02_print_environment starting
+I: user script /srv/workspace/pbuilder/3362460/tmp/hooks/D01_modify_environment starting
+debug: Running on ionos15-amd64.
+I: Changing host+domainname to test build reproducibility
+I: Adding a custom variable just for the fun of it...
+I: Changing /bin/sh to bash
+'/bin/sh' -> '/bin/bash'
+lrwxrwxrwx 1 root root 9 May 18 08:36 /bin/sh -> /bin/bash
+I: Setting pbuilder2's login shell to /bin/bash
+I: Setting pbuilder2's GECOS to second user,second room,second work-phone,second home-phone,second other
+I: user script /srv/workspace/pbuilder/3362460/tmp/hooks/D01_modify_environment finished
+I: user script /srv/workspace/pbuilder/3362460/tmp/hooks/D02_print_environment starting
 I: set
-  BUILDDIR='/build'
-  BUILDUSERGECOS='first user,first room,first work-phone,first home-phone,first other'
-  BUILDUSERNAME='pbuilder1'
-  BUILD_ARCH='amd64'
-  DEBIAN_FRONTEND='noninteractive'
-  DEB_BUILD_OPTIONS='buildinfo=+all reproducible=+all parallel=15'
-  DISTRIBUTION='bookworm'
-  HOME='/root'
-  HOST_ARCH='amd64'
+  BASH=/bin/sh
+  BASHOPTS=checkwinsize:cmdhist:complete_fullquote:extquote:force_fignore:globasciiranges:globskipdots:hostcomplete:interactive_comments:patsub_replacement:progcomp:promptvars:sourcepath
+  BASH_ALIASES=()
+  BASH_ARGC=()
+  BASH_ARGV=()
+  BASH_CMDS=()
+  BASH_LINENO=([0]="12" [1]="0")
+  BASH_LOADABLES_PATH=/usr/local/lib/bash:/usr/lib/bash:/opt/local/lib/bash:/usr/pkg/lib/bash:/opt/pkg/lib/bash:.
+  BASH_SOURCE=([0]="/tmp/hooks/D02_print_environment" [1]="/tmp/hooks/D02_print_environment")
+  BASH_VERSINFO=([0]="5" [1]="2" [2]="15" [3]="1" [4]="release" [5]="x86_64-pc-linux-gnu")
+  BASH_VERSION='5.2.15(1)-release'
+  BUILDDIR=/build
+  BUILDUSERGECOS='second user,second room,second work-phone,second home-phone,second other'
+  BUILDUSERNAME=pbuilder2
+  BUILD_ARCH=amd64
+  DEBIAN_FRONTEND=noninteractive
+  DEB_BUILD_OPTIONS='buildinfo=+all reproducible=+all parallel=16'
+  DIRSTACK=()
+  DISTRIBUTION=bookworm
+  EUID=0
+  FUNCNAME=([0]="Echo" [1]="main")
+  GROUPS=()
+  HOME=/root
+  HOSTNAME=i-capture-the-hostname
+  HOSTTYPE=x86_64
+  HOST_ARCH=amd64
   IFS=' 	
   '
-  INVOCATION_ID='a9b6309508f049d59a506d1ee33ffc93'
-  LANG='C'
-  LANGUAGE='en_US:en'
-  LC_ALL='C'
-  MAIL='/var/mail/root'
-  OPTIND='1'
-  PATH='/usr/sbin:/usr/bin:/sbin:/bin:/usr/games'
-  PBCURRENTCOMMANDLINEOPERATION='build'
-  PBUILDER_OPERATION='build'
-  PBUILDER_PKGDATADIR='/usr/share/pbuilder'
-  PBUILDER_PKGLIBDIR='/usr/lib/pbuilder'
-  PBUILDER_SYSCONFDIR='/etc'
-  PPID='711679'
-  PS1='# '
-  PS2='> '
+  INVOCATION_ID=12a7cbdfc9a347f7ac12d855711a5666
+  LANG=C
+  LANGUAGE=et_EE:et
+  LC_ALL=C
+  MACHTYPE=x86_64-pc-linux-gnu
+  MAIL=/var/mail/root
+  OPTERR=1
+  OPTIND=1
+  OSTYPE=linux-gnu
+  PATH=/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path
+  PBCURRENTCOMMANDLINEOPERATION=build
+  PBUILDER_OPERATION=build
+  PBUILDER_PKGDATADIR=/usr/share/pbuilder
+  PBUILDER_PKGLIBDIR=/usr/lib/pbuilder
+  PBUILDER_SYSCONFDIR=/etc
+  PIPESTATUS=([0]="0")
+  POSIXLY_CORRECT=y
+  PPID=3362460
   PS4='+ '
-  PWD='/'
-  SHELL='/bin/bash'
-  SHLVL='2'
-  SUDO_COMMAND='/usr/bin/timeout -k 18.1h 18h /usr/bin/ionice -c 3 /usr/bin/nice /usr/sbin/pbuilder --build --configfile /srv/reproducible-results/rbuild-debian/r-b-build.gClsVScI/pbuilderrc_NgBC --distribution bookworm --hookdir /etc/pbuilder/first-build-hooks --debbuildopts -b --basetgz /var/cache/pbuilder/bookworm-reproducible-base.tgz --buildresult /srv/reproducible-results/rbuild-debian/r-b-build.gClsVScI/b1 --logfile b1/build.log sdformat_12.3.0+ds-2.dsc'
-  SUDO_GID='111'
-  SUDO_UID='106'
-  SUDO_USER='jenkins'
-  TERM='unknown'
-  TZ='/usr/share/zoneinfo/Etc/GMT+12'
-  USER='root'
-  _='/usr/bin/systemd-run'
-  http_proxy='http://78.137.99.97:3128'
+  PWD=/
+  SHELL=/bin/bash
+  SHELLOPTS=braceexpand:errexit:hashall:interactive-comments:posix
+  SHLVL=3
+  SUDO_COMMAND='/usr/bin/timeout -k 24.1h 24h /usr/bin/ionice -c 3 /usr/bin/nice -n 11 /usr/bin/unshare --uts -- /usr/sbin/pbuilder --build --configfile /srv/reproducible-results/rbuild-debian/r-b-build.gClsVScI/pbuilderrc_2Fhk --distribution bookworm --hookdir /etc/pbuilder/rebuild-hooks --debbuildopts -b --basetgz /var/cache/pbuilder/bookworm-reproducible-base.tgz --buildresult /srv/reproducible-results/rbuild-debian/r-b-build.gClsVScI/b2 --logfile b2/build.log --extrapackages usrmerge sdformat_12.3.0+ds-2.dsc'
+  SUDO_GID=111
+  SUDO_UID=106
+  SUDO_USER=jenkins
+  TERM=unknown
+  TZ=/usr/share/zoneinfo/Etc/GMT-14
+  UID=0
+  USER=root
+  _='I: set'
+  http_proxy=http://85.184.249.68:3128
 I: uname -a
-  Linux ionos11-amd64 5.10.0-21-amd64 #1 SMP Debian 5.10.162-1 (2023-01-21) x86_64 GNU/Linux
+  Linux i-capture-the-hostname 6.1.0-0.deb11.5-amd64 #1 SMP PREEMPT_DYNAMIC Debian 6.1.12-1~bpo11+1 (2023-03-05) x86_64 GNU/Linux
 I: ls -l /bin
   total 5632
-  -rwxr-xr-x 1 root root 1265648 Feb 12 08:05 bash
-  -rwxr-xr-x 3 root root   39224 Sep 18  2022 bunzip2
-  -rwxr-xr-x 3 root root   39224 Sep 18  2022 bzcat
-  lrwxrwxrwx 1 root root       6 Sep 18  2022 bzcmp -> bzdiff
-  -rwxr-xr-x 1 root root    2225 Sep 18  2022 bzdiff
-  lrwxrwxrwx 1 root root       6 Sep 18  2022 bzegrep -> bzgrep
-  -rwxr-xr-x 1 root root    4893 Nov 27  2021 bzexe
-  lrwxrwxrwx 1 root root       6 Sep 18  2022 bzfgrep -> bzgrep
-  -rwxr-xr-x 1 root root    3775 Sep 18  2022 bzgrep
-  -rwxr-xr-x 3 root root   39224 Sep 18  2022 bzip2
-  -rwxr-xr-x 1 root root   14568 Sep 18  2022 bzip2recover
-  lrwxrwxrwx 1 root root       6 Sep 18  2022 bzless -> bzmore
-  -rwxr-xr-x 1 root root    1297 Sep 18  2022 bzmore
-  -rwxr-xr-x 1 root root   44016 Sep 20  2022 cat
-  -rwxr-xr-x 1 root root   68656 Sep 20  2022 chgrp
-  -rwxr-xr-x 1 root root   64496 Sep 20  2022 chmod
-  -rwxr-xr-x 1 root root   72752 Sep 20  2022 chown
-  -rwxr-xr-x 1 root root  151152 Sep 20  2022 cp
-  -rwxr-xr-x 1 root root  125640 Jan  5 01:20 dash
-  -rwxr-xr-x 1 root root  121904 Sep 20  2022 date
-  -rwxr-xr-x 1 root root   89240 Sep 20  2022 dd
-  -rwxr-xr-x 1 root root  102200 Sep 20  2022 df
-  -rwxr-xr-x 1 root root  151344 Sep 20  2022 dir
-  -rwxr-xr-x 1 root root   88656 Mar 22 22:02 dmesg
-  lrwxrwxrwx 1 root root       8 Dec 19 01:33 dnsdomainname -> hostname
-  lrwxrwxrwx 1 root root       8 Dec 19 01:33 domainname -> hostname
-  -rwxr-xr-x 1 root root   43856 Sep 20  2022 echo
-  -rwxr-xr-x 1 root root      41 Jan 24 02:43 egrep
-  -rwxr-xr-x 1 root root   35664 Sep 20  2022 false
-  -rwxr-xr-x 1 root root      41 Jan 24 02:43 fgrep
-  -rwxr-xr-x 1 root root   85600 Mar 22 22:02 findmnt
-  -rwsr-xr-x 1 root root   35128 Mar 22 20:35 fusermount
-  -rwxr-xr-x 1 root root  203152 Jan 24 02:43 grep
-  -rwxr-xr-x 2 root root    2346 Apr  9  2022 gunzip
-  -rwxr-xr-x 1 root root    6447 Apr  9  2022 gzexe
-  -rwxr-xr-x 1 root root   98136 Apr  9  2022 gzip
-  -rwxr-xr-x 1 root root   22680 Dec 19 01:33 hostname
-  -rwxr-xr-x 1 root root   72824 Sep 20  2022 ln
-  -rwxr-xr-x 1 root root   53024 Mar 23 00:40 login
-  -rwxr-xr-x 1 root root  151344 Sep 20  2022 ls
-  -rwxr-xr-x 1 root root  207168 Mar 22 22:02 lsblk
-  -rwxr-xr-x 1 root root   97552 Sep 20  2022 mkdir
-  -rwxr-xr-x 1 root root   72912 Sep 20  2022 mknod
-  -rwxr-xr-x 1 root root   43952 Sep 20  2022 mktemp
-  -rwxr-xr-x 1 root root   59712 Mar 22 22:02 more
-  -rwsr-xr-x 1 root root   59704 Mar 22 22:02 mount
-  -rwxr-xr-x 1 root root   18744 Mar 22 22:02 mountpoint
-  -rwxr-xr-x 1 root root  142968 Sep 20  2022 mv
-  lrwxrwxrwx 1 root root       8 Dec 19 01:33 nisdomainname -> hostname
-  lrwxrwxrwx 1 root root      14 Apr  2 18:25 pidof -> /sbin/killall5
-  -rwxr-xr-x 1 root root   43952 Sep 20  2022 pwd
-  lrwxrwxrwx 1 root root       4 Feb 12 08:05 rbash -> bash
-  -rwxr-xr-x 1 root root   52112 Sep 20  2022 readlink
-  -rwxr-xr-x 1 root root   72752 Sep 20  2022 rm
-  -rwxr-xr-x 1 root root   56240 Sep 20  2022 rmdir
-  -rwxr-xr-x 1 root root   27560 Nov  2 04:31 run-parts
-  -rwxr-xr-x 1 root root  126424 Jan  5 07:55 sed
-  lrwxrwxrwx 1 root root       4 Jan  5 01:20 sh -> dash
-  -rwxr-xr-x 1 root root   43888 Sep 20  2022 sleep
-  -rwxr-xr-x 1 root root   85008 Sep 20  2022 stty
-  -rwsr-xr-x 1 root root   72000 Mar 22 22:02 su
-  -rwxr-xr-x 1 root root   39824 Sep 20  2022 sync
-  -rwxr-xr-x 1 root root  531984 Apr  6 02:25 tar
-  -rwxr-xr-x 1 root root   14520 Nov  2 04:31 tempfile
-  -rwxr-xr-x 1 root root  109616 Sep 20  2022 touch
-  -rwxr-xr-x 1 root root   35664 Sep 20  2022 true
-  -rwxr-xr-x 1 root root   14568 Mar 22 20:35 ulockmgr_server
-  -rwsr-xr-x 1 root root   35128 Mar 22 22:02 umount
-  -rwxr-xr-x 1 root root   43888 Sep 20  2022 uname
-  -rwxr-xr-x 2 root root    2346 Apr  9  2022 uncompress
-  -rwxr-xr-x 1 root root  151344 Sep 20  2022 vdir
-  -rwxr-xr-x 1 root root   72024 Mar 22 22:02 wdctl
-  lrwxrwxrwx 1 root root       8 Dec 19 01:33 ypdomainname -> hostname
-  -rwxr-xr-x 1 root root    1984 Apr  9  2022 zcat
-  -rwxr-xr-x 1 root root    1678 Apr  9  2022 zcmp
-  -rwxr-xr-x 1 root root    6460 Apr  9  2022 zdiff
-  -rwxr-xr-x 1 root root      29 Apr  9  2022 zegrep
-  -rwxr-xr-x 1 root root      29 Apr  9  2022 zfgrep
-  -rwxr-xr-x 1 root root    2081 Apr  9  2022 zforce
-  -rwxr-xr-x 1 root root    8103 Apr  9  2022 zgrep
-  -rwxr-xr-x 1 root root    2206 Apr  9  2022 zless
-  -rwxr-xr-x 1 root root    1842 Apr  9  2022 zmore
-  -rwxr-xr-x 1 root root    4577 Apr  9  2022 znew
-I: user script /srv/workspace/pbuilder/711679/tmp/hooks/D02_print_environment finished
+  -rwxr-xr-x 1 root root 1265648 Feb 13  2023 bash
+  -rwxr-xr-x 3 root root   39224 Sep 19  2022 bunzip2
+  -rwxr-xr-x 3 root root   39224 Sep 19  2022 bzcat
+  lrwxrwxrwx 1 root root       6 Sep 19  2022 bzcmp -> bzdiff
+  -rwxr-xr-x 1 root root    2225 Sep 19  2022 bzdiff
+  lrwxrwxrwx 1 root root       6 Sep 19  2022 bzegrep -> bzgrep
+  -rwxr-xr-x 1 root root    4893 Nov 28  2021 bzexe
+  lrwxrwxrwx 1 root root       6 Sep 19  2022 bzfgrep -> bzgrep
+  -rwxr-xr-x 1 root root    3775 Sep 19  2022 bzgrep
+  -rwxr-xr-x 3 root root   39224 Sep 19  2022 bzip2
+  -rwxr-xr-x 1 root root   14568 Sep 19  2022 bzip2recover
+  lrwxrwxrwx 1 root root       6 Sep 19  2022 bzless -> bzmore
+  -rwxr-xr-x 1 root root    1297 Sep 19  2022 bzmore
+  -rwxr-xr-x 1 root root   44016 Sep 21  2022 cat
+  -rwxr-xr-x 1 root root   68656 Sep 21  2022 chgrp
+  -rwxr-xr-x 1 root root   64496 Sep 21  2022 chmod
+  -rwxr-xr-x 1 root root   72752 Sep 21  2022 chown
+  -rwxr-xr-x 1 root root  151152 Sep 21  2022 cp
+  -rwxr-xr-x 1 root root  125640 Jan  6  2023 dash
+  -rwxr-xr-x 1 root root  121904 Sep 21  2022 date
+  -rwxr-xr-x 1 root root   89240 Sep 21  2022 dd
+  -rwxr-xr-x 1 root root  102200 Sep 21  2022 df
+  -rwxr-xr-x 1 root root  151344 Sep 21  2022 dir
+  -rwxr-xr-x 1 root root   88656 Mar 24  2023 dmesg
+  lrwxrwxrwx 1 root root       8 Dec 20  2022 dnsdomainname -> hostname
+  lrwxrwxrwx 1 root root       8 Dec 20  2022 domainname -> hostname
+  -rwxr-xr-x 1 root root   43856 Sep 21  2022 echo
+  -rwxr-xr-x 1 root root      41 Jan 25  2023 egrep
+  -rwxr-xr-x 1 root root   35664 Sep 21  2022 false
+  -rwxr-xr-x 1 root root      41 Jan 25  2023 fgrep
+  -rwxr-xr-x 1 root root   85600 Mar 24  2023 findmnt
+  -rwsr-xr-x 1 root root   35128 Mar 23  2023 fusermount
+  -rwxr-xr-x 1 root root  203152 Jan 25  2023 grep
+  -rwxr-xr-x 2 root root    2346 Apr 10  2022 gunzip
+  -rwxr-xr-x 1 root root    6447 Apr 10  2022 gzexe
+  -rwxr-xr-x 1 root root   98136 Apr 10  2022 gzip
+  -rwxr-xr-x 1 root root   22680 Dec 20  2022 hostname
+  -rwxr-xr-x 1 root root   72824 Sep 21  2022 ln
+  -rwxr-xr-x 1 root root   53024 Mar 24  2023 login
+  -rwxr-xr-x 1 root root  151344 Sep 21  2022 ls
+  -rwxr-xr-x 1 root root  207168 Mar 24  2023 lsblk
+  -rwxr-xr-x 1 root root   97552 Sep 21  2022 mkdir
+  -rwxr-xr-x 1 root root   72912 Sep 21  2022 mknod
+  -rwxr-xr-x 1 root root   43952 Sep 21  2022 mktemp
+  -rwxr-xr-x 1 root root   59712 Mar 24  2023 more
+  -rwsr-xr-x 1 root root   59704 Mar 24  2023 mount
+  -rwxr-xr-x 1 root root   18744 Mar 24  2023 mountpoint
+  -rwxr-xr-x 1 root root  142968 Sep 21  2022 mv
+  lrwxrwxrwx 1 root root       8 Dec 20  2022 nisdomainname -> hostname
+  lrwxrwxrwx 1 root root      14 Apr  3  2023 pidof -> /sbin/killall5
+  -rwxr-xr-x 1 root root   43952 Sep 21  2022 pwd
+  lrwxrwxrwx 1 root root       4 Feb 13  2023 rbash -> bash
+  -rwxr-xr-x 1 root root   52112 Sep 21  2022 readlink
+  -rwxr-xr-x 1 root root   72752 Sep 21  2022 rm
+  -rwxr-xr-x 1 root root   56240 Sep 21  2022 rmdir
+  -rwxr-xr-x 1 root root   27560 Nov  3  2022 run-parts
+  -rwxr-xr-x 1 root root  126424 Jan  6  2023 sed
+  lrwxrwxrwx 1 root root       9 May 18 08:36 sh -> /bin/bash
+  -rwxr-xr-x 1 root root   43888 Sep 21  2022 sleep
+  -rwxr-xr-x 1 root root   85008 Sep 21  2022 stty
+  -rwsr-xr-x 1 root root   72000 Mar 24  2023 su
+  -rwxr-xr-x 1 root root   39824 Sep 21  2022 sync
+  -rwxr-xr-x 1 root root  531984 Apr  7  2023 tar
+  -rwxr-xr-x 1 root root   14520 Nov  3  2022 tempfile
+  -rwxr-xr-x 1 root root  109616 Sep 21  2022 touch
+  -rwxr-xr-x 1 root root   35664 Sep 21  2022 true
+  -rwxr-xr-x 1 root root   14568 Mar 23  2023 ulockmgr_server
+  -rwsr-xr-x 1 root root   35128 Mar 24  2023 umount
+  -rwxr-xr-x 1 root root   43888 Sep 21  2022 uname
+  -rwxr-xr-x 2 root root    2346 Apr 10  2022 uncompress
+  -rwxr-xr-x 1 root root  151344 Sep 21  2022 vdir
+  -rwxr-xr-x 1 root root   72024 Mar 24  2023 wdctl
+  lrwxrwxrwx 1 root root       8 Dec 20  2022 ypdomainname -> hostname
+  -rwxr-xr-x 1 root root    1984 Apr 10  2022 zcat
+  -rwxr-xr-x 1 root root    1678 Apr 10  2022 zcmp
+  -rwxr-xr-x 1 root root    6460 Apr 10  2022 zdiff
+  -rwxr-xr-x 1 root root      29 Apr 10  2022 zegrep
+  -rwxr-xr-x 1 root root      29 Apr 10  2022 zfgrep
+  -rwxr-xr-x 1 root root    2081 Apr 10  2022 zforce
+  -rwxr-xr-x 1 root root    8103 Apr 10  2022 zgrep
+  -rwxr-xr-x 1 root root    2206 Apr 10  2022 zless
+  -rwxr-xr-x 1 root root    1842 Apr 10  2022 zmore
+  -rwxr-xr-x 1 root root    4577 Apr 10  2022 znew
+I: user script /srv/workspace/pbuilder/3362460/tmp/hooks/D02_print_environment finished
  -> Attempting to satisfy build-dependencies
  -> Creating pbuilder-satisfydepends-dummy package
 Package: pbuilder-satisfydepends-dummy
@@ -427,7 +459,7 @@
 Get: 194 http://deb.debian.org/debian bookworm/main amd64 texlive-pictures all 2022.20230122-3 [15.8 MB]
 Get: 195 http://deb.debian.org/debian bookworm/main amd64 texlive-latex-extra all 2022.20230122-3 [19.2 MB]
 Get: 196 http://deb.debian.org/debian bookworm/main amd64 texlive-plain-generic all 2022.20230122-3 [28.9 MB]
-Fetched 244 MB in 8s (28.8 MB/s)
+Fetched 244 MB in 3s (92.3 MB/s)
 debconf: delaying package configuration, since apt-utils is not installed
 Selecting previously unselected package libpython3.11-minimal:amd64.
 (Reading database ... 
(Reading database ... 5%
(Reading database ... 10%
(Reading database ... 15%
(Reading database ... 20%
(Reading database ... 25%
(Reading database ... 30%
(Reading database ... 35%
(Reading database ... 40%
(Reading database ... 45%
(Reading database ... 50%
(Reading database ... 55%
(Reading database ... 60%
(Reading database ... 65%
(Reading database ... 70%
(Reading database ... 75%
(Reading database ... 80%
(Reading database ... 85%
(Reading database ... 90%
(Reading database ... 95%
(Reading database ... 100%
(Reading database ... 19596 files and directories currently installed.)
@@ -1254,8 +1286,19 @@
 Writing extended state information...
 Building tag database...
  -> Finished parsing the build-deps
+Reading package lists...
+Building dependency tree...
+Reading state information...
+usrmerge is already the newest version (35).
+0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
 I: Building the package
-I: Running cd /build/sdformat-12.3.0+ds/ && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games" HOME="/nonexistent/first-build" dpkg-buildpackage -us -uc -b && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games" HOME="/nonexistent/first-build" dpkg-genchanges -S  > ../sdformat_12.3.0+ds-2_source.changes
+I: user script /srv/workspace/pbuilder/3362460/tmp/hooks/A99_set_merged_usr starting
+Re-configuring usrmerge...
+removed '/etc/unsupported-skip-usrmerge-conversion'
+The system has been successfully converted.
+I: user script /srv/workspace/pbuilder/3362460/tmp/hooks/A99_set_merged_usr finished
+hostname: Name or service not known
+I: Running cd /build/sdformat-12.3.0+ds/ && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path" HOME="/nonexistent/second-build" dpkg-buildpackage -us -uc -b && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path" HOME="/nonexistent/second-build" dpkg-genchanges -S  > ../sdformat_12.3.0+ds-2_source.changes
 dpkg-buildpackage: info: source package sdformat
 dpkg-buildpackage: info: source version 12.3.0+ds-2
 dpkg-buildpackage: info: source distribution unstable
@@ -1401,7 +1444,7 @@
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    dh_auto_build
-	cd obj-x86_64-linux-gnu && make -j15 "INSTALL=install --strip-program=true" VERBOSE=1
+	cd obj-x86_64-linux-gnu && make -j16 "INSTALL=install --strip-program=true" VERBOSE=1
 make[1]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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@@ -1409,689 +1452,689 @@
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+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/CMakeFiles/gtest.dir/DependInfo.cmake --color=
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+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/sdf/1.7 /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7/CMakeFiles/schema1_7.dir/DependInfo.cmake --color=
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-[  0%] Building CXX object test/CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -I/usr/include/ignition/math6 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o -MF CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o.d -o CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o -c /usr/src/gtest/src/gtest-all.cc
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+make  -f test/CMakeFiles/gtest.dir/build.make test/CMakeFiles/gtest.dir/build
+make  -f src/CMakeFiles/sdformat12.dir/build.make src/CMakeFiles/sdformat12.dir/build
+make  -f sdf/1.9/CMakeFiles/schema1_9.dir/build.make sdf/1.9/CMakeFiles/schema1_9.dir/build
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Actor.cc.o -MF CMakeFiles/sdformat12.dir/Actor.cc.o.d -o CMakeFiles/sdformat12.dir/Actor.cc.o -c /build/sdformat-12.3.0+ds/src/Actor.cc
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+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/actor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/air_pressure.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
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-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/AirPressure.cc.o -MF CMakeFiles/sdformat12.dir/AirPressure.cc.o.d -o CMakeFiles/sdformat12.dir/AirPressure.cc.o -c /build/sdformat-12.3.0+ds/src/AirPressure.cc
-[  1%] Building CXX object src/CMakeFiles/sdformat12.dir/Altimeter.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/actor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
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-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Altimeter.cc.o -MF CMakeFiles/sdformat12.dir/Altimeter.cc.o.d -o CMakeFiles/sdformat12.dir/Altimeter.cc.o -c /build/sdformat-12.3.0+ds/src/Altimeter.cc
+[  0%] Building CXX object test/CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o
+[  1%] Running xml schema compiler on battery.sdf
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+[  1%] Running xml schema compiler on audio_sink.sdf
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-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Atmosphere.cc.o -MF CMakeFiles/sdformat12.dir/Atmosphere.cc.o.d -o CMakeFiles/sdformat12.dir/Atmosphere.cc.o -c /build/sdformat-12.3.0+ds/src/Atmosphere.cc
+[  1%] Running xml schema compiler on air_pressure.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/actor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[  1%] Running xml schema compiler on actor.sdf
+[  1%] Running xml schema compiler on camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[  1%] Running xml schema compiler on actor.sdf
+[  1%] Building CXX object src/CMakeFiles/sdformat12.dir/Actor.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/actor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -I/usr/include/ignition/math6 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o -MF CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o.d -o CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o -c /usr/src/gtest/src/gtest-all.cc
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/actor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/air_pressure.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/actor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/air_pressure.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/actor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Actor.cc.o -MF CMakeFiles/sdformat12.dir/Actor.cc.o.d -o CMakeFiles/sdformat12.dir/Actor.cc.o -c /build/sdformat-12.3.0+ds/src/Actor.cc
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Box.cc.o -MF CMakeFiles/sdformat12.dir/Box.cc.o.d -o CMakeFiles/sdformat12.dir/Box.cc.o -c /build/sdformat-12.3.0+ds/src/Box.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/battery.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make  -f sdf/1.9/CMakeFiles/schema1_9.dir/build.make sdf/1.9/CMakeFiles/schema1_9.dir/build
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[  1%] Running xml schema compiler on actor.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/actor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[  1%] Running xml schema compiler on collision.sdf
 [  1%] Running xml schema compiler on altimeter.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[  1%] Running xml schema compiler on audio_source.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[  2%] Running xml schema compiler on atmosphere.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/collision.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
 [  2%] Running xml schema compiler on atmosphere.sdf
+[  2%] Running xml schema compiler on contact.sdf
+[  2%] Building CXX object src/CMakeFiles/sdformat12.dir/AirPressure.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/atmosphere.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/contact.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/AirPressure.cc.o -MF CMakeFiles/sdformat12.dir/AirPressure.cc.o.d -o CMakeFiles/sdformat12.dir/AirPressure.cc.o -c /build/sdformat-12.3.0+ds/src/AirPressure.cc
+[  2%] Running xml schema compiler on cylinder_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[  2%] Running xml schema compiler on audio_source.sdf
+[  2%] Running xml schema compiler on frame.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/frame.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[  3%] Running xml schema compiler on forcetorque.sdf
+[  4%] Building CXX object src/CMakeFiles/sdformat12.dir/Altimeter.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Altimeter.cc.o -MF CMakeFiles/sdformat12.dir/Altimeter.cc.o.d -o CMakeFiles/sdformat12.dir/Altimeter.cc.o -c /build/sdformat-12.3.0+ds/src/Altimeter.cc
+[  4%] Running xml schema compiler on atmosphere.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/atmosphere.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  2%] Running xml schema compiler on air_pressure.sdf
+[  4%] Running xml schema compiler on air_pressure.sdf
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/air_pressure.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[  2%] Running xml schema compiler on audio_source.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  3%] Running xml schema compiler on audio_sink.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  3%] Running xml schema compiler on air_pressure.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/air_pressure.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[  3%] Running xml schema compiler on audio_source.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[  3%] Running xml schema compiler on audio_sink.sdf
+[  4%] Running xml schema compiler on audio_sink.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[  3%] Running xml schema compiler on altimeter.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[  3%] Running xml schema compiler on battery.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/battery.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  3%] Running xml schema compiler on battery.sdf
+[  4%] Running xml schema compiler on air_pressure.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/air_pressure.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
+[  4%] Running xml schema compiler on audio_source.sdf
+[  4%] Running xml schema compiler on geometry.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[  4%] Running xml schema compiler on battery.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[  4%] Running xml schema compiler on gps.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/battery.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[  3%] Running xml schema compiler on box_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  3%] Running xml schema compiler on box_shape.sdf
-[  3%] Running xml schema compiler on camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/gps.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[  5%] Running xml schema compiler on audio_sink.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[  5%] Running xml schema compiler on box_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  3%] Running xml schema compiler on audio_sink.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[  3%] Running xml schema compiler on altimeter.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[  4%] Running xml schema compiler on atmosphere.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/atmosphere.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[  4%] Building CXX object src/CMakeFiles/sdformat12.dir/Camera.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Camera.cc.o -MF CMakeFiles/sdformat12.dir/Camera.cc.o.d -o CMakeFiles/sdformat12.dir/Camera.cc.o -c /build/sdformat-12.3.0+ds/src/Camera.cc
-[  4%] Running xml schema compiler on camera.sdf
+[  5%] Running xml schema compiler on camera.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[  5%] Running xml schema compiler on gripper.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[  5%] Running xml schema compiler on altimeter.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[  5%] Running xml schema compiler on altimeter.sdf
 [  5%] Running xml schema compiler on battery.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/battery.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/battery.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
 [  6%] Running xml schema compiler on collision.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/collision.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  6%] Running xml schema compiler on contact.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/contact.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  7%] Running xml schema compiler on collision.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/collision.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[  7%] Running xml schema compiler on atmosphere.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/atmosphere.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[  7%] Running xml schema compiler on audio_source.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[  7%] Running xml schema compiler on cylinder_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  7%] Running xml schema compiler on box_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[  7%] Running xml schema compiler on frame.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/frame.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  7%] Running xml schema compiler on contact.sdf
+[  6%] Running xml schema compiler on box_shape.sdf
+[  6%] Running xml schema compiler on contact.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/contact.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[  7%] Running xml schema compiler on audio_source.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[  7%] Running xml schema compiler on forcetorque.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[  6%] Running xml schema compiler on gui.sdf
+[  6%] Running xml schema compiler on camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/gui.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[  7%] Running xml schema compiler on heightmap_shape.sdf
 [  7%] Running xml schema compiler on cylinder_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[  7%] Running xml schema compiler on audio_sink.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[  7%] Running xml schema compiler on geometry.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  7%] Running xml schema compiler on camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[  8%] Running xml schema compiler on gps.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/gps.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[  7%] Running xml schema compiler on image_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[  8%] Running xml schema compiler on atmosphere.sdf
+[  8%] Running xml schema compiler on atmosphere.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/atmosphere.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/atmosphere.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
 [  8%] Running xml schema compiler on frame.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/frame.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[  8%] Running xml schema compiler on gripper.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  8%] Running xml schema compiler on battery.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/battery.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[  9%] Running xml schema compiler on audio_sink.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[  9%] Running xml schema compiler on heightmap_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  9%] Running xml schema compiler on gui.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/gui.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  9%] Running xml schema compiler on image_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  9%] Running xml schema compiler on forcetorque.sdf
+[  8%] Running xml schema compiler on audio_source.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
+[  8%] Running xml schema compiler on forcetorque.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
 [  9%] Running xml schema compiler on collision.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/collision.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[  9%] Running xml schema compiler on imu.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/imu.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[  9%] Running xml schema compiler on box_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[  9%] Running xml schema compiler on battery.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/battery.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[  9%] Running xml schema compiler on camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 10%] Running xml schema compiler on capsule_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/capsule_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 11%] Running xml schema compiler on inertial.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 12%] Running xml schema compiler on geometry.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/collision.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 10%] Running xml schema compiler on geometry.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 12%] Running xml schema compiler on collision.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/collision.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 12%] Running xml schema compiler on contact.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/contact.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 12%] Running xml schema compiler on joint.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/joint.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 12%] Running xml schema compiler on contact.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/contact.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 12%] Running xml schema compiler on lidar.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/lidar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 12%] Running xml schema compiler on cylinder_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 12%] Running xml schema compiler on box_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 12%] Running xml schema compiler on ellipsoid_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/ellipsoid_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 12%] Running xml schema compiler on light.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/light.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 12%] Running xml schema compiler on gps.sdf
+[ 10%] Running xml schema compiler on gps.sdf
+[ 10%] Running xml schema compiler on imu.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/gps.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/imu.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 10%] Running xml schema compiler on inertial.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 10%] Running xml schema compiler on joint.sdf
+[ 10%] Running xml schema compiler on audio_source.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/joint.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 11%] Running xml schema compiler on light.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 11%] Running xml schema compiler on contact.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/light.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/contact.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 12%] Running xml schema compiler on audio_sink.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
+[ 12%] Running xml schema compiler on battery.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/battery.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
+[ 12%] Running xml schema compiler on gripper.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 12%] Running xml schema compiler on gui.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/gui.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
 [ 12%] Running xml schema compiler on cylinder_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 12%] Running xml schema compiler on heightmap_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
 [ 12%] Running xml schema compiler on light_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 12%] Running xml schema compiler on link.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/link.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
 [ 12%] Running xml schema compiler on frame.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/frame.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/frame.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 12%] Running xml schema compiler on audio_sink.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 12%] Running xml schema compiler on link_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 12%] Running xml schema compiler on box_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
 [ 12%] Running xml schema compiler on camera.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 12%] Running xml schema compiler on capsule_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/capsule_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 12%] Running xml schema compiler on gripper.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 12%] Running xml schema compiler on logical_camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 12%] Running xml schema compiler on image_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
 [ 12%] Running xml schema compiler on forcetorque.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 13%] Running xml schema compiler on frame.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/frame.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 14%] Running xml schema compiler on forcetorque.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 14%] Running xml schema compiler on link.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/link.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 15%] Running xml schema compiler on link_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 16%] Running xml schema compiler on collision.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 13%] Running xml schema compiler on imu.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/imu.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 13%] Running xml schema compiler on magnetometer.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 13%] Running xml schema compiler on inertial.sdf
+[ 13%] Running xml schema compiler on geometry.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 13%] Running xml schema compiler on battery.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/battery.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 14%] Running xml schema compiler on material.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/material.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 14%] Running xml schema compiler on capsule_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/capsule_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
+[ 14%] Running xml schema compiler on mesh_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 14%] Running xml schema compiler on model.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/model.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 15%] Running xml schema compiler on collision.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/collision.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 16%] Running xml schema compiler on gui.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/gui.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 16%] Running xml schema compiler on geometry.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 15%] Running xml schema compiler on joint.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/joint.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 15%] Running xml schema compiler on model_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 15%] Running xml schema compiler on box_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 16%] Running xml schema compiler on gps.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/gps.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 16%] Running xml schema compiler on lidar.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/lidar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
 [ 16%] Running xml schema compiler on contact.sdf
+[ 16%] Running xml schema compiler on light.sdf
+[ 16%] Running xml schema compiler on light_state.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/contact.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 16%] Running xml schema compiler on geometry.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 16%] Running xml schema compiler on gps.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/gps.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 16%] Running xml schema compiler on logical_camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 16%] Running xml schema compiler on heightmap_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 16%] Running xml schema compiler on gps.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/gps.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 16%] Running xml schema compiler on magnetometer.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 16%] Running xml schema compiler on gripper.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/light.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 16%] Running xml schema compiler on noise.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/noise.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 16%] Running xml schema compiler on physics.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/physics.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
 [ 16%] Running xml schema compiler on cylinder_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-In file included from /usr/src/gtest/src/gtest-all.cc:49:
-/usr/src/gtest/src/gtest.cc: In member function 'void testing::internal::edit_distance::{anonymous}::Hunk::PushLine(char, const char*)':
-/usr/src/gtest/src/gtest.cc:1374:12: warning: switch missing default case [-Wswitch-default]
- 1374 |     switch (edit) {
-      |            ^
-[ 16%] Running xml schema compiler on material.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/material.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 16%] Running xml schema compiler on gui.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/gui.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 16%] Running xml schema compiler on ellipsoid_shape.sdf
+[ 17%] Running xml schema compiler on plane_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 17%] Running xml schema compiler on camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 18%] Running xml schema compiler on link.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/link.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 18%] Running xml schema compiler on plugin.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 18%] Running xml schema compiler on gripper.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 18%] Running xml schema compiler on link_state.sdf
+[ 18%] Running xml schema compiler on polyline_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 18%] Running xml schema compiler on ellipsoid_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 18%] Running xml schema compiler on gui.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/ellipsoid_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 16%] Running xml schema compiler on mesh_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 16%] Running xml schema compiler on frame.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/gui.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 18%] Running xml schema compiler on population.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/population.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 18%] Running xml schema compiler on pose.sdf
+[ 18%] Running xml schema compiler on projector.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/pose.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/projector.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 18%] Running xml schema compiler on logical_camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 19%] Running xml schema compiler on ray.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/ray.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 19%] Running xml schema compiler on rfidtag.sdf
+[ 19%] Running xml schema compiler on frame.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 19%] Running xml schema compiler on forcetorque.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/frame.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 17%] Running xml schema compiler on image_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 17%] Running xml schema compiler on heightmap_shape.sdf
-[ 17%] Running xml schema compiler on gripper.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 17%] Running xml schema compiler on model.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/model.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 18%] Running xml schema compiler on model_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 18%] Running xml schema compiler on imu.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/imu.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 18%] Running xml schema compiler on noise.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/noise.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 18%] Running xml schema compiler on forcetorque.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 18%] Running xml schema compiler on gui.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/gui.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 18%] Running xml schema compiler on particle_emitter.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/particle_emitter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 18%] Running xml schema compiler on image_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 19%] Running xml schema compiler on imu.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/imu.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 19%] Running xml schema compiler on joint.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/joint.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 19%] Running xml schema compiler on inertial.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 19%] Running xml schema compiler on physics.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/physics.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 20%] Running xml schema compiler on geometry.sdf
+[ 19%] Running xml schema compiler on heightmap_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 19%] Running xml schema compiler on magnetometer.sdf
+[ 20%] Running xml schema compiler on capsule_shape.sdf
+[ 20%] Running xml schema compiler on image_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/capsule_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 20%] Running xml schema compiler on imu.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/imu.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 20%] Running xml schema compiler on rfid.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 20%] Running xml schema compiler on road.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/road.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 20%] Running xml schema compiler on material.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/material.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 20%] Running xml schema compiler on root.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/root.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 21%] Running xml schema compiler on geometry.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 20%] Running xml schema compiler on plane_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 21%] Running xml schema compiler on heightmap_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 21%] Running xml schema compiler on plugin.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 21%] Running xml schema compiler on gps.sdf
+[ 21%] Running xml schema compiler on collision.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/collision.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 22%] Running xml schema compiler on inertial.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 22%] Running xml schema compiler on mesh_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 22%] Running xml schema compiler on gps.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/gps.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 21%] Running xml schema compiler on inertial.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 21%] Running xml schema compiler on gripper.sdf
+[ 22%] Running xml schema compiler on gripper.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 22%] Running xml schema compiler on polyline_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 22%] Running xml schema compiler on lidar.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/lidar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 22%] Running xml schema compiler on light.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/light.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 22%] Running xml schema compiler on image_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 22%] Running xml schema compiler on joint.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/joint.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 22%] Running xml schema compiler on gui.sdf
+[ 23%] Running xml schema compiler on model.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/model.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 23%] Running xml schema compiler on joint.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/joint.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 23%] Running xml schema compiler on scene.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/scene.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 24%] Running xml schema compiler on sensor.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+In file included from /usr/src/gtest/src/gtest-all.cc:49:
+/usr/src/gtest/src/gtest.cc: In member function 'void testing::internal::edit_distance::{anonymous}::Hunk::PushLine(char, const char*)':
+/usr/src/gtest/src/gtest.cc:1374:12: warning: switch missing default case [-Wswitch-default]
+ 1374 |     switch (edit) {
+      |            ^
+[ 24%] Running xml schema compiler on spherical_coordinates.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 24%] Running xml schema compiler on sphere_shape.sdf
+[ 24%] Running xml schema compiler on sonar.sdf
+[ 24%] Running xml schema compiler on gui.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/gui.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 22%] Running xml schema compiler on population.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/population.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 22%] Running xml schema compiler on heightmap_shape.sdf
+[ 24%] Running xml schema compiler on lidar.sdf
+[ 24%] Running xml schema compiler on contact.sdf
+[ 24%] Running xml schema compiler on heightmap_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/lidar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/contact.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 22%] Running xml schema compiler on pose.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/pose.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 23%] Running xml schema compiler on light_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 23%] Running xml schema compiler on imu.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/imu.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 23%] Running xml schema compiler on link.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/link.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 23%] Running xml schema compiler on lidar.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/lidar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 23%] Running xml schema compiler on image_shape.sdf
+[ 24%] Running xml schema compiler on image_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 24%] Running xml schema compiler on imu.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/imu.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 24%] Running xml schema compiler on projector.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/projector.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 24%] Running xml schema compiler on ray.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/ray.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 24%] Running xml schema compiler on link_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 24%] Running xml schema compiler on model_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
 [ 24%] Running xml schema compiler on light.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/light.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 24%] Running xml schema compiler on inertial.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 24%] Running xml schema compiler on logical_camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 24%] Running xml schema compiler on inertial.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/light.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 24%] Running xml schema compiler on state.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 24%] Running xml schema compiler on surface.sdf
+[ 25%] Running xml schema compiler on imu.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/imu.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/surface.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 25%] Running xml schema compiler on cylinder_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 25%] Running xml schema compiler on ellipsoid_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/ellipsoid_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 25%] Running xml schema compiler on inertial.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 25%] Running xml schema compiler on rfidtag.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 25%] Running xml schema compiler on rfid.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
 [ 25%] Running xml schema compiler on light_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 25%] Running xml schema compiler on joint.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/joint.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 25%] Running xml schema compiler on material.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/material.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 25%] Running xml schema compiler on magnetometer.sdf
-[ 25%] Running xml schema compiler on joint.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 25%] Running xml schema compiler on link.sdf
+[ 25%] Building CXX object src/CMakeFiles/sdformat12.dir/Atmosphere.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/link.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Atmosphere.cc.o -MF CMakeFiles/sdformat12.dir/Atmosphere.cc.o.d -o CMakeFiles/sdformat12.dir/Atmosphere.cc.o -c /build/sdformat-12.3.0+ds/src/Atmosphere.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 26%] Running xml schema compiler on transceiver.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 26%] Running xml schema compiler on noise.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/noise.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 27%] Running xml schema compiler on link_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 27%] Running xml schema compiler on visual.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/visual.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 27%] Running xml schema compiler on joint.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/joint.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 25%] Running xml schema compiler on road.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/road.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 26%] Running xml schema compiler on link.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/link.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 26%] Running xml schema compiler on root.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/root.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 26%] Running xml schema compiler on lidar.sdf
+[ 28%] Running xml schema compiler on frame.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/frame.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 28%] Running xml schema compiler on forcetorque.sdf
+[ 28%] Running xml schema compiler on logical_camera.sdf
+[ 28%] Running xml schema compiler on lidar.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/lidar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 27%] Running xml schema compiler on mesh_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 27%] Running xml schema compiler on link_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 28%] Running xml schema compiler on light.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/light.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 28%] Running xml schema compiler on model.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/model.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 28%] Running xml schema compiler on scene.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/scene.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 28%] Running xml schema compiler on world.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/world.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 28%] Running xml schema compiler on magnetometer.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 28%] Running xml schema compiler on particle_emitter.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/particle_emitter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 28%] Running xml schema compiler on physics.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/physics.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 28%] Running xml schema compiler on material.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/material.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 28%] Running xml schema compiler on geometry.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 28%] Running xml schema compiler on plane_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
 [ 28%] Running xml schema compiler on light.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/light.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 28%] Running xml schema compiler on sensor.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 28%] Running xml schema compiler on logical_camera.sdf
+[ 28%] Running xml schema compiler on mesh_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 28%] Running xml schema compiler on gps.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/gps.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 28%] Running xml schema compiler on model.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/model.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
 [ 28%] Running xml schema compiler on light_state.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 28%] Running xml schema compiler on model_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 28%] Running xml schema compiler on spherical_coordinates.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 28%] Running xml schema compiler on light_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 29%] Running xml schema compiler on link.sdf
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 29%] Running xml schema compiler on plugin.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 29%] Built target schema1_5
+[ 30%] Running xml schema compiler on link.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/link.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 29%] Running xml schema compiler on link_state.sdf
+[ 30%] Running xml schema compiler on polyline_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 30%] Running xml schema compiler on population.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/population.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 30%] Running xml schema compiler on gripper.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 30%] Running xml schema compiler on link_state.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 29%] Running xml schema compiler on magnetometer.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 29%] Running xml schema compiler on noise.sdf
-[ 30%] Running xml schema compiler on sphere_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/noise.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 30%] Running xml schema compiler on particle_emitter.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/particle_emitter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 30%] Running xml schema compiler on sonar.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 30%] Running xml schema compiler on link.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/link.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 30%] Running xml schema compiler on logical_camera.sdf
+[ 31%] Running xml schema compiler on model_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 31%] Running xml schema compiler on gui.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/gui.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 31%] Running xml schema compiler on logical_camera.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 30%] Running xml schema compiler on magnetometer.sdf
+[ 31%] Running xml schema compiler on noise.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/noise.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 31%] Running xml schema compiler on particle_emitter.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/particle_emitter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 31%] Running xml schema compiler on pose.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/pose.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 31%] Running xml schema compiler on projector.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/projector.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 31%] Running xml schema compiler on magnetometer.sdf
+[ 31%] Running xml schema compiler on heightmap_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 30%] Running xml schema compiler on state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 31%] Running xml schema compiler on physics.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/physics.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 31%] Running xml schema compiler on material.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
 [ 31%] Running xml schema compiler on material.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/material.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/material.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 31%] Running xml schema compiler on surface.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/surface.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 31%] Running xml schema compiler on ray.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/ray.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 31%] Running xml schema compiler on physics.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/physics.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
 [ 31%] Running xml schema compiler on mesh_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 32%] Running xml schema compiler on model.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/model.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 32%] Running xml schema compiler on transceiver.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 32%] Running xml schema compiler on link_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 32%] Running xml schema compiler on mesh_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 32%] Running xml schema compiler on image_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
 [ 32%] Running xml schema compiler on plane_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 32%] Running xml schema compiler on model_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 32%] Running xml schema compiler on rfidtag.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 32%] Running xml schema compiler on plugin.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 33%] Running xml schema compiler on rfid.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 34%] Running xml schema compiler on model.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/model.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
+[ 34%] Running xml schema compiler on imu.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/imu.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 34%] Running xml schema compiler on model_state.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 33%] Running xml schema compiler on visual.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/visual.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 33%] Running xml schema compiler on noise.sdf
+[ 34%] Running xml schema compiler on road.sdf
+[ 34%] Running xml schema compiler on inertial.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/road.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 34%] Running xml schema compiler on noise.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/noise.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 33%] Running xml schema compiler on world.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/world.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
-[ 33%] Running xml schema compiler on particle_emitter.sdf
+[ 35%] Running xml schema compiler on polyline_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 35%] Running xml schema compiler on population.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/population.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 35%] Running xml schema compiler on pose.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/pose.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 35%] Running xml schema compiler on projector.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/projector.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 35%] Running xml schema compiler on root.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/root.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 35%] Running xml schema compiler on scene.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/scene.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 35%] Running xml schema compiler on particle_emitter.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/particle_emitter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 33%] Running xml schema compiler on physics.sdf
+[ 35%] Running xml schema compiler on physics.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/physics.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 33%] Running xml schema compiler on logical_camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 33%] Running xml schema compiler on plugin.sdf
-[ 33%] Running xml schema compiler on magnetometer.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 34%] Running xml schema compiler on model.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/model.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 34%] Running xml schema compiler on plane_shape.sdf
+[ 35%] Running xml schema compiler on sensor.sdf
+[ 35%] Running xml schema compiler on joint.sdf
+[ 35%] Running xml schema compiler on plane_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/joint.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 35%] Running xml schema compiler on plugin.sdf
+[ 35%] Running xml schema compiler on ray.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/ray.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 36%] Running xml schema compiler on rfidtag.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 36%] Running xml schema compiler on rfid.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 37%] Running xml schema compiler on plugin.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 36%] Running xml schema compiler on material.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/material.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 36%] Running xml schema compiler on mesh_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 36%] Running xml schema compiler on polyline_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 36%] Built target schema1_7
-[ 36%] Running xml schema compiler on model_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 36%] Running xml schema compiler on polyline_shape.sdf
+[ 37%] Running xml schema compiler on spherical_coordinates.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 37%] Running xml schema compiler on polyline_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 36%] Running xml schema compiler on model.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/model.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 36%] Running xml schema compiler on noise.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/noise.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 36%] Running xml schema compiler on population.sdf
+[ 37%] Running xml schema compiler on road.sdf
+[ 37%] Running xml schema compiler on sphere_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/road.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 37%] Running xml schema compiler on root.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/root.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 37%] Running xml schema compiler on population.sdf
+[ 37%] Running xml schema compiler on scene.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/population.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 36%] Running xml schema compiler on pose.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/scene.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 37%] Running xml schema compiler on pose.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/pose.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 36%] Running xml schema compiler on population.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/population.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 36%] Running xml schema compiler on model_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 36%] Running xml schema compiler on particle_emitter.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/particle_emitter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 36%] Running xml schema compiler on noise.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/noise.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 36%] Running xml schema compiler on physics.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/physics.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 36%] Running xml schema compiler on projector.sdf
+[ 38%] Running xml schema compiler on sonar.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 38%] Running xml schema compiler on sensor.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 38%] Running xml schema compiler on lidar.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/lidar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 38%] Running xml schema compiler on state.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 38%] Running xml schema compiler on surface.sdf
+[ 38%] Running xml schema compiler on projector.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/surface.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/projector.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 37%] Running xml schema compiler on ray.sdf
+[ 38%] Running xml schema compiler on spherical_coordinates.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 39%] Running xml schema compiler on ray.sdf
+[ 40%] Running xml schema compiler on sphere_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/ray.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 37%] Running xml schema compiler on rfidtag.sdf
-[ 37%] Running xml schema compiler on pose.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/pose.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 40%] Running xml schema compiler on sonar.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 40%] Running xml schema compiler on transceiver.sdf
+[ 40%] Running xml schema compiler on state.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 40%] Running xml schema compiler on light.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/light.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 40%] Running xml schema compiler on surface.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/surface.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 41%] Running xml schema compiler on visual.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/visual.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+[ 41%] Running xml schema compiler on rfidtag.sdf
+[ 41%] Running xml schema compiler on transceiver.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 38%] Running xml schema compiler on plane_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 38%] Running xml schema compiler on physics.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/physics.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 38%] Running xml schema compiler on plugin.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 38%] Running xml schema compiler on polyline_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 39%] Running xml schema compiler on projector.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/projector.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 39%] Running xml schema compiler on rfid.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 42%] Running xml schema compiler on visual.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/visual.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 42%] Running xml schema compiler on rfid.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 39%] Running xml schema compiler on road.sdf
+[ 42%] Running xml schema compiler on road.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/road.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 39%] Running xml schema compiler on root.sdf
+[ 42%] Running xml schema compiler on world.sdf
+[ 43%] Running xml schema compiler on light_state.sdf
+[ 43%] Running xml schema compiler on world.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/world.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/world.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.7
+[ 43%] Running xml schema compiler on link.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/link.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 43%] Building CXX object src/CMakeFiles/sdformat12.dir/Box.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Box.cc.o -MF CMakeFiles/sdformat12.dir/Box.cc.o.d -o CMakeFiles/sdformat12.dir/Box.cc.o -c /build/sdformat-12.3.0+ds/src/Box.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 43%] Building CXX object src/CMakeFiles/sdformat12.dir/Camera.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Camera.cc.o -MF CMakeFiles/sdformat12.dir/Camera.cc.o.d -o CMakeFiles/sdformat12.dir/Camera.cc.o -c /build/sdformat-12.3.0+ds/src/Camera.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 43%] Running xml schema compiler on root.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/root.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 39%] Running xml schema compiler on plane_shape.sdf
-[ 39%] Running xml schema compiler on population.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/population.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 39%] Running xml schema compiler on scene.sdf
+[ 43%] Running xml schema compiler on scene.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/scene.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 39%] Running xml schema compiler on ray.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/ray.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 39%] Running xml schema compiler on pose.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/pose.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 40%] Running xml schema compiler on sensor.sdf
+[ 44%] Running xml schema compiler on sensor.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 40%] Running xml schema compiler on projector.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/projector.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 41%] Running xml schema compiler on ray.sdf
-[ 42%] Running xml schema compiler on plugin.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/ray.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 42%] Running xml schema compiler on rfidtag.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 42%] Running xml schema compiler on rfidtag.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 42%] Running xml schema compiler on spherical_coordinates.sdf
+[ 44%] Building CXX object src/CMakeFiles/sdformat12.dir/Capsule.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Capsule.cc.o -MF CMakeFiles/sdformat12.dir/Capsule.cc.o.d -o CMakeFiles/sdformat12.dir/Capsule.cc.o -c /build/sdformat-12.3.0+ds/src/Capsule.cc
+[ 44%] Running xml schema compiler on link_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 44%] Running xml schema compiler on spherical_coordinates.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 42%] Running xml schema compiler on sphere_shape.sdf
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 44%] Running xml schema compiler on logical_camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 44%] Built target schema1_7
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 44%] Running xml schema compiler on sphere_shape.sdf
+[ 44%] Built target schema1_6
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 42%] Running xml schema compiler on rfid.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 42%] Running xml schema compiler on road.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/road.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 42%] Running xml schema compiler on root.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/root.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 42%] Running xml schema compiler on sonar.sdf
+[ 44%] Running xml schema compiler on sonar.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 42%] Running xml schema compiler on polyline_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 42%] Running xml schema compiler on state.sdf
-[ 42%] Running xml schema compiler on rfid.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 44%] Running xml schema compiler on state.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 42%] Running xml schema compiler on surface.sdf
+[ 44%] Running xml schema compiler on surface.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/surface.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 42%] Running xml schema compiler on scene.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/scene.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 43%] Running xml schema compiler on transceiver.sdf
-[ 44%] Running xml schema compiler on sensor.sdf
+[ 45%] Running xml schema compiler on transceiver.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 44%] Running xml schema compiler on population.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/population.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 44%] Running xml schema compiler on spherical_coordinates.sdf
-[ 44%] Running xml schema compiler on road.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/road.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 44%] Running xml schema compiler on visual.sdf
+[ 45%] Running xml schema compiler on magnetometer.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 45%] Running xml schema compiler on visual.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/visual.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 44%] Running xml schema compiler on sphere_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 44%] Running xml schema compiler on sonar.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 44%] Running xml schema compiler on state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 44%] Running xml schema compiler on surface.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/surface.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 44%] Running xml schema compiler on root.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/root.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 44%] Running xml schema compiler on pose.sdf
-[ 45%] Running xml schema compiler on transceiver.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/pose.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 45%] Running xml schema compiler on material.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/material.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
 [ 45%] Running xml schema compiler on world.sdf
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/world.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.8
-[ 45%] Running xml schema compiler on visual.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/visual.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
+[ 46%] Running xml schema compiler on mesh_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 46%] Running xml schema compiler on model.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/model.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 46%] Running xml schema compiler on model_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 46%] Running xml schema compiler on noise.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/noise.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 46%] Running xml schema compiler on particle_emitter.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/particle_emitter.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 47%] Running xml schema compiler on physics.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/physics.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 47%] Running xml schema compiler on plane_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 47%] Running xml schema compiler on plugin.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 45%] Running xml schema compiler on projector.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/projector.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 45%] Built target schema1_8
-[ 45%] Building CXX object src/CMakeFiles/sdformat12.dir/Capsule.cc.o
-[ 45%] Running xml schema compiler on world.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Capsule.cc.o -MF CMakeFiles/sdformat12.dir/Capsule.cc.o.d -o CMakeFiles/sdformat12.dir/Capsule.cc.o -c /build/sdformat-12.3.0+ds/src/Capsule.cc
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/world.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.5
-[ 46%] Running xml schema compiler on scene.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/scene.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 46%] Running xml schema compiler on ray.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/ray.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 46%] Running xml schema compiler on sensor.sdf
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 46%] Building CXX object src/CMakeFiles/sdformat12.dir/Collision.cc.o
+[ 47%] Built target schema1_8
+[ 47%] Building CXX object src/CMakeFiles/sdformat12.dir/Collision.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Collision.cc.o -MF CMakeFiles/sdformat12.dir/Collision.cc.o.d -o CMakeFiles/sdformat12.dir/Collision.cc.o -c /build/sdformat-12.3.0+ds/src/Collision.cc
-[ 46%] Running xml schema compiler on spherical_coordinates.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 46%] Running xml schema compiler on rfidtag.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 46%] Running xml schema compiler on sphere_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 47%] Running xml schema compiler on rfid.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 47%] Built target schema1_5
+[ 47%] Running xml schema compiler on polyline_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
 [ 48%] Building CXX object src/CMakeFiles/sdformat12.dir/Console.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Console.cc.o -MF CMakeFiles/sdformat12.dir/Console.cc.o.d -o CMakeFiles/sdformat12.dir/Console.cc.o -c /build/sdformat-12.3.0+ds/src/Console.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 48%] Running xml schema compiler on road.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/road.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 48%] Running xml schema compiler on root.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/root.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 48%] Running xml schema compiler on sonar.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 48%] Running xml schema compiler on state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 48%] Running xml schema compiler on scene.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/scene.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 48%] Building CXX object src/CMakeFiles/sdformat12.dir/Converter.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Converter.cc.o -MF CMakeFiles/sdformat12.dir/Converter.cc.o.d -o CMakeFiles/sdformat12.dir/Converter.cc.o -c /build/sdformat-12.3.0+ds/src/Converter.cc
-[ 48%] Running xml schema compiler on sensor.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 49%] Running xml schema compiler on surface.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/surface.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 49%] Running xml schema compiler on spherical_coordinates.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 49%] Running xml schema compiler on sphere_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 49%] Running xml schema compiler on transceiver.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 48%] Running xml schema compiler on population.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/population.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 48%] Running xml schema compiler on pose.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/pose.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 49%] Running xml schema compiler on projector.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/projector.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 49%] Running xml schema compiler on ray.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/ray.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 49%] Running xml schema compiler on rfidtag.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 49%] Running xml schema compiler on rfid.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 49%] Running xml schema compiler on road.sdf
+[ 49%] Building CXX object src/CMakeFiles/sdformat12.dir/Converter.cc.o
 [ 49%] Building CXX object src/CMakeFiles/sdformat12.dir/Cylinder.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/road.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Converter.cc.o -MF CMakeFiles/sdformat12.dir/Converter.cc.o.d -o CMakeFiles/sdformat12.dir/Converter.cc.o -c /build/sdformat-12.3.0+ds/src/Converter.cc
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Cylinder.cc.o -MF CMakeFiles/sdformat12.dir/Cylinder.cc.o.d -o CMakeFiles/sdformat12.dir/Cylinder.cc.o -c /build/sdformat-12.3.0+ds/src/Cylinder.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 49%] Running xml schema compiler on root.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/root.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 50%] Running xml schema compiler on scene.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/scene.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 50%] Running xml schema compiler on sensor.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 50%] Running xml schema compiler on spherical_coordinates.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 50%] Running xml schema compiler on sphere_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
 [ 50%] Running xml schema compiler on sonar.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
 [ 50%] Running xml schema compiler on state.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 50%] Running xml schema compiler on surface.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/surface.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 50%] Running xml schema compiler on visual.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/visual.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
-[ 50%] Running xml schema compiler on transceiver.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-[ 50%] Running xml schema compiler on world.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/world.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/state.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 51%] Running xml schema compiler on surface.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/surface.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 51%] Running xml schema compiler on transceiver.sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
 [ 51%] Running xml schema compiler on visual.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/visual.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/visual.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
 [ 51%] Running xml schema compiler on world.sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/world.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.6
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 51%] Built target schema1_9
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/world.sdf -o /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/sdf/1.9
+[ 51%] Building CXX object src/CMakeFiles/sdformat12.dir/Element.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Element.cc.o -MF CMakeFiles/sdformat12.dir/Element.cc.o.d -o CMakeFiles/sdformat12.dir/Element.cc.o -c /build/sdformat-12.3.0+ds/src/Element.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 51%] Building CXX object src/CMakeFiles/sdformat12.dir/Ellipsoid.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Ellipsoid.cc.o -MF CMakeFiles/sdformat12.dir/Ellipsoid.cc.o.d -o CMakeFiles/sdformat12.dir/Ellipsoid.cc.o -c /build/sdformat-12.3.0+ds/src/Ellipsoid.cc
+[ 51%] Building CXX object src/CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o -MF CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o.d -o CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o -c /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/EmbeddedSdf.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 51%] Built target schema1_6
-[ 51%] Building CXX object src/CMakeFiles/sdformat12.dir/Element.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Element.cc.o -MF CMakeFiles/sdformat12.dir/Element.cc.o.d -o CMakeFiles/sdformat12.dir/Element.cc.o -c /build/sdformat-12.3.0+ds/src/Element.cc
+[ 51%] Built target schema1_9
 [ 52%] Building CXX object src/CMakeFiles/sdformat12.dir/Error.cc.o
-[ 52%] Building CXX object src/CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Error.cc.o -MF CMakeFiles/sdformat12.dir/Error.cc.o.d -o CMakeFiles/sdformat12.dir/Error.cc.o -c /build/sdformat-12.3.0+ds/src/Error.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o -MF CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o.d -o CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o -c /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/EmbeddedSdf.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 52%] Building CXX object src/CMakeFiles/sdformat12.dir/Exception.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Exception.cc.o -MF CMakeFiles/sdformat12.dir/Exception.cc.o.d -o CMakeFiles/sdformat12.dir/Exception.cc.o -c /build/sdformat-12.3.0+ds/src/Exception.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
@@ -2137,13 +2180,6 @@
 [ 54%] Building CXX object src/CMakeFiles/sdformat12.dir/InterfaceModelPoseGraph.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/InterfaceModelPoseGraph.cc.o -MF CMakeFiles/sdformat12.dir/InterfaceModelPoseGraph.cc.o.d -o CMakeFiles/sdformat12.dir/InterfaceModelPoseGraph.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceModelPoseGraph.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 54%] Linking CXX static library libgtest.a
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test && /usr/bin/cmake -P CMakeFiles/gtest.dir/cmake_clean_target.cmake
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-/usr/bin/ar qc libgtest.a "CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o"
-/usr/bin/ranlib libgtest.a
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 54%] Built target gtest
 [ 54%] Building CXX object src/CMakeFiles/sdformat12.dir/Imu.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Imu.cc.o -MF CMakeFiles/sdformat12.dir/Imu.cc.o.d -o CMakeFiles/sdformat12.dir/Imu.cc.o -c /build/sdformat-12.3.0+ds/src/Imu.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
@@ -2153,121 +2189,128 @@
 [ 55%] Building CXX object src/CMakeFiles/sdformat12.dir/JointAxis.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/JointAxis.cc.o -MF CMakeFiles/sdformat12.dir/JointAxis.cc.o.d -o CMakeFiles/sdformat12.dir/JointAxis.cc.o -c /build/sdformat-12.3.0+ds/src/JointAxis.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 55%] Building CXX object src/CMakeFiles/sdformat12.dir/Lidar.cc.o
+[ 55%] Linking CXX static library libgtest.a
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test && /usr/bin/cmake -P CMakeFiles/gtest.dir/cmake_clean_target.cmake
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+/usr/bin/ar qc libgtest.a "CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o"
+/usr/bin/ranlib libgtest.a
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 55%] Built target gtest
+make  -f test/CMakeFiles/gtest_main.dir/build.make test/CMakeFiles/gtest_main.dir/depend
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/CMakeFiles/gtest_main.dir/DependInfo.cmake --color=
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make  -f test/CMakeFiles/gtest_main.dir/build.make test/CMakeFiles/gtest_main.dir/build
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 56%] Building CXX object test/CMakeFiles/gtest_main.dir/usr/src/gtest/src/gtest_main.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -I/usr/include/ignition/math6 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/CMakeFiles/gtest_main.dir/usr/src/gtest/src/gtest_main.cc.o -MF CMakeFiles/gtest_main.dir/usr/src/gtest/src/gtest_main.cc.o.d -o CMakeFiles/gtest_main.dir/usr/src/gtest/src/gtest_main.cc.o -c /usr/src/gtest/src/gtest_main.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 56%] Building CXX object src/CMakeFiles/sdformat12.dir/Lidar.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Lidar.cc.o -MF CMakeFiles/sdformat12.dir/Lidar.cc.o.d -o CMakeFiles/sdformat12.dir/Lidar.cc.o -c /build/sdformat-12.3.0+ds/src/Lidar.cc
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-[ 55%] Building CXX object src/CMakeFiles/sdformat12.dir/Light.cc.o
+[ 56%] Building CXX object src/CMakeFiles/sdformat12.dir/Light.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Light.cc.o -MF CMakeFiles/sdformat12.dir/Light.cc.o.d -o CMakeFiles/sdformat12.dir/Light.cc.o -c /build/sdformat-12.3.0+ds/src/Light.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
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+[ 56%] Building CXX object src/CMakeFiles/sdformat12.dir/Link.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Link.cc.o -MF CMakeFiles/sdformat12.dir/Link.cc.o.d -o CMakeFiles/sdformat12.dir/Link.cc.o -c /build/sdformat-12.3.0+ds/src/Link.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 55%] Building CXX object src/CMakeFiles/sdformat12.dir/Magnetometer.cc.o
+[ 56%] Building CXX object src/CMakeFiles/sdformat12.dir/Magnetometer.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Magnetometer.cc.o -MF CMakeFiles/sdformat12.dir/Magnetometer.cc.o.d -o CMakeFiles/sdformat12.dir/Magnetometer.cc.o -c /build/sdformat-12.3.0+ds/src/Magnetometer.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 56%] Building CXX object src/CMakeFiles/sdformat12.dir/Material.cc.o
+[ 57%] Building CXX object src/CMakeFiles/sdformat12.dir/Material.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Material.cc.o -MF CMakeFiles/sdformat12.dir/Material.cc.o.d -o CMakeFiles/sdformat12.dir/Material.cc.o -c /build/sdformat-12.3.0+ds/src/Material.cc
+[ 57%] Linking CXX static library libgtest_main.a
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test && /usr/bin/cmake -P CMakeFiles/gtest_main.dir/cmake_clean_target.cmake
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 56%] Building CXX object src/CMakeFiles/sdformat12.dir/Mesh.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test && /usr/bin/cmake -E cmake_link_script CMakeFiles/gtest_main.dir/link.txt --verbose=1
+/usr/bin/ar qc libgtest_main.a CMakeFiles/gtest_main.dir/usr/src/gtest/src/gtest_main.cc.o
+/usr/bin/ranlib libgtest_main.a
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 57%] Built target gtest_main
+[ 57%] Building CXX object src/CMakeFiles/sdformat12.dir/Mesh.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Mesh.cc.o -MF CMakeFiles/sdformat12.dir/Mesh.cc.o.d -o CMakeFiles/sdformat12.dir/Mesh.cc.o -c /build/sdformat-12.3.0+ds/src/Mesh.cc
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+[ 57%] Building CXX object src/CMakeFiles/sdformat12.dir/Model.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Model.cc.o -MF CMakeFiles/sdformat12.dir/Model.cc.o.d -o CMakeFiles/sdformat12.dir/Model.cc.o -c /build/sdformat-12.3.0+ds/src/Model.cc
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 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/NavSat.cc.o -MF CMakeFiles/sdformat12.dir/NavSat.cc.o.d -o CMakeFiles/sdformat12.dir/NavSat.cc.o -c /build/sdformat-12.3.0+ds/src/NavSat.cc
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+[ 57%] Building CXX object src/CMakeFiles/sdformat12.dir/Noise.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Noise.cc.o -MF CMakeFiles/sdformat12.dir/Noise.cc.o.d -o CMakeFiles/sdformat12.dir/Noise.cc.o -c /build/sdformat-12.3.0+ds/src/Noise.cc
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-[ 56%] Building CXX object src/CMakeFiles/sdformat12.dir/parser.cc.o
+[ 57%] Building CXX object src/CMakeFiles/sdformat12.dir/parser.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/parser.cc.o -MF CMakeFiles/sdformat12.dir/parser.cc.o.d -o CMakeFiles/sdformat12.dir/parser.cc.o -c /build/sdformat-12.3.0+ds/src/parser.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 57%] Building CXX object src/CMakeFiles/sdformat12.dir/parser_urdf.cc.o
+[ 58%] Building CXX object src/CMakeFiles/sdformat12.dir/parser_urdf.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/parser_urdf.cc.o -MF CMakeFiles/sdformat12.dir/parser_urdf.cc.o.d -o CMakeFiles/sdformat12.dir/parser_urdf.cc.o -c /build/sdformat-12.3.0+ds/src/parser_urdf.cc
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-[ 57%] Building CXX object src/CMakeFiles/sdformat12.dir/ParserConfig.cc.o
+[ 58%] Building CXX object src/CMakeFiles/sdformat12.dir/ParserConfig.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/ParserConfig.cc.o -MF CMakeFiles/sdformat12.dir/ParserConfig.cc.o.d -o CMakeFiles/sdformat12.dir/ParserConfig.cc.o -c /build/sdformat-12.3.0+ds/src/ParserConfig.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 57%] Building CXX object src/CMakeFiles/sdformat12.dir/Param.cc.o
+[ 58%] Building CXX object src/CMakeFiles/sdformat12.dir/Param.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Param.cc.o -MF CMakeFiles/sdformat12.dir/Param.cc.o.d -o CMakeFiles/sdformat12.dir/Param.cc.o -c /build/sdformat-12.3.0+ds/src/Param.cc
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+[ 58%] Building CXX object src/CMakeFiles/sdformat12.dir/ParamPassing.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/ParamPassing.cc.o -MF CMakeFiles/sdformat12.dir/ParamPassing.cc.o.d -o CMakeFiles/sdformat12.dir/ParamPassing.cc.o -c /build/sdformat-12.3.0+ds/src/ParamPassing.cc
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+[ 58%] Building CXX object src/CMakeFiles/sdformat12.dir/ParticleEmitter.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/ParticleEmitter.cc.o -MF CMakeFiles/sdformat12.dir/ParticleEmitter.cc.o.d -o CMakeFiles/sdformat12.dir/ParticleEmitter.cc.o -c /build/sdformat-12.3.0+ds/src/ParticleEmitter.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
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+[ 58%] Building CXX object src/CMakeFiles/sdformat12.dir/Pbr.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Pbr.cc.o -MF CMakeFiles/sdformat12.dir/Pbr.cc.o.d -o CMakeFiles/sdformat12.dir/Pbr.cc.o -c /build/sdformat-12.3.0+ds/src/Pbr.cc
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-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Physics.cc.o -MF CMakeFiles/sdformat12.dir/Physics.cc.o.d -o CMakeFiles/sdformat12.dir/Physics.cc.o -c /build/sdformat-12.3.0+ds/src/Physics.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
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+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Physics.cc.o -MF CMakeFiles/sdformat12.dir/Physics.cc.o.d -o CMakeFiles/sdformat12.dir/Physics.cc.o -c /build/sdformat-12.3.0+ds/src/Physics.cc
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-[ 58%] Building CXX object src/CMakeFiles/sdformat12.dir/Plane.cc.o
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 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Root.cc.o -MF CMakeFiles/sdformat12.dir/Root.cc.o.d -o CMakeFiles/sdformat12.dir/Root.cc.o -c /build/sdformat-12.3.0+ds/src/Root.cc
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+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
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 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Scene.cc.o -MF CMakeFiles/sdformat12.dir/Scene.cc.o.d -o CMakeFiles/sdformat12.dir/Scene.cc.o -c /build/sdformat-12.3.0+ds/src/Scene.cc
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-[ 58%] Building CXX object src/CMakeFiles/sdformat12.dir/SDF.cc.o
+[ 59%] Building CXX object src/CMakeFiles/sdformat12.dir/SDF.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/SDF.cc.o -MF CMakeFiles/sdformat12.dir/SDF.cc.o.d -o CMakeFiles/sdformat12.dir/SDF.cc.o -c /build/sdformat-12.3.0+ds/src/SDF.cc
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-[ 59%] Building CXX object src/CMakeFiles/sdformat12.dir/SDFExtension.cc.o
+[ 60%] Building CXX object src/CMakeFiles/sdformat12.dir/SDFExtension.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/SDFExtension.cc.o -MF CMakeFiles/sdformat12.dir/SDFExtension.cc.o.d -o CMakeFiles/sdformat12.dir/SDFExtension.cc.o -c /build/sdformat-12.3.0+ds/src/SDFExtension.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
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 /usr/bin/c++ -fPIC -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -L/usr/lib/x86_64-linux-gnu/pkgconfig/../../../lib/x86_64-linux-gnu -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -L/usr/lib/x86_64-linux-gnu -lconsole_bridge -Wl,-z,relro -Wl,-z,now -shared -Wl,-soname,libsdformat12.so.12 -o libsdformat12.so.12.3.0 CMakeFiles/sdformat12.dir/Actor.cc.o CMakeFiles/sdformat12.dir/AirPressure.cc.o CMakeFiles/sdformat12.dir/Altimeter.cc.o CMakeFiles/sdformat12.dir/Atmosphere.cc.o CMakeFiles/sdformat12.dir/Box.cc.o CMakeFiles/sdformat12.dir/Camera.cc.o CMakeFiles/sdformat12.dir/Capsule.cc.o CMakeFiles/sdformat12.dir/Collision.cc.o CMakeFiles/sdformat12.dir/Console.cc.o CMakeFiles/sdformat12.dir/Converter.cc.o CMakeFiles/sdformat12.dir/Cylinder.cc.o CMakeFiles/sdformat12.dir/Element.cc.o CMakeFiles/sdformat12.dir/Ellipsoid.cc.o CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o CMakeFiles/sdformat12.dir/Error.cc.o CMakeFiles/sdformat12.dir/Exception.cc.o CMakeFiles/sdformat12.dir/Frame.cc.o CMakeFiles/sdformat12.dir/FrameSemantics.cc.o CMakeFiles/sdformat12.dir/Filesystem.cc.o CMakeFiles/sdformat12.dir/ForceTorque.cc.o CMakeFiles/sdformat12.dir/Geometry.cc.o CMakeFiles/sdformat12.dir/Gui.cc.o CMakeFiles/sdformat12.dir/Heightmap.cc.o CMakeFiles/sdformat12.dir/ign.cc.o CMakeFiles/sdformat12.dir/InterfaceElements.cc.o CMakeFiles/sdformat12.dir/InterfaceFrame.cc.o CMakeFiles/sdformat12.dir/InterfaceJoint.cc.o CMakeFiles/sdformat12.dir/InterfaceLink.cc.o CMakeFiles/sdformat12.dir/InterfaceModel.cc.o CMakeFiles/sdformat12.dir/InterfaceModelPoseGraph.cc.o CMakeFiles/sdformat12.dir/Imu.cc.o CMakeFiles/sdformat12.dir/Joint.cc.o CMakeFiles/sdformat12.dir/JointAxis.cc.o CMakeFiles/sdformat12.dir/Lidar.cc.o CMakeFiles/sdformat12.dir/Light.cc.o CMakeFiles/sdformat12.dir/Link.cc.o CMakeFiles/sdformat12.dir/Magnetometer.cc.o CMakeFiles/sdformat12.dir/Material.cc.o CMakeFiles/sdformat12.dir/Mesh.cc.o CMakeFiles/sdformat12.dir/Model.cc.o CMakeFiles/sdformat12.dir/NavSat.cc.o CMakeFiles/sdformat12.dir/Noise.cc.o CMakeFiles/sdformat12.dir/parser.cc.o CMakeFiles/sdformat12.dir/parser_urdf.cc.o CMakeFiles/sdformat12.dir/ParserConfig.cc.o CMakeFiles/sdformat12.dir/Param.cc.o CMakeFiles/sdformat12.dir/ParamPassing.cc.o CMakeFiles/sdformat12.dir/ParticleEmitter.cc.o CMakeFiles/sdformat12.dir/Pbr.cc.o CMakeFiles/sdformat12.dir/Physics.cc.o CMakeFiles/sdformat12.dir/Plane.cc.o CMakeFiles/sdformat12.dir/PrintConfig.cc.o CMakeFiles/sdformat12.dir/Root.cc.o CMakeFiles/sdformat12.dir/Scene.cc.o CMakeFiles/sdformat12.dir/SDF.cc.o CMakeFiles/sdformat12.dir/SDFExtension.cc.o CMakeFiles/sdformat12.dir/SemanticPose.cc.o CMakeFiles/sdformat12.dir/Sensor.cc.o CMakeFiles/sdformat12.dir/Sky.cc.o CMakeFiles/sdformat12.dir/Sphere.cc.o CMakeFiles/sdformat12.dir/Surface.cc.o CMakeFiles/sdformat12.dir/Types.cc.o CMakeFiles/sdformat12.dir/Utils.cc.o CMakeFiles/sdformat12.dir/Visual.cc.o CMakeFiles/sdformat12.dir/World.cc.o CMakeFiles/sdformat12.dir/XmlUtils.cc.o   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.9.0.0 -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -lconsole_bridge 
@@ -2278,240 +2321,235 @@
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+make  -f test/integration/CMakeFiles/INTEGRATION_collision_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_collision_dom.dir/depend
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 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_audio.dir/DependInfo.cmake --color=
-make  -f test/integration/CMakeFiles/INTEGRATION_collision_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_collision_dom.dir/depend
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+make  -f test/integration/CMakeFiles/INTEGRATION_audio.dir/build.make test/integration/CMakeFiles/INTEGRATION_audio.dir/build
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-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o -MF CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o.d -o CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/actor_dom.cc
-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/build.make test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/build
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_audio.dir/audio.cc.o -MF CMakeFiles/INTEGRATION_audio.dir/audio.cc.o.d -o CMakeFiles/INTEGRATION_audio.dir/audio.cc.o -c /build/sdformat-12.3.0+ds/test/integration/audio.cc
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o -MF CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o.d -o CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o -c /build/sdformat-12.3.0+ds/test/integration/category_bitmask.cc
-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o
-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_converter.dir/converter.cc.o
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o -MF CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o.d -o CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/collision_dom.cc
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-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o -MF CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o.d -o CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o -c /build/sdformat-12.3.0+ds/test/integration/default_elements.cc
-make  -f test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/build.make test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/depend
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-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o -MF CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o.d -o CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o -c /build/sdformat-12.3.0+ds/test/integration/element_tracing.cc
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make  -f test/integration/CMakeFiles/INTEGRATION_include.dir/build.make test/integration/CMakeFiles/INTEGRATION_include.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make  -f test/integration/CMakeFiles/INTEGRATION_frame.dir/build.make test/integration/CMakeFiles/INTEGRATION_frame.dir/build
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make  -f test/integration/CMakeFiles/INTEGRATION_include.dir/build.make test/integration/CMakeFiles/INTEGRATION_include.dir/build
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+make  -f test/integration/CMakeFiles/INTEGRATION_includes.dir/build.make test/integration/CMakeFiles/INTEGRATION_includes.dir/build
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o -MF CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o.d -o CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/actor_dom.cc
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_audio.dir/audio.cc.o
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_converter.dir/converter.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o
 [ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o
-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o
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+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o -MF CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o.d -o CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o -c /build/sdformat-12.3.0+ds/test/integration/disable_fixed_joint_reduction.cc
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_audio.dir/audio.cc.o -MF CMakeFiles/INTEGRATION_audio.dir/audio.cc.o.d -o CMakeFiles/INTEGRATION_audio.dir/audio.cc.o -c /build/sdformat-12.3.0+ds/test/integration/audio.cc
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+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o -MF CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o.d -o CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o -c /build/sdformat-12.3.0+ds/test/integration/category_bitmask.cc
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+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o -MF CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o.d -o CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o -c /build/sdformat-12.3.0+ds/test/integration/default_elements.cc
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+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o -MF CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o.d -o CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o -c /build/sdformat-12.3.0+ds/test/integration/force_torque_sensor.cc
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o -MF CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o.d -o CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o -c /build/sdformat-12.3.0+ds/test/integration/fixed_joint_reduction.cc
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o -MF CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o.d -o CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/geometry_dom.cc
-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_include.dir/include.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_include.dir/include.cc.o -MF CMakeFiles/INTEGRATION_include.dir/include.cc.o.d -o CMakeFiles/INTEGRATION_include.dir/include.cc.o -c /build/sdformat-12.3.0+ds/test/integration/include.cc
-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o -MF CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o.d -o CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o -c /build/sdformat-12.3.0+ds/test/integration/element_tracing.cc
 [ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_frame.dir/frame.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o -MF CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o.d -o CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o -c /build/sdformat-12.3.0+ds/test/integration/force_torque_sensor.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_frame.dir/frame.cc.o -MF CMakeFiles/INTEGRATION_frame.dir/frame.cc.o.d -o CMakeFiles/INTEGRATION_frame.dir/frame.cc.o -c /build/sdformat-12.3.0+ds/test/integration/frame.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 62%] Linking CXX executable INTEGRATION_audio
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_audio.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_audio.dir/audio.cc.o -o INTEGRATION_audio   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 62%] Built target INTEGRATION_audio
-make  -f test/integration/CMakeFiles/INTEGRATION_includes.dir/build.make test/integration/CMakeFiles/INTEGRATION_includes.dir/depend
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_includes.dir/DependInfo.cmake --color=
-[ 63%] Linking CXX executable INTEGRATION_category_bitmask
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make  -f test/integration/CMakeFiles/INTEGRATION_includes.dir/build.make test/integration/CMakeFiles/INTEGRATION_includes.dir/build
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_category_bitmask.dir/link.txt --verbose=1
-[ 63%] Building CXX object test/integration/CMakeFiles/INTEGRATION_includes.dir/includes.cc.o
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o -MF CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o.d -o CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/geometry_dom.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_include.dir/include.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_include.dir/include.cc.o -MF CMakeFiles/INTEGRATION_include.dir/include.cc.o.d -o CMakeFiles/INTEGRATION_include.dir/include.cc.o -c /build/sdformat-12.3.0+ds/test/integration/include.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_includes.dir/includes.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_includes.dir/includes.cc.o -MF CMakeFiles/INTEGRATION_includes.dir/includes.cc.o.d -o CMakeFiles/INTEGRATION_includes.dir/includes.cc.o -c /build/sdformat-12.3.0+ds/test/integration/includes.cc
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o -o INTEGRATION_category_bitmask   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 64%] Linking CXX executable INTEGRATION_include
+[ 62%] Linking CXX executable INTEGRATION_audio
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_audio.dir/link.txt --verbose=1
+[ 63%] Linking CXX executable INTEGRATION_include
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_include.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_audio.dir/audio.cc.o -o INTEGRATION_audio   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_include.dir/include.cc.o -o INTEGRATION_include   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 65%] Linking CXX executable INTEGRATION_disable_fixed_joint_reduction
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/link.txt --verbose=1
-[ 65%] Built target INTEGRATION_category_bitmask
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 63%] Built target INTEGRATION_audio
 make  -f test/integration/CMakeFiles/INTEGRATION_interface_api.dir/build.make test/integration/CMakeFiles/INTEGRATION_interface_api.dir/depend
+[ 63%] Built target INTEGRATION_include
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_interface_api.dir/DependInfo.cmake --color=
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o -o INTEGRATION_disable_fixed_joint_reduction   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 65%] Building CXX object test/integration/CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o -MF CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o.d -o CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o -c /build/sdformat-12.3.0+ds/test/integration/interface_api.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 65%] Built target INTEGRATION_include
 make  -f test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/build.make test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make  -f test/integration/CMakeFiles/INTEGRATION_interface_api.dir/build.make test/integration/CMakeFiles/INTEGRATION_interface_api.dir/build
 make  -f test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/build.make test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 65%] Building CXX object test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 63%] Building CXX object test/integration/CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o
+[ 63%] Building CXX object test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o -MF CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o.d -o CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o -c /build/sdformat-12.3.0+ds/test/integration/interface_api.cc
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o -MF CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o.d -o CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o -c /build/sdformat-12.3.0+ds/test/integration/joint_axis_frame.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 65%] Built target INTEGRATION_disable_fixed_joint_reduction
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-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/DependInfo.cmake --color=
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make  -f test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/build
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 65%] Building CXX object test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o -MF CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o.d -o CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/joint_axis_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 66%] Linking CXX executable INTEGRATION_force_torque_sensor
+[ 64%] Linking CXX executable INTEGRATION_force_torque_sensor
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_force_torque_sensor.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o -o INTEGRATION_force_torque_sensor   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 66%] Linking CXX executable INTEGRATION_cfm_damping_implicit_spring_damper
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o -o INTEGRATION_cfm_damping_implicit_spring_damper   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 66%] Linking CXX executable INTEGRATION_deprecated_specs
+[ 64%] Linking CXX executable INTEGRATION_deprecated_specs
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_deprecated_specs.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o -o INTEGRATION_deprecated_specs   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 65%] Linking CXX executable INTEGRATION_disable_fixed_joint_reduction
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o -o INTEGRATION_disable_fixed_joint_reduction   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 66%] Built target INTEGRATION_force_torque_sensor
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 65%] Built target INTEGRATION_force_torque_sensor
+make  -f test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/depend
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/DependInfo.cmake --color=
+[ 65%] Built target INTEGRATION_deprecated_specs
 make  -f test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make  -f test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/build
+make  -f test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 66%] Building CXX object test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make  -f test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/build
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 65%] Building CXX object test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o -MF CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o.d -o CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/joint_axis_dom.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 65%] Building CXX object test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o -MF CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o.d -o CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/joint_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 66%] Built target INTEGRATION_deprecated_specs
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 65%] Built target INTEGRATION_disable_fixed_joint_reduction
 make  -f test/integration/CMakeFiles/INTEGRATION_light_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_light_dom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_light_dom.dir/DependInfo.cmake --color=
-[ 66%] Built target INTEGRATION_cfm_damping_implicit_spring_damper
-make  -f test/integration/CMakeFiles/INTEGRATION_link_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_link_dom.dir/depend
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_link_dom.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_light_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_light_dom.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 65%] Building CXX object test/integration/CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o -MF CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o.d -o CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/light_dom.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 65%] Linking CXX executable INTEGRATION_default_elements
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_default_elements.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o -o INTEGRATION_default_elements   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 66%] Linking CXX executable INTEGRATION_category_bitmask
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_category_bitmask.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o -o INTEGRATION_category_bitmask   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 66%] Built target INTEGRATION_default_elements
+make  -f test/integration/CMakeFiles/INTEGRATION_link_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_link_dom.dir/depend
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_link_dom.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_link_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_link_dom.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 66%] Building CXX object test/integration/CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o -MF CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o.d -o CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/light_dom.cc
 [ 66%] Building CXX object test/integration/CMakeFiles/INTEGRATION_link_dom.dir/link_dom.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_link_dom.dir/link_dom.cc.o -MF CMakeFiles/INTEGRATION_link_dom.dir/link_dom.cc.o.d -o CMakeFiles/INTEGRATION_link_dom.dir/link_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/link_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 66%] Linking CXX executable INTEGRATION_element_tracing
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_element_tracing.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o -o INTEGRATION_element_tracing   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 66%] Built target INTEGRATION_element_tracing
+[ 66%] Built target INTEGRATION_category_bitmask
 make  -f test/integration/CMakeFiles/INTEGRATION_link_light.dir/build.make test/integration/CMakeFiles/INTEGRATION_link_light.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_link_light.dir/DependInfo.cmake --color=
@@ -2521,14 +2559,11 @@
 [ 66%] Building CXX object test/integration/CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o -MF CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o.d -o CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o -c /build/sdformat-12.3.0+ds/test/integration/link_light.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 66%] Linking CXX executable INTEGRATION_actor_dom
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_actor_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o -o INTEGRATION_actor_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 66%] Linking CXX executable INTEGRATION_default_elements
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_default_elements.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o -o INTEGRATION_default_elements   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 66%] Linking CXX executable INTEGRATION_cfm_damping_implicit_spring_damper
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o -o INTEGRATION_cfm_damping_implicit_spring_damper   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 66%] Built target INTEGRATION_actor_dom
+[ 66%] Built target INTEGRATION_cfm_damping_implicit_spring_damper
 make  -f test/integration/CMakeFiles/INTEGRATION_locale_fix.dir/build.make test/integration/CMakeFiles/INTEGRATION_locale_fix.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_locale_fix.dir/DependInfo.cmake --color=
@@ -2538,8 +2573,11 @@
 [ 66%] Building CXX object test/integration/CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o -MF CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o.d -o CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o -c /build/sdformat-12.3.0+ds/test/integration/locale_fix.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 66%] Linking CXX executable INTEGRATION_actor_dom
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_actor_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o -o INTEGRATION_actor_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 66%] Built target INTEGRATION_default_elements
+[ 66%] Built target INTEGRATION_actor_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/build.make test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/DependInfo.cmake --color=
@@ -2549,25 +2587,25 @@
 [ 66%] Building CXX object test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o -MF CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o.d -o CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o -c /build/sdformat-12.3.0+ds/test/integration/locale_fix_cxx.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 66%] Linking CXX executable INTEGRATION_geometry_dom
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_geometry_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o -o INTEGRATION_geometry_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 66%] Linking CXX executable INTEGRATION_collision_dom
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_collision_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o -o INTEGRATION_collision_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 66%] Linking CXX executable INTEGRATION_element_tracing
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_element_tracing.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o -o INTEGRATION_element_tracing   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 66%] Built target INTEGRATION_geometry_dom
+[ 66%] Built target INTEGRATION_element_tracing
 make  -f test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/build.make test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/depend
+[ 66%] Linking CXX executable INTEGRATION_geometry_dom
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/DependInfo.cmake --color=
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_geometry_dom.dir/link.txt --verbose=1
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/build.make test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/build
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o -o INTEGRATION_geometry_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 67%] Building CXX object test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o -MF CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o.d -o CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o -c /build/sdformat-12.3.0+ds/test/integration/material_pbr.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 67%] Built target INTEGRATION_collision_dom
+[ 67%] Built target INTEGRATION_geometry_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_material.dir/build.make test/integration/CMakeFiles/INTEGRATION_material.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_material.dir/DependInfo.cmake --color=
@@ -2591,14 +2629,11 @@
 [ 68%] Building CXX object test/integration/CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o -MF CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o.d -o CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/model_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 68%] Linking CXX executable INTEGRATION_fixed_joint_reduction
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o -o INTEGRATION_fixed_joint_reduction   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 68%] Linking CXX executable INTEGRATION_joint_axis_frame
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_joint_axis_frame.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o -o INTEGRATION_joint_axis_frame   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 68%] Linking CXX executable INTEGRATION_collision_dom
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_collision_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o -o INTEGRATION_collision_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 68%] Built target INTEGRATION_fixed_joint_reduction
+[ 68%] Built target INTEGRATION_collision_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_model_versions.dir/build.make test/integration/CMakeFiles/INTEGRATION_model_versions.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_model_versions.dir/DependInfo.cmake --color=
@@ -2608,8 +2643,11 @@
 [ 68%] Building CXX object test/integration/CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o -MF CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o.d -o CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o -c /build/sdformat-12.3.0+ds/test/integration/model_versions.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 68%] Linking CXX executable INTEGRATION_fixed_joint_reduction
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o -o INTEGRATION_fixed_joint_reduction   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 68%] Built target INTEGRATION_joint_axis_frame
+[ 68%] Built target INTEGRATION_fixed_joint_reduction
 make  -f test/integration/CMakeFiles/INTEGRATION_nested_model.dir/build.make test/integration/CMakeFiles/INTEGRATION_nested_model.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_nested_model.dir/DependInfo.cmake --color=
@@ -2619,67 +2657,67 @@
 [ 69%] Building CXX object test/integration/CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o -MF CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o.d -o CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o -c /build/sdformat-12.3.0+ds/test/integration/nested_model.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 70%] Linking CXX executable INTEGRATION_locale_fix
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_locale_fix.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o -o INTEGRATION_locale_fix   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 69%] Linking CXX executable INTEGRATION_includes
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_includes.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_includes.dir/includes.cc.o -o INTEGRATION_includes   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 70%] Built target INTEGRATION_locale_fix
+[ 69%] Built target INTEGRATION_includes
 make  -f test/integration/CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/build.make test/integration/CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 70%] Building CXX object test/integration/CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o
+[ 69%] Building CXX object test/integration/CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o -MF CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o.d -o CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o -c /build/sdformat-12.3.0+ds/test/integration/nested_multiple_elements_error.cc
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-[ 70%] Linking CXX executable INTEGRATION_link_light
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_link_light.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o -o INTEGRATION_link_light   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 71%] Linking CXX executable INTEGRATION_light_dom
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_light_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o -o INTEGRATION_light_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 69%] Linking CXX executable INTEGRATION_joint_axis_frame
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_joint_axis_frame.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o -o INTEGRATION_joint_axis_frame   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 71%] Built target INTEGRATION_link_light
+[ 69%] Built target INTEGRATION_joint_axis_frame
 make  -f test/integration/CMakeFiles/INTEGRATION_param_passing.dir/build.make test/integration/CMakeFiles/INTEGRATION_param_passing.dir/depend
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 make  -f test/integration/CMakeFiles/INTEGRATION_param_passing.dir/build.make test/integration/CMakeFiles/INTEGRATION_param_passing.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 71%] Linking CXX executable INTEGRATION_locale_fix_cxx
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_locale_fix_cxx.dir/link.txt --verbose=1
-[ 71%] Building CXX object test/integration/CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o
+[ 69%] Building CXX object test/integration/CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o -MF CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o.d -o CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o -c /build/sdformat-12.3.0+ds/test/integration/param_passing.cc
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o -o INTEGRATION_locale_fix_cxx   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 70%] Linking CXX executable INTEGRATION_locale_fix
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_locale_fix.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o -o INTEGRATION_locale_fix   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 70%] Linking CXX executable INTEGRATION_link_light
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_link_light.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o -o INTEGRATION_link_light   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 71%] Built target INTEGRATION_light_dom
+[ 70%] Built target INTEGRATION_locale_fix
 make  -f test/integration/CMakeFiles/INTEGRATION_parser_error_detection.dir/build.make test/integration/CMakeFiles/INTEGRATION_parser_error_detection.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_parser_error_detection.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_parser_error_detection.dir/build.make test/integration/CMakeFiles/INTEGRATION_parser_error_detection.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 71%] Building CXX object test/integration/CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o
+[ 70%] Building CXX object test/integration/CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o -MF CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o.d -o CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o -c /build/sdformat-12.3.0+ds/test/integration/parser_error_detection.cc
-[ 71%] Built target INTEGRATION_locale_fix_cxx
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 71%] Linking CXX executable INTEGRATION_light_dom
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_light_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o -o INTEGRATION_light_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 71%] Built target INTEGRATION_link_light
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 72%] Building CXX object test/integration/CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o -MF CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o.d -o CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o -c /build/sdformat-12.3.0+ds/test/integration/parser_config.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 72%] Linking CXX executable INTEGRATION_material
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_material.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_material.dir/material.cc.o -o INTEGRATION_material   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 72%] Built target INTEGRATION_material
+[ 72%] Built target INTEGRATION_light_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_particle_emitter_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_particle_emitter_dom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_particle_emitter_dom.dir/DependInfo.cmake --color=
@@ -2689,25 +2727,25 @@
 [ 72%] Building CXX object test/integration/CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o -MF CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o.d -o CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/particle_emitter_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 73%] Linking CXX executable INTEGRATION_joint_axis_dom
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_joint_axis_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o -o INTEGRATION_joint_axis_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 72%] Linking CXX executable INTEGRATION_locale_fix_cxx
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_locale_fix_cxx.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o -o INTEGRATION_locale_fix_cxx   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 73%] Built target INTEGRATION_joint_axis_dom
+[ 72%] Built target INTEGRATION_locale_fix_cxx
 make  -f test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 74%] Building CXX object test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o
+[ 73%] Building CXX object test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o -MF CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o.d -o CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o -c /build/sdformat-12.3.0+ds/test/integration/plugin_attribute.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 74%] Linking CXX executable INTEGRATION_includes
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_includes.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_includes.dir/includes.cc.o -o INTEGRATION_includes   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 74%] Linking CXX executable INTEGRATION_joint_axis_dom
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_joint_axis_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o -o INTEGRATION_joint_axis_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 74%] Built target INTEGRATION_includes
+[ 74%] Built target INTEGRATION_joint_axis_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/DependInfo.cmake --color=
@@ -2717,89 +2755,75 @@
 [ 74%] Building CXX object test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o -MF CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o.d -o CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o -c /build/sdformat-12.3.0+ds/test/integration/plugin_bool.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 74%] Linking CXX executable INTEGRATION_interface_api
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_interface_api.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o -o INTEGRATION_interface_api   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 74%] Linking CXX executable INTEGRATION_material
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_material.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_material.dir/material.cc.o -o INTEGRATION_material   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 74%] Built target INTEGRATION_material
+make  -f test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/depend
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/DependInfo.cmake --color=
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make  -f test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/build
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 74%] Building CXX object test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o -MF CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o.d -o CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o -c /build/sdformat-12.3.0+ds/test/integration/plugin_include.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 74%] Linking CXX executable INTEGRATION_model_versions
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_model_versions.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o -o INTEGRATION_model_versions   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 74%] Built target INTEGRATION_model_versions
-[ 74%] Built target INTEGRATION_interface_api
-make  -f test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/depend
 make  -f test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/build.make test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/DependInfo.cmake --color=
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make  -f test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/build
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/build.make test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 75%] Building CXX object test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/pose_1_9_sdf.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/pose_1_9_sdf.cc.o -MF CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/pose_1_9_sdf.cc.o.d -o CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/pose_1_9_sdf.cc.o -c /build/sdformat-12.3.0+ds/test/integration/pose_1_9_sdf.cc
-[ 75%] Building CXX object test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o -MF CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o.d -o CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o -c /build/sdformat-12.3.0+ds/test/integration/plugin_include.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 75%] Linking CXX executable INTEGRATION_joint_dom
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_joint_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o -o INTEGRATION_joint_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 75%] Linking CXX executable INTEGRATION_interface_api
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_interface_api.dir/link.txt --verbose=1
+[ 75%] Linking CXX executable INTEGRATION_frame
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_frame.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o -o INTEGRATION_interface_api   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_frame.dir/frame.cc.o -o INTEGRATION_frame   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 75%] Built target INTEGRATION_joint_dom
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 75%] Built target INTEGRATION_interface_api
 make  -f test/integration/CMakeFiles/INTEGRATION_provide_feedback.dir/build.make test/integration/CMakeFiles/INTEGRATION_provide_feedback.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_provide_feedback.dir/DependInfo.cmake --color=
+[ 75%] Built target INTEGRATION_frame
+make  -f test/integration/CMakeFiles/INTEGRATION_root_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_root_dom.dir/depend
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_root_dom.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_provide_feedback.dir/build.make test/integration/CMakeFiles/INTEGRATION_provide_feedback.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make  -f test/integration/CMakeFiles/INTEGRATION_root_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_root_dom.dir/build
 [ 75%] Building CXX object test/integration/CMakeFiles/INTEGRATION_provide_feedback.dir/provide_feedback.cc.o
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_provide_feedback.dir/provide_feedback.cc.o -MF CMakeFiles/INTEGRATION_provide_feedback.dir/provide_feedback.cc.o.d -o CMakeFiles/INTEGRATION_provide_feedback.dir/provide_feedback.cc.o -c /build/sdformat-12.3.0+ds/test/integration/provide_feedback.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 75%] Building CXX object test/integration/CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o -MF CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o.d -o CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/root_dom.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 75%] Linking CXX executable INTEGRATION_parser_error_detection
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_parser_error_detection.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o -o INTEGRATION_parser_error_detection   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 75%] Built target INTEGRATION_parser_error_detection
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-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_root_dom.dir/DependInfo.cmake --color=
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make  -f test/integration/CMakeFiles/INTEGRATION_root_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_root_dom.dir/build
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 75%] Building CXX object test/integration/CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o -MF CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o.d -o CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/root_dom.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 75%] Linking CXX executable INTEGRATION_frame
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_frame.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_frame.dir/frame.cc.o -o INTEGRATION_frame   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 75%] Linking CXX executable INTEGRATION_material_pbr
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_material_pbr.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o -o INTEGRATION_material_pbr   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 75%] Built target INTEGRATION_frame
 make  -f test/integration/CMakeFiles/INTEGRATION_scene_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_scene_dom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_scene_dom.dir/DependInfo.cmake --color=
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-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 75%] Built target INTEGRATION_material_pbr
-make  -f test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/build.make test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/DependInfo.cmake --color=
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 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_scene_dom.dir/scene_dom.cc.o -MF CMakeFiles/INTEGRATION_scene_dom.dir/scene_dom.cc.o.d -o CMakeFiles/INTEGRATION_scene_dom.dir/scene_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/scene_dom.cc
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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-[ 76%] Building CXX object test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o -MF CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o.d -o CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o -c /build/sdformat-12.3.0+ds/test/integration/sdf_basic.cc
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 [ 76%] Linking CXX executable INTEGRATION_nested_multiple_elements_error
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@@ -2807,12 +2831,20 @@
 [ 76%] Linking CXX executable INTEGRATION_param_passing
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_param_passing.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o -o INTEGRATION_param_passing   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 76%] Linking CXX executable INTEGRATION_model_dom
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_model_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o -o INTEGRATION_model_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 76%] Built target INTEGRATION_nested_multiple_elements_error
+make  -f test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/build.make test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/depend
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/DependInfo.cmake --color=
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make  -f test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/build.make test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/build
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 76%] Building CXX object test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o -MF CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o.d -o CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o -c /build/sdformat-12.3.0+ds/test/integration/sdf_basic.cc
+[ 76%] Built target INTEGRATION_param_passing
 make  -f test/integration/CMakeFiles/INTEGRATION_sdf_custom.dir/build.make test/integration/CMakeFiles/INTEGRATION_sdf_custom.dir/depend
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_sdf_custom.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
@@ -2821,14 +2853,23 @@
 [ 76%] Building CXX object test/integration/CMakeFiles/INTEGRATION_sdf_custom.dir/sdf_custom.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_sdf_custom.dir/sdf_custom.cc.o -MF CMakeFiles/INTEGRATION_sdf_custom.dir/sdf_custom.cc.o.d -o CMakeFiles/INTEGRATION_sdf_custom.dir/sdf_custom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/sdf_custom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 76%] Linking CXX executable INTEGRATION_plugin_attribute
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_plugin_attribute.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o -o INTEGRATION_plugin_attribute   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 76%] Linking CXX executable INTEGRATION_model_dom
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_model_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o -o INTEGRATION_model_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 76%] Built target INTEGRATION_param_passing
+[ 76%] Built target INTEGRATION_plugin_attribute
 make  -f test/integration/CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/build.make test/integration/CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/DependInfo.cmake --color=
+[ 76%] Linking CXX executable INTEGRATION_material_pbr
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_material_pbr.dir/link.txt --verbose=1
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/build.make test/integration/CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o -o INTEGRATION_material_pbr   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 [ 77%] Building CXX object test/integration/CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/sdf_dom_conversion.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/sdf_dom_conversion.cc.o -MF CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/sdf_dom_conversion.cc.o.d -o CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/sdf_dom_conversion.cc.o -c /build/sdformat-12.3.0+ds/test/integration/sdf_dom_conversion.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
@@ -2842,18 +2883,12 @@
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 77%] Building CXX object test/integration/CMakeFiles/INTEGRATION_surface_dom.dir/surface_dom.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_surface_dom.dir/surface_dom.cc.o -MF CMakeFiles/INTEGRATION_surface_dom.dir/surface_dom.cc.o.d -o CMakeFiles/INTEGRATION_surface_dom.dir/surface_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/surface_dom.cc
+[ 77%] Linking CXX executable INTEGRATION_joint_dom
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_joint_dom.dir/link.txt --verbose=1
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 77%] Linking CXX executable INTEGRATION_plugin_attribute
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_plugin_attribute.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o -o INTEGRATION_plugin_attribute   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 77%] Linking CXX executable INTEGRATION_parser_config
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_parser_config.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o -o INTEGRATION_parser_config   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 77%] Linking CXX executable INTEGRATION_particle_emitter_dom
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_particle_emitter_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o -o INTEGRATION_particle_emitter_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o -o INTEGRATION_joint_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 77%] Built target INTEGRATION_plugin_attribute
+[ 77%] Built target INTEGRATION_material_pbr
 make  -f test/integration/CMakeFiles/INTEGRATION_unknown.dir/build.make test/integration/CMakeFiles/INTEGRATION_unknown.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_unknown.dir/DependInfo.cmake --color=
@@ -2864,13 +2899,16 @@
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_unknown.dir/unknown.cc.o -MF CMakeFiles/INTEGRATION_unknown.dir/unknown.cc.o.d -o CMakeFiles/INTEGRATION_unknown.dir/unknown.cc.o -c /build/sdformat-12.3.0+ds/test/integration/unknown.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 77%] Built target INTEGRATION_parser_config
+[ 77%] Built target INTEGRATION_joint_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/build.make test/integration/CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/DependInfo.cmake --color=
+[ 77%] Linking CXX executable INTEGRATION_particle_emitter_dom
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_particle_emitter_dom.dir/link.txt --verbose=1
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/build.make test/integration/CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o -o INTEGRATION_particle_emitter_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 [ 78%] Building CXX object test/integration/CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/urdf_gazebo_extensions.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/urdf_gazebo_extensions.cc.o -MF CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/urdf_gazebo_extensions.cc.o.d -o CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/urdf_gazebo_extensions.cc.o -c /build/sdformat-12.3.0+ds/test/integration/urdf_gazebo_extensions.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
@@ -2888,6 +2926,9 @@
 [ 78%] Linking CXX executable INTEGRATION_plugin_bool
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_plugin_bool.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o -o INTEGRATION_plugin_bool   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_parser_config
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_parser_config.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o -o INTEGRATION_parser_config   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 78%] Built target INTEGRATION_plugin_bool
 make  -f test/integration/CMakeFiles/INTEGRATION_visual_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_visual_dom.dir/depend
@@ -2899,14 +2940,8 @@
 [ 78%] Building CXX object test/integration/CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o -MF CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o.d -o CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/visual_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_plugin_include
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_plugin_include.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o -o INTEGRATION_plugin_include   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 78%] Linking CXX executable INTEGRATION_provide_feedback
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_provide_feedback.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_provide_feedback.dir/provide_feedback.cc.o -o INTEGRATION_provide_feedback   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 78%] Built target INTEGRATION_plugin_include
+[ 78%] Built target INTEGRATION_parser_config
 make  -f test/integration/CMakeFiles/INTEGRATION_whitespace.dir/build.make test/integration/CMakeFiles/INTEGRATION_whitespace.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_whitespace.dir/DependInfo.cmake --color=
@@ -2916,8 +2951,11 @@
 [ 78%] Building CXX object test/integration/CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o -MF CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o.d -o CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o -c /build/sdformat-12.3.0+ds/test/integration/whitespace.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 78%] Linking CXX executable INTEGRATION_plugin_include
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_plugin_include.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o -o INTEGRATION_plugin_include   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 78%] Built target INTEGRATION_provide_feedback
+[ 78%] Built target INTEGRATION_plugin_include
 make  -f test/integration/CMakeFiles/INTEGRATION_world_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_world_dom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_world_dom.dir/DependInfo.cmake --color=
@@ -2927,14 +2965,11 @@
 [ 78%] Building CXX object test/integration/CMakeFiles/INTEGRATION_world_dom.dir/world_dom.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_world_dom.dir/world_dom.cc.o -MF CMakeFiles/INTEGRATION_world_dom.dir/world_dom.cc.o.d -o CMakeFiles/INTEGRATION_world_dom.dir/world_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/world_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_surface_dom
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_surface_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_surface_dom.dir/surface_dom.cc.o -o INTEGRATION_surface_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 [ 78%] Linking CXX executable INTEGRATION_link_dom
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_link_dom.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_link_dom.dir/link_dom.cc.o -o INTEGRATION_link_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 78%] Built target INTEGRATION_surface_dom
+[ 78%] Built target INTEGRATION_link_dom
 make  -f test/performance/CMakeFiles/PERFORMANCE_parser_urdf.dir/build.make test/performance/CMakeFiles/PERFORMANCE_parser_urdf.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/performance /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/performance /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/performance/CMakeFiles/PERFORMANCE_parser_urdf.dir/DependInfo.cmake --color=
@@ -2944,8 +2979,17 @@
 [ 78%] Building CXX object test/performance/CMakeFiles/PERFORMANCE_parser_urdf.dir/parser_urdf.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/performance && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/performance/CMakeFiles/PERFORMANCE_parser_urdf.dir/parser_urdf.cc.o -MF CMakeFiles/PERFORMANCE_parser_urdf.dir/parser_urdf.cc.o.d -o CMakeFiles/PERFORMANCE_parser_urdf.dir/parser_urdf.cc.o -c /build/sdformat-12.3.0+ds/test/performance/parser_urdf.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 78%] Linking CXX executable INTEGRATION_root_dom
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_root_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o -o INTEGRATION_root_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_provide_feedback
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_provide_feedback.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_provide_feedback.dir/provide_feedback.cc.o -o INTEGRATION_provide_feedback   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_scene_dom
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_scene_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_scene_dom.dir/scene_dom.cc.o -o INTEGRATION_scene_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 78%] Built target INTEGRATION_link_dom
+[ 78%] Built target INTEGRATION_root_dom
 make  -f src/CMakeFiles/UNIT_Actor_TEST.dir/build.make src/CMakeFiles/UNIT_Actor_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Actor_TEST.dir/DependInfo.cmake --color=
@@ -2955,11 +2999,8 @@
 [ 78%] Building CXX object src/CMakeFiles/UNIT_Actor_TEST.dir/Actor_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Actor_TEST.dir/Actor_TEST.cc.o -MF CMakeFiles/UNIT_Actor_TEST.dir/Actor_TEST.cc.o.d -o CMakeFiles/UNIT_Actor_TEST.dir/Actor_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Actor_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_root_dom
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_root_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o -o INTEGRATION_root_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 78%] Built target INTEGRATION_root_dom
+[ 78%] Built target INTEGRATION_provide_feedback
 make  -f src/CMakeFiles/UNIT_AirPressure_TEST.dir/build.make src/CMakeFiles/UNIT_AirPressure_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_AirPressure_TEST.dir/DependInfo.cmake --color=
@@ -2969,11 +3010,8 @@
 [ 78%] Building CXX object src/CMakeFiles/UNIT_AirPressure_TEST.dir/AirPressure_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_AirPressure_TEST.dir/AirPressure_TEST.cc.o -MF CMakeFiles/UNIT_AirPressure_TEST.dir/AirPressure_TEST.cc.o.d -o CMakeFiles/UNIT_AirPressure_TEST.dir/AirPressure_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/AirPressure_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_sdf_basic
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_sdf_basic.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o -o INTEGRATION_sdf_basic   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 78%] Built target INTEGRATION_sdf_basic
+[ 78%] Built target INTEGRATION_scene_dom
 make  -f src/CMakeFiles/UNIT_Altimeter_TEST.dir/build.make src/CMakeFiles/UNIT_Altimeter_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Altimeter_TEST.dir/DependInfo.cmake --color=
@@ -2982,12 +3020,12 @@
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 78%] Building CXX object src/CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o -MF CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o.d -o CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Altimeter_TEST.cc
-[ 78%] Linking CXX executable INTEGRATION_scene_dom
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_scene_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_scene_dom.dir/scene_dom.cc.o -o INTEGRATION_scene_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_sdf_basic
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_sdf_basic.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o -o INTEGRATION_sdf_basic   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 78%] Built target INTEGRATION_scene_dom
+[ 78%] Built target INTEGRATION_sdf_basic
 make  -f src/CMakeFiles/UNIT_Atmosphere_TEST.dir/build.make src/CMakeFiles/UNIT_Atmosphere_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Atmosphere_TEST.dir/DependInfo.cmake --color=
@@ -2997,11 +3035,11 @@
 [ 78%] Building CXX object src/CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o -MF CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o.d -o CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Atmosphere_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_sdf_custom
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_sdf_custom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_sdf_custom.dir/sdf_custom.cc.o -o INTEGRATION_sdf_custom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_surface_dom
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_surface_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_surface_dom.dir/surface_dom.cc.o -o INTEGRATION_surface_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 78%] Built target INTEGRATION_sdf_custom
+[ 78%] Built target INTEGRATION_surface_dom
 make  -f src/CMakeFiles/UNIT_Box_TEST.dir/build.make src/CMakeFiles/UNIT_Box_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Box_TEST.dir/DependInfo.cmake --color=
@@ -3011,11 +3049,11 @@
 [ 78%] Building CXX object src/CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o -MF CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o.d -o CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Box_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_unknown
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_unknown.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_unknown.dir/unknown.cc.o -o INTEGRATION_unknown   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_sdf_custom
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_sdf_custom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_sdf_custom.dir/sdf_custom.cc.o -o INTEGRATION_sdf_custom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 78%] Built target INTEGRATION_unknown
+[ 78%] Built target INTEGRATION_sdf_custom
 make  -f src/CMakeFiles/UNIT_Camera_TEST.dir/build.make src/CMakeFiles/UNIT_Camera_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Camera_TEST.dir/DependInfo.cmake --color=
@@ -3025,11 +3063,11 @@
 [ 78%] Building CXX object src/CMakeFiles/UNIT_Camera_TEST.dir/Camera_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Camera_TEST.dir/Camera_TEST.cc.o -MF CMakeFiles/UNIT_Camera_TEST.dir/Camera_TEST.cc.o.d -o CMakeFiles/UNIT_Camera_TEST.dir/Camera_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Camera_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_nested_model
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_nested_model.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o -o INTEGRATION_nested_model   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_whitespace
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_whitespace.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o -o INTEGRATION_whitespace   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 78%] Built target INTEGRATION_nested_model
+[ 78%] Built target INTEGRATION_whitespace
 make  -f src/CMakeFiles/UNIT_Capsule_TEST.dir/build.make src/CMakeFiles/UNIT_Capsule_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Capsule_TEST.dir/DependInfo.cmake --color=
@@ -3039,39 +3077,39 @@
 [ 78%] Building CXX object src/CMakeFiles/UNIT_Capsule_TEST.dir/Capsule_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Capsule_TEST.dir/Capsule_TEST.cc.o -MF CMakeFiles/UNIT_Capsule_TEST.dir/Capsule_TEST.cc.o.d -o CMakeFiles/UNIT_Capsule_TEST.dir/Capsule_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Capsule_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_urdf_joint_parameters
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/urdf_joint_parameters.cc.o -o INTEGRATION_urdf_joint_parameters   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_nested_model
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_nested_model.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o -o INTEGRATION_nested_model   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_unknown
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_unknown.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_unknown.dir/unknown.cc.o -o INTEGRATION_unknown   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 78%] Built target INTEGRATION_urdf_joint_parameters
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 78%] Built target INTEGRATION_nested_model
 make  -f src/CMakeFiles/UNIT_Collision_TEST.dir/build.make src/CMakeFiles/UNIT_Collision_TEST.dir/depend
+[ 78%] Built target INTEGRATION_unknown
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Collision_TEST.dir/DependInfo.cmake --color=
+make  -f src/CMakeFiles/UNIT_Console_TEST.dir/build.make src/CMakeFiles/UNIT_Console_TEST.dir/depend
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Console_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Collision_TEST.dir/build.make src/CMakeFiles/UNIT_Collision_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 78%] Building CXX object src/CMakeFiles/UNIT_Collision_TEST.dir/Collision_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Collision_TEST.dir/Collision_TEST.cc.o -MF CMakeFiles/UNIT_Collision_TEST.dir/Collision_TEST.cc.o.d -o CMakeFiles/UNIT_Collision_TEST.dir/Collision_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Collision_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_whitespace
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_whitespace.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o -o INTEGRATION_whitespace   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 78%] Linking CXX executable INTEGRATION_urdf_gazebo_extensions
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/urdf_gazebo_extensions.cc.o -o INTEGRATION_urdf_gazebo_extensions   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 78%] Built target INTEGRATION_whitespace
-make  -f src/CMakeFiles/UNIT_Console_TEST.dir/build.make src/CMakeFiles/UNIT_Console_TEST.dir/depend
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Console_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 78%] Building CXX object src/CMakeFiles/UNIT_Console_TEST.dir/Console_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Console_TEST.dir/Console_TEST.cc.o -MF CMakeFiles/UNIT_Console_TEST.dir/Console_TEST.cc.o.d -o CMakeFiles/UNIT_Console_TEST.dir/Console_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Console_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 78%] Linking CXX executable INTEGRATION_urdf_joint_parameters
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/urdf_joint_parameters.cc.o -o INTEGRATION_urdf_joint_parameters   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 78%] Built target INTEGRATION_urdf_gazebo_extensions
+[ 78%] Built target INTEGRATION_urdf_joint_parameters
 make  -f src/CMakeFiles/UNIT_Cylinder_TEST.dir/build.make src/CMakeFiles/UNIT_Cylinder_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Cylinder_TEST.dir/DependInfo.cmake --color=
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 [ 78%] Building CXX object src/CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o -MF CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o.d -o CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Cylinder_TEST.cc
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-[ 78%] Linking CXX executable UNIT_AirPressure_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_AirPressure_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_AirPressure_TEST.dir/AirPressure_TEST.cc.o -o UNIT_AirPressure_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_pose_1_9_sdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/pose_1_9_sdf.cc.o -o INTEGRATION_pose_1_9_sdf   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_urdf_gazebo_extensions
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/urdf_gazebo_extensions.cc.o -o INTEGRATION_urdf_gazebo_extensions   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 78%] Built target UNIT_AirPressure_TEST
+[ 78%] Built target INTEGRATION_pose_1_9_sdf
 make  -f src/CMakeFiles/UNIT_Element_TEST.dir/build.make src/CMakeFiles/UNIT_Element_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Element_TEST.dir/DependInfo.cmake --color=
@@ -3095,25 +3136,22 @@
 [ 78%] Building CXX object src/CMakeFiles/UNIT_Element_TEST.dir/Element_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Element_TEST.dir/Element_TEST.cc.o -MF CMakeFiles/UNIT_Element_TEST.dir/Element_TEST.cc.o.d -o CMakeFiles/UNIT_Element_TEST.dir/Element_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Element_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 79%] Linking CXX executable PERFORMANCE_parser_urdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/performance && /usr/bin/cmake -E cmake_link_script CMakeFiles/PERFORMANCE_parser_urdf.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/PERFORMANCE_parser_urdf.dir/parser_urdf.cc.o -o PERFORMANCE_parser_urdf   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 79%] Built target PERFORMANCE_parser_urdf
+[ 78%] Built target INTEGRATION_urdf_gazebo_extensions
 make  -f src/CMakeFiles/UNIT_Ellipsoid_TEST.dir/build.make src/CMakeFiles/UNIT_Ellipsoid_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 79%] Building CXX object src/CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o
+[ 78%] Building CXX object src/CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o -MF CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o.d -o CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Ellipsoid_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 79%] Linking CXX executable UNIT_Atmosphere_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Atmosphere_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o -o UNIT_Atmosphere_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 79%] Linking CXX executable UNIT_Console_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Console_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Console_TEST.dir/Console_TEST.cc.o -o UNIT_Console_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 79%] Built target UNIT_Atmosphere_TEST
+[ 79%] Built target UNIT_Console_TEST
 make  -f src/CMakeFiles/UNIT_Error_TEST.dir/build.make src/CMakeFiles/UNIT_Error_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Error_TEST.dir/DependInfo.cmake --color=
@@ -3123,11 +3161,11 @@
 [ 79%] Building CXX object src/CMakeFiles/UNIT_Error_TEST.dir/Error_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Error_TEST.dir/Error_TEST.cc.o -MF CMakeFiles/UNIT_Error_TEST.dir/Error_TEST.cc.o.d -o CMakeFiles/UNIT_Error_TEST.dir/Error_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Error_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 80%] Linking CXX executable UNIT_Altimeter_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Altimeter_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o -o UNIT_Altimeter_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 80%] Linking CXX executable PERFORMANCE_parser_urdf
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/performance && /usr/bin/cmake -E cmake_link_script CMakeFiles/PERFORMANCE_parser_urdf.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/PERFORMANCE_parser_urdf.dir/parser_urdf.cc.o -o PERFORMANCE_parser_urdf   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 80%] Built target UNIT_Altimeter_TEST
+[ 80%] Built target PERFORMANCE_parser_urdf
 make  -f src/CMakeFiles/UNIT_Exception_TEST.dir/build.make src/CMakeFiles/UNIT_Exception_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Exception_TEST.dir/DependInfo.cmake --color=
@@ -3137,11 +3175,11 @@
 [ 80%] Building CXX object src/CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o -MF CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o.d -o CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Exception_TEST.cc
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-[ 81%] Linking CXX executable UNIT_Console_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Console_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Console_TEST.dir/Console_TEST.cc.o -o UNIT_Console_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 81%] Linking CXX executable UNIT_Altimeter_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Altimeter_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o -o UNIT_Altimeter_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 81%] Built target UNIT_Console_TEST
+[ 81%] Built target UNIT_Altimeter_TEST
 make  -f src/CMakeFiles/UNIT_Frame_TEST.dir/build.make src/CMakeFiles/UNIT_Frame_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Frame_TEST.dir/DependInfo.cmake --color=
@@ -3151,42 +3189,39 @@
 [ 81%] Building CXX object src/CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o -MF CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o.d -o CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Frame_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 81%] Linking CXX executable UNIT_Actor_TEST
-[ 81%] Linking CXX executable UNIT_Box_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Actor_TEST.dir/link.txt --verbose=1
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Box_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Actor_TEST.dir/Actor_TEST.cc.o -o UNIT_Actor_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o -o UNIT_Box_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 81%] Linking CXX executable INTEGRATION_sdf_dom_conversion
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/sdf_dom_conversion.cc.o -o INTEGRATION_sdf_dom_conversion   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 81%] Linking CXX executable UNIT_AirPressure_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_AirPressure_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_AirPressure_TEST.dir/AirPressure_TEST.cc.o -o UNIT_AirPressure_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 81%] Linking CXX executable INTEGRATION_world_dom
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_world_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_world_dom.dir/world_dom.cc.o -o INTEGRATION_world_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 81%] Built target UNIT_Box_TEST
+[ 81%] Built target UNIT_AirPressure_TEST
 make  -f src/CMakeFiles/UNIT_Filesystem_TEST.dir/build.make src/CMakeFiles/UNIT_Filesystem_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Filesystem_TEST.dir/DependInfo.cmake --color=
+[ 81%] Linking CXX executable UNIT_Atmosphere_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Atmosphere_TEST.dir/link.txt --verbose=1
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Filesystem_TEST.dir/build.make src/CMakeFiles/UNIT_Filesystem_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o -o UNIT_Atmosphere_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 [ 81%] Building CXX object src/CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o -MF CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o.d -o CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Filesystem_TEST.cc
-[ 81%] Linking CXX executable INTEGRATION_pose_1_9_sdf
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/link.txt --verbose=1
-[ 81%] Built target UNIT_Actor_TEST
-make  -f src/CMakeFiles/UNIT_ForceTorque_TEST.dir/build.make src/CMakeFiles/UNIT_ForceTorque_TEST.dir/depend
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 81%] Built target INTEGRATION_world_dom
+make  -f src/CMakeFiles/UNIT_ForceTorque_TEST.dir/build.make src/CMakeFiles/UNIT_ForceTorque_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_ForceTorque_TEST.dir/DependInfo.cmake --color=
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/pose_1_9_sdf.cc.o -o INTEGRATION_pose_1_9_sdf   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_ForceTorque_TEST.dir/build.make src/CMakeFiles/UNIT_ForceTorque_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 81%] Building CXX object src/CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o -MF CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o.d -o CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/ForceTorque_TEST.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 81%] Built target INTEGRATION_sdf_dom_conversion
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 81%] Built target UNIT_Atmosphere_TEST
 make  -f src/CMakeFiles/UNIT_Geometry_TEST.dir/build.make src/CMakeFiles/UNIT_Geometry_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Geometry_TEST.dir/DependInfo.cmake --color=
@@ -3196,34 +3231,43 @@
 [ 81%] Building CXX object src/CMakeFiles/UNIT_Geometry_TEST.dir/Geometry_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Geometry_TEST.dir/Geometry_TEST.cc.o -MF CMakeFiles/UNIT_Geometry_TEST.dir/Geometry_TEST.cc.o.d -o CMakeFiles/UNIT_Geometry_TEST.dir/Geometry_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Geometry_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 81%] Linking CXX executable UNIT_Box_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Box_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o -o UNIT_Box_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 82%] Linking CXX executable INTEGRATION_visual_dom
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_visual_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o -o INTEGRATION_visual_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 81%] Built target INTEGRATION_pose_1_9_sdf
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 82%] Built target UNIT_Box_TEST
 make  -f src/CMakeFiles/UNIT_Gui_TEST.dir/build.make src/CMakeFiles/UNIT_Gui_TEST.dir/depend
+[ 82%] Built target INTEGRATION_visual_dom
+make  -f src/CMakeFiles/UNIT_Heightmap_TEST.dir/build.make src/CMakeFiles/UNIT_Heightmap_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Gui_TEST.dir/DependInfo.cmake --color=
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Heightmap_TEST.dir/DependInfo.cmake --color=
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make  -f src/CMakeFiles/UNIT_Heightmap_TEST.dir/build.make src/CMakeFiles/UNIT_Heightmap_TEST.dir/build
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Gui_TEST.dir/build.make src/CMakeFiles/UNIT_Gui_TEST.dir/build
+[ 82%] Building CXX object src/CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o -MF CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o.d -o CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Heightmap_TEST.cc
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 82%] Building CXX object src/CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 83%] Building CXX object src/CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o -MF CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o.d -o CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Gui_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 83%] Linking CXX executable INTEGRATION_visual_dom
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_visual_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o -o INTEGRATION_visual_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 84%] Linking CXX executable UNIT_Exception_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Exception_TEST.dir/link.txt --verbose=1
-[ 84%] Built target INTEGRATION_visual_dom
-make  -f src/CMakeFiles/UNIT_Heightmap_TEST.dir/build.make src/CMakeFiles/UNIT_Heightmap_TEST.dir/depend
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o -o UNIT_Exception_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Heightmap_TEST.dir/DependInfo.cmake --color=
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 84%] Building CXX object src/CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o -MF CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o.d -o CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Heightmap_TEST.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 84%] Linking CXX executable INTEGRATION_sdf_dom_conversion
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/link.txt --verbose=1
+[ 84%] Linking CXX executable UNIT_Error_TEST
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/sdf_dom_conversion.cc.o -o INTEGRATION_sdf_dom_conversion   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Error_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Error_TEST.dir/Error_TEST.cc.o -o UNIT_Error_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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 make  -f src/CMakeFiles/UNIT_Imu_TEST.dir/build.make src/CMakeFiles/UNIT_Imu_TEST.dir/depend
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 [ 84%] Building CXX object src/CMakeFiles/UNIT_Imu_TEST.dir/Imu_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Imu_TEST.dir/Imu_TEST.cc.o -MF CMakeFiles/UNIT_Imu_TEST.dir/Imu_TEST.cc.o.d -o CMakeFiles/UNIT_Imu_TEST.dir/Imu_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Imu_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 85%] Linking CXX executable UNIT_Camera_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Camera_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Camera_TEST.dir/Camera_TEST.cc.o -o UNIT_Camera_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 85%] Linking CXX executable UNIT_Error_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Error_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Error_TEST.dir/Error_TEST.cc.o -o UNIT_Error_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 85%] Built target UNIT_Error_TEST
+[ 84%] Built target UNIT_Error_TEST
 make  -f src/CMakeFiles/UNIT_InterfaceElements_TEST.dir/build.make src/CMakeFiles/UNIT_InterfaceElements_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_InterfaceElements_TEST.dir/DependInfo.cmake --color=
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-make  -f src/CMakeFiles/UNIT_Joint_TEST.dir/build.make src/CMakeFiles/UNIT_Joint_TEST.dir/depend
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 85%] Building CXX object src/CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o -MF CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o.d -o CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceElements_TEST.cc
+[ 85%] Built target INTEGRATION_sdf_dom_conversion
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+make  -f src/CMakeFiles/UNIT_Joint_TEST.dir/build.make src/CMakeFiles/UNIT_Joint_TEST.dir/depend
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Joint_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Joint_TEST.dir/build.make src/CMakeFiles/UNIT_Joint_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 86%] Building CXX object src/CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o -MF CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o.d -o CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceElements_TEST.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 86%] Building CXX object src/CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o
+[ 85%] Building CXX object src/CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o -MF CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o.d -o CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Joint_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 86%] Linking CXX executable UNIT_Capsule_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Capsule_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Capsule_TEST.dir/Capsule_TEST.cc.o -o UNIT_Capsule_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 85%] Linking CXX executable UNIT_Actor_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Actor_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Actor_TEST.dir/Actor_TEST.cc.o -o UNIT_Actor_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 86%] Built target UNIT_Capsule_TEST
+[ 85%] Built target UNIT_Actor_TEST
 make  -f src/CMakeFiles/UNIT_JointAxis_TEST.dir/build.make src/CMakeFiles/UNIT_JointAxis_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_JointAxis_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_JointAxis_TEST.dir/build.make src/CMakeFiles/UNIT_JointAxis_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 86%] Linking CXX executable UNIT_Collision_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Collision_TEST.dir/link.txt --verbose=1
-[ 86%] Building CXX object src/CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o
+[ 85%] Building CXX object src/CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o -MF CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o.d -o CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/JointAxis_TEST.cc
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Collision_TEST.dir/Collision_TEST.cc.o -o UNIT_Collision_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 86%] Linking CXX executable UNIT_Camera_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Camera_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Camera_TEST.dir/Camera_TEST.cc.o -o UNIT_Camera_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 86%] Built target UNIT_Collision_TEST
+[ 86%] Linking CXX executable UNIT_Capsule_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Capsule_TEST.dir/link.txt --verbose=1
+[ 86%] Built target UNIT_Camera_TEST
 make  -f src/CMakeFiles/UNIT_Lidar_TEST.dir/build.make src/CMakeFiles/UNIT_Lidar_TEST.dir/depend
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Capsule_TEST.dir/Capsule_TEST.cc.o -o UNIT_Capsule_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Lidar_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
@@ -3291,11 +3332,8 @@
 [ 87%] Building CXX object src/CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o -MF CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o.d -o CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Lidar_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 87%] Linking CXX executable INTEGRATION_world_dom
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_world_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_world_dom.dir/world_dom.cc.o -o INTEGRATION_world_dom   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 87%] Built target INTEGRATION_world_dom
+[ 87%] Built target UNIT_Capsule_TEST
 make  -f src/CMakeFiles/UNIT_Light_TEST.dir/build.make src/CMakeFiles/UNIT_Light_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Light_TEST.dir/DependInfo.cmake --color=
@@ -3305,11 +3343,14 @@
 [ 87%] Building CXX object src/CMakeFiles/UNIT_Light_TEST.dir/Light_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Light_TEST.dir/Light_TEST.cc.o -MF CMakeFiles/UNIT_Light_TEST.dir/Light_TEST.cc.o.d -o CMakeFiles/UNIT_Light_TEST.dir/Light_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Light_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 87%] Linking CXX executable UNIT_Cylinder_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Cylinder_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o -o UNIT_Cylinder_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 87%] Linking CXX executable UNIT_Collision_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Collision_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Collision_TEST.dir/Collision_TEST.cc.o -o UNIT_Collision_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 87%] Linking CXX executable UNIT_Filesystem_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Filesystem_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o -o UNIT_Filesystem_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 87%] Built target UNIT_Cylinder_TEST
+[ 87%] Built target UNIT_Collision_TEST
 make  -f src/CMakeFiles/UNIT_Link_TEST.dir/build.make src/CMakeFiles/UNIT_Link_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Link_TEST.dir/DependInfo.cmake --color=
@@ -3318,11 +3359,8 @@
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 87%] Building CXX object src/CMakeFiles/UNIT_Link_TEST.dir/Link_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Link_TEST.dir/Link_TEST.cc.o -MF CMakeFiles/UNIT_Link_TEST.dir/Link_TEST.cc.o.d -o CMakeFiles/UNIT_Link_TEST.dir/Link_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Link_TEST.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 87%] Linking CXX executable UNIT_Filesystem_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Filesystem_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o -o UNIT_Filesystem_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 87%] Built target UNIT_Filesystem_TEST
 make  -f src/CMakeFiles/UNIT_Magnetometer_TEST.dir/build.make src/CMakeFiles/UNIT_Magnetometer_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
@@ -3333,11 +3371,11 @@
 [ 88%] Building CXX object src/CMakeFiles/UNIT_Magnetometer_TEST.dir/Magnetometer_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Magnetometer_TEST.dir/Magnetometer_TEST.cc.o -MF CMakeFiles/UNIT_Magnetometer_TEST.dir/Magnetometer_TEST.cc.o.d -o CMakeFiles/UNIT_Magnetometer_TEST.dir/Magnetometer_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Magnetometer_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 88%] Linking CXX executable UNIT_Ellipsoid_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Ellipsoid_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o -o UNIT_Ellipsoid_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 88%] Linking CXX executable UNIT_Cylinder_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Cylinder_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o -o UNIT_Cylinder_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 88%] Built target UNIT_Ellipsoid_TEST
+[ 88%] Built target UNIT_Cylinder_TEST
 make  -f src/CMakeFiles/UNIT_Material_TEST.dir/build.make src/CMakeFiles/UNIT_Material_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Material_TEST.dir/DependInfo.cmake --color=
@@ -3347,11 +3385,11 @@
 [ 88%] Building CXX object src/CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o -MF CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o.d -o CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Material_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 88%] Linking CXX executable UNIT_Frame_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Frame_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o -o UNIT_Frame_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 88%] Linking CXX executable UNIT_Ellipsoid_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Ellipsoid_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o -o UNIT_Ellipsoid_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 88%] Built target UNIT_Frame_TEST
+[ 88%] Built target UNIT_Ellipsoid_TEST
 make  -f src/CMakeFiles/UNIT_Mesh_TEST.dir/build.make src/CMakeFiles/UNIT_Mesh_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Mesh_TEST.dir/DependInfo.cmake --color=
@@ -3361,11 +3399,11 @@
 [ 88%] Building CXX object src/CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o -MF CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o.d -o CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Mesh_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 88%] Linking CXX executable UNIT_InterfaceElements_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_InterfaceElements_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o -o UNIT_InterfaceElements_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 88%] Linking CXX executable UNIT_Frame_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Frame_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o -o UNIT_Frame_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 88%] Built target UNIT_InterfaceElements_TEST
+[ 88%] Built target UNIT_Frame_TEST
 make  -f src/CMakeFiles/UNIT_Model_TEST.dir/build.make src/CMakeFiles/UNIT_Model_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Model_TEST.dir/DependInfo.cmake --color=
@@ -3375,12 +3413,12 @@
 [ 89%] Building CXX object src/CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o -MF CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o.d -o CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Model_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 89%] Linking CXX executable UNIT_Gui_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Gui_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o -o UNIT_Gui_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 [ 89%] Linking CXX executable UNIT_ForceTorque_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_ForceTorque_TEST.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o -o UNIT_ForceTorque_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 89%] Linking CXX executable UNIT_Gui_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Gui_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o -o UNIT_Gui_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 89%] Built target UNIT_ForceTorque_TEST
 make  -f src/CMakeFiles/UNIT_NavSat_TEST.dir/build.make src/CMakeFiles/UNIT_NavSat_TEST.dir/depend
@@ -3388,15 +3426,15 @@
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_NavSat_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_NavSat_TEST.dir/build.make src/CMakeFiles/UNIT_NavSat_TEST.dir/build
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 89%] Building CXX object src/CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o
-[ 89%] Built target UNIT_Gui_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o -MF CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o.d -o CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/NavSat_TEST.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 89%] Built target UNIT_Gui_TEST
 make  -f src/CMakeFiles/UNIT_Noise_TEST.dir/build.make src/CMakeFiles/UNIT_Noise_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Noise_TEST.dir/DependInfo.cmake --color=
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Noise_TEST.dir/build.make src/CMakeFiles/UNIT_Noise_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
@@ -3417,179 +3455,179 @@
 [ 89%] Building CXX object src/CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o -MF CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o.d -o CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Param_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 89%] Linking CXX executable UNIT_InterfaceElements_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_InterfaceElements_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o -o UNIT_InterfaceElements_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 [ 89%] Linking CXX executable UNIT_Imu_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Imu_TEST.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Imu_TEST.dir/Imu_TEST.cc.o -o UNIT_Imu_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 89%] Built target UNIT_Imu_TEST
+[ 89%] Built target UNIT_InterfaceElements_TEST
 make  -f src/CMakeFiles/UNIT_parser_TEST.dir/build.make src/CMakeFiles/UNIT_parser_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_parser_TEST.dir/build.make src/CMakeFiles/UNIT_parser_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 89%] Building CXX object src/CMakeFiles/UNIT_parser_TEST.dir/parser_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_parser_TEST.dir/parser_TEST.cc.o -MF CMakeFiles/UNIT_parser_TEST.dir/parser_TEST.cc.o.d -o CMakeFiles/UNIT_parser_TEST.dir/parser_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/parser_TEST.cc
+[ 89%] Built target UNIT_Imu_TEST
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+make  -f src/CMakeFiles/UNIT_ParserConfig_TEST.dir/build.make src/CMakeFiles/UNIT_ParserConfig_TEST.dir/depend
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_ParserConfig_TEST.dir/DependInfo.cmake --color=
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make  -f src/CMakeFiles/UNIT_ParserConfig_TEST.dir/build.make src/CMakeFiles/UNIT_ParserConfig_TEST.dir/build
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 89%] Building CXX object src/CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o -MF CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o.d -o CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/ParserConfig_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 89%] Linking CXX executable UNIT_Joint_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Joint_TEST.dir/link.txt --verbose=1
 [ 89%] Linking CXX executable UNIT_JointAxis_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_JointAxis_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o -o UNIT_Joint_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o -o UNIT_JointAxis_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 89%] Linking CXX executable UNIT_Heightmap_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Heightmap_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o -o UNIT_Heightmap_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 89%] Linking CXX executable UNIT_Lidar_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Lidar_TEST.dir/link.txt --verbose=1
-[ 89%] Built target UNIT_Joint_TEST
-make  -f src/CMakeFiles/UNIT_ParserConfig_TEST.dir/build.make src/CMakeFiles/UNIT_ParserConfig_TEST.dir/depend
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o -o UNIT_Lidar_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_ParserConfig_TEST.dir/DependInfo.cmake --color=
 [ 89%] Built target UNIT_JointAxis_TEST
 make  -f src/CMakeFiles/UNIT_ParticleEmitter_TEST.dir/build.make src/CMakeFiles/UNIT_ParticleEmitter_TEST.dir/depend
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make  -f src/CMakeFiles/UNIT_ParserConfig_TEST.dir/build.make src/CMakeFiles/UNIT_ParserConfig_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_ParticleEmitter_TEST.dir/DependInfo.cmake --color=
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_ParticleEmitter_TEST.dir/build.make src/CMakeFiles/UNIT_ParticleEmitter_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 89%] Building CXX object src/CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o -MF CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o.d -o CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/ParserConfig_TEST.cc
 [ 90%] Building CXX object src/CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o -MF CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o.d -o CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/ParticleEmitter_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 90%] Linking CXX executable UNIT_Lidar_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Lidar_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o -o UNIT_Lidar_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 90%] Built target UNIT_Heightmap_TEST
+[ 90%] Built target UNIT_Lidar_TEST
 make  -f src/CMakeFiles/UNIT_Pbr_TEST.dir/build.make src/CMakeFiles/UNIT_Pbr_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Pbr_TEST.dir/DependInfo.cmake --color=
-[ 90%] Built target UNIT_Lidar_TEST
-make  -f src/CMakeFiles/UNIT_Physics_TEST.dir/build.make src/CMakeFiles/UNIT_Physics_TEST.dir/depend
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Physics_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Pbr_TEST.dir/build.make src/CMakeFiles/UNIT_Pbr_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 90%] Building CXX object src/CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o -MF CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o.d -o CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Pbr_TEST.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 90%] Linking CXX executable UNIT_Heightmap_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Heightmap_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o -o UNIT_Heightmap_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 90%] Built target UNIT_Heightmap_TEST
+make  -f src/CMakeFiles/UNIT_Physics_TEST.dir/build.make src/CMakeFiles/UNIT_Physics_TEST.dir/depend
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Physics_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Physics_TEST.dir/build.make src/CMakeFiles/UNIT_Physics_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 90%] Building CXX object src/CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o -MF CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o.d -o CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Pbr_TEST.cc
 [ 90%] Building CXX object src/CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o -MF CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o.d -o CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Physics_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
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-[ 91%] Linking CXX executable UNIT_Element_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Element_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Element_TEST.dir/Element_TEST.cc.o -o UNIT_Element_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 91%] Linking CXX executable UNIT_Magnetometer_TEST
+[ 90%] Linking CXX executable UNIT_Magnetometer_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Magnetometer_TEST.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Magnetometer_TEST.dir/Magnetometer_TEST.cc.o -o UNIT_Magnetometer_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 90%] Linking CXX executable UNIT_Joint_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Joint_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o -o UNIT_Joint_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 91%] Built target UNIT_Element_TEST
+[ 90%] Built target UNIT_Magnetometer_TEST
 make  -f src/CMakeFiles/UNIT_Plane_TEST.dir/build.make src/CMakeFiles/UNIT_Plane_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 92%] Building CXX object src/CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o
+[ 91%] Building CXX object src/CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o -MF CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o.d -o CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Plane_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 92%] Built target UNIT_Magnetometer_TEST
+[ 91%] Built target UNIT_Joint_TEST
 make  -f src/CMakeFiles/UNIT_Root_TEST.dir/build.make src/CMakeFiles/UNIT_Root_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Root_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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-[ 92%] Building CXX object src/CMakeFiles/UNIT_Root_TEST.dir/Root_TEST.cc.o
+[ 91%] Building CXX object src/CMakeFiles/UNIT_Root_TEST.dir/Root_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Root_TEST.dir/Root_TEST.cc.o -MF CMakeFiles/UNIT_Root_TEST.dir/Root_TEST.cc.o.d -o CMakeFiles/UNIT_Root_TEST.dir/Root_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Root_TEST.cc
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-[ 92%] Linking CXX executable UNIT_Light_TEST
+[ 91%] Linking CXX executable UNIT_Light_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Light_TEST.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Light_TEST.dir/Light_TEST.cc.o -o UNIT_Light_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 92%] Linking CXX executable UNIT_Link_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Link_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Link_TEST.dir/Link_TEST.cc.o -o UNIT_Link_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 92%] Built target UNIT_Light_TEST
+[ 91%] Built target UNIT_Light_TEST
 make  -f src/CMakeFiles/UNIT_Scene_TEST.dir/build.make src/CMakeFiles/UNIT_Scene_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Building CXX object src/CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o
+[ 92%] Building CXX object src/CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o -MF CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o.d -o CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Scene_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 92%] Linking CXX executable UNIT_Material_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Material_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o -o UNIT_Material_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 92%] Linking CXX executable UNIT_Link_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Link_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Link_TEST.dir/Link_TEST.cc.o -o UNIT_Link_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Built target UNIT_Link_TEST
+[ 92%] Built target UNIT_Material_TEST
 make  -f src/CMakeFiles/UNIT_SemanticPose_TEST.dir/build.make src/CMakeFiles/UNIT_SemanticPose_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Building CXX object src/CMakeFiles/UNIT_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o
+[ 92%] Building CXX object src/CMakeFiles/UNIT_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o -MF CMakeFiles/UNIT_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o.d -o CMakeFiles/UNIT_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/SemanticPose_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 93%] Linking CXX executable UNIT_Material_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Material_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o -o UNIT_Material_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Built target UNIT_Material_TEST
+[ 92%] Built target UNIT_Link_TEST
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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-[ 93%] Building CXX object src/CMakeFiles/UNIT_SDF_TEST.dir/SDF_TEST.cc.o
+[ 92%] Building CXX object src/CMakeFiles/UNIT_SDF_TEST.dir/SDF_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_SDF_TEST.dir/SDF_TEST.cc.o -MF CMakeFiles/UNIT_SDF_TEST.dir/SDF_TEST.cc.o.d -o CMakeFiles/UNIT_SDF_TEST.dir/SDF_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/SDF_TEST.cc
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-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o -o UNIT_NavSat_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 92%] Linking CXX executable UNIT_Mesh_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Mesh_TEST.dir/link.txt --verbose=1
+[ 93%] Linking CXX executable UNIT_Element_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Element_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o -o UNIT_Mesh_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Element_TEST.dir/Element_TEST.cc.o -o UNIT_Element_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Built target UNIT_NavSat_TEST
+[ 93%] Built target UNIT_Mesh_TEST
 make  -f src/CMakeFiles/UNIT_Sensor_TEST.dir/build.make src/CMakeFiles/UNIT_Sensor_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Sensor_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Building CXX object src/CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o -MF CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o.d -o CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Sensor_TEST.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 93%] Linking CXX executable UNIT_Mesh_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Mesh_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o -o UNIT_Mesh_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Built target UNIT_Mesh_TEST
+[ 93%] Built target UNIT_Element_TEST
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
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+[ 93%] Building CXX object src/CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o -MF CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o.d -o CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Sensor_TEST.cc
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Sky_TEST.dir/build.make src/CMakeFiles/UNIT_Sky_TEST.dir/build
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 93%] Building CXX object src/CMakeFiles/UNIT_Sky_TEST.dir/Sky_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Sky_TEST.dir/Sky_TEST.cc.o -MF CMakeFiles/UNIT_Sky_TEST.dir/Sky_TEST.cc.o.d -o CMakeFiles/UNIT_Sky_TEST.dir/Sky_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Sky_TEST.cc
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-[ 93%] Linking CXX executable UNIT_Noise_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Noise_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o -o UNIT_Noise_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_NavSat_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_NavSat_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o -o UNIT_NavSat_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Built target UNIT_Noise_TEST
+[ 93%] Built target UNIT_NavSat_TEST
 make  -f src/CMakeFiles/UNIT_Sphere_TEST.dir/build.make src/CMakeFiles/UNIT_Sphere_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Sphere_TEST.dir/DependInfo.cmake --color=
@@ -3599,11 +3637,14 @@
 [ 93%] Building CXX object src/CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o -MF CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o.d -o CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Sphere_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 93%] Linking CXX executable UNIT_Noise_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Noise_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o -o UNIT_Noise_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 [ 93%] Linking CXX executable UNIT_ParserConfig_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_ParserConfig_TEST.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o -o UNIT_ParserConfig_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Built target UNIT_ParserConfig_TEST
+[ 93%] Built target UNIT_Noise_TEST
 make  -f src/CMakeFiles/UNIT_Surface_TEST.dir/build.make src/CMakeFiles/UNIT_Surface_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Surface_TEST.dir/DependInfo.cmake --color=
@@ -3613,11 +3654,8 @@
 [ 93%] Building CXX object src/CMakeFiles/UNIT_Surface_TEST.dir/Surface_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Surface_TEST.dir/Surface_TEST.cc.o -MF CMakeFiles/UNIT_Surface_TEST.dir/Surface_TEST.cc.o.d -o CMakeFiles/UNIT_Surface_TEST.dir/Surface_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Surface_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 93%] Linking CXX executable UNIT_Physics_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Physics_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o -o UNIT_Physics_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Built target UNIT_Physics_TEST
+[ 93%] Built target UNIT_ParserConfig_TEST
 make  -f src/CMakeFiles/UNIT_Types_TEST.dir/build.make src/CMakeFiles/UNIT_Types_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Types_TEST.dir/DependInfo.cmake --color=
@@ -3627,11 +3665,11 @@
 [ 93%] Building CXX object src/CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o -MF CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o.d -o CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Types_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 93%] Linking CXX executable UNIT_Model_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Model_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o -o UNIT_Model_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_ParticleEmitter_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_ParticleEmitter_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o -o UNIT_ParticleEmitter_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Built target UNIT_Model_TEST
+[ 93%] Built target UNIT_ParticleEmitter_TEST
 make  -f src/CMakeFiles/UNIT_Visual_TEST.dir/build.make src/CMakeFiles/UNIT_Visual_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Visual_TEST.dir/DependInfo.cmake --color=
@@ -3640,12 +3678,12 @@
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 93%] Building CXX object src/CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o -MF CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o.d -o CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Visual_TEST.cc
+[ 93%] Linking CXX executable UNIT_Model_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Model_TEST.dir/link.txt --verbose=1
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 93%] Linking CXX executable UNIT_ParticleEmitter_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_ParticleEmitter_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o -o UNIT_ParticleEmitter_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o -o UNIT_Model_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Built target UNIT_ParticleEmitter_TEST
+[ 93%] Built target UNIT_Model_TEST
 make  -f src/CMakeFiles/UNIT_World_TEST.dir/build.make src/CMakeFiles/UNIT_World_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_World_TEST.dir/DependInfo.cmake --color=
@@ -3655,11 +3693,11 @@
 [ 93%] Building CXX object src/CMakeFiles/UNIT_World_TEST.dir/World_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_World_TEST.dir/World_TEST.cc.o -MF CMakeFiles/UNIT_World_TEST.dir/World_TEST.cc.o.d -o CMakeFiles/UNIT_World_TEST.dir/World_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/World_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 93%] Linking CXX executable UNIT_Plane_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Plane_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o -o UNIT_Plane_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_Physics_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Physics_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o -o UNIT_Physics_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Built target UNIT_Plane_TEST
+[ 93%] Built target UNIT_Physics_TEST
 make  -f src/CMakeFiles/UNIT_Utils_TEST.dir/build.make src/CMakeFiles/UNIT_Utils_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Utils_TEST.dir/DependInfo.cmake --color=
@@ -3669,34 +3707,34 @@
 [ 93%] Building CXX object src/CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o -MF CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o.d -o CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Utils_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 93%] Linking CXX executable UNIT_Plane_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Plane_TEST.dir/link.txt --verbose=1
 [ 93%] Linking CXX executable UNIT_Types_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Types_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o -o UNIT_Plane_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o -o UNIT_Types_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 93%] Built target UNIT_Types_TEST
 make  -f src/CMakeFiles/UNIT_XmlUtils_TEST.dir/build.make src/CMakeFiles/UNIT_XmlUtils_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_XmlUtils_TEST.dir/DependInfo.cmake --color=
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make  -f src/CMakeFiles/UNIT_XmlUtils_TEST.dir/build.make src/CMakeFiles/UNIT_XmlUtils_TEST.dir/build
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Building CXX object src/CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o -MF CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o.d -o CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/XmlUtils_TEST.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 93%] Linking CXX executable UNIT_Scene_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Scene_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o -o UNIT_Scene_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Built target UNIT_Scene_TEST
+[ 93%] Built target UNIT_Plane_TEST
 make  -f src/CMakeFiles/UNIT_FrameSemantics_TEST.dir/build.make src/CMakeFiles/UNIT_FrameSemantics_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_FrameSemantics_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make  -f src/CMakeFiles/UNIT_XmlUtils_TEST.dir/build.make src/CMakeFiles/UNIT_XmlUtils_TEST.dir/build
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_FrameSemantics_TEST.dir/build.make src/CMakeFiles/UNIT_FrameSemantics_TEST.dir/build
+[ 93%] Building CXX object src/CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o -MF CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o.d -o CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/XmlUtils_TEST.cc
 [ 93%] Building CXX object src/CMakeFiles/UNIT_FrameSemantics_TEST.dir/FrameSemantics_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_FrameSemantics_TEST.dir/FrameSemantics_TEST.cc.o -MF CMakeFiles/UNIT_FrameSemantics_TEST.dir/FrameSemantics_TEST.cc.o.d -o CMakeFiles/UNIT_FrameSemantics_TEST.dir/FrameSemantics_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/FrameSemantics_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 93%] Linking CXX executable UNIT_Root_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Root_TEST.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Root_TEST.dir/Root_TEST.cc.o -o UNIT_Root_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
@@ -3709,91 +3747,96 @@
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_Converter_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-make  -f src/CMakeFiles/UNIT_Converter_TEST.dir/build.make src/CMakeFiles/UNIT_Converter_TEST.dir/build
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 93%] Building CXX object src/CMakeFiles/UNIT_Converter_TEST.dir/Converter_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Converter_TEST.dir/Converter_TEST.cc.o -MF CMakeFiles/UNIT_Converter_TEST.dir/Converter_TEST.cc.o.d -o CMakeFiles/UNIT_Converter_TEST.dir/Converter_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Converter_TEST.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+make  -f src/CMakeFiles/UNIT_Converter_TEST.dir/build.make src/CMakeFiles/UNIT_Converter_TEST.dir/build
 [ 93%] Built target UNIT_SemanticPose_TEST
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_parser_urdf_TEST.dir/build.make src/CMakeFiles/UNIT_parser_urdf_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_parser_urdf_TEST.dir/DependInfo.cmake --color=
+[ 93%] Building CXX object src/CMakeFiles/UNIT_Converter_TEST.dir/Converter_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Converter_TEST.dir/Converter_TEST.cc.o -MF CMakeFiles/UNIT_Converter_TEST.dir/Converter_TEST.cc.o.d -o CMakeFiles/UNIT_Converter_TEST.dir/Converter_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Converter_TEST.cc
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_parser_urdf_TEST.dir/build.make src/CMakeFiles/UNIT_parser_urdf_TEST.dir/build
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 93%] Building CXX object src/CMakeFiles/UNIT_parser_urdf_TEST.dir/parser_urdf_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/UNIT_parser_urdf_TEST.dir/parser_urdf_TEST.cc.o -MF CMakeFiles/UNIT_parser_urdf_TEST.dir/parser_urdf_TEST.cc.o.d -o CMakeFiles/UNIT_parser_urdf_TEST.dir/parser_urdf_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/parser_urdf_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 94%] Linking CXX executable UNIT_parser_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_parser_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_parser_TEST.dir/parser_TEST.cc.o -o UNIT_parser_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 94%] Linking CXX executable UNIT_Param_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Param_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o -o UNIT_Param_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_Scene_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Scene_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o -o UNIT_Scene_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 94%] Built target UNIT_parser_TEST
+[ 93%] Built target UNIT_Scene_TEST
 make  -f src/CMakeFiles/UNIT_ParamPassing_TEST.dir/build.make src/CMakeFiles/UNIT_ParamPassing_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/CMakeFiles/UNIT_ParamPassing_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_ParamPassing_TEST.dir/build.make src/CMakeFiles/UNIT_ParamPassing_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 95%] Building CXX object src/CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o
+[ 94%] Building CXX object src/CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/c++ -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -I/usr/lib/x86_64-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o -MF CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o.d -o CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/ParamPassing_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 94%] Linking CXX executable UNIT_Sphere_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Sphere_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o -o UNIT_Sphere_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 95%] Built target UNIT_Param_TEST
-[ 95%] Linking CXX executable UNIT_Sky_TEST
+[ 94%] Built target UNIT_Sphere_TEST
+[ 94%] Linking CXX executable UNIT_Sky_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Sky_TEST.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Sky_TEST.dir/Sky_TEST.cc.o -o UNIT_Sky_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 95%] Built target UNIT_Sky_TEST
+[ 94%] Built target UNIT_Sky_TEST
+[ 95%] Linking CXX executable UNIT_parser_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_parser_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_parser_TEST.dir/parser_TEST.cc.o -o UNIT_parser_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 95%] Linking CXX executable UNIT_Pbr_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Pbr_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o -o UNIT_Pbr_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 95%] Linking CXX executable UNIT_Param_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Param_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o -o UNIT_Param_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 95%] Built target UNIT_parser_TEST
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 95%] Built target UNIT_Pbr_TEST
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 95%] Built target UNIT_Param_TEST
 [ 96%] Linking CXX executable UNIT_Surface_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Surface_TEST.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Surface_TEST.dir/Surface_TEST.cc.o -o UNIT_Surface_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 [ 96%] Built target UNIT_Surface_TEST
-[ 96%] Linking CXX executable UNIT_Sphere_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Sphere_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o -o UNIT_Sphere_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 96%] Linking CXX executable UNIT_Utils_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Utils_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o -o UNIT_Utils_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 97%] Linking CXX executable UNIT_Sensor_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Sensor_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o -o UNIT_Sensor_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 96%] Built target UNIT_Sphere_TEST
-[ 96%] Linking CXX executable UNIT_Pbr_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Pbr_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o -o UNIT_Pbr_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+[ 97%] Built target UNIT_Utils_TEST
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 96%] Built target UNIT_Pbr_TEST
-[ 96%] Linking CXX executable UNIT_XmlUtils_TEST
+[ 97%] Built target UNIT_Sensor_TEST
+[ 98%] Linking CXX executable UNIT_Visual_TEST
+cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Visual_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o -o UNIT_Visual_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
+[ 98%] Built target UNIT_Visual_TEST
+[ 98%] Linking CXX executable UNIT_XmlUtils_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_XmlUtils_TEST.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o -o UNIT_XmlUtils_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libtinyxml2.so.9.0.0 /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 96%] Built target UNIT_XmlUtils_TEST
-[ 97%] Linking CXX executable UNIT_Sensor_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Sensor_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o -o UNIT_Sensor_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-[ 97%] Linking CXX executable UNIT_SDF_TEST
+[ 98%] Built target UNIT_XmlUtils_TEST
+[ 98%] Linking CXX executable UNIT_SDF_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_SDF_TEST.dir/link.txt --verbose=1
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 97%] Built target UNIT_Sensor_TEST
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-[ 97%] Built target UNIT_SDF_TEST
-[ 97%] Linking CXX executable UNIT_World_TEST
+[ 98%] Built target UNIT_SDF_TEST
+[ 98%] Linking CXX executable UNIT_World_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_World_TEST.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_World_TEST.dir/World_TEST.cc.o -o UNIT_World_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 98%] Linking CXX executable UNIT_Visual_TEST
 [ 98%] Built target UNIT_World_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Visual_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o -o UNIT_Visual_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 98%] Built target UNIT_Visual_TEST
-[ 98%] Linking CXX executable UNIT_Utils_TEST
-cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Utils_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o -o UNIT_Utils_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
-[ 98%] Built target UNIT_Utils_TEST
 [ 98%] Linking CXX executable UNIT_ParamPassing_TEST
 cd /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_ParamPassing_TEST.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now -L/usr/lib/x86_64-linux-gnu/pkgconfig/../../../lib/x86_64-linux-gnu -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -L/usr/lib/x86_64-linux-gnu -lconsole_bridge CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o -o UNIT_ParamPassing_TEST   -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -lconsole_bridge /usr/lib/x86_64-linux-gnu/libtinyxml2.so.9.0.0 /usr/lib/x86_64-linux-gnu/libignition-math6.so.6.10.0 
@@ -3820,7 +3863,7 @@
    debian/rules execute_after_dh_auto_build-indep
 make[1]: Entering directory '/build/sdformat-12.3.0+ds'
 dh_auto_build -- doc  # Generate documentation
-	cd obj-x86_64-linux-gnu && make -j15 "INSTALL=install --strip-program=true" doc VERBOSE=1
+	cd obj-x86_64-linux-gnu && make -j16 "INSTALL=install --strip-program=true" doc VERBOSE=1
 make[2]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 /usr/bin/cmake -S/build/sdformat-12.3.0+ds -B/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu --check-build-system CMakeFiles/Makefile.cmake 0
 make  -f CMakeFiles/Makefile2 doc
@@ -4276,7 +4319,7 @@
 writing tag file...
 Running plantuml with JAVA...
 Running dot...
-Generating dot graphs using 16 parallel threads...
+Generating dot graphs using 17 parallel threads...
 Running dot for graph 1/321
 Running dot for graph 2/321
 Running dot for graph 3/321
@@ -20091,7 +20134,7 @@
 /fonts/type1/urw/helvetic/uhvbo8a.pfb></usr/share/texlive/texmf-dist/fonts/type
 1/urw/helvetic/uhvr8a.pfb></usr/share/texlive/texmf-dist/fonts/type1/urw/helvet
 ic/uhvro8a.pfb>
-Output written on refman.pdf (716 pages, 2370445 bytes).
+Output written on refman.pdf (716 pages, 2370443 bytes).
 Transcript written on refman.log.
 makeindex refman.idx
 This is makeindex, version 2.16 [TeX Live 2022] (kpathsea + Thai support).
@@ -25789,7 +25832,7 @@
 /fonts/type1/urw/helvetic/uhvbo8a.pfb></usr/share/texlive/texmf-dist/fonts/type
 1/urw/helvetic/uhvr8a.pfb></usr/share/texlive/texmf-dist/fonts/type1/urw/helvet
 ic/uhvro8a.pfb>
-Output written on refman.pdf (802 pages, 2470571 bytes).
+Output written on refman.pdf (802 pages, 2470577 bytes).
 Transcript written on refman.log.
 latex_count=8 ; \
 while egrep -s 'Rerun (LaTeX|to get cross-references right|to get bibliographical references right)' refman.log && [ $latex_count -gt 0 ] ;\
@@ -29133,7 +29176,7 @@
 /fonts/type1/urw/helvetic/uhvbo8a.pfb></usr/share/texlive/texmf-dist/fonts/type
 1/urw/helvetic/uhvr8a.pfb></usr/share/texlive/texmf-dist/fonts/type1/urw/helvet
 ic/uhvro8a.pfb>
-Output written on refman.pdf (802 pages, 2467867 bytes).
+Output written on refman.pdf (802 pages, 2467873 bytes).
 Transcript written on refman.log.
 makeindex refman.idx
 This is makeindex, version 2.16 [TeX Live 2022] (kpathsea + Thai support).
@@ -32476,7 +32519,7 @@
 /fonts/type1/urw/helvetic/uhvbo8a.pfb></usr/share/texlive/texmf-dist/fonts/type
 1/urw/helvetic/uhvr8a.pfb></usr/share/texlive/texmf-dist/fonts/type1/urw/helvet
 ic/uhvro8a.pfb>
-Output written on refman.pdf (802 pages, 2467867 bytes).
+Output written on refman.pdf (802 pages, 2467873 bytes).
 Transcript written on refman.log.
 make[6]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/doxygen/latex'
 mv /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/doxygen/latex/refman.pdf /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/doxygen/latex/sdf-12.3.0.pdf
@@ -32490,10 +32533,10 @@
    debian/rules override_dh_auto_test-arch
 make[1]: Entering directory '/build/sdformat-12.3.0+ds'
 LD_LIBRARY_PATH=/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src LC_ALL=C dh_auto_test
-	cd obj-x86_64-linux-gnu && make -j15 test ARGS\+=--verbose ARGS\+=-j15
+	cd obj-x86_64-linux-gnu && make -j16 test ARGS\+=--verbose ARGS\+=-j16
 make[2]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 Running tests...
-/usr/bin/ctest --force-new-ctest-process --verbose -j15
+/usr/bin/ctest --force-new-ctest-process --verbose -j16
 UpdateCTestConfiguration  from :/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/DartConfiguration.tcl
 UpdateCTestConfiguration  from :/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/DartConfiguration.tcl
 Test project /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu
@@ -32609,6 +32652,12 @@
 15: Environment variables: 
 15:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 15: Test timeout computed to be: 240
+test 16
+        Start  16: check_INTEGRATION_deprecated_specs
+
+16: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_deprecated_specs.xml"
+16: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
+16: Test timeout computed to be: 10000000
 2: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_actor_dom.xml
 2: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_actor_dom.xml
 4: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_audio.xml
@@ -32617,16 +32666,7 @@
 6: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_category_bitmask.xml
 8: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_cfm_damping_implicit_spring_damper.xml
 8: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_cfm_damping_implicit_spring_damper.xml
-10: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_collision_dom.xml
-10: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_collision_dom.xml
-  1/221 Test   #2: check_INTEGRATION_actor_dom ............................   Passed    0.26 sec
-test 16
-        Start  16: check_INTEGRATION_deprecated_specs
-
-16: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_deprecated_specs.xml"
-16: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
-16: Test timeout computed to be: 10000000
-  2/221 Test   #4: check_INTEGRATION_audio ................................   Passed    0.19 sec
+  1/221 Test   #2: check_INTEGRATION_actor_dom ............................   Passed    0.03 sec
 test 17
         Start  17: INTEGRATION_disable_fixed_joint_reduction
 
@@ -32635,14 +32675,14 @@
 17: Environment variables: 
 17:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 17: Test timeout computed to be: 240
-  3/221 Test   #6: check_INTEGRATION_category_bitmask .....................   Passed    0.17 sec
+  2/221 Test   #4: check_INTEGRATION_audio ................................   Passed    0.03 sec
 test 18
         Start  18: check_INTEGRATION_disable_fixed_joint_reduction
 
 18: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml"
 18: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 18: Test timeout computed to be: 10000000
-  4/221 Test   #8: check_INTEGRATION_cfm_damping_implicit_spring_damper ...   Passed    0.17 sec
+  3/221 Test   #6: check_INTEGRATION_category_bitmask .....................   Passed    0.03 sec
 test 19
         Start  19: INTEGRATION_element_tracing
 
@@ -32651,16 +32691,16 @@
 19: Environment variables: 
 19:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 19: Test timeout computed to be: 240
-  5/221 Test  #10: check_INTEGRATION_collision_dom ........................   Passed    0.14 sec
+  4/221 Test   #8: check_INTEGRATION_cfm_damping_implicit_spring_damper ...   Passed    0.03 sec
 test 20
         Start  20: check_INTEGRATION_element_tracing
 
 20: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_element_tracing.xml"
 20: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 20: Test timeout computed to be: 10000000
-12: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_converter.xml
-12: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_converter.xml
-  6/221 Test  #12: check_INTEGRATION_converter ............................   Passed    0.12 sec
+10: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_collision_dom.xml
+10: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_collision_dom.xml
+  5/221 Test  #10: check_INTEGRATION_collision_dom ........................   Passed    0.03 sec
 test 21
         Start  21: INTEGRATION_fixed_joint_reduction
 
@@ -32669,30 +32709,20 @@
 21: Environment variables: 
 21:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 21: Test timeout computed to be: 240
-14: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_default_elements.xml
-14: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_default_elements.xml
-  7/221 Test  #14: check_INTEGRATION_default_elements .....................   Passed    0.11 sec
+12: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_converter.xml
+12: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_converter.xml
+  6/221 Test  #12: check_INTEGRATION_converter ............................   Passed    0.03 sec
 test 22
         Start  22: check_INTEGRATION_fixed_joint_reduction
 
 22: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_fixed_joint_reduction.xml"
 22: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 22: Test timeout computed to be: 10000000
-9: Running main() from /usr/src/gtest/src/gtest_main.cc
-9: [==========] Running 4 tests from 1 test suite.
-9: [----------] Global test environment set-up.
-9: [----------] 4 tests from DOMCollision
-9: [ RUN      ] DOMCollision.NotACollision
-9: [       OK ] DOMCollision.NotACollision (35 ms)
-9: [ RUN      ] DOMCollision.NoName
-3: Running main() from /usr/src/gtest/src/gtest_main.cc
-3: [==========] Running 1 test from 1 test suite.
-3: [----------] Global test environment set-up.
-3: [----------] 1 test from SDFParser
-3: [ RUN      ] SDFParser.AudioSDF_FullParameters_noThrow
+14: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_default_elements.xml
+14: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_default_elements.xml
 16: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_deprecated_specs.xml
 16: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_deprecated_specs.xml
-  8/221 Test  #16: check_INTEGRATION_deprecated_specs .....................   Passed    0.07 sec
+  7/221 Test  #14: check_INTEGRATION_default_elements .....................   Passed    0.02 sec
 test 23
         Start  23: INTEGRATION_force_torque_sensor
 
@@ -32701,44 +32731,16 @@
 23: Environment variables: 
 23:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 23: Test timeout computed to be: 240
-9:   <collision/>
-9: Error [Element.cc:979] Missing element description for [geometry]
-9: [       OK ] DOMCollision.NoName (12 ms)
-9: [ RUN      ] DOMCollision.DoublePendulum
-1: Running main() from /usr/src/gtest/src/gtest_main.cc
-1: [==========] Running 2 tests from 1 test suite.
-1: [----------] Global test environment set-up.
-1: [----------] 2 tests from DOMActor
-1: [ RUN      ] DOMActor.LoadActors
-13: Running main() from /usr/src/gtest/src/gtest_main.cc
-13: [==========] Running 3 tests from 1 test suite.
-13: [----------] Global test environment set-up.
-13: [----------] 3 tests from ExplicitlySetInFile
-13: [ RUN      ] ExplicitlySetInFile.EmptyRoadSphCoords
-20: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_element_tracing.xml
-20: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_element_tracing.xml
-18: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml
-18: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml
-22: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_fixed_joint_reduction.xml
-22: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_fixed_joint_reduction.xml
-5: Running main() from /usr/src/gtest/src/gtest_main.cc
-5: [==========] Running 2 tests from 1 test suite.
-5: [----------] Global test environment set-up.
-5: [----------] 2 tests from CategoryBitmask
-5: [ RUN      ] CategoryBitmask.WasSpecified
-  9/221 Test  #22: check_INTEGRATION_fixed_joint_reduction ................   Passed    0.04 sec
+  8/221 Test  #16: check_INTEGRATION_deprecated_specs .....................   Passed    0.02 sec
 test 24
         Start  24: check_INTEGRATION_force_torque_sensor
 
 24: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_force_torque_sensor.xml"
 24: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 24: Test timeout computed to be: 10000000
-11: Running main() from /usr/src/gtest/src/gtest_main.cc
-11: [==========] Running 5 tests from 1 test suite.
-11: [----------] Global test environment set-up.
-11: [----------] 5 tests from ConverterIntegration
-11: [ RUN      ] ConverterIntegration.ParserFileConverter
- 10/221 Test  #20: check_INTEGRATION_element_tracing ......................   Passed    0.06 sec
+18: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml
+18: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml
+  9/221 Test  #18: check_INTEGRATION_disable_fixed_joint_reduction ........   Passed    0.02 sec
 test 25
         Start  25: INTEGRATION_frame
 
@@ -32747,21 +32749,18 @@
 25: Environment variables: 
 25:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 25: Test timeout computed to be: 240
-7: Running main() from /usr/src/gtest/src/gtest_main.cc
-7: [==========] Running 2 tests from 1 test suite.
-7: [----------] Global test environment set-up.
-7: [----------] 2 tests from SDFParser
-7: [ RUN      ] SDFParser.CFMDampingSDFTest
- 11/221 Test  #18: check_INTEGRATION_disable_fixed_joint_reduction ........   Passed    0.12 sec
+20: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_element_tracing.xml
+20: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_element_tracing.xml
+22: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_fixed_joint_reduction.xml
+22: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_fixed_joint_reduction.xml
+ 10/221 Test  #20: check_INTEGRATION_element_tracing ......................   Passed    0.03 sec
 test 26
         Start  26: check_INTEGRATION_frame
 
 26: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_frame.xml"
 26: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 26: Test timeout computed to be: 10000000
-24: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_force_torque_sensor.xml
-24: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_force_torque_sensor.xml
- 12/221 Test  #24: check_INTEGRATION_force_torque_sensor ..................   Passed    0.05 sec
+ 11/221 Test  #22: check_INTEGRATION_fixed_joint_reduction ................   Passed    0.02 sec
 test 27
         Start  27: INTEGRATION_geometry_dom
 
@@ -32770,47 +32769,23 @@
 27: Environment variables: 
 27:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 27: Test timeout computed to be: 240
-26: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_frame.xml
-26: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_frame.xml
-15: Running main() from /usr/src/gtest/src/gtest_main.cc
-15: [==========] Running 4 tests from 2 test suites.
-15: [----------] Global test environment set-up.
-15: [----------] 2 tests from DeprecatedSpecs
-15: [ RUN      ] DeprecatedSpecs.Spec1_0
- 13/221 Test  #26: check_INTEGRATION_frame ................................   Passed    0.09 sec
+24: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_force_torque_sensor.xml
+24: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_force_torque_sensor.xml
+ 12/221 Test  #24: check_INTEGRATION_force_torque_sensor ..................   Passed    0.03 sec
 test 28
         Start  28: check_INTEGRATION_geometry_dom
 
 28: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_geometry_dom.xml"
 28: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 28: Test timeout computed to be: 10000000
-15: Error [parser.cc:437] Could not find the 'element' element in the xml file
-15: [       OK ] DeprecatedSpecs.Spec1_0 (23 ms)
-15: [ RUN      ] DeprecatedSpecs.Spec1_2
-15: Error [parser.cc:437] Could not find the 'element' element in the xml file
-15: [       OK ] DeprecatedSpecs.Spec1_2 (3 ms)
-15: [----------] 2 tests from DeprecatedSpecs (26 ms total)
-15: 
-15: [----------] 2 tests from DeprecatedElements
-15: [ RUN      ] DeprecatedElements.CanEmitErrors
-27: Running main() from /usr/src/gtest/src/gtest_main.cc
-27: [==========] Running 1 test from 1 test suite.
-27: [----------] Global test environment set-up.
-27: [----------] 1 test from DOMGeometry
-27: [ RUN      ] DOMGeometry.Shapes
-23: Running main() from /usr/src/gtest/src/gtest_main.cc
-23: [==========] Running 1 test from 1 test suite.
-23: [----------] Global test environment set-up.
-23: [----------] 1 test from SDFParser
-23: [ RUN      ] SDFParser.ForceTorqueSensorTest
-17: Running main() from /usr/src/gtest/src/gtest_main.cc
-17: [==========] Running 1 test from 1 test suite.
-17: [----------] Global test environment set-up.
-17: [----------] 1 test from SDFParser
-17: [ RUN      ] SDFParser.DisableFixedJointReductionTest
-28: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_geometry_dom.xml
-28: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_geometry_dom.xml
- 14/221 Test  #28: check_INTEGRATION_geometry_dom .........................   Passed    0.09 sec
+26: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_frame.xml
+26: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_frame.xml
+1: Running main() from /usr/src/gtest/src/gtest_main.cc
+1: [==========] Running 2 tests from 1 test suite.
+1: [----------] Global test environment set-up.
+1: [----------] 2 tests from DOMActor
+1: [ RUN      ] DOMActor.LoadActors
+ 13/221 Test  #26: check_INTEGRATION_frame ................................   Passed    0.03 sec
 test 29
         Start  29: INTEGRATION_include
 
@@ -32819,37 +32794,73 @@
 29: Environment variables: 
 29:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 29: Test timeout computed to be: 240
-25: Running main() from /usr/src/gtest/src/gtest_main.cc
-25: [==========] Running 19 tests from 2 test suites.
-25: [----------] Global test environment set-up.
-25: [----------] 7 tests from Frame
-25: [ RUN      ] Frame.ModelFrame
-19: Running main() from /usr/src/gtest/src/gtest_main.cc
-19: [==========] Running 2 tests from 1 test suite.
-19: [----------] Global test environment set-up.
-19: [----------] 2 tests from ElementTracing
-19: [ RUN      ] ElementTracing.NestedModels
-3: [       OK ] SDFParser.AudioSDF_FullParameters_noThrow (416 ms)
-3: [----------] 1 test from SDFParser (416 ms total)
-3: 
-3: [----------] Global test environment tear-down
-21: Running main() from /usr/src/gtest/src/gtest_main.cc
-21: [==========] Running 7 tests from 1 test suite.
-21: [----------] Global test environment set-up.
-21: [----------] 7 tests from SDFParser
-21: [ RUN      ] SDFParser.FixedJointReductionEquivalenceTest
-3: [==========] 1 test from 1 test suite ran. (416 ms total)
-3: [  PASSED  ] 1 test.
- 15/221 Test   #3: INTEGRATION_audio ......................................   Passed    0.68 sec
+3: Running main() from /usr/src/gtest/src/gtest_main.cc
+3: [==========] Running 1 test from 1 test suite.
+3: [----------] Global test environment set-up.
+3: [----------] 1 test from SDFParser
+3: [ RUN      ] SDFParser.AudioSDF_FullParameters_noThrow
+28: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_geometry_dom.xml
+28: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_geometry_dom.xml
+5: Running main() from /usr/src/gtest/src/gtest_main.cc
+5: [==========] Running 2 tests from 1 test suite.
+5: [----------] Global test environment set-up.
+5: [----------] 2 tests from CategoryBitmask
+5: [ RUN      ] CategoryBitmask.WasSpecified
+7: Running main() from /usr/src/gtest/src/gtest_main.cc
+7: [==========] Running 2 tests from 1 test suite.
+7: [----------] Global test environment set-up.
+7: [----------] 2 tests from SDFParser
+7: [ RUN      ] SDFParser.CFMDampingSDFTest
+9: Running main() from /usr/src/gtest/src/gtest_main.cc
+9: [==========] Running 4 tests from 1 test suite.
+9: [----------] Global test environment set-up.
+9: [----------] 4 tests from DOMCollision
+9: [ RUN      ] DOMCollision.NotACollision
+9: [       OK ] DOMCollision.NotACollision (0 ms)
+9: [ RUN      ] DOMCollision.NoName
+9:   <collision/>
+9: Error [Element.cc:979] Missing element description for [geometry]
+9: [       OK ] DOMCollision.NoName (0 ms)
+9: [ RUN      ] DOMCollision.DoublePendulum
+ 14/221 Test  #28: check_INTEGRATION_geometry_dom .........................   Passed    0.02 sec
 test 30
         Start  30: check_INTEGRATION_include
 
 30: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_include.xml"
 30: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 30: Test timeout computed to be: 10000000
+11: Running main() from /usr/src/gtest/src/gtest_main.cc
+11: [==========] Running 5 tests from 1 test suite.
+11: [----------] Global test environment set-up.
+11: [----------] 5 tests from ConverterIntegration
+11: [ RUN      ] ConverterIntegration.ParserFileConverter
+13: Running main() from /usr/src/gtest/src/gtest_main.cc
+13: [==========] Running 3 tests from 1 test suite.
+13: [----------] Global test environment set-up.
+13: [----------] 3 tests from ExplicitlySetInFile
+13: [ RUN      ] ExplicitlySetInFile.EmptyRoadSphCoords
+15: Running main() from /usr/src/gtest/src/gtest_main.cc
+15: [==========] Running 4 tests from 2 test suites.
+15: [----------] Global test environment set-up.
+15: [----------] 2 tests from DeprecatedSpecs
+15: [ RUN      ] DeprecatedSpecs.Spec1_0
 30: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_include.xml
 30: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_include.xml
- 16/221 Test  #30: check_INTEGRATION_include ..............................   Passed    0.04 sec
+15: Error [parser.cc:437] Could not find the 'element' element in the xml file
+15: [       OK ] DeprecatedSpecs.Spec1_0 (2 ms)
+15: [ RUN      ] DeprecatedSpecs.Spec1_2
+15: Error [parser.cc:437] Could not find the 'element' element in the xml file
+15: [       OK ] DeprecatedSpecs.Spec1_2 (0 ms)
+15: [----------] 2 tests from DeprecatedSpecs (3 ms total)
+15: 
+15: [----------] 2 tests from DeprecatedElements
+15: [ RUN      ] DeprecatedElements.CanEmitErrors
+17: Running main() from /usr/src/gtest/src/gtest_main.cc
+17: [==========] Running 1 test from 1 test suite.
+17: [----------] Global test environment set-up.
+17: [----------] 1 test from SDFParser
+17: [ RUN      ] SDFParser.DisableFixedJointReductionTest
+ 15/221 Test  #30: check_INTEGRATION_include ..............................   Passed    0.03 sec
 test 31
         Start  31: INTEGRATION_includes
 
@@ -32858,30 +32869,51 @@
 31: Environment variables: 
 31:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 31: Test timeout computed to be: 240
+19: Running main() from /usr/src/gtest/src/gtest_main.cc
+19: [==========] Running 2 tests from 1 test suite.
+19: [----------] Global test environment set-up.
+19: [----------] 2 tests from ElementTracing
+19: [ RUN      ] ElementTracing.NestedModels
+23: Running main() from /usr/src/gtest/src/gtest_main.cc
+23: [==========] Running 1 test from 1 test suite.
+23: [----------] Global test environment set-up.
+23: [----------] 1 test from SDFParser
+23: [ RUN      ] SDFParser.ForceTorqueSensorTest
+21: Running main() from /usr/src/gtest/src/gtest_main.cc
+21: [==========] Running 7 tests from 1 test suite.
+21: [----------] Global test environment set-up.
+21: [----------] 7 tests from SDFParser
+21: [ RUN      ] SDFParser.FixedJointReductionEquivalenceTest
+25: Running main() from /usr/src/gtest/src/gtest_main.cc
+25: [==========] Running 19 tests from 2 test suites.
+25: [----------] Global test environment set-up.
+25: [----------] 7 tests from Frame
+25: [ RUN      ] Frame.ModelFrame
+27: Running main() from /usr/src/gtest/src/gtest_main.cc
+27: [==========] Running 1 test from 1 test suite.
+27: [----------] Global test environment set-up.
+27: [----------] 1 test from DOMGeometry
+27: [ RUN      ] DOMGeometry.Shapes
 29: [==========] Running 1 test from 1 test suite.
 29: [----------] Global test environment set-up.
 29: [----------] 1 test from Include
 29: [ RUN      ] Include.IncludeDescription
-11: [       OK ] ConverterIntegration.ParserFileConverter (421 ms)
-11: [ RUN      ] ConverterIntegration.convertFileToNotLatestVersion
-29: [       OK ] Include.IncludeDescription (17 ms)
-29: [----------] 1 test from Include (17 ms total)
+29: [       OK ] Include.IncludeDescription (3 ms)
+29: [----------] 1 test from Include (3 ms total)
 29: 
 29: [----------] Global test environment tear-down
-29: [==========] 1 test from 1 test suite ran. (17 ms total)
+29: [==========] 1 test from 1 test suite ran. (3 ms total)
 29: [  PASSED  ] 1 test.
- 17/221 Test  #29: INTEGRATION_include ....................................   Passed    0.23 sec
+ 16/221 Test  #29: INTEGRATION_include ....................................   Passed    0.10 sec
 test 32
         Start  32: check_INTEGRATION_includes
 
 32: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_includes.xml"
 32: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 32: Test timeout computed to be: 10000000
-7: [       OK ] SDFParser.CFMDampingSDFTest (462 ms)
-7: [ RUN      ] SDFParser.CFMDampingURDFTest
 32: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_includes.xml
 32: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_includes.xml
- 18/221 Test  #32: check_INTEGRATION_includes .............................   Passed    0.06 sec
+ 17/221 Test  #32: check_INTEGRATION_includes .............................   Passed    0.03 sec
 test 33
         Start  33: INTEGRATION_interface_api
 
@@ -32890,30 +32922,37 @@
 33: Environment variables: 
 33:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 33: Test timeout computed to be: 240
-5: [       OK ] CategoryBitmask.WasSpecified (524 ms)
-5: [ RUN      ] CategoryBitmask.WasNotSpecified
-27: [       OK ] DOMGeometry.Shapes (350 ms)
-27: [----------] 1 test from DOMGeometry (350 ms total)
-27: 
-27: [----------] Global test environment tear-down
-13: [       OK ] ExplicitlySetInFile.EmptyRoadSphCoords (551 ms)
-13: [ RUN      ] ExplicitlySetInFile.EmptyAxis
-27: [==========] 1 test from 1 test suite ran. (350 ms total)
-27: [  PASSED  ] 1 test.
-25: [       OK ] Frame.ModelFrame (300 ms)
-25: [ RUN      ] Frame.FrameDefaultPose
- 19/221 Test  #27: INTEGRATION_geometry_dom ...............................   Passed    0.49 sec
+3: [       OK ] SDFParser.AudioSDF_FullParameters_noThrow (132 ms)
+3: [----------] 1 test from SDFParser (132 ms total)
+3: 
+3: [----------] Global test environment tear-down
+31: Running main() from /usr/src/gtest/src/gtest_main.cc
+31: [==========] Running 8 tests from 1 test suite.
+31: [----------] Global test environment set-up.
+31: [----------] 8 tests from IncludesTest
+31: [ RUN      ] IncludesTest.Includes
+3: [==========] 1 test from 1 test suite ran. (132 ms total)
+3: [  PASSED  ] 1 test.
+11: [       OK ] ConverterIntegration.ParserFileConverter (130 ms)
+11: [ RUN      ] ConverterIntegration.convertFileToNotLatestVersion
+ 18/221 Test   #3: INTEGRATION_audio ......................................   Passed    0.24 sec
 test 34
         Start  34: check_INTEGRATION_interface_api
 
 34: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_interface_api.xml"
 34: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 34: Test timeout computed to be: 10000000
-15: [       OK ] DeprecatedElements.CanEmitErrors (436 ms)
+15: [       OK ] DeprecatedElements.CanEmitErrors (119 ms)
 15: [ RUN      ] DeprecatedElements.CanEmitWarningWithErrorEnforcmentPolicy
 34: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_interface_api.xml
 34: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_interface_api.xml
- 20/221 Test  #34: check_INTEGRATION_interface_api ........................   Passed    0.07 sec
+7: [       OK ] SDFParser.CFMDampingSDFTest (161 ms)
+7: [ RUN      ] SDFParser.CFMDampingURDFTest
+9: [       OK ] DOMCollision.DoublePendulum (163 ms)
+9: [ RUN      ] DOMCollision.LoadModelFramesRelativeToJoint
+5: [       OK ] CategoryBitmask.WasSpecified (167 ms)
+5: [ RUN      ] CategoryBitmask.WasNotSpecified
+ 19/221 Test  #34: check_INTEGRATION_interface_api ........................   Passed    0.03 sec
 test 35
         Start  35: INTEGRATION_joint_axis_frame
 
@@ -32922,38 +32961,46 @@
 35: Environment variables: 
 35:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 35: Test timeout computed to be: 240
-31: Running main() from /usr/src/gtest/src/gtest_main.cc
-31: [==========] Running 8 tests from 1 test suite.
-31: [----------] Global test environment set-up.
-31: [----------] 8 tests from IncludesTest
-31: [ RUN      ] IncludesTest.Includes
-1: [       OK ] DOMActor.LoadActors (723 ms)
+13: [       OK ] ExplicitlySetInFile.EmptyRoadSphCoords (156 ms)
+13: [ RUN      ] ExplicitlySetInFile.EmptyAxis
+1: [       OK ] DOMActor.LoadActors (197 ms)
 1: [ RUN      ] DOMActor.CopySdfLoadedProperties
-9: [       OK ] DOMCollision.DoublePendulum (732 ms)
-9: [ RUN      ] DOMCollision.LoadModelFramesRelativeToJoint
-23: [       OK ] SDFParser.ForceTorqueSensorTest (524 ms)
-23: [----------] 1 test from SDFParser (524 ms total)
+23: [       OK ] SDFParser.ForceTorqueSensorTest (155 ms)
+23: [----------] 1 test from SDFParser (155 ms total)
 23: 
 23: [----------] Global test environment tear-down
-33: Running main() from /usr/src/gtest/src/gtest_main.cc
-33: [==========] Running 8 tests from 1 test suite.
-33: [----------] Global test environment set-up.
-33: [----------] 8 tests from InterfaceAPI
-33: [ RUN      ] InterfaceAPI.NestedIncludeData
-23: [==========] 1 test from 1 test suite ran. (524 ms total)
+23: [==========] 1 test from 1 test suite ran. (155 ms total)
 23: [  PASSED  ] 1 test.
-25: [       OK ] Frame.FrameDefaultPose (196 ms)
-25: [ RUN      ] Frame.NoFrame
- 21/221 Test  #23: INTEGRATION_force_torque_sensor ........................   Passed    0.78 sec
+ 20/221 Test  #23: INTEGRATION_force_torque_sensor ........................   Passed    0.26 sec
 test 36
         Start  36: check_INTEGRATION_joint_axis_frame
 
 36: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_axis_frame.xml"
 36: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 36: Test timeout computed to be: 10000000
+25: [       OK ] Frame.ModelFrame (164 ms)
+25: [ RUN      ] Frame.FrameDefaultPose
+33: Running main() from /usr/src/gtest/src/gtest_main.cc
+33: [==========] Running 8 tests from 1 test suite.
+33: [----------] Global test environment set-up.
+33: [----------] 8 tests from InterfaceAPI
+33: [ RUN      ] InterfaceAPI.NestedIncludeData
+27: [       OK ] DOMGeometry.Shapes (151 ms)
+27: [----------] 1 test from DOMGeometry (151 ms total)
+27: 
+27: [----------] Global test environment tear-down
+21: Msg [fixed_joint_reduction.cc:582] name [link0] m[1000] p[0 0 -0.5 0 -0 0] ixx[1] iyy[1] izz[1] ixy[0] ixz[0] iyz[0]
+21: Msg [fixed_joint_reduction.cc:582] name [link1] m[100] p[0 -1.5 0 -2.14159 0.141593 0.858407] ixx[2] iyy[3] izz[4] ixy[0] ixz[0] iyz[0]
+21: Msg [fixed_joint_reduction.cc:582] name [link2] m[200] p[0.2 0.4 1 -1.14159 -0.141593 1.5708] ixx[5] iyy[6] izz[7] ixy[0] ixz[0] iyz[0]
+21: Msg [fixed_joint_reduction.cc:582] name [link3] m[400] p[0.1 0.2 0.3 -1.14159 0.141593 0.858407] ixx[8] iyy[9] izz[10] ixy[0] ixz[0] iyz[0]
+21: Msg [fixed_joint_reduction.cc:582] name [link1a] m[700] p[1.6 -2.72857 -0.342857 -2.14159 0.141593 0.858407] ixx[576.477] iyy[527.681] izz[420.127] ixy[-65.6808] ixz[134.562] iyz[264.781]
+27: [==========] 1 test from 1 test suite ran. (151 ms total)
+27: [  PASSED  ] 1 test.
 36: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_axis_frame.xml
 36: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_axis_frame.xml
- 22/221 Test  #36: check_INTEGRATION_joint_axis_frame .....................   Passed    0.06 sec
+19: [       OK ] ElementTracing.NestedModels (202 ms)
+19: [ RUN      ] ElementTracing.includes
+ 21/221 Test  #27: INTEGRATION_geometry_dom ...............................   Passed    0.27 sec
 test 37
         Start  37: INTEGRATION_joint_axis_dom
 
@@ -32962,11 +33009,46 @@
 37: Environment variables: 
 37:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 37: Test timeout computed to be: 240
+ 22/221 Test  #36: check_INTEGRATION_joint_axis_frame .....................   Passed    0.03 sec
+test 38
+        Start  38: check_INTEGRATION_joint_axis_dom
+
+38: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_axis_dom.xml"
+38: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
+38: Test timeout computed to be: 10000000
+21: [       OK ] SDFParser.FixedJointReductionEquivalenceTest (197 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionVisualTest
+15: [       OK ] DeprecatedElements.CanEmitWarningWithErrorEnforcmentPolicy (109 ms)
+15: [----------] 2 tests from DeprecatedElements (228 ms total)
+15: 
+15: [----------] Global test environment tear-down
+15: [==========] 4 tests from 2 test suites ran. (231 ms total)
+15: [  PASSED  ] 4 tests.
+11: [       OK ] ConverterIntegration.convertFileToNotLatestVersion (121 ms)
+11: [ RUN      ] ConverterIntegration.ParserStringConverter
+ 23/221 Test  #15: INTEGRATION_deprecated_specs ...........................   Passed    0.33 sec
+test 39
+        Start  39: INTEGRATION_joint_dom
+
+39: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/INTEGRATION_joint_dom "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_dom.xml"
+39: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
+39: Environment variables: 
+39:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+39: Test timeout computed to be: 240
 35: Running main() from /usr/src/gtest/src/gtest_main.cc
 35: [==========] Running 4 tests from 1 test suite.
 35: [----------] Global test environment set-up.
 35: [----------] 4 tests from JointAxisFrame
 35: [ RUN      ] JointAxisFrame.Version_1_4_missing
+38: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_axis_dom.xml
+38: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_axis_dom.xml
+ 24/221 Test  #38: check_INTEGRATION_joint_axis_dom .......................   Passed    0.03 sec
+test 40
+        Start  40: check_INTEGRATION_joint_dom
+
+40: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_dom.xml"
+40: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
+40: Test timeout computed to be: 10000000
 7: Error:   Inertial element must have inertia element
 7:          at line 306 in ./urdf_parser/src/link.cpp
 7: Error:   Could not parse inertial element for Link [link0]
@@ -33000,72 +33082,9 @@
 7: Error:   Could not parse inertial element for Link [link3]
 7:          at line 435 in ./urdf_parser/src/link.cpp
 7: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-25: [       OK ] Frame.NoFrame (210 ms)
-25: [ RUN      ] Frame.StateFrame
-37: Running main() from /usr/src/gtest/src/gtest_main.cc
-37: [==========] Running 4 tests from 1 test suite.
-37: [----------] Global test environment set-up.
-37: [----------] 4 tests from DOMJointAxis
-37: [ RUN      ] DOMJointAxis.Complete
-11: [       OK ] ConverterIntegration.convertFileToNotLatestVersion (602 ms)
-11: [ RUN      ] ConverterIntegration.ParserStringConverter
-13: [       OK ] ExplicitlySetInFile.EmptyAxis (526 ms)
-13: [ RUN      ] ExplicitlySetInFile.ToString
-21: Msg [fixed_joint_reduction.cc:582] name [link0] m[1000] p[0 0 -0.5 0 -0 0] ixx[1] iyy[1] izz[1] ixy[0] ixz[0] iyz[0]
-21: Msg [fixed_joint_reduction.cc:582] name [link1] m[100] p[0 -1.5 0 -2.14159 0.141593 0.858407] ixx[2] iyy[3] izz[4] ixy[0] ixz[0] iyz[0]
-21: Msg [fixed_joint_reduction.cc:582] name [link2] m[200] p[0.2 0.4 1 -1.14159 -0.141593 1.5708] ixx[5] iyy[6] izz[7] ixy[0] ixz[0] iyz[0]
-21: Msg [fixed_joint_reduction.cc:582] name [link3] m[400] p[0.1 0.2 0.3 -1.14159 0.141593 0.858407] ixx[8] iyy[9] izz[10] ixy[0] ixz[0] iyz[0]
-21: Msg [fixed_joint_reduction.cc:582] name [link1a] m[700] p[1.6 -2.72857 -0.342857 -2.14159 0.141593 0.858407] ixx[576.477] iyy[527.681] izz[420.127] ixy[-65.6808] ixz[134.562] iyz[264.781]
-7: [       OK ] SDFParser.CFMDampingURDFTest (627 ms)
-7: [----------] 2 tests from SDFParser (1089 ms total)
-7: 
-7: [----------] Global test environment tear-down
-19: [       OK ] ElementTracing.NestedModels (833 ms)
-19: [ RUN      ] ElementTracing.includes
-33: [       OK ] InterfaceAPI.NestedIncludeData (406 ms)
-33: [ RUN      ] InterfaceAPI.CustomParserPrecedence
-21: [       OK ] SDFParser.FixedJointReductionEquivalenceTest (773 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionVisualTest
-7: [==========] 2 tests from 1 test suite ran. (1089 ms total)
-7: [  PASSED  ] 2 tests.
-15: [       OK ] DeprecatedElements.CanEmitWarningWithErrorEnforcmentPolicy (580 ms)
-15: [----------] 2 tests from DeprecatedElements (1016 ms total)
-15: 
-15: [----------] Global test environment tear-down
-15: [==========] 4 tests from 2 test suites ran. (1043 ms total)
-15: [  PASSED  ] 4 tests.
- 23/221 Test   #7: INTEGRATION_cfm_damping_implicit_spring_damper .........   Passed    1.41 sec
-test 38
-        Start  38: check_INTEGRATION_joint_axis_dom
-
-38: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_axis_dom.xml"
-38: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
-38: Test timeout computed to be: 10000000
-5: [       OK ] CategoryBitmask.WasNotSpecified (645 ms)
-5: [----------] 2 tests from CategoryBitmask (1170 ms total)
-5: 
-5: [----------] Global test environment tear-down
- 24/221 Test  #15: INTEGRATION_deprecated_specs ...........................   Passed    1.31 sec
-test 39
-        Start  39: INTEGRATION_joint_dom
-
-39: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/INTEGRATION_joint_dom "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_dom.xml"
-39: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
-39: Environment variables: 
-39:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-39: Test timeout computed to be: 240
-5: [==========] 2 tests from 1 test suite ran. (1170 ms total)
-5: [  PASSED  ] 2 tests.
-38: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_axis_dom.xml
-38: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_axis_dom.xml
- 25/221 Test   #5: INTEGRATION_category_bitmask ...........................   Passed    1.50 sec
-test 40
-        Start  40: check_INTEGRATION_joint_dom
-
-40: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_dom.xml"
-40: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
-40: Test timeout computed to be: 10000000
- 26/221 Test  #38: check_INTEGRATION_joint_axis_dom .......................   Passed    0.08 sec
+40: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_dom.xml
+40: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_dom.xml
+ 25/221 Test  #40: check_INTEGRATION_joint_dom ............................   Passed    0.03 sec
 test 41
         Start  41: INTEGRATION_light_dom
 
@@ -33074,33 +33093,32 @@
 41: Environment variables: 
 41:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 41: Test timeout computed to be: 240
-35: <axis>
-35:   <xyz expressed_in='__model__'>1 0 0</xyz>
-35:   <limit>
-35:     <lower>-1e16</lower>
-35:     <upper>1e16</upper>
-35:   </limit>
-35: </axis>
-35: [       OK ] JointAxisFrame.Version_1_4_missing (383 ms)
-35: [ RUN      ] JointAxisFrame.Version_1_4_no_convert
-1: [       OK ] DOMActor.CopySdfLoadedProperties (604 ms)
-1: [----------] 2 tests from DOMActor (1328 ms total)
-1: 
-1: [----------] Global test environment tear-down
-40: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_dom.xml
-40: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_joint_dom.xml
-25: [       OK ] Frame.StateFrame (353 ms)
-25: [ RUN      ] Frame.IncludeRelativeTo
- 27/221 Test  #40: check_INTEGRATION_joint_dom ............................   Passed    0.08 sec
+13: [       OK ] ExplicitlySetInFile.EmptyAxis (130 ms)
+13: [ RUN      ] ExplicitlySetInFile.ToString
+7: [       OK ] SDFParser.CFMDampingURDFTest (149 ms)
+7: [----------] 2 tests from SDFParser (311 ms total)
+7: 
+7: [----------] Global test environment tear-down
+9: [       OK ] DOMCollision.LoadModelFramesRelativeToJoint (149 ms)
+9: [----------] 4 tests from DOMCollision (312 ms total)
+9: 
+9: [----------] Global test environment tear-down
+9: [==========] 4 tests from 1 test suite ran. (312 ms total)
+9: [  PASSED  ] 4 tests.
+5: [       OK ] CategoryBitmask.WasNotSpecified (154 ms)
+5: [----------] 2 tests from CategoryBitmask (321 ms total)
+5: 
+5: [----------] Global test environment tear-down
+7: [==========] 2 tests from 1 test suite ran. (311 ms total)
+7: [  PASSED  ] 2 tests.
+ 26/221 Test   #9: INTEGRATION_collision_dom ..............................   Passed    0.41 sec
 test 42
         Start  42: check_INTEGRATION_light_dom
 
 42: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_light_dom.xml"
 42: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 42: Test timeout computed to be: 10000000
-1: [==========] 2 tests from 1 test suite ran. (1328 ms total)
-1: [  PASSED  ] 2 tests.
- 28/221 Test   #1: INTEGRATION_actor_dom ..................................   Passed    1.74 sec
+ 27/221 Test   #7: INTEGRATION_cfm_damping_implicit_spring_damper .........   Passed    0.42 sec
 test 43
         Start  43: INTEGRATION_link_dom
 
@@ -33109,31 +33127,25 @@
 43: Environment variables: 
 43:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 43: Test timeout computed to be: 240
-39: Running main() from /usr/src/gtest/src/gtest_main.cc
-39: [==========] Running 16 tests from 1 test suite.
-39: [----------] Global test environment set-up.
-39: [----------] 16 tests from DOMJoint
-39: [ RUN      ] DOMJoint.NotAJoint
-39: [       OK ] DOMJoint.NotAJoint (0 ms)
-39: [ RUN      ] DOMJoint.NoName
-39: [       OK ] DOMJoint.NoName (0 ms)
-39: [ RUN      ] DOMJoint.DoublePendulum
-9: [       OK ] DOMCollision.LoadModelFramesRelativeToJoint (695 ms)
-9: [----------] 4 tests from DOMCollision (1475 ms total)
-9: 
-9: [----------] Global test environment tear-down
-9: [==========] 4 tests from 1 test suite ran. (1475 ms total)
-9: [  PASSED  ] 4 tests.
-42: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_light_dom.xml
-42: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_light_dom.xml
- 29/221 Test   #9: INTEGRATION_collision_dom ..............................   Passed    1.66 sec
+5: [==========] 2 tests from 1 test suite ran. (321 ms total)
+5: [  PASSED  ] 2 tests.
+37: Running main() from /usr/src/gtest/src/gtest_main.cc
+37: [==========] Running 4 tests from 1 test suite.
+37: [----------] Global test environment set-up.
+37: [----------] 4 tests from DOMJointAxis
+37: [ RUN      ] DOMJointAxis.Complete
+ 28/221 Test   #5: INTEGRATION_category_bitmask ...........................   Passed    0.43 sec
 test 44
         Start  44: check_INTEGRATION_link_dom
 
 44: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_link_dom.xml"
 44: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 44: Test timeout computed to be: 10000000
- 30/221 Test  #42: check_INTEGRATION_light_dom ............................   Passed    0.16 sec
+25: [       OK ] Frame.FrameDefaultPose (123 ms)
+25: [ RUN      ] Frame.NoFrame
+42: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_light_dom.xml
+42: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_light_dom.xml
+ 29/221 Test  #42: check_INTEGRATION_light_dom ............................   Passed    0.03 sec
 test 45
         Start  45: INTEGRATION_link_light
 
@@ -33142,29 +33154,35 @@
 45: Environment variables: 
 45:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 45: Test timeout computed to be: 240
+39: Running main() from /usr/src/gtest/src/gtest_main.cc
+39: [==========] Running 16 tests from 1 test suite.
+39: [----------] Global test environment set-up.
+39: [----------] 16 tests from DOMJoint
+39: [ RUN      ] DOMJoint.NotAJoint
+39: [       OK ] DOMJoint.NotAJoint (0 ms)
+39: [ RUN      ] DOMJoint.NoName
+39: [       OK ] DOMJoint.NoName (0 ms)
+39: [ RUN      ] DOMJoint.DoublePendulum
 44: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_link_dom.xml
 44: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_link_dom.xml
-37: [       OK ] DOMJointAxis.Complete (522 ms)
-37: [ RUN      ] DOMJointAxis.XyzExpressedIn
-41: Running main() from /usr/src/gtest/src/gtest_main.cc
-41: [==========] Running 1 test from 1 test suite.
-41: [----------] Global test environment set-up.
-41: [----------] 1 test from DOMWorld
-41: [ RUN      ] DOMWorld.LoadLights
- 31/221 Test  #44: check_INTEGRATION_link_dom .............................   Passed    0.09 sec
+ 30/221 Test  #44: check_INTEGRATION_link_dom .............................   Passed    0.03 sec
 test 46
         Start  46: check_INTEGRATION_link_light
 
 46: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_link_light.xml"
 46: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 46: Test timeout computed to be: 10000000
+1: [       OK ] DOMActor.CopySdfLoadedProperties (181 ms)
+1: [----------] 2 tests from DOMActor (379 ms total)
+1: 
+1: [----------] Global test environment tear-down
+33: [       OK ] InterfaceAPI.NestedIncludeData (152 ms)
+33: [ RUN      ] InterfaceAPI.CustomParserPrecedence
+1: [==========] 2 tests from 1 test suite ran. (379 ms total)
+1: [  PASSED  ] 2 tests.
 46: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_link_light.xml
 46: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_link_light.xml
-17: [       OK ] SDFParser.DisableFixedJointReductionTest (1427 ms)
-17: [----------] 1 test from SDFParser (1427 ms total)
-17: 
-17: [----------] Global test environment tear-down
- 32/221 Test  #46: check_INTEGRATION_link_light ...........................   Passed    0.09 sec
+ 31/221 Test   #1: INTEGRATION_actor_dom ..................................   Passed    0.49 sec
 test 47
         Start  47: INTEGRATION_locale_fix
 
@@ -33173,114 +33191,81 @@
 47: Environment variables: 
 47:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 47: Test timeout computed to be: 240
-13: [       OK ] ExplicitlySetInFile.ToString (599 ms)
-13: [----------] 3 tests from ExplicitlySetInFile (1677 ms total)
-13: 
-13: [----------] Global test environment tear-down
-43: Running main() from /usr/src/gtest/src/gtest_main.cc
-43: [==========] Running 11 tests from 1 test suite.
-43: [----------] Global test environment set-up.
-43: [----------] 11 tests from DOMLink
-43: [ RUN      ] DOMLink.NotALink
-43: [       OK ] DOMLink.NotALink (0 ms)
-43: [ RUN      ] DOMLink.NoName
-43: [       OK ] DOMLink.NoName (0 ms)
-43: [ RUN      ] DOMLink.LoadVisualCollision
-13: [==========] 3 tests from 1 test suite ran. (1677 ms total)
-13: [  PASSED  ] 3 tests.
-33: [       OK ] InterfaceAPI.CustomParserPrecedence (601 ms)
-33: [ RUN      ] InterfaceAPI.TomlParserWorldInclude
-17: [==========] 1 test from 1 test suite ran. (1427 ms total)
-17: [  PASSED  ] 1 test.
- 33/221 Test  #13: INTEGRATION_default_elements ...........................   Passed    1.88 sec
+ 32/221 Test  #46: check_INTEGRATION_link_light ...........................   Passed    0.03 sec
 test 48
         Start  48: check_INTEGRATION_locale_fix
 
 48: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_locale_fix.xml"
 48: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 48: Test timeout computed to be: 10000000
- 34/221 Test  #17: INTEGRATION_disable_fixed_joint_reduction ..............   Passed    1.86 sec
-test 49
-        Start  49: INTEGRATION_locale_fix_cxx
-
-49: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/INTEGRATION_locale_fix_cxx "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_locale_fix_cxx.xml"
-49: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
-49: Environment variables: 
-49:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-49: Test timeout computed to be: 240
+41: Running main() from /usr/src/gtest/src/gtest_main.cc
+41: [==========] Running 1 test from 1 test suite.
+41: [----------] Global test environment set-up.
+41: [----------] 1 test from DOMWorld
+41: [ RUN      ] DOMWorld.LoadLights
+17: [       OK ] SDFParser.DisableFixedJointReductionTest (372 ms)
+17: [----------] 1 test from SDFParser (372 ms total)
+17: 
+17: [----------] Global test environment tear-down
 35: <axis>
-35:   <xyz>1 0 0</xyz>
+35:   <xyz expressed_in='__model__'>1 0 0</xyz>
 35:   <limit>
 35:     <lower>-1e16</lower>
 35:     <upper>1e16</upper>
 35:   </limit>
 35: </axis>
-35: [       OK ] JointAxisFrame.Version_1_4_no_convert (519 ms)
-35: [ RUN      ] JointAxisFrame.Version_1_4_to_1_5
-11: [       OK ] ConverterIntegration.ParserStringConverter (773 ms)
-11: [ RUN      ] ConverterIntegration.ParserStringConverterFrom14
-45: Running main() from /usr/src/gtest/src/gtest_main.cc
-45: [==========] Running 1 test from 1 test suite.
-45: [----------] Global test environment set-up.
-45: [----------] 1 test from Frame
-45: [ RUN      ] Frame.LinkLight
-39: [       OK ] DOMJoint.DoublePendulum (467 ms)
-39: [ RUN      ] DOMJoint.Complete
+35: [       OK ] JointAxisFrame.Version_1_4_missing (138 ms)
+35: [ RUN      ] JointAxisFrame.Version_1_4_no_convert
 21: Msg [fixed_joint_reduction.cc:582] name [link0] m[1000] p[0 0 -0.5 0 -0 0] ixx[1] iyy[1] izz[1] ixy[0] ixz[0] iyz[0]
 21: Msg [fixed_joint_reduction.cc:582] name [link1] m[100] p[0 -1.5 0 -2.14159 0.141593 0.858407] ixx[2] iyy[3] izz[4] ixy[0] ixz[0] iyz[0]
 21: Msg [fixed_joint_reduction.cc:582] name [link2] m[200] p[0.2 0.4 1 -1.14159 -0.141593 1.5708] ixx[5] iyy[6] izz[7] ixy[0] ixz[0] iyz[0]
 21: Msg [fixed_joint_reduction.cc:582] name [link3] m[400] p[0.1 0.2 0.3 -1.14159 0.141593 0.858407] ixx[8] iyy[9] izz[10] ixy[0] ixz[0] iyz[0]
 21: Msg [fixed_joint_reduction.cc:582] name [link1a] m[700] p[1.6 -2.72857 -0.342857 -2.14159 0.141593 0.858407] ixx[576.477] iyy[527.681] izz[420.127] ixy[-65.6808] ixz[134.562] iyz[264.781]
+11: [       OK ] ConverterIntegration.ParserStringConverter (145 ms)
+11: [ RUN      ] ConverterIntegration.ParserStringConverterFrom14
+21: [       OK ] SDFParser.FixedJointReductionVisualTest (168 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionCollisionTest
 48: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_locale_fix.xml
 48: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_locale_fix.xml
-21: [       OK ] SDFParser.FixedJointReductionVisualTest (777 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionCollisionTest
- 35/221 Test  #48: check_INTEGRATION_locale_fix ...........................   Passed    0.21 sec
+ 33/221 Test  #48: check_INTEGRATION_locale_fix ...........................   Passed    0.03 sec
+test 49
+        Start  49: INTEGRATION_locale_fix_cxx
+
+49: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/INTEGRATION_locale_fix_cxx "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_locale_fix_cxx.xml"
+49: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
+49: Environment variables: 
+49:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+49: Test timeout computed to be: 240
+17: [==========] 1 test from 1 test suite ran. (372 ms total)
+17: [  PASSED  ] 1 test.
+43: Running main() from /usr/src/gtest/src/gtest_main.cc
+43: [==========] Running 11 tests from 1 test suite.
+43: [----------] Global test environment set-up.
+43: [----------] 11 tests from DOMLink
+43: [ RUN      ] DOMLink.NotALink
+43: [       OK ] DOMLink.NotALink (0 ms)
+43: [ RUN      ] DOMLink.NoName
+43: [       OK ] DOMLink.NoName (0 ms)
+43: [ RUN      ] DOMLink.LoadVisualCollision
+ 34/221 Test  #17: INTEGRATION_disable_fixed_joint_reduction ..............   Passed    0.50 sec
 test 50
         Start  50: check_INTEGRATION_locale_fix_cxx
 
 50: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_locale_fix_cxx.xml"
 50: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 50: Test timeout computed to be: 10000000
-47: Running main() from /usr/src/gtest/src/gtest_main.cc
-47: [==========] Running 1 test from 1 test suite.
-47: [----------] Global test environment set-up.
-47: [----------] 1 test from CheckFixForLocal
-47: [ RUN      ] CheckFixForLocal.MakeTestToFail
-37: [       OK ] DOMJointAxis.XyzExpressedIn (476 ms)
-37: [ RUN      ] DOMJointAxis.InfiniteLimits
-35: <axis>
-35:   <xyz>1 0 0</xyz>
-35:   <use_parent_model_frame>true</use_parent_model_frame>
-35:   <limit>
-35:     <lower>-1e16</lower>
-35:     <upper>1e16</upper>
-35:   </limit>
-35: </axis>
-35: [       OK ] JointAxisFrame.Version_1_4_to_1_5 (331 ms)
-35: [ RUN      ] JointAxisFrame.Version_1_5_missing
-11: [       OK ] ConverterIntegration.ParserStringConverterFrom14 (328 ms)
-11: [ RUN      ] ConverterIntegration.UnflattenConversion
-37: [       OK ] DOMJointAxis.InfiniteLimits (152 ms)
-37: [ RUN      ] DOMJointAxis.XyzNormalization
-39: [       OK ] DOMJoint.Complete (301 ms)
-39: [ RUN      ] DOMJoint.LoadJointParentWorld
-33: [       OK ] InterfaceAPI.TomlParserWorldInclude (449 ms)
-33: [ RUN      ] InterfaceAPI.TomlParserModelInclude
-21: Msg [fixed_joint_reduction.cc:582] name [link0] m[1000] p[0 0 -0.5 0 -0 0] ixx[1] iyy[1] izz[1] ixy[0] ixz[0] iyz[0]
-21: Msg [fixed_joint_reduction.cc:582] name [link1] m[100] p[0 -1.5 0 -2.14159 0.141593 0.858407] ixx[2] iyy[3] izz[4] ixy[0] ixz[0] iyz[0]
-21: Msg [fixed_joint_reduction.cc:582] name [link2] m[200] p[0.2 0.4 1 -1.14159 -0.141593 1.5708] ixx[5] iyy[6] izz[7] ixy[0] ixz[0] iyz[0]
-21: Msg [fixed_joint_reduction.cc:582] name [link3] m[400] p[0.1 0.2 0.3 -1.14159 0.141593 0.858407] ixx[8] iyy[9] izz[10] ixy[0] ixz[0] iyz[0]
-21: Msg [fixed_joint_reduction.cc:582] name [link1a] m[700] p[1.6 -2.72857 -0.342857 -2.14159 0.141593 0.858407] ixx[576.477] iyy[527.681] izz[420.127] ixy[-65.6808] ixz[134.562] iyz[264.781]
-21: [       OK ] SDFParser.FixedJointReductionCollisionTest (286 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionCollisionVisualExtensionTest
-35: [       OK ] JointAxisFrame.Version_1_5_missing (97 ms)
-35: [----------] 4 tests from JointAxisFrame (1331 ms total)
-35: 
-35: [----------] Global test environment tear-down
-35: [==========] 4 tests from 1 test suite ran. (1331 ms total)
-35: [  PASSED  ] 4 tests.
- 36/221 Test  #35: INTEGRATION_joint_axis_frame ...........................   Passed    1.59 sec
+13: [       OK ] ExplicitlySetInFile.ToString (138 ms)
+13: [----------] 3 tests from ExplicitlySetInFile (424 ms total)
+13: 
+13: [----------] Global test environment tear-down
+45: Running main() from /usr/src/gtest/src/gtest_main.cc
+45: [==========] Running 1 test from 1 test suite.
+45: [----------] Global test environment set-up.
+45: [----------] 1 test from Frame
+45: [ RUN      ] Frame.LinkLight
+13: [==========] 3 tests from 1 test suite ran. (424 ms total)
+13: [  PASSED  ] 3 tests.
+ 35/221 Test  #13: INTEGRATION_default_elements ...........................   Passed    0.53 sec
 test 51
         Start  51: INTEGRATION_material_pbr
 
@@ -33289,22 +33274,20 @@
 51: Environment variables: 
 51:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 51: Test timeout computed to be: 240
-37: [       OK ] DOMJointAxis.XyzNormalization (118 ms)
-37: [----------] 4 tests from DOMJointAxis (1269 ms total)
-37: 
-37: [----------] Global test environment tear-down
-37: [==========] 4 tests from 1 test suite ran. (1269 ms total)
-37: [  PASSED  ] 4 tests.
- 37/221 Test  #37: INTEGRATION_joint_axis_dom .............................   Passed    1.47 sec
+50: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_locale_fix_cxx.xml
+50: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_locale_fix_cxx.xml
+ 36/221 Test  #50: check_INTEGRATION_locale_fix_cxx .......................   Passed    0.03 sec
 test 52
         Start  52: check_INTEGRATION_material_pbr
 
 52: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_material_pbr.xml"
 52: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 52: Test timeout computed to be: 10000000
+25: [       OK ] Frame.NoFrame (122 ms)
+25: [ RUN      ] Frame.StateFrame
 52: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_material_pbr.xml
 52: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_material_pbr.xml
- 38/221 Test  #52: check_INTEGRATION_material_pbr .........................   Passed    0.02 sec
+ 37/221 Test  #52: check_INTEGRATION_material_pbr .........................   Passed    0.03 sec
 test 53
         Start  53: INTEGRATION_material
 
@@ -33313,36 +33296,54 @@
 53: Environment variables: 
 53:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 53: Test timeout computed to be: 240
-33: [       OK ] InterfaceAPI.TomlParserModelInclude (128 ms)
-33: [ RUN      ] InterfaceAPI.FrameSemantics
-39: [       OK ] DOMJoint.LoadJointParentWorld (139 ms)
-39: [ RUN      ] DOMJoint.LoadInvalidJointChildWorld
-51: Running main() from /usr/src/gtest/src/gtest_main.cc
-51: [==========] Running 2 tests from 1 test suite.
-51: [----------] Global test environment set-up.
-51: [----------] 2 tests from Material
-51: [ RUN      ] Material.PbrDOM
-11: [       OK ] ConverterIntegration.UnflattenConversion (226 ms)
-11: [----------] 5 tests from ConverterIntegration (2352 ms total)
-11: 
-11: [----------] Global test environment tear-down
-53: Running main() from /usr/src/gtest/src/gtest_main.cc
-53: [==========] Running 3 tests from 1 test suite.
-53: [----------] Global test environment set-up.
-53: [----------] 3 tests from Material
-53: [ RUN      ] Material.InvalidColors
-11: [==========] 5 tests from 1 test suite ran. (2352 ms total)
-11: [  PASSED  ] 5 tests.
- 39/221 Test  #11: INTEGRATION_converter ..................................   Passed    2.56 sec
+47: Running main() from /usr/src/gtest/src/gtest_main.cc
+47: [==========] Running 1 test from 1 test suite.
+47: [----------] Global test environment set-up.
+47: [----------] 1 test from CheckFixForLocal
+47: [ RUN      ] CheckFixForLocal.MakeTestToFail
+33: [       OK ] InterfaceAPI.CustomParserPrecedence (141 ms)
+33: [ RUN      ] InterfaceAPI.TomlParserWorldInclude
+39: [       OK ] DOMJoint.DoublePendulum (162 ms)
+39: [ RUN      ] DOMJoint.Complete
+49: Running main() from /usr/src/gtest/src/gtest_main.cc
+49: [==========] Running 1 test from 1 test suite.
+49: [----------] Global test environment set-up.
+49: [----------] 1 test from CheckFixForLocal
+49: [ RUN      ] CheckFixForLocal.CheckFixForCxxLocal
+49: [       OK ] CheckFixForLocal.CheckFixForCxxLocal (0 ms)
+49: [----------] 1 test from CheckFixForLocal (0 ms total)
+49: 
+49: [----------] Global test environment tear-down
+49: [==========] 1 test from 1 test suite ran. (0 ms total)
+49: [  PASSED  ] 1 test.
+ 38/221 Test  #49: INTEGRATION_locale_fix_cxx .............................   Passed    0.10 sec
 test 54
         Start  54: check_INTEGRATION_material
 
 54: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_material.xml"
 54: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 54: Test timeout computed to be: 10000000
+35: <axis>
+35:   <xyz>1 0 0</xyz>
+35:   <limit>
+35:     <lower>-1e16</lower>
+35:     <upper>1e16</upper>
+35:   </limit>
+35: </axis>
+35: [       OK ] JointAxisFrame.Version_1_4_no_convert (130 ms)
+35: [ RUN      ] JointAxisFrame.Version_1_4_to_1_5
+37: [       OK ] DOMJointAxis.Complete (202 ms)
+37: [ RUN      ] DOMJointAxis.XyzExpressedIn
+11: [       OK ] ConverterIntegration.ParserStringConverterFrom14 (140 ms)
+11: [ RUN      ] ConverterIntegration.UnflattenConversion
 54: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_material.xml
 54: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_material.xml
- 40/221 Test  #54: check_INTEGRATION_material .............................   Passed    0.02 sec
+51: Running main() from /usr/src/gtest/src/gtest_main.cc
+51: [==========] Running 2 tests from 1 test suite.
+51: [----------] Global test environment set-up.
+51: [----------] 2 tests from Material
+51: [ RUN      ] Material.PbrDOM
+ 39/221 Test  #54: check_INTEGRATION_material .............................   Passed    0.03 sec
 test 55
         Start  55: INTEGRATION_model_dom
 
@@ -33351,56 +33352,44 @@
 55: Environment variables: 
 55:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 55: Test timeout computed to be: 240
-45: [       OK ] Frame.LinkLight (605 ms)
-45: [----------] 1 test from Frame (605 ms total)
+21: Msg [fixed_joint_reduction.cc:582] name [link0] m[1000] p[0 0 -0.5 0 -0 0] ixx[1] iyy[1] izz[1] ixy[0] ixz[0] iyz[0]
+21: Msg [fixed_joint_reduction.cc:582] name [link1] m[100] p[0 -1.5 0 -2.14159 0.141593 0.858407] ixx[2] iyy[3] izz[4] ixy[0] ixz[0] iyz[0]
+21: Msg [fixed_joint_reduction.cc:582] name [link2] m[200] p[0.2 0.4 1 -1.14159 -0.141593 1.5708] ixx[5] iyy[6] izz[7] ixy[0] ixz[0] iyz[0]
+21: Msg [fixed_joint_reduction.cc:582] name [link3] m[400] p[0.1 0.2 0.3 -1.14159 0.141593 0.858407] ixx[8] iyy[9] izz[10] ixy[0] ixz[0] iyz[0]
+21: Msg [fixed_joint_reduction.cc:582] name [link1a] m[700] p[1.6 -2.72857 -0.342857 -2.14159 0.141593 0.858407] ixx[576.477] iyy[527.681] izz[420.127] ixy[-65.6808] ixz[134.562] iyz[264.781]
+21: [       OK ] SDFParser.FixedJointReductionCollisionTest (160 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionCollisionVisualExtensionTest
+45: [       OK ] Frame.LinkLight (133 ms)
+45: [----------] 1 test from Frame (134 ms total)
 45: 
 45: [----------] Global test environment tear-down
-45: [==========] 1 test from 1 test suite ran. (605 ms total)
+45: [==========] 1 test from 1 test suite ran. (134 ms total)
 45: [  PASSED  ] 1 test.
- 41/221 Test  #45: INTEGRATION_link_light .................................   Passed    0.96 sec
+53: Running main() from /usr/src/gtest/src/gtest_main.cc
+53: [==========] Running 3 tests from 1 test suite.
+53: [----------] Global test environment set-up.
+53: [----------] 3 tests from Material
+53: [ RUN      ] Material.InvalidColors
+ 40/221 Test  #45: INTEGRATION_link_light .................................   Passed    0.24 sec
 test 56
         Start  56: check_INTEGRATION_model_dom
 
 56: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_model_dom.xml"
 56: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 56: Test timeout computed to be: 10000000
-39: Error Code 19: Msg: Joint with name[joint] specified invalid child link [world].
-39: Error Code 19: Msg: Child frame with name[world] specified by joint with name[joint] not found in model with name[joint_child_world].
-39: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [joint_child_world::joint] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
-39: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [joint_child_world::joint] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [joint_child_world::joint].
-39: Error Code 25: Msg: relative_to name[world] specified by joint with name[joint] does not match a nested model, link, joint, or frame name in model with name[joint_child_world].
-39: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [joint_child_world::joint] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
-39: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
-39: Error Code 19: Msg: invalid child name[world] specified by joint with name[joint] in model with name[joint_child_world].
-39: Error Code 19: Msg: child frame with name[world] specified by joint with name[joint] not found in model with name[joint_child_world].
-39: Error Code 22: Msg: FrameAttachedToGraph unable to find unique frame with name [world] in graph.
-51: [       OK ] Material.PbrDOM (133 ms)
-51: [ RUN      ] Material.MaterialPBR
-39: [       OK ] DOMJoint.LoadInvalidJointChildWorld (138 ms)
-39: [ RUN      ] DOMJoint.LoadJointParentFrame
-21: Msg [fixed_joint_reduction.cc:154] col: base_link_collision
-21: Msg [fixed_joint_reduction.cc:154] col: base_link_fixed_joint_lump__child_link_1_collision_1
-21: Msg [fixed_joint_reduction.cc:154] col: base_link_fixed_joint_lump__child_link_2_collision_2
-21: Msg [fixed_joint_reduction.cc:154] col: base_link_fixed_joint_lump__child_link_1a_collision_3
-21: Msg [fixed_joint_reduction.cc:172] vis: base_link_visual
-21: Msg [fixed_joint_reduction.cc:172] vis: base_link_fixed_joint_lump__child_link_1_visual_1
-21: Msg [fixed_joint_reduction.cc:172] vis: base_link_fixed_joint_lump__child_link_2_visual_2
-21: Msg [fixed_joint_reduction.cc:172] vis: base_link_fixed_joint_lump__child_link_1a_visual_3
-21: Msg [fixed_joint_reduction.cc:206] col: base_link_collision
-21: Msg [fixed_joint_reduction.cc:206] col: base_link_fixed_joint_lump__child_link_1_collision_1
-21: Msg [fixed_joint_reduction.cc:206] col: base_link_fixed_joint_lump__child_link_2_collision_2
-21: Msg [fixed_joint_reduction.cc:206] col: base_link_fixed_joint_lump__child_link_1a_collision_3
-21: Msg [fixed_joint_reduction.cc:224] vis: base_link_visual
-21: Msg [fixed_joint_reduction.cc:224] vis: base_link_fixed_joint_lump__child_link_1_visual_1
-21: Msg [fixed_joint_reduction.cc:224] vis: base_link_fixed_joint_lump__child_link_2_visual_2
-21: Msg [fixed_joint_reduction.cc:224] vis: base_link_fixed_joint_lump__child_link_1a_visual_3
-21: Msg [fixed_joint_reduction.cc:243] urdf mu1: 0.7
-21: Msg [fixed_joint_reduction.cc:251] urdf mu2: 0.71
+43: [       OK ] DOMLink.LoadVisualCollision (171 ms)
+43: [ RUN      ] DOMLink.InertialDoublePendulum
+41: [       OK ] DOMWorld.LoadLights (198 ms)
+41: [----------] 1 test from DOMWorld (198 ms total)
+41: 
+41: [----------] Global test environment tear-down
+25: [       OK ] Frame.StateFrame (140 ms)
+25: [ RUN      ] Frame.IncludeRelativeTo
+41: [==========] 1 test from 1 test suite ran. (198 ms total)
+41: [  PASSED  ] 1 test.
 56: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_model_dom.xml
 56: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_model_dom.xml
-33: [       OK ] InterfaceAPI.FrameSemantics (153 ms)
-33: [ RUN      ] InterfaceAPI.Reposturing
- 42/221 Test  #56: check_INTEGRATION_model_dom ............................   Passed    0.03 sec
+ 41/221 Test  #41: INTEGRATION_light_dom ..................................   Passed    0.32 sec
 test 57
         Start  57: INTEGRATION_model_versions
 
@@ -33409,52 +33398,7 @@
 57: Environment variables: 
 57:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 57: Test timeout computed to be: 240
-21: [       OK ] SDFParser.FixedJointReductionCollisionVisualExtensionTest (273 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionCollisionVisualExtensionEmptyRootTest
-53: Error [Param.cc:467] The value <ambient>1.5 0 0 1</ambient> is invalid.
-53: Error:   Could not find the 'robot' element in the xml file
-53:          at line 109 in ./urdf_parser/src/model.cpp
-55: Running main() from /usr/src/gtest/src/gtest_main.cc
-55: [==========] Running 14 tests from 3 test suites.
-55: [----------] Global test environment set-up.
-55: [----------] 4 tests from DOMModel
-55: [ RUN      ] DOMModel.NotAModel
-55: [       OK ] DOMModel.NotAModel (0 ms)
-55: [ RUN      ] DOMModel.NoName
-55: [       OK ] DOMModel.NoName (0 ms)
-55: [ RUN      ] DOMModel.NoLinks
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/ambient:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L7]: Msg: Error reading element <ambient>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L6]: Msg: Error reading element <material>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L5]: Msg: Error reading element <visual>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L4]: Msg: Error reading element <link>
-53: Error Code 9: [/sdf/model[@name="model"]:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L3]: Msg: Error reading element <model>
-53: Error Code 9: Msg: Error reading element <sdf>
-53: Error Code 1: Msg: Unable to read file:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf
-53: 
-57: [==========] Running 5 tests from 1 test suite.
-57: [----------] Global test environment set-up.
-57: [----------] 5 tests from ModelVersionsTest
-57: [ RUN      ] ModelVersionsTest.Empty_ModelFilePath
-57: Error [parser.cc:1190] Could not find model.config or manifest.xml in []
-57: [       OK ] ModelVersionsTest.Empty_ModelFilePath (0 ms)
-57: [ RUN      ] ModelVersionsTest.NonExistent_ModelFilePath
-57: Error [parser.cc:1190] Could not find model.config or manifest.xml in [/build/sdformat-12.3.0+ds/test/integration/model/non-existent]
-57: [       OK ] ModelVersionsTest.NonExistent_ModelFilePath (0 ms)
-57: [ RUN      ] ModelVersionsTest.MalFormed_ModelFilePath
-57: Error [parser.cc:1155] Failure to detect an sdf tag in the model config file for model: cococan
-57: [       OK ] ModelVersionsTest.MalFormed_ModelFilePath (0 ms)
-57: [ RUN      ] ModelVersionsTest.NoVersionTag_ModelFilePath
-57: Warning [parser.cc:1164] Can not find the XML attribute 'version' in sdf XML tag for model: cococan. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
-57: [       OK ] ModelVersionsTest.NoVersionTag_ModelFilePath (0 ms)
-57: [ RUN      ] ModelVersionsTest.Correct_ModelFilePath
-57: Warning [parser.cc:1143] Ignoring version 100.0 for model cococan because is newer than this sdf parser (version 1.9)
-57: [       OK ] ModelVersionsTest.Correct_ModelFilePath (0 ms)
-57: [----------] 5 tests from ModelVersionsTest (2 ms total)
-57: 
-57: [----------] Global test environment tear-down
-57: [==========] 5 tests from 1 test suite ran. (2 ms total)
-57: [  PASSED  ] 5 tests.
- 43/221 Test  #57: INTEGRATION_model_versions .............................   Passed    0.08 sec
+ 42/221 Test  #56: check_INTEGRATION_model_dom ............................   Passed    0.03 sec
 test 58
         Start  58: check_INTEGRATION_model_versions
 
@@ -33462,7 +33406,8 @@
 58: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 58: Test timeout computed to be: 10000000
 58: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_model_versions.xml
- 44/221 Test  #58: check_INTEGRATION_model_versions .......................   Passed    0.02 sec
+58: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_model_versions.xml
+ 43/221 Test  #58: check_INTEGRATION_model_versions .......................   Passed    0.03 sec
 test 59
         Start  59: INTEGRATION_nested_model
 
@@ -33471,24 +33416,47 @@
 59: Environment variables: 
 59:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 59: Test timeout computed to be: 240
-51: [       OK ] Material.MaterialPBR (128 ms)
-51: [----------] 2 tests from Material (262 ms total)
-51: 
-51: [----------] Global test environment tear-down
-39: [       OK ] DOMJoint.LoadJointParentFrame (131 ms)
-39: [ RUN      ] DOMJoint.LoadJointChildFrame
-51: [==========] 2 tests from 1 test suite ran. (262 ms total)
-51: [  PASSED  ] 2 tests.
- 45/221 Test  #51: INTEGRATION_material_pbr ...............................   Passed    0.37 sec
+55: Running main() from /usr/src/gtest/src/gtest_main.cc
+55: [==========] Running 14 tests from 3 test suites.
+55: [----------] Global test environment set-up.
+55: [----------] 4 tests from DOMModel
+55: [ RUN      ] DOMModel.NotAModel
+55: [       OK ] DOMModel.NotAModel (0 ms)
+55: [ RUN      ] DOMModel.NoName
+55: [       OK ] DOMModel.NoName (0 ms)
+55: [ RUN      ] DOMModel.NoLinks
+33: [       OK ] InterfaceAPI.TomlParserWorldInclude (143 ms)
+33: [ RUN      ] InterfaceAPI.TomlParserModelInclude
+35: <axis>
+35:   <xyz>1 0 0</xyz>
+35:   <use_parent_model_frame>true</use_parent_model_frame>
+35:   <limit>
+35:     <lower>-1e16</lower>
+35:     <upper>1e16</upper>
+35:   </limit>
+35: </axis>
+35: [       OK ] JointAxisFrame.Version_1_4_to_1_5 (129 ms)
+35: [ RUN      ] JointAxisFrame.Version_1_5_missing
+47: [       OK ] CheckFixForLocal.MakeTestToFail (172 ms)
+47: [----------] 1 test from CheckFixForLocal (172 ms total)
+47: 
+47: [----------] Global test environment tear-down
+47: [==========] 1 test from 1 test suite ran. (172 ms total)
+47: [  PASSED  ] 1 test.
+ 44/221 Test  #47: INTEGRATION_locale_fix .................................   Passed    0.29 sec
 test 60
         Start  60: check_INTEGRATION_nested_model
 
 60: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_nested_model.xml"
 60: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 60: Test timeout computed to be: 10000000
+37: [       OK ] DOMJointAxis.XyzExpressedIn (148 ms)
+37: [ RUN      ] DOMJointAxis.InfiniteLimits
+51: [       OK ] Material.PbrDOM (135 ms)
+51: [ RUN      ] Material.MaterialPBR
 60: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_nested_model.xml
 60: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_nested_model.xml
- 46/221 Test  #60: check_INTEGRATION_nested_model .........................   Passed    0.04 sec
+ 45/221 Test  #60: check_INTEGRATION_nested_model .........................   Passed    0.03 sec
 test 61
         Start  61: INTEGRATION_nested_multiple_elements_error
 
@@ -33497,127 +33465,52 @@
 61: Environment variables: 
 61:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 61: Test timeout computed to be: 240
-53: Error [Param.cc:467] The value <specular>0 0.1</specular> is invalid.
-53: Error:   Could not find the 'robot' element in the xml file
-53:          at line 109 in ./urdf_parser/src/model.cpp
-53: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
-53: Error [parser.cc:820] parse as old deprecated model file failed.
-33: [       OK ] InterfaceAPI.Reposturing (171 ms)
-33: [ RUN      ] InterfaceAPI.PlacementFrame
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/specular:<data-string>:L8]: Msg: Error reading element <specular>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
-53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
-53: Error Code 9: Msg: Error reading element <sdf>
-53: Error Code 28: Msg: Unable to read SDF string: 
-53:     <?xml version="1.0" ?>
-53:     <sdf version="1.8">
-53:       <model name="model">
-53:         <link name="link">
-53:           <visual name="material">
-53:             <material>
-53:               <specular>0 0.1</specular>
-53:             </material>
-53:           </visual>
-53:         </link>
-53:       </model>
-53:     </sdf>
-53: 
-55: [       OK ] DOMModel.NoLinks (142 ms)
-55: [ RUN      ] DOMModel.LoadModelWithDuplicateChildNames
-59: Running main() from /usr/src/gtest/src/gtest_main.cc
-59: [==========] Running 17 tests from 3 test suites.
-59: [----------] Global test environment set-up.
-59: [----------] 10 tests from NestedModel
-59: [ RUN      ] NestedModel.NestedModel
-21: Msg [fixed_joint_reduction.cc:408] col: base_link_fixed_joint_lump__child_link_1_collision
-21: Msg [fixed_joint_reduction.cc:420] vis: base_link_fixed_joint_lump__child_link_1_visual
-21: Msg [fixed_joint_reduction.cc:439] col: base_link_fixed_joint_lump__child_link_1_collision
-21: Msg [fixed_joint_reduction.cc:451] vis: base_link_fixed_joint_lump__child_link_1_visual
-21: Msg [fixed_joint_reduction.cc:470] urdf mu1: 0.7
-21: Msg [fixed_joint_reduction.cc:478] urdf mu2: 0.71
-61: Running main() from /usr/src/gtest/src/gtest_main.cc
-61: [==========] Running 5 tests from 1 test suite.
-61: [----------] Global test environment set-up.
-61: [----------] 5 tests from IncludesTest
-61: [ RUN      ] IncludesTest.NestedMultipleModelsError
-21: [       OK ] SDFParser.FixedJointReductionCollisionVisualExtensionEmptyRootTest (267 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionSimple
-39: [       OK ] DOMJoint.LoadJointChildFrame (160 ms)
-39: [ RUN      ] DOMJoint.LoadJointPoseRelativeTo
-53: Error [Param.cc:467] The value <emissive>0.1 0.2 -1</emissive> is invalid.
-53: Error:   Could not find the 'robot' element in the xml file
-53:          at line 109 in ./urdf_parser/src/model.cpp
-53: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
-53: Error [parser.cc:820] parse as old deprecated model file failed.
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/emissive:<data-string>:L8]: Msg: Error reading element <emissive>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
-53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
-53: Error Code 9: Msg: Error reading element <sdf>
-53: Error Code 28: Msg: Unable to read SDF string: 
-53:     <?xml version="1.0" ?>
-53:     <sdf version="1.8">
-53:     <model name="model">
-53:       <link name="link">
-53:         <visual name="material">
-53:           <material>
-53:             <emissive>0.1 0.2    -1</emissive>
-53:           </material>
-53:         </visual>
-53:       </link>
-53:     </model>
-53:     </sdf>
-53: 
-59: [       OK ] NestedModel.NestedModel (167 ms)
-59: [ RUN      ] NestedModel.State
-39: [       OK ] DOMJoint.LoadJointPoseRelativeTo (145 ms)
-39: [ RUN      ] DOMJoint.LoadInvalidJointPoseRelativeTo
-53: Error [Param.cc:467] The value <diffuse>0.1 0.2 0.3 0.4 0.5</diffuse> is invalid.
-53: Error:   Could not find the 'robot' element in the xml file
-53:          at line 109 in ./urdf_parser/src/model.cpp
-53: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
-53: Error [parser.cc:820] parse as old deprecated model file failed.
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/diffuse:<data-string>:L8]: Msg: Error reading element <diffuse>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
-53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
-53: Error Code 9: Msg: Error reading element <sdf>
-53: Error Code 28: Msg: Unable to read SDF string: 
-53:     <?xml version="1.0" ?>
-53:     <sdf version="1.8">
-53:     <model name="model">
-53:       <link name="link">
-53:         <visual name="material">
-53:           <material>
-53:             <diffuse>0.1 0.2 0.3 0.4 0.5</diffuse>
-53:           </material>
-53:         </visual>
-53:       </link>
-53:     </model>
-53:     </sdf>
-53: 
-59: [       OK ] NestedModel.State (124 ms)
-59: [ RUN      ] NestedModel.NestedInclude
-41: [       OK ] DOMWorld.LoadLights (1771 ms)
-41: [----------] 1 test from DOMWorld (1771 ms total)
-41: 
-41: [----------] Global test environment tear-down
-41: [==========] 1 test from 1 test suite ran. (1771 ms total)
-41: [  PASSED  ] 1 test.
- 47/221 Test  #41: INTEGRATION_light_dom ..................................   Passed    2.06 sec
+39: [       OK ] DOMJoint.Complete (188 ms)
+39: [ RUN      ] DOMJoint.LoadJointParentWorld
+57: [==========] Running 5 tests from 1 test suite.
+57: [----------] Global test environment set-up.
+57: [----------] 5 tests from ModelVersionsTest
+57: [ RUN      ] ModelVersionsTest.Empty_ModelFilePath
+57: Error [parser.cc:1190] Could not find model.config or manifest.xml in []
+57: [       OK ] ModelVersionsTest.Empty_ModelFilePath (0 ms)
+57: [ RUN      ] ModelVersionsTest.NonExistent_ModelFilePath
+57: Error [parser.cc:1190] Could not find model.config or manifest.xml in [/build/sdformat-12.3.0+ds/test/integration/model/non-existent]
+57: [       OK ] ModelVersionsTest.NonExistent_ModelFilePath (0 ms)
+57: [ RUN      ] ModelVersionsTest.MalFormed_ModelFilePath
+57: Error [parser.cc:1155] Failure to detect an sdf tag in the model config file for model: cococan
+57: [       OK ] ModelVersionsTest.MalFormed_ModelFilePath (0 ms)
+57: [ RUN      ] ModelVersionsTest.NoVersionTag_ModelFilePath
+57: Warning [parser.cc:1164] Can not find the XML attribute 'version' in sdf XML tag for model: cococan. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
+57: [       OK ] ModelVersionsTest.NoVersionTag_ModelFilePath (0 ms)
+57: [ RUN      ] ModelVersionsTest.Correct_ModelFilePath
+57: Warning [parser.cc:1143] Ignoring version 100.0 for model cococan because is newer than this sdf parser (version 1.9)
+57: [       OK ] ModelVersionsTest.Correct_ModelFilePath (0 ms)
+57: [----------] 5 tests from ModelVersionsTest (0 ms total)
+57: 
+57: [----------] Global test environment tear-down
+57: [==========] 5 tests from 1 test suite ran. (0 ms total)
+57: [  PASSED  ] 5 tests.
+ 46/221 Test  #57: INTEGRATION_model_versions .............................   Passed    0.10 sec
 test 62
         Start  62: check_INTEGRATION_nested_multiple_elements_error
 
 62: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_nested_multiple_elements_error.xml"
 62: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 62: Test timeout computed to be: 10000000
+53: Error [Param.cc:467] The value <ambient>1.5 0 0 1</ambient> is invalid.
+53: Error:   Could not find the 'robot' element in the xml file
+53:          at line 109 in ./urdf_parser/src/model.cpp
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/ambient:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L7]: Msg: Error reading element <ambient>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L6]: Msg: Error reading element <material>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L5]: Msg: Error reading element <visual>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L4]: Msg: Error reading element <link>
+53: Error Code 9: [/sdf/model[@name="model"]:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L3]: Msg: Error reading element <model>
+53: Error Code 9: Msg: Error reading element <sdf>
+53: Error Code 1: Msg: Unable to read file:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf
+53: 
 62: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_nested_multiple_elements_error.xml
 62: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_nested_multiple_elements_error.xml
- 48/221 Test  #62: check_INTEGRATION_nested_multiple_elements_error .......   Passed    0.02 sec
+ 47/221 Test  #62: check_INTEGRATION_nested_multiple_elements_error .......   Passed    0.03 sec
 test 63
         Start  63: INTEGRATION_param_passing
 
@@ -33626,82 +33519,44 @@
 63: Environment variables: 
 63:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 63: Test timeout computed to be: 240
-63: Running main() from /usr/src/gtest/src/gtest_main.cc
-63: [==========] Running 2 tests from 1 test suite.
-63: [----------] Global test environment set-up.
-63: [----------] 2 tests from ParamPassingTest
-63: [ RUN      ] ParamPassingTest.ExperimentalParamsTag
-50: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_locale_fix_cxx.xml
-50: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_locale_fix_cxx.xml
-21: Msg [fixed_joint_reduction.cc:718] name [link1] m[300] p[0 0 0 0 -0 0] ixx[7] iyy[9] izz[11] ixy[0] ixz[0] iyz[0]
-21: Msg [fixed_joint_reduction.cc:718] name [link1a] m[300] p[0 0 0 0 -0 0] ixx[7] iyy[9] izz[11] ixy[0] ixz[0] iyz[0]
-21: Msg [fixed_joint_reduction.cc:718] name [link1b] m[300] p[0 0 0 0 -0 0] ixx[7] iyy[9] izz[11] ixy[0] ixz[0] iyz[1.11022e-16]
-21: Msg [fixed_joint_reduction.cc:718] name [link1c] m[300] p[0.2 0 0 0 -0 0] ixx[7] iyy[15] izz[17] ixy[0] ixz[0] iyz[0]
-21: Msg [fixed_joint_reduction.cc:718] name [link1d] m[300] p[0.2 0 0 0 -0 0] ixx[7] iyy[15] izz[17] ixy[0] ixz[0] iyz[0]
-21: Msg [fixed_joint_reduction.cc:718] name [link1e] m[300] p[0.2 -0 0 0 -0 0] ixx[7] iyy[15] izz[17] ixy[2.93795e-11] ixz[0] iyz[0]
-39: Error Code 26: Msg: relative_to name[Jcycle] is identical to joint name[Jcycle], causing a graph cycle in model with name[model_invalid_joint_relative_to].
-39: Error Code 25: Msg: relative_to name[A] specified by joint with name[J] does not match a nested model, link, joint, or frame name in model with name[model_invalid_joint_relative_to].
-39: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_invalid_joint_relative_to::J] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
-39: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [6].
-39: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_invalid_joint_relative_to::Jcycle].
-53: Error [Param.cc:434] Invalid argument. Unable to set value [test] for key [ambient].
-53: Error [Param.cc:467] The value <ambient>0.1 0.2 test</ambient> is invalid.
-53: Error:   Could not find the 'robot' element in the xml file
-53:          at line 109 in ./urdf_parser/src/model.cpp
-53: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
-53: Error [parser.cc:820] parse as old deprecated model file failed.
-55: [       OK ] DOMModel.LoadModelWithDuplicateChildNames (2997 ms)
-55: [----------] 4 tests from DOMModel (3139 ms total)
-55: 
-55: [----------] 9 tests from DOMRoot
-55: [ RUN      ] DOMRoot.LoadLinkCheck
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/ambient:<data-string>:L8]: Msg: Error reading element <ambient>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
-53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
-53: Error Code 9: Msg: Error reading element <sdf>
-53: Error Code 28: Msg: Unable to read SDF string: 
-53:     <?xml version="1.0" ?>
-53:     <sdf version="1.8">
-53:     <model name="model">
-53:       <link name="link">
-53:         <visual name="material">
-53:           <material>
-53:             <ambient>0.1 0.2 test</ambient>
-53:           </material>
-53:         </visual>
-53:       </link>
-53:     </model>
-53:     </sdf>
-53: 
-53: [       OK ] Material.InvalidColors (3273 ms)
-53: [ RUN      ] Material.ValidColors
-21: [       OK ] SDFParser.FixedJointReductionSimple (2909 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionPluginFrameExtensionTest
-39: [       OK ] DOMJoint.LoadInvalidJointPoseRelativeTo (2765 ms)
-39: [ RUN      ] DOMJoint.LoadInvalidChild
-49: Running main() from /usr/src/gtest/src/gtest_main.cc
-49: [==========] Running 1 test from 1 test suite.
-49: [----------] Global test environment set-up.
-49: [----------] 1 test from CheckFixForLocal
-49: [ RUN      ] CheckFixForLocal.CheckFixForCxxLocal
-49: [       OK ] CheckFixForLocal.CheckFixForCxxLocal (0 ms)
-49: [----------] 1 test from CheckFixForLocal (0 ms total)
-49: 
-49: [----------] Global test environment tear-down
-49: [==========] 1 test from 1 test suite ran. (0 ms total)
-49: [  PASSED  ] 1 test.
- 49/221 Test  #49: INTEGRATION_locale_fix_cxx .............................   Passed    3.93 sec
+43: [       OK ] DOMLink.InertialDoublePendulum (151 ms)
+43: [ RUN      ] DOMLink.InertialComplete
+59: Running main() from /usr/src/gtest/src/gtest_main.cc
+59: [==========] Running 17 tests from 3 test suites.
+59: [----------] Global test environment set-up.
+59: [----------] 10 tests from NestedModel
+59: [ RUN      ] NestedModel.NestedModel
+31: [       OK ] IncludesTest.Includes (620 ms)
+31: [ RUN      ] IncludesTest.Includes_15
+11: [       OK ] ConverterIntegration.UnflattenConversion (230 ms)
+11: [----------] 5 tests from ConverterIntegration (769 ms total)
+11: 
+11: [----------] Global test environment tear-down
+55: [       OK ] DOMModel.NoLinks (124 ms)
+55: [ RUN      ] DOMModel.LoadModelWithDuplicateChildNames
+33: [       OK ] InterfaceAPI.TomlParserModelInclude (125 ms)
+33: [ RUN      ] InterfaceAPI.FrameSemantics
+11: [==========] 5 tests from 1 test suite ran. (769 ms total)
+11: [  PASSED  ] 5 tests.
+35: [       OK ] JointAxisFrame.Version_1_5_missing (129 ms)
+35: [----------] 4 tests from JointAxisFrame (528 ms total)
+35: 
+35: [----------] Global test environment tear-down
+ 48/221 Test  #11: INTEGRATION_converter ..................................   Passed    0.88 sec
 test 64
         Start  64: check_INTEGRATION_param_passing
 
 64: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_param_passing.xml"
 64: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 64: Test timeout computed to be: 10000000
-64: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_param_passing.xml
-64: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_param_passing.xml
- 50/221 Test  #64: check_INTEGRATION_param_passing ........................   Passed    0.02 sec
+35: [==========] 4 tests from 1 test suite ran. (528 ms total)
+35: [  PASSED  ] 4 tests.
+61: Running main() from /usr/src/gtest/src/gtest_main.cc
+61: [==========] Running 5 tests from 1 test suite.
+61: [----------] Global test environment set-up.
+61: [----------] 5 tests from IncludesTest
+61: [ RUN      ] IncludesTest.NestedMultipleModelsError
+ 49/221 Test  #35: INTEGRATION_joint_axis_frame ...........................   Passed    0.64 sec
 test 65
         Start  65: INTEGRATION_parser_error_detection
 
@@ -33710,96 +33565,40 @@
 65: Environment variables: 
 65:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 65: Test timeout computed to be: 240
-53: 
-53: [       OK ] Material.ValidColors (95 ms)
-53: [ RUN      ] Material.URDFValidColors
-39: Error Code 19: Msg: Child frame with name[invalid] specified by joint with name[joint] not found in model with name[joint_invalid_child].
-39: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [joint_invalid_child::joint] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
-39: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [joint_invalid_child::joint] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [joint_invalid_child::joint].
-39: Error Code 25: Msg: relative_to name[invalid] specified by joint with name[joint] does not match a nested model, link, joint, or frame name in model with name[joint_invalid_child].
-39: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [joint_invalid_child::joint] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
-39: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
-39: Error Code 19: Msg: child frame with name[invalid] specified by joint with name[joint] not found in model with name[joint_invalid_child].
-39: Error Code 22: Msg: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
-39: [       OK ] DOMJoint.LoadInvalidChild (93 ms)
-39: [ RUN      ] DOMJoint.LoadLinkJointSameName17Invalid
-21: [       OK ] SDFParser.FixedJointReductionPluginFrameExtensionTest (103 ms)
-21: [----------] 7 tests from SDFParser (5392 ms total)
-21: 
-21: [----------] Global test environment tear-down
-33: [       OK ] InterfaceAPI.PlacementFrame (3136 ms)
-33: [ RUN      ] InterfaceAPI.NameCollision
-33: [       OK ] InterfaceAPI.NameCollision (259 ms)
-33: [----------] 8 tests from InterfaceAPI (5307 ms total)
-33: 
-33: [----------] Global test environment tear-down
-33: [==========] 8 tests from 1 test suite ran. (5307 ms total)
-33: [  PASSED  ] 8 tests.
-53: 
-53: [       OK ] Material.URDFValidColors (91 ms)
-53: [----------] 3 tests from Material (3460 ms total)
-53: 
-53: [----------] Global test environment tear-down
-53: [==========] 3 tests from 1 test suite ran. (3460 ms total)
-53: [  PASSED  ] 3 tests.
-39: Warning [Model.cc:174] Non-unique name[attachment] detected 2 times in XML children of model with name[link_joint_same_name].
-39: Error [Model.cc:286] Joint with name [attachment] in model with name [link_joint_same_name] has a name collision. Please rename this joint.
-39: Error Code 2: Msg: Joint with non-unique name [attachment] detected in model with name [link_joint_same_name].
-39: Error Code 24: Msg: FrameAttachedToGraph error, LINK vertex with name [link_joint_same_name::attachment] should have no outgoing edges in MODEL attached_to graph.
-39: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [link_joint_same_name::attachment].
-39: Error Code 2: Msg: Joint with non-unique name [attachment] detected in model with name [link_joint_same_name].
-39: Error Code 26: Msg: relative_to name[attachment] is identical to joint name[attachment], causing a graph cycle in model with name[link_joint_same_name].
-39: Error Code 27: Msg: PoseRelativeToGraph error, too many incoming edges at a vertex with name [link_joint_same_name::attachment].
-39: Error Code 27: Msg: PoseRelativeToGraph error: multiple incoming edges to current vertex [link_joint_same_name::attachment].
-39: Error Code 19: Msg: joint with name[attachment] in model with name[link_joint_same_name] must not specify its own name as the child frame.
-39: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [link_joint_same_name::attachment].
-39: [       OK ] DOMJoint.LoadLinkJointSameName17Invalid (187 ms)
-39: [ RUN      ] DOMJoint.LoadLinkJointSameName16Valid
-39: Warning [Model.cc:174] Non-unique name[attachment] detected 2 times in XML children of model with name[link_joint_same_name].
-39: Warning [Model.cc:278] Joint with name [attachment] in model with name [link_joint_same_name] has a name collision, changing joint name to [attachment_joint].
-39: [       OK ] DOMJoint.LoadLinkJointSameName16Valid (103 ms)
-39: [ RUN      ] DOMJoint.LoadURDFJointPoseRelativeTo
-39: [       OK ] DOMJoint.LoadURDFJointPoseRelativeTo (142 ms)
-39: [ RUN      ] DOMJoint.LoadJointNestedParentChild
-39: [       OK ] DOMJoint.LoadJointNestedParentChild (142 ms)
-39: [ RUN      ] DOMJoint.Sensors
-39: [       OK ] DOMJoint.Sensors (112 ms)
-39: [----------] 16 tests from DOMJoint (5033 ms total)
-39: 
-39: [----------] Global test environment tear-down
-39: [==========] 16 tests from 1 test suite ran. (5033 ms total)
-39: [  PASSED  ] 16 tests.
-21: [==========] 7 tests from 1 test suite ran. (5392 ms total)
-21: [  PASSED  ] 7 tests.
-55: [       OK ] DOMRoot.LoadLinkCheck (1363 ms)
-55: [ RUN      ] DOMRoot.LoadDoublePendulum
-55: [       OK ] DOMRoot.LoadDoublePendulum (132 ms)
-55: [ RUN      ] DOMRoot.NestedModel
-55: [       OK ] DOMRoot.NestedModel (158 ms)
-55: [ RUN      ] DOMRoot.MultiNestedModel
-55: [       OK ] DOMRoot.MultiNestedModel (162 ms)
-55: [ RUN      ] DOMRoot.LoadCanonicalLink
-55: [       OK ] DOMRoot.LoadCanonicalLink (142 ms)
-55: [ RUN      ] DOMRoot.LoadNestedCanonicalLink
-65: Running main() from /usr/src/gtest/src/gtest_main.cc
-65: [==========] Running 1 test from 1 test suite.
-65: [----------] Global test environment set-up.
-65: [----------] 1 test from ParserErrorDetection
-65: [ RUN      ] ParserErrorDetection.BadXML
-61: [       OK ] IncludesTest.NestedMultipleModelsError (5192 ms)
-61: [ RUN      ] IncludesTest.NestedMultipleActorsError
-61: [       OK ] IncludesTest.NestedMultipleActorsError (149 ms)
-61: [ RUN      ] IncludesTest.NestedMultipleLightsError
-25: [       OK ] Frame.IncludeRelativeTo (6785 ms)
-25: [ RUN      ] Frame.IncludeRelativeToEmptyPose
- 51/221 Test  #21: INTEGRATION_fixed_joint_reduction ......................   Passed    8.15 sec
+51: [       OK ] Material.MaterialPBR (126 ms)
+51: [----------] 2 tests from Material (262 ms total)
+51: 
+51: [----------] Global test environment tear-down
+51: [==========] 2 tests from 1 test suite ran. (262 ms total)
+51: [  PASSED  ] 2 tests.
+64: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_param_passing.xml
+64: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_param_passing.xml
+ 50/221 Test  #51: INTEGRATION_material_pbr ...............................   Passed    0.37 sec
 test 66
         Start  66: check_INTEGRATION_parser_error_detection
 
 66: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_parser_error_detection.xml"
 66: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 66: Test timeout computed to be: 10000000
- 52/221 Test  #33: INTEGRATION_interface_api ..............................   Passed    7.61 sec
+21: Msg [fixed_joint_reduction.cc:154] col: base_link_collision
+21: Msg [fixed_joint_reduction.cc:154] col: base_link_fixed_joint_lump__child_link_1_collision_1
+21: Msg [fixed_joint_reduction.cc:154] col: base_link_fixed_joint_lump__child_link_2_collision_2
+21: Msg [fixed_joint_reduction.cc:154] col: base_link_fixed_joint_lump__child_link_1a_collision_3
+21: Msg [fixed_joint_reduction.cc:172] vis: base_link_visual
+21: Msg [fixed_joint_reduction.cc:172] vis: base_link_fixed_joint_lump__child_link_1_visual_1
+21: Msg [fixed_joint_reduction.cc:172] vis: base_link_fixed_joint_lump__child_link_2_visual_2
+21: Msg [fixed_joint_reduction.cc:172] vis: base_link_fixed_joint_lump__child_link_1a_visual_3
+21: Msg [fixed_joint_reduction.cc:206] col: base_link_collision
+21: Msg [fixed_joint_reduction.cc:206] col: base_link_fixed_joint_lump__child_link_1_collision_1
+21: Msg [fixed_joint_reduction.cc:206] col: base_link_fixed_joint_lump__child_link_2_collision_2
+21: Msg [fixed_joint_reduction.cc:206] col: base_link_fixed_joint_lump__child_link_1a_collision_3
+21: Msg [fixed_joint_reduction.cc:224] vis: base_link_visual
+21: Msg [fixed_joint_reduction.cc:224] vis: base_link_fixed_joint_lump__child_link_1_visual_1
+21: Msg [fixed_joint_reduction.cc:224] vis: base_link_fixed_joint_lump__child_link_2_visual_2
+21: Msg [fixed_joint_reduction.cc:224] vis: base_link_fixed_joint_lump__child_link_1a_visual_3
+21: Msg [fixed_joint_reduction.cc:243] urdf mu1: 0.7
+21: Msg [fixed_joint_reduction.cc:251] urdf mu2: 0.71
+ 51/221 Test  #64: check_INTEGRATION_param_passing ........................   Passed    0.03 sec
 test 67
         Start  67: INTEGRATION_parser_config
 
@@ -33808,14 +33607,62 @@
 67: Environment variables: 
 67:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 67: Test timeout computed to be: 240
- 53/221 Test  #39: INTEGRATION_joint_dom ..................................   Passed    8.49 sec
+37: [       OK ] DOMJointAxis.InfiniteLimits (151 ms)
+37: [ RUN      ] DOMJointAxis.XyzNormalization
+39: [       OK ] DOMJoint.LoadJointParentWorld (128 ms)
+39: [ RUN      ] DOMJoint.LoadInvalidJointChildWorld
+63: Running main() from /usr/src/gtest/src/gtest_main.cc
+63: [==========] Running 2 tests from 1 test suite.
+63: [----------] Global test environment set-up.
+63: [----------] 2 tests from ParamPassingTest
+63: [ RUN      ] ParamPassingTest.ExperimentalParamsTag
+21: [       OK ] SDFParser.FixedJointReductionCollisionVisualExtensionTest (267 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionCollisionVisualExtensionEmptyRootTest
+53: Error [Param.cc:467] The value <specular>0 0.1</specular> is invalid.
+53: Error:   Could not find the 'robot' element in the xml file
+53:          at line 109 in ./urdf_parser/src/model.cpp
+53: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
+53: Error [parser.cc:820] parse as old deprecated model file failed.
+66: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_parser_error_detection.xml
+66: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_parser_error_detection.xml
+ 52/221 Test  #66: check_INTEGRATION_parser_error_detection ...............   Passed    0.03 sec
 test 68
         Start  68: check_INTEGRATION_parser_config
 
 68: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_parser_config.xml"
 68: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 68: Test timeout computed to be: 10000000
- 54/221 Test  #50: check_INTEGRATION_locale_fix_cxx .......................   Passed    7.74 sec
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/specular:<data-string>:L8]: Msg: Error reading element <specular>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
+53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
+53: Error Code 9: Msg: Error reading element <sdf>
+53: Error Code 28: Msg: Unable to read SDF string: 
+53:     <?xml version="1.0" ?>
+53:     <sdf version="1.8">
+53:       <model name="model">
+53:         <link name="link">
+53:           <visual name="material">
+53:             <material>
+53:               <specular>0 0.1</specular>
+53:             </material>
+53:           </visual>
+53:         </link>
+53:       </model>
+53:     </sdf>
+53: 
+19: [       OK ] ElementTracing.includes (617 ms)
+19: [----------] 2 tests from ElementTracing (820 ms total)
+19: 
+19: [----------] Global test environment tear-down
+68: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_parser_config.xml
+68: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_parser_config.xml
+43: [       OK ] DOMLink.InertialComplete (125 ms)
+43: [ RUN      ] DOMLink.InertialInvalid
+19: [==========] 2 tests from 1 test suite ran. (820 ms total)
+19: [  PASSED  ] 2 tests.
+ 53/221 Test  #68: check_INTEGRATION_parser_config ........................   Passed    0.03 sec
 test 69
         Start  69: INTEGRATION_particle_emitter_dom
 
@@ -33824,81 +33671,34 @@
 69: Environment variables: 
 69:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 69: Test timeout computed to be: 240
- 55/221 Test  #53: INTEGRATION_material ...................................   Passed    7.39 sec
+65: Running main() from /usr/src/gtest/src/gtest_main.cc
+65: [==========] Running 1 test from 1 test suite.
+65: [----------] Global test environment set-up.
+65: [----------] 1 test from ParserErrorDetection
+65: [ RUN      ] ParserErrorDetection.BadXML
+ 54/221 Test  #19: INTEGRATION_element_tracing ............................   Passed    0.96 sec
 test 70
         Start  70: check_INTEGRATION_particle_emitter_dom
 
 70: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_particle_emitter_dom.xml"
 70: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 70: Test timeout computed to be: 10000000
-55: [       OK ] DOMRoot.LoadNestedCanonicalLink (689 ms)
-55: [ RUN      ] DOMRoot.LoadNestedExplicitCanonicalLink
-55: [       OK ] DOMRoot.LoadNestedExplicitCanonicalLink (116 ms)
-55: [ RUN      ] DOMRoot.ModelPlacementFrameAttribute
-55: [       OK ] DOMRoot.ModelPlacementFrameAttribute (91 ms)
-55: [ RUN      ] DOMRoot.LoadInvalidNestedModelWithoutLinks
-55: Error Code 16: Msg: A model must have at least one link.
-55: Error Code 16: Msg: A model must have at least one link.
-55: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
-55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1].
-55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1::__model__].
-55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1::nested_without_links2].
-55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__].
-55: [       OK ] DOMRoot.LoadInvalidNestedModelWithoutLinks (144 ms)
-55: [----------] 9 tests from DOMRoot (3002 ms total)
-55: 
-55: [----------] 1 test from DOMLink
-55: [ RUN      ] DOMLink.NestedModelPoseRelativeTo
-55: [       OK ] DOMLink.NestedModelPoseRelativeTo (187 ms)
-55: [----------] 1 test from DOMLink (187 ms total)
-55: 
-55: [----------] Global test environment tear-down
-55: [==========] 14 tests from 3 test suites ran. (6330 ms total)
-55: [  PASSED  ] 14 tests.
-61: [       OK ] IncludesTest.NestedMultipleLightsError (139 ms)
-61: [ RUN      ] IncludesTest.NestedMultipleElementsError
-61: [       OK ] IncludesTest.NestedMultipleElementsError (134 ms)
-61: [ RUN      ] IncludesTest.NestedMultipleElementsErrorWorld
-61: [       OK ] IncludesTest.NestedMultipleElementsErrorWorld (470 ms)
-61: [----------] 5 tests from IncludesTest (6086 ms total)
-61: 
-61: [----------] Global test environment tear-down
-61: [==========] 5 tests from 1 test suite ran. (6086 ms total)
-61: [  PASSED  ] 5 tests.
-25: [       OK ] Frame.IncludeRelativeToEmptyPose (568 ms)
-25: [ RUN      ] Frame.IncludeFrameWithSubmodel
-25: [       OK ] Frame.IncludeFrameWithSubmodel (321 ms)
-25: [----------] 7 tests from Frame (8737 ms total)
-25: 
-25: [----------] 12 tests from DOMFrame
-25: [ RUN      ] DOMFrame.LoadModelFramesAttachedTo
-25: [       OK ] DOMFrame.LoadModelFramesAttachedTo (104 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesInvalidAttachedTo
-25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F3] does not match a nested model, link, joint, or frame name in model with name[model_frame_invalid_attached_to].
-25: Error Code 23: Msg: attached_to name[F4] is identical to frame name[F4], causing a graph cycle in model with name[model_frame_invalid_attached_to].
-25: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [model_frame_invalid_attached_to::F3] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
-25: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [model_frame_invalid_attached_to::F3] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [model_frame_invalid_attached_to::F3].
-25: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [model_frame_invalid_attached_to::F4].
-25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F3] does not match a nested model, link, joint, or frame name in model with name[model_frame_invalid_attached_to].
-25: Error Code 26: Msg: relative_to name[F4] is identical to frame name[F4], causing a graph cycle in model with name[model_frame_invalid_attached_to].
-25: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_frame_invalid_attached_to::F3] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
-25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [6].
-25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_frame_invalid_attached_to::F4].
-25: [       OK ] DOMFrame.LoadModelFramesInvalidAttachedTo (198 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesAttachedToJoint
-25: [       OK ] DOMFrame.LoadModelFramesAttachedToJoint (105 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesAttachedToNestedModel
-25: [       OK ] DOMFrame.LoadModelFramesAttachedToNestedModel (125 ms)
-25: [ RUN      ] DOMFrame.LoadWorldFramesAttachedTo
-25: [       OK ] DOMFrame.LoadWorldFramesAttachedTo (151 ms)
-25: [ RUN      ] DOMFrame.LoadWorldFramesInvalidAttachedTo
-47: [       OK ] CheckFixForLocal.MakeTestToFail (7084 ms)
-47: [----------] 1 test from CheckFixForLocal (7085 ms total)
-47: 
-47: [----------] Global test environment tear-down
-47: [==========] 1 test from 1 test suite ran. (7085 ms total)
-47: [  PASSED  ] 1 test.
- 56/221 Test  #47: INTEGRATION_locale_fix .................................   Passed    8.08 sec
+59: [       OK ] NestedModel.NestedModel (170 ms)
+59: [ RUN      ] NestedModel.State
+70: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_particle_emitter_dom.xml
+70: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_particle_emitter_dom.xml
+25: [       OK ] Frame.IncludeRelativeTo (313 ms)
+25: [ RUN      ] Frame.IncludeRelativeToEmptyPose
+67: Running main() from /usr/src/gtest/src/gtest_main.cc
+67: [==========] Running 3 tests from 1 test suite.
+67: [----------] Global test environment set-up.
+67: [----------] 3 tests from ParserConfig
+67: [ RUN      ] ParserConfig.GlobalConfig
+67: [       OK ] ParserConfig.GlobalConfig (0 ms)
+67: [ RUN      ] ParserConfig.NonGlobalConfig
+67: [       OK ] ParserConfig.NonGlobalConfig (0 ms)
+67: [ RUN      ] ParserConfig.ParseWithNonGlobalConfig
+ 55/221 Test  #70: check_INTEGRATION_particle_emitter_dom .................   Passed    0.03 sec
 test 71
         Start  71: INTEGRATION_plugin_attribute
 
@@ -33907,14 +33707,81 @@
 71: Environment variables: 
 71:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 71: Test timeout computed to be: 240
- 57/221 Test  #55: INTEGRATION_model_dom ..................................   Passed    7.30 sec
+33: [       OK ] InterfaceAPI.FrameSemantics (141 ms)
+33: [ RUN      ] InterfaceAPI.Reposturing
+39: Error Code 19: Msg: Joint with name[joint] specified invalid child link [world].
+39: Error Code 19: Msg: Child frame with name[world] specified by joint with name[joint] not found in model with name[joint_child_world].
+39: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [joint_child_world::joint] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
+39: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [joint_child_world::joint] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [joint_child_world::joint].
+39: Error Code 25: Msg: relative_to name[world] specified by joint with name[joint] does not match a nested model, link, joint, or frame name in model with name[joint_child_world].
+39: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [joint_child_world::joint] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
+39: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
+39: Error Code 19: Msg: invalid child name[world] specified by joint with name[joint] in model with name[joint_child_world].
+39: Error Code 19: Msg: child frame with name[world] specified by joint with name[joint] not found in model with name[joint_child_world].
+39: Error Code 22: Msg: FrameAttachedToGraph unable to find unique frame with name [world] in graph.
+53: Error [Param.cc:467] The value <emissive>0.1 0.2 -1</emissive> is invalid.
+53: Error:   Could not find the 'robot' element in the xml file
+53:          at line 109 in ./urdf_parser/src/model.cpp
+53: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
+53: Error [parser.cc:820] parse as old deprecated model file failed.
+39: [       OK ] DOMJoint.LoadInvalidJointChildWorld (130 ms)
+39: [ RUN      ] DOMJoint.LoadJointParentFrame
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/emissive:<data-string>:L8]: Msg: Error reading element <emissive>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
+53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
+53: Error Code 9: Msg: Error reading element <sdf>
+53: Error Code 28: Msg: Unable to read SDF string: 
+53:     <?xml version="1.0" ?>
+53:     <sdf version="1.8">
+53:     <model name="model">
+53:       <link name="link">
+53:         <visual name="material">
+53:           <material>
+53:             <emissive>0.1 0.2    -1</emissive>
+53:           </material>
+53:         </visual>
+53:       </link>
+53:     </model>
+53:     </sdf>
+53: 
+69: Running main() from /usr/src/gtest/src/gtest_main.cc
+69: [==========] Running 1 test from 1 test suite.
+69: [----------] Global test environment set-up.
+69: [----------] 1 test from DOMWorld
+69: [ RUN      ] DOMWorld.LoadParticleEmitter
+43: A link named link has invalid inertia.
+37: [       OK ] DOMJointAxis.XyzNormalization (153 ms)
+37: [----------] 4 tests from DOMJointAxis (656 ms total)
+37: 
+37: [----------] Global test environment tear-down
+43: [       OK ] DOMLink.InertialInvalid (120 ms)
+43: [ RUN      ] DOMLink.Sensors
+37: [==========] 4 tests from 1 test suite ran. (656 ms total)
+37: [  PASSED  ] 4 tests.
+ 56/221 Test  #37: INTEGRATION_joint_axis_dom .............................   Passed    0.76 sec
 test 72
         Start  72: check_INTEGRATION_plugin_attribute
 
 72: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_plugin_attribute.xml"
 72: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 72: Test timeout computed to be: 10000000
- 58/221 Test  #61: INTEGRATION_nested_multiple_elements_error .............   Passed    7.11 sec
+65: Error [parser.cc:798] Error parsing XML from string: Error=XML_ERROR_MISMATCHED_ELEMENT ErrorID=14 (0xe) Line number=1: XMLElement name=geometry
+65: [       OK ] ParserErrorDetection.BadXML (125 ms)
+65: [----------] 1 test from ParserErrorDetection (125 ms total)
+65: 
+65: [----------] Global test environment tear-down
+65: [==========] 1 test from 1 test suite ran. (125 ms total)
+65: [  PASSED  ] 1 test.
+71: Running main() from /usr/src/gtest/src/gtest_main.cc
+71: [==========] Running 1 test from 1 test suite.
+71: [----------] Global test environment set-up.
+71: [----------] 1 test from PluginAttribute
+71: [ RUN      ] PluginAttribute.ParseAttributes
+72: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_plugin_attribute.xml
+72: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_plugin_attribute.xml
+ 57/221 Test  #65: INTEGRATION_parser_error_detection .....................   Passed    0.23 sec
 test 73
         Start  73: INTEGRATION_plugin_bool
 
@@ -33923,18 +33790,23 @@
 73: Environment variables: 
 73:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 73: Test timeout computed to be: 240
-68: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_parser_config.xml
-68: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_parser_config.xml
-70: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_particle_emitter_dom.xml
-70: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_particle_emitter_dom.xml
- 59/221 Test  #68: check_INTEGRATION_parser_config ........................   Passed    0.07 sec
+ 58/221 Test  #72: check_INTEGRATION_plugin_attribute .....................   Passed    0.03 sec
 test 74
         Start  74: check_INTEGRATION_plugin_bool
 
 74: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_plugin_bool.xml"
 74: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 74: Test timeout computed to be: 10000000
- 60/221 Test  #70: check_INTEGRATION_particle_emitter_dom .................   Passed    0.06 sec
+55: [       OK ] DOMModel.LoadModelWithDuplicateChildNames (259 ms)
+55: [----------] 4 tests from DOMModel (383 ms total)
+55: 
+55: [----------] 9 tests from DOMRoot
+55: [ RUN      ] DOMRoot.LoadLinkCheck
+31: [       OK ] IncludesTest.Includes_15 (300 ms)
+31: [ RUN      ] IncludesTest.Includes_15_convert
+74: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_plugin_bool.xml
+74: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_plugin_bool.xml
+ 59/221 Test  #74: check_INTEGRATION_plugin_bool ..........................   Passed    0.03 sec
 test 75
         Start  75: INTEGRATION_plugin_include
 
@@ -33943,18 +33815,90 @@
 75: Environment variables: 
 75:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 75: Test timeout computed to be: 240
-72: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_plugin_attribute.xml
-72: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_plugin_attribute.xml
- 61/221 Test  #72: check_INTEGRATION_plugin_attribute .....................   Passed    0.06 sec
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+59: [       OK ] NestedModel.State (156 ms)
+59: [ RUN      ] NestedModel.NestedInclude
+21: Msg [fixed_joint_reduction.cc:408] col: base_link_fixed_joint_lump__child_link_1_collision
+21: Msg [fixed_joint_reduction.cc:420] vis: base_link_fixed_joint_lump__child_link_1_visual
+21: Msg [fixed_joint_reduction.cc:439] col: base_link_fixed_joint_lump__child_link_1_collision
+21: Msg [fixed_joint_reduction.cc:451] vis: base_link_fixed_joint_lump__child_link_1_visual
+21: Msg [fixed_joint_reduction.cc:470] urdf mu1: 0.7
+21: Msg [fixed_joint_reduction.cc:478] urdf mu2: 0.71
+33: [       OK ] InterfaceAPI.Reposturing (157 ms)
+33: [ RUN      ] InterfaceAPI.PlacementFrame
+53: Error [Param.cc:467] The value <diffuse>0.1 0.2 0.3 0.4 0.5</diffuse> is invalid.
+53: Error:   Could not find the 'robot' element in the xml file
+53:          at line 109 in ./urdf_parser/src/model.cpp
+53: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
+53: Error [parser.cc:820] parse as old deprecated model file failed.
+39: [       OK ] DOMJoint.LoadJointParentFrame (125 ms)
+39: [ RUN      ] DOMJoint.LoadJointChildFrame
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/diffuse:<data-string>:L8]: Msg: Error reading element <diffuse>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
+53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
+53: Error Code 9: Msg: Error reading element <sdf>
+53: Error Code 28: Msg: Unable to read SDF string: 
+53:     <?xml version="1.0" ?>
+53:     <sdf version="1.8">
+53:     <model name="model">
+53:       <link name="link">
+53:         <visual name="material">
+53:           <material>
+53:             <diffuse>0.1 0.2 0.3 0.4 0.5</diffuse>
+53:           </material>
+53:         </visual>
+53:       </link>
+53:     </model>
+53:     </sdf>
+53: 
+21: [       OK ] SDFParser.FixedJointReductionCollisionVisualExtensionEmptyRootTest (265 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionSimple
+61: [       OK ] IncludesTest.NestedMultipleModelsError (317 ms)
+61: [ RUN      ] IncludesTest.NestedMultipleActorsError
+73: Running main() from /usr/src/gtest/src/gtest_main.cc
+73: [==========] Running 1 test from 1 test suite.
+73: [----------] Global test environment set-up.
+73: [----------] 1 test from PluginBool
+73: [ RUN      ] PluginBool.ParseBoolValue
+71: [       OK ] PluginAttribute.ParseAttributes (129 ms)
+71: [----------] 1 test from PluginAttribute (129 ms total)
+71: 
+71: [----------] Global test environment tear-down
+75: Running main() from /usr/src/gtest/src/gtest_main.cc
+75: [==========] Running 2 tests from 1 test suite.
+75: [----------] Global test environment set-up.
+75: [----------] 2 tests from PluginInclude
+75: [ RUN      ] PluginInclude.PluginChildElements
+71: [==========] 1 test from 1 test suite ran. (129 ms total)
+71: [  PASSED  ] 1 test.
+ 60/221 Test  #71: INTEGRATION_plugin_attribute ...........................   Passed    0.24 sec
 test 76
         Start  76: check_INTEGRATION_plugin_include
 
 76: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_plugin_include.xml"
 76: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 76: Test timeout computed to be: 10000000
-74: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_plugin_bool.xml
-74: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_plugin_bool.xml
- 62/221 Test  #74: check_INTEGRATION_plugin_bool ..........................   Passed    0.05 sec
+69: [       OK ] DOMWorld.LoadParticleEmitter (193 ms)
+69: [----------] 1 test from DOMWorld (193 ms total)
+69: 
+69: [----------] Global test environment tear-down
+25: [       OK ] Frame.IncludeRelativeToEmptyPose (257 ms)
+25: [ RUN      ] Frame.IncludeFrameWithSubmodel
+69: [==========] 1 test from 1 test suite ran. (193 ms total)
+69: [  PASSED  ] 1 test.
+43: [       OK ] DOMLink.Sensors (187 ms)
+43: [ RUN      ] DOMLink.LoadLinkPoseRelativeTo
+76: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_plugin_include.xml
+76: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_plugin_include.xml
+ 61/221 Test  #69: INTEGRATION_particle_emitter_dom .......................   Passed    0.31 sec
 test 77
         Start  77: INTEGRATION_pose_1_9_sdf
 
@@ -33963,48 +33907,55 @@
 77: Environment variables: 
 77:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 77: Test timeout computed to be: 240
-76: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_plugin_include.xml
-76: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_plugin_include.xml
-67: Running main() from /usr/src/gtest/src/gtest_main.cc
-67: [==========] Running 3 tests from 1 test suite.
-67: [----------] Global test environment set-up.
-67: [----------] 3 tests from ParserConfig
-67: [ RUN      ] ParserConfig.GlobalConfig
-67: [       OK ] ParserConfig.GlobalConfig (0 ms)
-67: [ RUN      ] ParserConfig.NonGlobalConfig
-67: [       OK ] ParserConfig.NonGlobalConfig (0 ms)
-67: [ RUN      ] ParserConfig.ParseWithNonGlobalConfig
- 63/221 Test  #76: check_INTEGRATION_plugin_include .......................   Passed    0.06 sec
+ 62/221 Test  #76: check_INTEGRATION_plugin_include .......................   Passed    0.03 sec
 test 78
         Start  78: check_INTEGRATION_pose_1_9_sdf
 
 78: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_pose_1_9_sdf.xml"
 78: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 78: Test timeout computed to be: 10000000
-69: Running main() from /usr/src/gtest/src/gtest_main.cc
-69: [==========] Running 1 test from 1 test suite.
-69: [----------] Global test environment set-up.
-69: [----------] 1 test from DOMWorld
-69: [ RUN      ] DOMWorld.LoadParticleEmitter
-25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_attached_to].
-25: Error Code 23: Msg: attached_to name[self_cycle] is identical to frame name[self_cycle], causing a graph cycle in world with name[world_frame_invalid_attached_to].
-25: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [F] has 0 outgoing edges; it should only have 1 outgoing edge in WORLD attached_to graph.
-25: Error Code 24: Msg: Graph has world scope but sink vertex named [F] does not have FrameType WORLD, LINK or STATIC_MODEL when starting from vertex with name [F].
-25: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [self_cycle].
-25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_attached_to].
-25: Error Code 26: Msg: relative_to name[self_cycle] is identical to frame name[self_cycle], causing a graph cycle in world with name[world_frame_invalid_attached_to].
-25: Error Code 27: Msg: PoseRelativeToGraph error, MODEL / FRAME vertex with name [F] is disconnected; it should have 1 incoming edge in WORLD relative_to graph.
-25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [2].
-25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [self_cycle].
-25: Error Code 9: Msg: Failed to load a world.
+55: [       OK ] DOMRoot.LoadLinkCheck (161 ms)
+55: [ RUN      ] DOMRoot.LoadDoublePendulum
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+53: Error [Param.cc:434] Invalid argument. Unable to set value [test] for key [ambient].
+53: Error [Param.cc:467] The value <ambient>0.1 0.2 test</ambient> is invalid.
+53: Error:   Could not find the 'robot' element in the xml file
+53:          at line 109 in ./urdf_parser/src/model.cpp
+53: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
+53: Error [parser.cc:820] parse as old deprecated model file failed.
 78: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_pose_1_9_sdf.xml
 78: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_pose_1_9_sdf.xml
-71: Running main() from /usr/src/gtest/src/gtest_main.cc
-71: [==========] Running 1 test from 1 test suite.
-71: [----------] Global test environment set-up.
-71: [----------] 1 test from PluginAttribute
-71: [ RUN      ] PluginAttribute.ParseAttributes
- 64/221 Test  #78: check_INTEGRATION_pose_1_9_sdf .........................   Passed    0.06 sec
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/ambient:<data-string>:L8]: Msg: Error reading element <ambient>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
+53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
+53: Error Code 9: Msg: Error reading element <sdf>
+53: Error Code 28: Msg: Unable to read SDF string: 
+53:     <?xml version="1.0" ?>
+53:     <sdf version="1.8">
+53:     <model name="model">
+53:       <link name="link">
+53:         <visual name="material">
+53:           <material>
+53:             <ambient>0.1 0.2 test</ambient>
+53:           </material>
+53:         </visual>
+53:       </link>
+53:     </model>
+53:     </sdf>
+53: 
+53: [       OK ] Material.InvalidColors (623 ms)
+53: [ RUN      ] Material.ValidColors
+39: [       OK ] DOMJoint.LoadJointChildFrame (125 ms)
+39: [ RUN      ] DOMJoint.LoadJointPoseRelativeTo
+ 63/221 Test  #78: check_INTEGRATION_pose_1_9_sdf .........................   Passed    0.03 sec
 test 79
         Start  79: INTEGRATION_provide_feedback
 
@@ -34013,52 +33964,30 @@
 79: Environment variables: 
 79:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 79: Test timeout computed to be: 240
-66: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_parser_error_detection.xml
-66: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_parser_error_detection.xml
- 65/221 Test  #66: check_INTEGRATION_parser_error_detection ...............   Passed    1.79 sec
+73: [       OK ] PluginBool.ParseBoolValue (124 ms)
+73: [----------] 1 test from PluginBool (124 ms total)
+73: 
+73: [----------] Global test environment tear-down
+73: [==========] 1 test from 1 test suite ran. (124 ms total)
+73: [  PASSED  ] 1 test.
+21: Msg [fixed_joint_reduction.cc:718] name [link1] m[300] p[0 0 0 0 -0 0] ixx[7] iyy[9] izz[11] ixy[0] ixz[0] iyz[0]
+21: Msg [fixed_joint_reduction.cc:718] name [link1a] m[300] p[0 0 0 0 -0 0] ixx[7] iyy[9] izz[11] ixy[0] ixz[0] iyz[0]
+21: Msg [fixed_joint_reduction.cc:718] name [link1b] m[300] p[0 0 0 0 -0 0] ixx[7] iyy[9] izz[11] ixy[0] ixz[0] iyz[1.11022e-16]
+21: Msg [fixed_joint_reduction.cc:718] name [link1c] m[300] p[0.2 0 0 0 -0 0] ixx[7] iyy[15] izz[17] ixy[0] ixz[0] iyz[0]
+21: Msg [fixed_joint_reduction.cc:718] name [link1d] m[300] p[0.2 0 0 0 -0 0] ixx[7] iyy[15] izz[17] ixy[0] ixz[0] iyz[0]
+21: Msg [fixed_joint_reduction.cc:718] name [link1e] m[300] p[0.2 -0 0 0 -0 0] ixx[7] iyy[15] izz[17] ixy[2.93795e-11] ixz[0] iyz[0]
+ 64/221 Test  #73: INTEGRATION_plugin_bool ................................   Passed    0.23 sec
 test 80
         Start  80: check_INTEGRATION_provide_feedback
 
 80: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_provide_feedback.xml"
 80: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 80: Test timeout computed to be: 10000000
-73: Running main() from /usr/src/gtest/src/gtest_main.cc
-73: [==========] Running 1 test from 1 test suite.
-73: [----------] Global test environment set-up.
-73: [----------] 1 test from PluginBool
-73: [ RUN      ] PluginBool.ParseBoolValue
-25: [       OK ] DOMFrame.LoadWorldFramesInvalidAttachedTo (351 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesRelativeTo
-25: [       OK ] DOMFrame.LoadModelFramesRelativeTo (102 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesInvalidRelativeTo
-25: Error Code 25: Msg: relative_to name[A] specified by frame with name[F] does not match a nested model, link, joint, or frame name in model with name[model_invalid_frame_relative_to].
-25: Error Code 26: Msg: relative_to name[cycle] is identical to frame name[cycle], causing a graph cycle in model with name[model_invalid_frame_relative_to].
-25: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_invalid_frame_relative_to::F] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
-25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
-25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_invalid_frame_relative_to::cycle].
-25: [       OK ] DOMFrame.LoadModelFramesInvalidRelativeTo (86 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesRelativeToJoint
-43: [       OK ] DOMLink.LoadVisualCollision (8591 ms)
-43: [ RUN      ] DOMLink.InertialDoublePendulum
-25: [       OK ] DOMFrame.LoadModelFramesRelativeToJoint (97 ms)
-25: [ RUN      ] DOMFrame.LoadWorldFramesRelativeTo
-43: [       OK ] DOMLink.InertialDoublePendulum (121 ms)
-43: [ RUN      ] DOMLink.InertialComplete
-77: Running main() from /usr/src/gtest/src/gtest_main.cc
-77: [==========] Running 26 tests from 1 test suite.
-77: [----------] Global test environment set-up.
-77: [----------] 26 tests from Pose1_9
-77: [ RUN      ] Pose1_9.PoseExpressionFormats
-25: [       OK ] DOMFrame.LoadWorldFramesRelativeTo (163 ms)
-25: [ RUN      ] DOMFrame.LoadWorldFramesInvalidRelativeTo
-43: [       OK ] DOMLink.InertialComplete (126 ms)
-43: [ RUN      ] DOMLink.InertialInvalid
-43: A link named link has invalid inertia.
-43: [       OK ] DOMLink.InertialInvalid (139 ms)
-43: [ RUN      ] DOMLink.Sensors
+21: [       OK ] SDFParser.FixedJointReductionSimple (162 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionPluginFrameExtensionTest
 80: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_provide_feedback.xml
 80: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_provide_feedback.xml
- 66/221 Test  #80: check_INTEGRATION_provide_feedback .....................   Passed    0.81 sec
+ 65/221 Test  #80: check_INTEGRATION_provide_feedback .....................   Passed    0.02 sec
 test 81
         Start  81: INTEGRATION_root_dom
 
@@ -34067,50 +33996,56 @@
 81: Environment variables: 
 81:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 81: Test timeout computed to be: 240
-59: [       OK ] NestedModel.NestedInclude (7781 ms)
-59: [ RUN      ] NestedModel.NestedModelWithFrames
-25: Error Code 25: Msg: relative_to name[A] specified by model with name[M] does not match a model or frame name in world with name[world_frame_invalid_relative_to].
-25: Error Code 26: Msg: relative_to name[cycle] is identical to model name[cycle], causing a graph cycle in world with name[world_frame_invalid_relative_to].
-25: Error Code 25: Msg: relative_to name[A] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_relative_to].
-25: Error Code 26: Msg: relative_to name[self_cycle] is identical to frame name[self_cycle], causing a graph cycle in world with name[world_frame_invalid_relative_to].
-25: Error Code 27: Msg: PoseRelativeToGraph error, MODEL / FRAME vertex with name [M] is disconnected; it should have 1 incoming edge in WORLD relative_to graph.
-25: Error Code 27: Msg: PoseRelativeToGraph error, MODEL / FRAME vertex with name [F] is disconnected; it should have 1 incoming edge in WORLD relative_to graph.
-25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [8].
-25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [2].
-25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
-25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [3].
-25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [cycle].
-25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [cycle].
-25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [cycle].
-25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [self_cycle].
-25: Error Code 9: Msg: Failed to load a world.
-25: [       OK ] DOMFrame.LoadWorldFramesInvalidRelativeTo (374 ms)
-25: [ RUN      ] DOMFrame.WorldIncludeModel
-59: [       OK ] NestedModel.NestedModelWithFrames (267 ms)
-59: [ RUN      ] NestedModel.NestedModelWithFramesDirectComparison
-25: [       OK ] DOMFrame.WorldIncludeModel (263 ms)
-25: [----------] 12 tests from DOMFrame (2124 ms total)
-25: 
-25: [----------] Global test environment tear-down
-25: [==========] 19 tests from 2 test suites ran. (10861 ms total)
-25: [  PASSED  ] 19 tests.
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
- 67/221 Test  #25: INTEGRATION_frame ......................................   Passed   11.13 sec
+77: Running main() from /usr/src/gtest/src/gtest_main.cc
+77: [==========] Running 26 tests from 1 test suite.
+77: [----------] Global test environment set-up.
+77: [----------] 26 tests from Pose1_9
+77: [ RUN      ] Pose1_9.PoseExpressionFormats
+61: [       OK ] IncludesTest.NestedMultipleActorsError (186 ms)
+61: [ RUN      ] IncludesTest.NestedMultipleLightsError
+79: [==========] Running 1 test from 1 test suite.
+79: [----------] Global test environment set-up.
+79: [----------] 1 test from SDFParser
+79: [ RUN      ] SDFParser.ProvideFeedbackTest
+43: [       OK ] DOMLink.LoadLinkPoseRelativeTo (142 ms)
+43: [ RUN      ] DOMLink.LoadInvalidLinkPoseRelativeTo
+53: 
+53: [       OK ] Material.ValidColors (124 ms)
+53: [ RUN      ] Material.URDFValidColors
+31: [       OK ] IncludesTest.Includes_15_convert (290 ms)
+31: [ RUN      ] IncludesTest.IncludeModelMissingConfig
+55: [       OK ] DOMRoot.LoadDoublePendulum (150 ms)
+55: [ RUN      ] DOMRoot.NestedModel
+39: [       OK ] DOMJoint.LoadJointPoseRelativeTo (136 ms)
+39: [ RUN      ] DOMJoint.LoadInvalidJointPoseRelativeTo
+81: Running main() from /usr/src/gtest/src/gtest_main.cc
+81: [==========] Running 5 tests from 1 test suite.
+81: [----------] Global test environment set-up.
+81: [----------] 5 tests from DOMRoot
+81: [ RUN      ] DOMRoot.InvalidSDF
+21: [       OK ] SDFParser.FixedJointReductionPluginFrameExtensionTest (126 ms)
+21: [----------] 7 tests from SDFParser (1350 ms total)
+21: 
+21: [----------] Global test environment tear-down
+21: [==========] 7 tests from 1 test suite ran. (1350 ms total)
+21: [  PASSED  ] 7 tests.
+63: Error [Param.cc:925] Empty string used when setting a required parameter. Key[element_id]
+63: Error [Param.cc:925] Empty string used when setting a required parameter. Key[element_id]
+ 66/221 Test  #21: INTEGRATION_fixed_joint_reduction ......................   Passed    1.46 sec
 test 82
         Start  82: check_INTEGRATION_root_dom
 
 82: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_root_dom.xml"
 82: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 82: Test timeout computed to be: 10000000
+25: [       OK ] Frame.IncludeFrameWithSubmodel (235 ms)
+25: [----------] 7 tests from Frame (1358 ms total)
+25: 
+25: [----------] 12 tests from DOMFrame
+25: [ RUN      ] DOMFrame.LoadModelFramesAttachedTo
 82: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_root_dom.xml
 82: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_root_dom.xml
- 68/221 Test  #82: check_INTEGRATION_root_dom .............................   Passed    0.03 sec
+ 67/221 Test  #82: check_INTEGRATION_root_dom .............................   Passed    0.03 sec
 test 83
         Start  83: INTEGRATION_scene_dom
 
@@ -34119,54 +34054,47 @@
 83: Environment variables: 
 83:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 83: Test timeout computed to be: 240
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-83: Running main() from /usr/src/gtest/src/gtest_main.cc
-83: [==========] Running 1 test from 1 test suite.
-83: [----------] Global test environment set-up.
-83: [----------] 1 test from DOMScene
-83: [ RUN      ] DOMScene.LoadScene
-59: [       OK ] NestedModel.NestedModelWithFramesDirectComparison (230 ms)
-59: [ RUN      ] NestedModel.PartiallyFlattened
-59: [       OK ] NestedModel.PartiallyFlattened (194 ms)
-59: [ RUN      ] NestedModel.TwoLevelNestedModelWithFramesDirectComparison
-59: [       OK ] NestedModel.TwoLevelNestedModelWithFramesDirectComparison (277 ms)
-59: [ RUN      ] NestedModel.NestedModelWithSiblingFrames
-59: [       OK ] NestedModel.NestedModelWithSiblingFrames (193 ms)
-59: [ RUN      ] NestedModel.NestedFrameOnlyModel
-59: [       OK ] NestedModel.NestedFrameOnlyModel (151 ms)
-59: [ RUN      ] NestedModel.IncludeElements
-79: [==========] Running 1 test from 1 test suite.
-79: [----------] Global test environment set-up.
-79: [----------] 1 test from SDFParser
-79: [ RUN      ] SDFParser.ProvideFeedbackTest
-59: [       OK ] NestedModel.IncludeElements (197 ms)
-59: [----------] 10 tests from NestedModel (9586 ms total)
-59: 
-59: [----------] 3 tests from PlacementFrame
-59: [ RUN      ] PlacementFrame.WorldInclude
-65: Error [parser.cc:798] Error parsing XML from string: Error=XML_ERROR_MISMATCHED_ELEMENT ErrorID=14 (0xe) Line number=1: XMLElement name=geometry
-65: [       OK ] ParserErrorDetection.BadXML (4532 ms)
-65: [----------] 1 test from ParserErrorDetection (4532 ms total)
-65: 
-65: [----------] Global test environment tear-down
-65: [==========] 1 test from 1 test suite ran. (4532 ms total)
-65: [  PASSED  ] 1 test.
- 69/221 Test  #65: INTEGRATION_parser_error_detection .....................   Passed    6.72 sec
+31: Error [parser.cc:1190] Could not find model.config or manifest.xml in [/build/sdformat-12.3.0+ds/test/integration/model/box_missing_config]
+31: Error Code 13: [/sdf/include[0]/uri:<data-string>:L1]: Msg: Unable to resolve uri[box_missing_config] to model path [/build/sdformat-12.3.0+ds/test/integration/model/box_missing_config] since it does not contain a model.config file.
+43: Error Code 25: Msg: relative_to name[A] specified by link with name[L] does not match a nested model, link, joint, or frame name in model with name[model_invalid_link_relative_to].
+43: Error Code 26: Msg: relative_to name[self_cycle] is identical to link name[self_cycle], causing a graph cycle in model with name[model_invalid_link_relative_to].
+43: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_invalid_link_relative_to::L] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
+43: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [3].
+43: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_invalid_link_relative_to::self_cycle].
+31: [       OK ] IncludesTest.IncludeModelMissingConfig (113 ms)
+31: [ RUN      ] IncludesTest.IncludeUrdf
+53: 
+43: [       OK ] DOMLink.LoadInvalidLinkPoseRelativeTo (138 ms)
+43: [ RUN      ] DOMLink.ValidInertialPoseRelTo
+75: [       OK ] PluginInclude.PluginChildElements (306 ms)
+75: [ RUN      ] PluginInclude.PluginMissingFilename
+53: [       OK ] Material.URDFValidColors (124 ms)
+53: [----------] 3 tests from Material (872 ms total)
+53: 
+53: [----------] Global test environment tear-down
+61: [       OK ] IncludesTest.NestedMultipleLightsError (164 ms)
+61: [ RUN      ] IncludesTest.NestedMultipleElementsError
+53: [==========] 3 tests from 1 test suite ran. (872 ms total)
+53: [  PASSED  ] 3 tests.
+ 68/221 Test  #53: INTEGRATION_material ...................................   Passed    0.99 sec
 test 84
         Start  84: check_INTEGRATION_scene_dom
 
 84: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_scene_dom.xml"
 84: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 84: Test timeout computed to be: 10000000
-84: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_scene_dom.xml
-84: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_scene_dom.xml
- 70/221 Test  #84: check_INTEGRATION_scene_dom ............................   Passed    0.02 sec
+79: [       OK ] SDFParser.ProvideFeedbackTest (157 ms)
+79: [----------] 1 test from SDFParser (157 ms total)
+79: 
+79: [----------] Global test environment tear-down
+39: Error Code 26: Msg: relative_to name[Jcycle] is identical to joint name[Jcycle], causing a graph cycle in model with name[model_invalid_joint_relative_to].
+39: Error Code 25: Msg: relative_to name[A] specified by joint with name[J] does not match a nested model, link, joint, or frame name in model with name[model_invalid_joint_relative_to].
+39: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_invalid_joint_relative_to::J] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
+39: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [6].
+39: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_invalid_joint_relative_to::Jcycle].
+79: [==========] 1 test from 1 test suite ran. (157 ms total)
+79: [  PASSED  ] 1 test.
+ 69/221 Test  #79: INTEGRATION_provide_feedback ...........................   Passed    0.27 sec
 test 85
         Start  85: INTEGRATION_sdf_basic
 
@@ -34175,36 +34103,31 @@
 85: Environment variables: 
 85:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 85: Test timeout computed to be: 240
-75: Running main() from /usr/src/gtest/src/gtest_main.cc
-75: [==========] Running 2 tests from 1 test suite.
-75: [----------] Global test environment set-up.
-75: [----------] 2 tests from PluginInclude
-75: [ RUN      ] PluginInclude.PluginChildElements
-81: Running main() from /usr/src/gtest/src/gtest_main.cc
-81: [==========] Running 5 tests from 1 test suite.
-81: [----------] Global test environment set-up.
-81: [----------] 5 tests from DOMRoot
-81: [ RUN      ] DOMRoot.InvalidSDF
-83: [       OK ] DOMScene.LoadScene (2156 ms)
-83: [----------] 1 test from DOMScene (2156 ms total)
-83: 
-83: [----------] Global test environment tear-down
-83: [==========] 1 test from 1 test suite ran. (2156 ms total)
-83: [  PASSED  ] 1 test.
- 71/221 Test  #83: INTEGRATION_scene_dom ..................................   Passed    2.25 sec
+39: [       OK ] DOMJoint.LoadInvalidJointPoseRelativeTo (139 ms)
+39: [ RUN      ] DOMJoint.LoadInvalidChild
+84: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_scene_dom.xml
+84: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_scene_dom.xml
+33: [       OK ] InterfaceAPI.PlacementFrame (416 ms)
+33: [ RUN      ] InterfaceAPI.NameCollision
+81: Error:   Could not find the 'robot' element in the xml file
+81:          at line 109 in ./urdf_parser/src/model.cpp
+ 70/221 Test  #84: check_INTEGRATION_scene_dom ............................   Passed    0.03 sec
 test 86
         Start  86: check_INTEGRATION_sdf_basic
 
 86: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_sdf_basic.xml"
 86: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 86: Test timeout computed to be: 10000000
+81: [       OK ] DOMRoot.InvalidSDF (128 ms)
+81: [ RUN      ] DOMRoot.NoVersion
+83: Running main() from /usr/src/gtest/src/gtest_main.cc
+83: [==========] Running 1 test from 1 test suite.
+83: [----------] Global test environment set-up.
+83: [----------] 1 test from DOMScene
+83: [ RUN      ] DOMScene.LoadScene
 86: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_sdf_basic.xml
 86: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_sdf_basic.xml
-73: [       OK ] PluginBool.ParseBoolValue (3523 ms)
-73: [----------] 1 test from PluginBool (3523 ms total)
-73: 
-73: [----------] Global test environment tear-down
- 72/221 Test  #86: check_INTEGRATION_sdf_basic ............................   Passed    0.03 sec
+ 71/221 Test  #86: check_INTEGRATION_sdf_basic ............................   Passed    0.03 sec
 test 87
         Start  87: INTEGRATION_sdf_custom
 
@@ -34213,9 +34136,28 @@
 87: Environment variables: 
 87:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 87: Test timeout computed to be: 240
-73: [==========] 1 test from 1 test suite ran. (3523 ms total)
-73: [  PASSED  ] 1 test.
- 73/221 Test  #73: INTEGRATION_plugin_bool ................................   Passed    3.73 sec
+55: [       OK ] DOMRoot.NestedModel (187 ms)
+55: [ RUN      ] DOMRoot.MultiNestedModel
+25: [       OK ] DOMFrame.LoadModelFramesAttachedTo (143 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesInvalidAttachedTo
+59: [       OK ] NestedModel.NestedInclude (492 ms)
+59: [ RUN      ] NestedModel.NestedModelWithFrames
+43: Warning [Utils.cc:129] [/sdf/model[@name="A"]/link[@name="B"]/inertial/pose[@relative_to=""]:<data-string>:L1]: XML Attribute[relative_to] in element[pose] not defined in SDF.
+63: Warning [ParamPassing.cc:326] The original element [plugin] contains the attribute 'name' but none was provided in the element modifier. The assumed element to be modified is: <plugin name='top_plugin'>
+63: Warning [Utils.cc:129] [[@test="hello"]:/build/sdformat-12.3.0+ds/test/integration/include_custom_model.sdf:L107]: XML Attribute[test] in element[collision] not defined in SDF.
+43: [       OK ] DOMLink.ValidInertialPoseRelTo (119 ms)
+43: [ RUN      ] DOMLink.InvalidInertialPoseRelTo
+85: [==========] Running 1 test from 1 test suite.
+85: [----------] Global test environment set-up.
+85: [----------] 1 test from BasicTest
+85: [ RUN      ] BasicTest.RootWrapper
+85: [       OK ] BasicTest.RootWrapper (0 ms)
+85: [----------] 1 test from BasicTest (0 ms total)
+85: 
+85: [----------] Global test environment tear-down
+85: [==========] 1 test from 1 test suite ran. (0 ms total)
+85: [  PASSED  ] 1 test.
+ 72/221 Test  #85: INTEGRATION_sdf_basic ..................................   Passed    0.10 sec
 test 88
         Start  88: check_INTEGRATION_sdf_custom
 
@@ -34224,7 +34166,15 @@
 88: Test timeout computed to be: 10000000
 88: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_sdf_custom.xml
 88: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_sdf_custom.xml
- 74/221 Test  #88: check_INTEGRATION_sdf_custom ...........................   Passed    0.05 sec
+39: Error Code 19: Msg: Child frame with name[invalid] specified by joint with name[joint] not found in model with name[joint_invalid_child].
+39: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [joint_invalid_child::joint] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
+39: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [joint_invalid_child::joint] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [joint_invalid_child::joint].
+39: Error Code 25: Msg: relative_to name[invalid] specified by joint with name[joint] does not match a nested model, link, joint, or frame name in model with name[joint_invalid_child].
+39: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [joint_invalid_child::joint] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
+39: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
+39: Error Code 19: Msg: child frame with name[invalid] specified by joint with name[joint] not found in model with name[joint_invalid_child].
+39: Error Code 22: Msg: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
+ 73/221 Test  #88: check_INTEGRATION_sdf_custom ...........................   Passed    0.03 sec
 test 89
         Start  89: INTEGRATION_sdf_dom_conversion
 
@@ -34233,30 +34183,60 @@
 89: Environment variables: 
 89:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 89: Test timeout computed to be: 240
-77: [       OK ] Pose1_9.PoseExpressionFormats (3129 ms)
-77: [ RUN      ] Pose1_9.PoseStringOutput
-77: [       OK ] Pose1_9.PoseStringOutput (134 ms)
-77: [ RUN      ] Pose1_9.BadModelPoses
-77: Error:   Could not find the 'robot' element in the xml file
-77:          at line 109 in ./urdf_parser/src/model.cpp
-71: [       OK ] PluginAttribute.ParseAttributes (3991 ms)
-71: [----------] 1 test from PluginAttribute (3991 ms total)
-71: 
-71: [----------] Global test environment tear-down
-71: [==========] 1 test from 1 test suite ran. (3991 ms total)
-71: [  PASSED  ] 1 test.
- 75/221 Test  #71: INTEGRATION_plugin_attribute ...........................   Passed    4.18 sec
+39: [       OK ] DOMJoint.LoadInvalidChild (122 ms)
+39: [ RUN      ] DOMJoint.LoadLinkJointSameName17Invalid
+81: Error:   Could not find the 'robot' element in the xml file
+81:          at line 109 in ./urdf_parser/src/model.cpp
+81: [       OK ] DOMRoot.NoVersion (118 ms)
+81: [ RUN      ] DOMRoot.Load
+31: [       OK ] IncludesTest.IncludeUrdf (172 ms)
+31: [ RUN      ] IncludesTest.MergeInclude
+87: Running main() from /usr/src/gtest/src/gtest_main.cc
+87: [==========] Running 1 test from 1 test suite.
+87: [----------] Global test environment set-up.
+87: [----------] 1 test from SDFParser
+87: [ RUN      ] SDFParser.CustomElements
+75: Error:   Could not find the 'robot' element in the xml file
+75:          at line 109 in ./urdf_parser/src/model.cpp
+75: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
+75: Error [parser.cc:820] parse as old deprecated model file failed.
+75: Error Code 4: [/sdf/include[0]/plugin[0]:<data-string>:L1]: Msg: Required attribute[filename] in element[plugin] is not specified in SDF.
+75: Error Code 9: [/sdf/include[0]/plugin[0]:<data-string>:L1]: Msg: Error reading plugin element
+75: Error Code 9: Msg: Error reading element <sdf>
+75: [       OK ] PluginInclude.PluginMissingFilename (175 ms)
+75: [----------] 2 tests from PluginInclude (482 ms total)
+75: 
+75: [----------] Global test environment tear-down
+61: [       OK ] IncludesTest.NestedMultipleElementsError (171 ms)
+61: [ RUN      ] IncludesTest.NestedMultipleElementsErrorWorld
+75: [==========] 2 tests from 1 test suite ran. (482 ms total)
+75: [  PASSED  ] 2 tests.
+ 74/221 Test  #75: INTEGRATION_plugin_include .............................   Passed    0.61 sec
 test 90
         Start  90: check_INTEGRATION_sdf_dom_conversion
 
 90: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_sdf_dom_conversion.xml"
 90: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 90: Test timeout computed to be: 10000000
-77: Error:   Could not find the 'robot' element in the xml file
-77:          at line 109 in ./urdf_parser/src/model.cpp
-90: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_sdf_dom_conversion.xml
-90: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_sdf_dom_conversion.xml
- 76/221 Test  #90: check_INTEGRATION_sdf_dom_conversion ...................   Passed    0.02 sec
+83: [       OK ] DOMScene.LoadScene (151 ms)
+83: [----------] 1 test from DOMScene (151 ms total)
+83: 
+83: [----------] Global test environment tear-down
+25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F3] does not match a nested model, link, joint, or frame name in model with name[model_frame_invalid_attached_to].
+25: Error Code 23: Msg: attached_to name[F4] is identical to frame name[F4], causing a graph cycle in model with name[model_frame_invalid_attached_to].
+25: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [model_frame_invalid_attached_to::F3] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
+25: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [model_frame_invalid_attached_to::F3] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [model_frame_invalid_attached_to::F3].
+25: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [model_frame_invalid_attached_to::F4].
+25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F3] does not match a nested model, link, joint, or frame name in model with name[model_frame_invalid_attached_to].
+25: Error Code 26: Msg: relative_to name[F4] is identical to frame name[F4], causing a graph cycle in model with name[model_frame_invalid_attached_to].
+25: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_frame_invalid_attached_to::F3] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
+25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [6].
+25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_frame_invalid_attached_to::F4].
+83: [==========] 1 test from 1 test suite ran. (151 ms total)
+83: [  PASSED  ] 1 test.
+77: [       OK ] Pose1_9.PoseExpressionFormats (396 ms)
+77: [ RUN      ] Pose1_9.PoseStringOutput
+ 75/221 Test  #83: INTEGRATION_scene_dom ..................................   Passed    0.26 sec
 test 91
         Start  91: INTEGRATION_surface_dom
 
@@ -34265,112 +34245,23 @@
 91: Environment variables: 
 91:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 91: Test timeout computed to be: 240
-91: Running main() from /usr/src/gtest/src/gtest_main.cc
-91: [==========] Running 1 test from 1 test suite.
-91: [----------] Global test environment set-up.
-91: [----------] 1 test from DOMSurface
-91: [ RUN      ] DOMSurface.Shapes
-77: Error:   Could not find the 'robot' element in the xml file
-77:          at line 109 in ./urdf_parser/src/model.cpp
-31: [       OK ] IncludesTest.Includes (13413 ms)
-31: [ RUN      ] IncludesTest.Includes_15
-77: Error:   Could not find the 'robot' element in the xml file
-77:          at line 109 in ./urdf_parser/src/model.cpp
-77: [       OK ] Pose1_9.BadModelPoses (404 ms)
-77: [ RUN      ] Pose1_9.PoseSet8ValuesFail
-77: [       OK ] Pose1_9.PoseSet8ValuesFail (0 ms)
-77: [ RUN      ] Pose1_9.PoseElementSetAndGet
-77: [       OK ] Pose1_9.PoseElementSetAndGet (0 ms)
-77: [ RUN      ] Pose1_9.PoseElementSetAndParamGet
-77: [       OK ] Pose1_9.PoseElementSetAndParamGet (0 ms)
-77: [ RUN      ] Pose1_9.PoseParamSetAndGet
-77: [       OK ] Pose1_9.PoseParamSetAndGet (0 ms)
-77: [ RUN      ] Pose1_9.PoseParamSetFromStringAndGet
-77: [       OK ] Pose1_9.PoseParamSetFromStringAndGet (0 ms)
-77: [ RUN      ] Pose1_9.PoseParamSetAndElemGet
-77: [       OK ] Pose1_9.PoseParamSetAndElemGet (0 ms)
-77: [ RUN      ] Pose1_9.PoseParamSetAndParentElemGet
-77: [       OK ] Pose1_9.PoseParamSetAndParentElemGet (0 ms)
-77: [ RUN      ] Pose1_9.ChangingParentPoseElementAfterSet
-77: [       OK ] Pose1_9.ChangingParentPoseElementAfterSet (0 ms)
-77: [ RUN      ] Pose1_9.ChangingParentPoseElementAfterParamSetFromString
-77: Error [Param.cc:598] The value for //pose[@rotation_format='quat_xyzw'] must have 7 values, but 6 were found instead in '1, 2, 3, 0.4, 0.5, 0.6'.
-77: Error [Param.cc:1015] Failed to set value '1, 2, 3, 0.4, 0.5, 0.6' to key [pose] for new parent element of name 'pose', reverting to previous value '1, 2, 3, 0.4, 0.5, 0.6'.
-77: [       OK ] Pose1_9.ChangingParentPoseElementAfterParamSetFromString (0 ms)
-77: [ RUN      ] Pose1_9.ChangingAttributeOfParentElement
-77: Error [Param.cc:534] The attribute //pose[@degrees='true'] does not apply when parsing quaternions, //pose[@rotation_format='quat_xyzw'].
-77: Error [Param.cc:1015] Failed to set value '1, 2, 3, 0.4, 0.5, 0.6' to key [pose] for new parent element of name 'pose', reverting to previous value '1, 2, 3, 0.4, 0.5, 0.6'.
-77: Error [Param.cc:524] Undefined attribute //pose[@rotation_format='invalid_format'], only 'euler_rpy' and 'quat_xyzw' is supported.
-77: Error [Param.cc:1015] Failed to set value '1, 2, 3, 0.4, 0.5, 0.6' to key [pose] for new parent element of name 'pose', reverting to previous value '1, 2, 3, 0.4, 0.5, 0.6'.
-77: [       OK ] Pose1_9.ChangingAttributeOfParentElement (0 ms)
-77: [ RUN      ] Pose1_9.QuatXYZWSetDegreesTrueFail
-77: Error [Param.cc:534] The attribute //pose[@degrees='true'] does not apply when parsing quaternions, //pose[@rotation_format='quat_xyzw'].
-77: Error [Param.cc:1015] Failed to set value '1 2 3 0.7071068 0 0 0.7071068' to key [pose] for new parent element of name 'pose', reverting to previous value '1 2 3 0.7071068 0 0 0.7071068'.
-77: [       OK ] Pose1_9.QuatXYZWSetDegreesTrueFail (0 ms)
-77: [ RUN      ] Pose1_9.ToStringWithoutAttrib
-77: [       OK ] Pose1_9.ToStringWithoutAttrib (0 ms)
-77: [ RUN      ] Pose1_9.ToStringWithDegreesFalse
-77: [       OK ] Pose1_9.ToStringWithDegreesFalse (0 ms)
-77: [ RUN      ] Pose1_9.ToStringWithDegreesTrue
-77: [       OK ] Pose1_9.ToStringWithDegreesTrue (0 ms)
-77: [ RUN      ] Pose1_9.ToStringWithEulerRPY
-77: [       OK ] Pose1_9.ToStringWithEulerRPY (0 ms)
-77: [ RUN      ] Pose1_9.ToStringWithEulerRPYDegreesTrue
-77: [       OK ] Pose1_9.ToStringWithEulerRPYDegreesTrue (0 ms)
-77: [ RUN      ] Pose1_9.ToStringWithQuatXYZ
-77: [       OK ] Pose1_9.ToStringWithQuatXYZ (0 ms)
-77: [ RUN      ] Pose1_9.ToStringWithQuatXYZWDegreesFalse
-77: [       OK ] Pose1_9.ToStringWithQuatXYZWDegreesFalse (0 ms)
-77: [ RUN      ] Pose1_9.ToStringAfterChangingDegreeAttribute
-77: [       OK ] Pose1_9.ToStringAfterChangingDegreeAttribute (0 ms)
-77: [ RUN      ] Pose1_9.IncludePoseInModelString
-77: [       OK ] Pose1_9.IncludePoseInModelString (194 ms)
-77: [ RUN      ] Pose1_9.IncludeEulerRPYPoseInModelString
-31: [       OK ] IncludesTest.Includes_15 (262 ms)
-31: [ RUN      ] IncludesTest.Includes_15_convert
-77: [       OK ] Pose1_9.IncludeEulerRPYPoseInModelString (144 ms)
-77: [ RUN      ] Pose1_9.IncludeQuatXYZWPoseIn
-43: [       OK ] DOMLink.Sensors (3852 ms)
-43: [ RUN      ] DOMLink.LoadLinkPoseRelativeTo
-77: [       OK ] Pose1_9.IncludeQuatXYZWPoseIn (159 ms)
-77: [ RUN      ] Pose1_9.IncludePoseInWorld
-31: [       OK ] IncludesTest.Includes_15_convert (270 ms)
-31: [ RUN      ] IncludesTest.IncludeModelMissingConfig
-43: [       OK ] DOMLink.LoadLinkPoseRelativeTo (128 ms)
-43: [ RUN      ] DOMLink.LoadInvalidLinkPoseRelativeTo
-31: Error [parser.cc:1190] Could not find model.config or manifest.xml in [/build/sdformat-12.3.0+ds/test/integration/model/box_missing_config]
-31: Error Code 13: [/sdf/include[0]/uri:<data-string>:L1]: Msg: Unable to resolve uri[box_missing_config] to model path [/build/sdformat-12.3.0+ds/test/integration/model/box_missing_config] since it does not contain a model.config file.
-31: [       OK ] IncludesTest.IncludeModelMissingConfig (104 ms)
-31: [ RUN      ] IncludesTest.IncludeUrdf
-43: Error Code 25: Msg: relative_to name[A] specified by link with name[L] does not match a nested model, link, joint, or frame name in model with name[model_invalid_link_relative_to].
-43: Error Code 26: Msg: relative_to name[self_cycle] is identical to link name[self_cycle], causing a graph cycle in model with name[model_invalid_link_relative_to].
-43: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_invalid_link_relative_to::L] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
-43: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [3].
-43: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_invalid_link_relative_to::self_cycle].
-43: [       OK ] DOMLink.LoadInvalidLinkPoseRelativeTo (116 ms)
-43: [ RUN      ] DOMLink.ValidInertialPoseRelTo
-43: Warning [Utils.cc:129] [/sdf/model[@name="A"]/link[@name="B"]/inertial/pose[@relative_to=""]:<data-string>:L1]: XML Attribute[relative_to] in element[pose] not defined in SDF.
-43: [       OK ] DOMLink.ValidInertialPoseRelTo (91 ms)
-43: [ RUN      ] DOMLink.InvalidInertialPoseRelTo
-31: [       OK ] IncludesTest.IncludeUrdf (137 ms)
-31: [ RUN      ] IncludesTest.MergeInclude
+90: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_sdf_dom_conversion.xml
+90: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_sdf_dom_conversion.xml
 43: Warning [Utils.cc:129] [/sdf/model[@name="A"]/link[@name="B"]/inertial/pose[@relative_to="C"]:<data-string>:L1]: XML Attribute[relative_to] in element[pose] not defined in SDF.
-43: [       OK ] DOMLink.InvalidInertialPoseRelTo (89 ms)
-43: [----------] 11 tests from DOMLink (13260 ms total)
-43: 
-43: [----------] Global test environment tear-down
-43: [==========] 11 tests from 1 test suite ran. (13260 ms total)
-43: [  PASSED  ] 11 tests.
- 77/221 Test  #43: INTEGRATION_link_dom ...................................   Passed   13.58 sec
+ 76/221 Test  #90: check_INTEGRATION_sdf_dom_conversion ...................   Passed    0.03 sec
 test 92
         Start  92: check_INTEGRATION_surface_dom
 
 92: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_surface_dom.xml"
 92: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 92: Test timeout computed to be: 10000000
-92: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_surface_dom.xml
-92: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_surface_dom.xml
- 78/221 Test  #92: check_INTEGRATION_surface_dom ..........................   Passed    0.02 sec
+43: [       OK ] DOMLink.InvalidInertialPoseRelTo (119 ms)
+43: [----------] 11 tests from DOMLink (1276 ms total)
+43: 
+43: [----------] Global test environment tear-down
+43: [==========] 11 tests from 1 test suite ran. (1277 ms total)
+43: [  PASSED  ] 11 tests.
+ 77/221 Test  #43: INTEGRATION_link_dom ...................................   Passed    1.38 sec
 test 93
         Start  93: INTEGRATION_unknown
 
@@ -34379,18 +34270,16 @@
 93: Environment variables: 
 93:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 93: Test timeout computed to be: 240
-77: [       OK ] Pose1_9.IncludePoseInWorld (384 ms)
-77: [----------] 26 tests from Pose1_9 (4553 ms total)
-77: 
-77: [----------] Global test environment tear-down
-77: [==========] 26 tests from 1 test suite ran. (4553 ms total)
-77: [  PASSED  ] 26 tests.
+92: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_surface_dom.xml
+92: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_surface_dom.xml
+55: [       OK ] DOMRoot.MultiNestedModel (177 ms)
+55: [ RUN      ] DOMRoot.LoadCanonicalLink
 89: Running main() from /usr/src/gtest/src/gtest_main.cc
 89: [==========] Running 3 tests from 1 test suite.
 89: [----------] Global test environment set-up.
 89: [----------] 3 tests from SDFDomConversion
 89: [ RUN      ] SDFDomConversion.Sensors
- 79/221 Test  #77: INTEGRATION_pose_1_9_sdf ...............................   Passed    5.22 sec
+ 78/221 Test  #92: check_INTEGRATION_surface_dom ..........................   Passed    0.03 sec
 test 94
         Start  94: check_INTEGRATION_unknown
 
@@ -34399,7 +34288,7 @@
 94: Test timeout computed to be: 10000000
 94: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_unknown.xml
 94: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_unknown.xml
- 80/221 Test  #94: check_INTEGRATION_unknown ..............................   Passed    0.02 sec
+ 79/221 Test  #94: check_INTEGRATION_unknown ..............................   Passed    0.02 sec
 test 95
         Start  95: INTEGRATION_urdf_gazebo_extensions
 
@@ -34408,66 +34297,40 @@
 95: Environment variables: 
 95:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 95: Test timeout computed to be: 240
-93: Running main() from /usr/src/gtest/src/gtest_main.cc
-93: [==========] Running 4 tests from 2 test suites.
-93: [----------] Global test environment set-up.
-93: [----------] 1 test from Unknown
-93: [ RUN      ] Unknown.CopyUnknownElement
-95: Running main() from /usr/src/gtest/src/gtest_main.cc
-95: [==========] Running 1 test from 1 test suite.
-95: [----------] Global test environment set-up.
-95: [----------] 1 test from SDFParser
-95: [ RUN      ] SDFParser.UrdfGazeboExtensionURDFTest
-95: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-93: [       OK ] Unknown.CopyUnknownElement (154 ms)
-93: [----------] 1 test from Unknown (154 ms total)
-93: 
-93: [----------] 3 tests from UnrecognizedElements
-93: [ RUN      ] UnrecognizedElements.UnrecognizedElementsWithWarningsPolicies
-89: [       OK ] SDFDomConversion.Sensors (279 ms)
-89: [ RUN      ] SDFDomConversion.Lights
-81: Error:   Could not find the 'robot' element in the xml file
-81:          at line 109 in ./urdf_parser/src/model.cpp
-81: [       OK ] DOMRoot.InvalidSDF (2370 ms)
-81: [ RUN      ] DOMRoot.NoVersion
-93: Warning [Utils.cc:129] [/sdf/model[@name="joint_incorrect_tags"][@some_attribute="staheousth"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L3]: XML Attribute[some_attribute] in element[model] not defined in SDF.
-81: Error:   Could not find the 'robot' element in the xml file
-81:          at line 109 in ./urdf_parser/src/model.cpp
-81: [       OK ] DOMRoot.NoVersion (80 ms)
-81: [ RUN      ] DOMRoot.Load
-93: Warning [Utils.cc:129] [/sdf/model[@name="joint_incorrect_tags"][@some_attribute="staheousth"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L3]: XML Attribute[some_attribute] in element[model] not defined in SDF.
-93: Warning [Utils.cc:129] [/sdf/model[@name="joint_incorrect_tags"]/link[@name="link"]/not_a_link_element:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L6]: XML Element[not_a_link_element], child of element[link], not defined in SDF. Copying[not_a_link_element] as children of [link].
-93: Warning [Utils.cc:129] [/sdf/model[@name="joint_incorrect_tags"]/not_a_model_element:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L8]: XML Element[not_a_model_element], child of element[model], not defined in SDF. Copying[not_a_model_element] as children of [model].
-93: Warning [Utils.cc:129] [/sdf/not_an_sdf_element:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L10]: XML Element[not_an_sdf_element], child of element[sdf], not defined in SDF. Copying[not_an_sdf_element] as children of [sdf].
-87: Running main() from /usr/src/gtest/src/gtest_main.cc
-87: [==========] Running 1 test from 1 test suite.
-87: [----------] Global test environment set-up.
-87: [----------] 1 test from SDFParser
-87: [ RUN      ] SDFParser.CustomElements
-89: [       OK ] SDFDomConversion.Lights (147 ms)
-89: [ RUN      ] SDFDomConversion.Joints
-93: Warning [Utils.cc:129] [/sdf/model[@name="joint_incorrect_tags"][@some_attribute="staheousth"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L3]: XML Attribute[some_attribute] in element[model] not defined in SDF.
-93: [       OK ] UnrecognizedElements.UnrecognizedElementsWithWarningsPolicies (274 ms)
-93: [ RUN      ] UnrecognizedElements.UnrecognizedElementsWithNamespaces
-89: [       OK ] SDFDomConversion.Joints (148 ms)
-89: [----------] 3 tests from SDFDomConversion (575 ms total)
-89: 
-89: [----------] Global test environment tear-down
-89: [==========] 3 tests from 1 test suite ran. (575 ms total)
-89: [  PASSED  ] 3 tests.
- 81/221 Test  #89: INTEGRATION_sdf_dom_conversion .........................   Passed    2.07 sec
+91: Running main() from /usr/src/gtest/src/gtest_main.cc
+91: [==========] Running 1 test from 1 test suite.
+91: [----------] Global test environment set-up.
+91: [----------] 1 test from DOMSurface
+91: [ RUN      ] DOMSurface.Shapes
+81: [       OK ] DOMRoot.Load (172 ms)
+81: [ RUN      ] DOMRoot.LoadMultipleModels
+33: [       OK ] InterfaceAPI.NameCollision (298 ms)
+33: [----------] 8 tests from InterfaceAPI (1576 ms total)
+33: 
+33: [----------] Global test environment tear-down
+33: [==========] 8 tests from 1 test suite ran. (1576 ms total)
+33: [  PASSED  ] 8 tests.
+25: [       OK ] DOMFrame.LoadModelFramesInvalidAttachedTo (241 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesAttachedToJoint
+87: [       OK ] SDFParser.CustomElements (169 ms)
+87: [----------] 1 test from SDFParser (169 ms total)
+87: 
+87: [----------] Global test environment tear-down
+ 80/221 Test  #33: INTEGRATION_interface_api ..............................   Passed    1.68 sec
 test 96
         Start  96: check_INTEGRATION_urdf_gazebo_extensions
 
 96: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_urdf_gazebo_extensions.xml"
 96: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 96: Test timeout computed to be: 10000000
-93: Warning [Utils.cc:129] [/sdf/model[@name="namespaced_tags"][@some_attribute="some value"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements_with_namespace.sdf:L5]: XML Attribute[some_attribute] in element[model] not defined in SDF.
-96: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_urdf_gazebo_extensions.xml
-96: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_urdf_gazebo_extensions.xml
-93: [       OK ] UnrecognizedElements.UnrecognizedElementsWithNamespaces (114 ms)
-93: [ RUN      ] UnrecognizedElements.OldElementsInNewSchemas
- 82/221 Test  #96: check_INTEGRATION_urdf_gazebo_extensions ...............   Passed    0.02 sec
+93: Running main() from /usr/src/gtest/src/gtest_main.cc
+93: [==========] Running 4 tests from 2 test suites.
+93: [----------] Global test environment set-up.
+93: [----------] 1 test from Unknown
+93: [ RUN      ] Unknown.CopyUnknownElement
+87: [==========] 1 test from 1 test suite ran. (169 ms total)
+87: [  PASSED  ] 1 test.
+ 81/221 Test  #87: INTEGRATION_sdf_custom .................................   Passed    0.29 sec
 test 97
         Start  97: INTEGRATION_urdf_joint_parameters
 
@@ -34476,31 +34339,46 @@
 97: Environment variables: 
 97:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 97: Test timeout computed to be: 240
-97: Running main() from /usr/src/gtest/src/gtest_main.cc
-97: [==========] Running 1 test from 1 test suite.
-97: [----------] Global test environment set-up.
-97: [----------] 1 test from SDFParser
-97: [ RUN      ] SDFParser.JointAxisParameters
-85: [==========] Running 1 test from 1 test suite.
-85: [----------] Global test environment set-up.
-85: [----------] 1 test from BasicTest
-85: [ RUN      ] BasicTest.RootWrapper
-85: [       OK ] BasicTest.RootWrapper (0 ms)
-85: [----------] 1 test from BasicTest (0 ms total)
-85: 
-85: [----------] Global test environment tear-down
-85: [==========] 1 test from 1 test suite ran. (0 ms total)
-85: [  PASSED  ] 1 test.
- 83/221 Test  #85: INTEGRATION_sdf_basic ..................................   Passed    3.22 sec
+77: [       OK ] Pose1_9.PoseStringOutput (148 ms)
+77: [ RUN      ] Pose1_9.BadModelPoses
+96: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_urdf_gazebo_extensions.xml
+96: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_urdf_gazebo_extensions.xml
+61: [       OK ] IncludesTest.NestedMultipleElementsErrorWorld (193 ms)
+61: [----------] 5 tests from IncludesTest (1034 ms total)
+61: 
+61: [----------] Global test environment tear-down
+59: [       OK ] NestedModel.NestedModelWithFrames (270 ms)
+59: [ RUN      ] NestedModel.NestedModelWithFramesDirectComparison
+ 82/221 Test  #96: check_INTEGRATION_urdf_gazebo_extensions ...............   Passed    0.03 sec
 test 98
         Start  98: check_INTEGRATION_urdf_joint_parameters
 
 98: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_urdf_joint_parameters.xml"
 98: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 98: Test timeout computed to be: 10000000
+95: Running main() from /usr/src/gtest/src/gtest_main.cc
+95: [==========] Running 1 test from 1 test suite.
+95: [----------] Global test environment set-up.
+95: [----------] 1 test from SDFParser
+95: [ RUN      ] SDFParser.UrdfGazeboExtensionURDFTest
+55: [       OK ] DOMRoot.LoadCanonicalLink (134 ms)
+55: [ RUN      ] DOMRoot.LoadNestedCanonicalLink
+61: [==========] 5 tests from 1 test suite ran. (1034 ms total)
+61: [  PASSED  ] 5 tests.
+39: Warning [Model.cc:174] Non-unique name[attachment] detected 2 times in XML children of model with name[link_joint_same_name].
+39: Error [Model.cc:286] Joint with name [attachment] in model with name [link_joint_same_name] has a name collision. Please rename this joint.
+39: Error Code 2: Msg: Joint with non-unique name [attachment] detected in model with name [link_joint_same_name].
+39: Error Code 24: Msg: FrameAttachedToGraph error, LINK vertex with name [link_joint_same_name::attachment] should have no outgoing edges in MODEL attached_to graph.
+39: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [link_joint_same_name::attachment].
+39: Error Code 2: Msg: Joint with non-unique name [attachment] detected in model with name [link_joint_same_name].
+39: Error Code 26: Msg: relative_to name[attachment] is identical to joint name[attachment], causing a graph cycle in model with name[link_joint_same_name].
+39: Error Code 27: Msg: PoseRelativeToGraph error, too many incoming edges at a vertex with name [link_joint_same_name::attachment].
+39: Error Code 27: Msg: PoseRelativeToGraph error: multiple incoming edges to current vertex [link_joint_same_name::attachment].
+39: Error Code 19: Msg: joint with name[attachment] in model with name[link_joint_same_name] must not specify its own name as the child frame.
+39: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [link_joint_same_name::attachment].
 98: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_urdf_joint_parameters.xml
 98: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_urdf_joint_parameters.xml
- 84/221 Test  #98: check_INTEGRATION_urdf_joint_parameters ................   Passed    0.03 sec
+ 83/221 Test  #61: INTEGRATION_nested_multiple_elements_error .............   Passed    1.16 sec
 test 99
         Start  99: INTEGRATION_visual_dom
 
@@ -34509,26 +34387,18 @@
 99: Environment variables: 
 99:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 99: Test timeout computed to be: 240
-91: [       OK ] DOMSurface.Shapes (1768 ms)
-91: [----------] 1 test from DOMSurface (1768 ms total)
-91: 
-91: [----------] Global test environment tear-down
-93: [       OK ] UnrecognizedElements.OldElementsInNewSchemas (193 ms)
-93: [----------] 3 tests from UnrecognizedElements (583 ms total)
-93: 
-93: [----------] Global test environment tear-down
-93: [==========] 4 tests from 2 test suites ran. (737 ms total)
-93: [  PASSED  ] 4 tests.
- 85/221 Test  #93: INTEGRATION_unknown ....................................   Passed    0.83 sec
+ 84/221 Test  #98: check_INTEGRATION_urdf_joint_parameters ................   Passed    0.03 sec
 test 100
         Start 100: check_INTEGRATION_visual_dom
 
 100: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_visual_dom.xml"
 100: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 100: Test timeout computed to be: 10000000
+39: [       OK ] DOMJoint.LoadLinkJointSameName17Invalid (258 ms)
+39: [ RUN      ] DOMJoint.LoadLinkJointSameName16Valid
 100: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_visual_dom.xml
 100: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_visual_dom.xml
- 86/221 Test #100: check_INTEGRATION_visual_dom ...........................   Passed    0.02 sec
+ 85/221 Test #100: check_INTEGRATION_visual_dom ...........................   Passed    0.03 sec
 test 101
         Start 101: INTEGRATION_whitespace
 
@@ -34537,25 +34407,50 @@
 101: Environment variables: 
 101:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 101: Test timeout computed to be: 240
-101: Running main() from /usr/src/gtest/src/gtest_main.cc
-101: [==========] Running 1 test from 1 test suite.
-101: [----------] Global test environment set-up.
-101: [----------] 1 test from WhitespaceTest
-101: [ RUN      ] WhitespaceTest.Whitespace
-31: [       OK ] IncludesTest.MergeInclude (1087 ms)
-31: [ RUN      ] IncludesTest.MergeIncludePlacementFrame
-91: [==========] 1 test from 1 test suite ran. (1768 ms total)
+97: Running main() from /usr/src/gtest/src/gtest_main.cc
+97: [==========] Running 1 test from 1 test suite.
+97: [----------] Global test environment set-up.
+97: [----------] 1 test from SDFParser
+97: [ RUN      ] SDFParser.JointAxisParameters
+25: [       OK ] DOMFrame.LoadModelFramesAttachedToJoint (121 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesAttachedToNestedModel
+91: [       OK ] DOMSurface.Shapes (145 ms)
+91: [----------] 1 test from DOMSurface (145 ms total)
+91: 
+91: [----------] Global test environment tear-down
+91: [==========] 1 test from 1 test suite ran. (145 ms total)
 91: [  PASSED  ] 1 test.
- 87/221 Test  #91: INTEGRATION_surface_dom ................................   Passed    2.22 sec
+ 86/221 Test  #91: INTEGRATION_surface_dom ................................   Passed    0.26 sec
 test 102
         Start 102: check_INTEGRATION_whitespace
 
 102: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_whitespace.xml"
 102: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 102: Test timeout computed to be: 10000000
+77: Error:   Could not find the 'robot' element in the xml file
+77:          at line 109 in ./urdf_parser/src/model.cpp
+81: [       OK ] DOMRoot.LoadMultipleModels (151 ms)
+81: [ RUN      ] DOMRoot.LoadDuplicateModels
+93: [       OK ] Unknown.CopyUnknownElement (153 ms)
+93: [----------] 1 test from Unknown (153 ms total)
+93: 
+93: [----------] 3 tests from UnrecognizedElements
+93: [ RUN      ] UnrecognizedElements.UnrecognizedElementsWithWarningsPolicies
+99: Running main() from /usr/src/gtest/src/gtest_main.cc
+99: [==========] Running 10 tests from 1 test suite.
+99: [----------] Global test environment set-up.
+99: [----------] 10 tests from DOMVisual
+99: [ RUN      ] DOMVisual.NotAVisual
+99: [       OK ] DOMVisual.NotAVisual (0 ms)
+99: [ RUN      ] DOMVisual.NoName
+99:   <visual/>
+99: Error [Element.cc:979] Missing element description for [geometry]
+99: [       OK ] DOMVisual.NoName (0 ms)
+99: [ RUN      ] DOMVisual.DoublePendulum
 102: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_whitespace.xml
 102: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_whitespace.xml
- 88/221 Test #102: check_INTEGRATION_whitespace ...........................   Passed    0.02 sec
+95: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+ 87/221 Test #102: check_INTEGRATION_whitespace ...........................   Passed    0.03 sec
 test 103
         Start 103: INTEGRATION_world_dom
 
@@ -34564,55 +34459,67 @@
 103: Environment variables: 
 103:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 103: Test timeout computed to be: 240
+101: Running main() from /usr/src/gtest/src/gtest_main.cc
+101: [==========] Running 1 test from 1 test suite.
+101: [----------] Global test environment set-up.
+101: [----------] 1 test from WhitespaceTest
+101: [ RUN      ] WhitespaceTest.Whitespace
+39: Warning [Model.cc:174] Non-unique name[attachment] detected 2 times in XML children of model with name[link_joint_same_name].
+39: Warning [Model.cc:278] Joint with name [attachment] in model with name [link_joint_same_name] has a name collision, changing joint name to [attachment_joint].
+39: [       OK ] DOMJoint.LoadLinkJointSameName16Valid (137 ms)
+39: [ RUN      ] DOMJoint.LoadURDFJointPoseRelativeTo
+89: [       OK ] SDFDomConversion.Sensors (300 ms)
+89: [ RUN      ] SDFDomConversion.Lights
+95: [       OK ] SDFParser.UrdfGazeboExtensionURDFTest (206 ms)
+95: [----------] 1 test from SDFParser (207 ms total)
+95: 
+95: [----------] Global test environment tear-down
+77: Error:   Could not find the 'robot' element in the xml file
+77:          at line 109 in ./urdf_parser/src/model.cpp
 103: Running main() from /usr/src/gtest/src/gtest_main.cc
 103: [==========] Running 8 tests from 1 test suite.
 103: [----------] Global test environment set-up.
 103: [----------] 8 tests from DOMWorld
 103: [ RUN      ] DOMWorld.NoName
-97: [       OK ] SDFParser.JointAxisParameters (596 ms)
-97: [----------] 1 test from SDFParser (596 ms total)
-97: 
-97: [----------] Global test environment tear-down
-97: [==========] 1 test from 1 test suite ran. (596 ms total)
-97: [  PASSED  ] 1 test.
- 89/221 Test  #97: INTEGRATION_urdf_joint_parameters ......................   Passed    0.70 sec
+95: [==========] 1 test from 1 test suite ran. (207 ms total)
+95: [  PASSED  ] 1 test.
+63: Error [Param.cc:925] Empty string used when setting a required parameter. Key[name]
+25: [       OK ] DOMFrame.LoadModelFramesAttachedToNestedModel (149 ms)
+25: [ RUN      ] DOMFrame.LoadWorldFramesAttachedTo
+93: Warning [Utils.cc:129] [/sdf/model[@name="joint_incorrect_tags"][@some_attribute="staheousth"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L3]: XML Attribute[some_attribute] in element[model] not defined in SDF.
+ 88/221 Test  #95: INTEGRATION_urdf_gazebo_extensions .....................   Passed    0.33 sec
 test 104
         Start 104: check_INTEGRATION_world_dom
 
 104: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_world_dom.xml"
 104: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 104: Test timeout computed to be: 10000000
+59: [       OK ] NestedModel.NestedModelWithFramesDirectComparison (249 ms)
+59: [ RUN      ] NestedModel.PartiallyFlattened
+97: [       OK ] SDFParser.JointAxisParameters (171 ms)
+97: [----------] 1 test from SDFParser (171 ms total)
+97: 
+97: [----------] Global test environment tear-down
+81: [       OK ] DOMRoot.LoadDuplicateModels (148 ms)
+81: [----------] 5 tests from DOMRoot (719 ms total)
+81: 
+81: [----------] Global test environment tear-down
+81: [==========] 5 tests from 1 test suite ran. (719 ms total)
+81: [  PASSED  ] 5 tests.
+55: [       OK ] DOMRoot.LoadNestedCanonicalLink (246 ms)
+55: [ RUN      ] DOMRoot.LoadNestedExplicitCanonicalLink
+97: [==========] 1 test from 1 test suite ran. (172 ms total)
+97: [  PASSED  ] 1 test.
 104: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_world_dom.xml
 104: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/INTEGRATION_world_dom.xml
- 90/221 Test #104: check_INTEGRATION_world_dom ............................   Passed    0.02 sec
+ 89/221 Test  #81: INTEGRATION_root_dom ...................................   Passed    0.82 sec
 test 105
         Start 105: INTEGRATION_versioned_symbols
 
-105: Test command: /bin/bash "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/all_symbols_have_version.bash" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/libsdformat12.so"
+105: Test command: /usr/bin/bash "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration/all_symbols_have_version.bash" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/libsdformat12.so"
 105: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/integration
 105: Test timeout computed to be: 10000000
-103: Error:   Could not find the 'robot' element in the xml file
-103:          at line 109 in ./urdf_parser/src/model.cpp
-31: [       OK ] IncludesTest.MergeIncludePlacementFrame (391 ms)
-31: [ RUN      ] IncludesTest.InvalidMergeInclude
-103: [       OK ] DOMWorld.NoName (120 ms)
-103: [ RUN      ] DOMWorld.Duplicate
-63: Error [Param.cc:925] Empty string used when setting a required parameter. Key[element_id]
-63: Error [Param.cc:925] Empty string used when setting a required parameter. Key[element_id]
-103: [       OK ] DOMWorld.Duplicate (484 ms)
-103: [ RUN      ] DOMWorld.LoadIncorrectElement
-31: Warning [Utils.cc:129] [[@merge="true"]:<data-string>:L4]: XML Attribute[merge] in element[include] not defined in SDF.
-63: Warning [ParamPassing.cc:326] The original element [plugin] contains the attribute 'name' but none was provided in the element modifier. The assumed element to be modified is: <plugin name='top_plugin'>
-63: Warning [Utils.cc:129] [[@test="hello"]:/build/sdformat-12.3.0+ds/test/integration/include_custom_model.sdf:L107]: XML Attribute[test] in element[collision] not defined in SDF.
-103: [       OK ] DOMWorld.LoadIncorrectElement (188 ms)
-103: [ RUN      ] DOMWorld.Load
-19: [       OK ] ElementTracing.includes (15932 ms)
-19: [----------] 2 tests from ElementTracing (16766 ms total)
-19: 
-19: [----------] Global test environment tear-down
-19: [==========] 2 tests from 1 test suite ran. (16766 ms total)
-19: [  PASSED  ] 2 tests.
- 91/221 Test  #19: INTEGRATION_element_tracing ............................   Passed   17.14 sec
+ 90/221 Test  #97: INTEGRATION_urdf_joint_parameters ......................   Passed    0.29 sec
 test 106
         Start 106: PERFORMANCE_parser_urdf
 
@@ -34621,29 +34528,18 @@
 106: Environment variables: 
 106:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 106: Test timeout computed to be: 240
-106: Running main() from /usr/src/gtest/src/gtest_main.cc
-106: [==========] Running 1 test from 1 test suite.
-106: [----------] Global test environment set-up.
-106: [----------] 1 test from URDFParser
-106: [ RUN      ] URDFParser.AtlasURDF_5runs_performance
-103: [       OK ] DOMWorld.Load (183 ms)
-103: [ RUN      ] DOMWorld.LoadModelFrameSameName
-69: [       OK ] DOMWorld.LoadParticleEmitter (7494 ms)
-69: [----------] 1 test from DOMWorld (7494 ms total)
-69: 
-69: [----------] Global test environment tear-down
-69: [==========] 1 test from 1 test suite ran. (7494 ms total)
-69: [  PASSED  ] 1 test.
- 92/221 Test  #69: INTEGRATION_particle_emitter_dom .......................   Passed    7.70 sec
+ 91/221 Test #104: check_INTEGRATION_world_dom ............................   Passed    0.03 sec
 test 107
         Start 107: check_PERFORMANCE_parser_urdf
 
 107: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/PERFORMANCE_parser_urdf.xml"
 107: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test/performance
 107: Test timeout computed to be: 10000000
+99: [       OK ] DOMVisual.DoublePendulum (162 ms)
+99: [ RUN      ] DOMVisual.Material
 107: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/PERFORMANCE_parser_urdf.xml
 107: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/PERFORMANCE_parser_urdf.xml
- 93/221 Test #107: check_PERFORMANCE_parser_urdf ..........................   Passed    0.05 sec
+ 92/221 Test #107: check_PERFORMANCE_parser_urdf ..........................   Passed    0.03 sec
 test 108
         Start 108: UNIT_Actor_TEST
 
@@ -34652,41 +34548,47 @@
 108: Environment variables: 
 108:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 108: Test timeout computed to be: 240
-103: Warning [World.cc:206] Non-unique name[ground] detected 2 times in XML children of world with name[world_model_frame_same_name].
-103: Warning [World.cc:217] Non-unique name[ground] detected 2 times in XML children of world with name[world_model_frame_same_name].
-103: Warning [World.cc:288] Frame with name [ground] in world with name [world_model_frame_same_name] has a name collision, changing frame name to [ground_frame].
-103: [       OK ] DOMWorld.LoadModelFrameSameName (296 ms)
-103: [ RUN      ] DOMWorld.NestedModels
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-31: Error:   Could not find the 'robot' element in the xml file
-31:          at line 109 in ./urdf_parser/src/model.cpp
+39: [       OK ] DOMJoint.LoadURDFJointPoseRelativeTo (140 ms)
+39: [ RUN      ] DOMJoint.LoadJointNestedParentChild
+77: Error:   Could not find the 'robot' element in the xml file
+77:          at line 109 in ./urdf_parser/src/model.cpp
+89: [       OK ] SDFDomConversion.Lights (161 ms)
+89: [ RUN      ] SDFDomConversion.Joints
+105: No unversioned symbols found (num versioned symbols:3277)
+ 93/221 Test #105: INTEGRATION_versioned_symbols ..........................   Passed    0.08 sec
+test 109
+        Start 109: check_UNIT_Actor_TEST
+
+109: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Actor_TEST.xml"
+109: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+109: Test timeout computed to be: 10000000
+93: Warning [Utils.cc:129] [/sdf/model[@name="joint_incorrect_tags"][@some_attribute="staheousth"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L3]: XML Attribute[some_attribute] in element[model] not defined in SDF.
+93: Warning [Utils.cc:129] [/sdf/model[@name="joint_incorrect_tags"]/link[@name="link"]/not_a_link_element:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L6]: XML Element[not_a_link_element], child of element[link], not defined in SDF. Copying[not_a_link_element] as children of [link].
+93: Warning [Utils.cc:129] [/sdf/model[@name="joint_incorrect_tags"]/not_a_model_element:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L8]: XML Element[not_a_model_element], child of element[model], not defined in SDF. Copying[not_a_model_element] as children of [model].
+93: Warning [Utils.cc:129] [/sdf/not_an_sdf_element:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L10]: XML Element[not_an_sdf_element], child of element[sdf], not defined in SDF. Copying[not_an_sdf_element] as children of [sdf].
+109: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Actor_TEST.xml
+109: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Actor_TEST.xml
+ 94/221 Test #109: check_UNIT_Actor_TEST ..................................   Passed    0.03 sec
+test 110
+        Start 110: UNIT_AirPressure_TEST
+
+110: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_AirPressure_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_AirPressure_TEST.xml"
+110: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+110: Environment variables: 
+110:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+110: Test timeout computed to be: 240
+106: Running main() from /usr/src/gtest/src/gtest_main.cc
+106: [==========] Running 1 test from 1 test suite.
+106: [----------] Global test environment set-up.
+106: [----------] 1 test from URDFParser
+106: [ RUN      ] URDFParser.AtlasURDF_5runs_performance
+103: Error:   Could not find the 'robot' element in the xml file
+103:          at line 109 in ./urdf_parser/src/model.cpp
+103: [       OK ] DOMWorld.NoName (150 ms)
+103: [ RUN      ] DOMWorld.Duplicate
+25: [       OK ] DOMFrame.LoadWorldFramesAttachedTo (153 ms)
+25: [ RUN      ] DOMFrame.LoadWorldFramesInvalidAttachedTo
+63: Error [parser.cc:163] Unable to load file[]: Error=XML_ERROR_FILE_NOT_FOUND ErrorID=3 (0x3) Line number=0: filename=
 108: Running main() from /usr/src/gtest/src/gtest_main.cc
 108: [==========] Running 25 tests from 4 test suites.
 108: [----------] Global test environment set-up.
@@ -34755,45 +34657,190 @@
 108: [----------] Global test environment tear-down
 108: [==========] 25 tests from 4 test suites ran. (0 ms total)
 108: [  PASSED  ] 25 tests.
- 94/221 Test #108: UNIT_Actor_TEST ........................................   Passed    0.22 sec
-test 109
-        Start 109: check_UNIT_Actor_TEST
-
-109: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Actor_TEST.xml"
-109: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-109: Test timeout computed to be: 10000000
-31: [       OK ] IncludesTest.InvalidMergeInclude (1318 ms)
-31: [----------] 8 tests from IncludesTest (16987 ms total)
-31: 
-31: [----------] Global test environment tear-down
-31: [==========] 8 tests from 1 test suite ran. (16987 ms total)
-31: [  PASSED  ] 8 tests.
-87: [       OK ] SDFParser.CustomElements (2265 ms)
-87: [----------] 1 test from SDFParser (2265 ms total)
-87: 
-87: [----------] Global test environment tear-down
-75: [       OK ] PluginInclude.PluginChildElements (5089 ms)
-75: [ RUN      ] PluginInclude.PluginMissingFilename
-109: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Actor_TEST.xml
- 95/221 Test  #31: INTEGRATION_includes ...................................   Passed   17.28 sec
-test 110
-        Start 110: UNIT_AirPressure_TEST
-
-110: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_AirPressure_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_AirPressure_TEST.xml"
-110: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-110: Environment variables: 
-110:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-110: Test timeout computed to be: 240
-87: [==========] 1 test from 1 test suite ran. (2265 ms total)
-87: [  PASSED  ] 1 test.
- 96/221 Test #109: check_UNIT_Actor_TEST ..................................   Passed    0.08 sec
+63: Warning [ParamPassing.cc:326] The original element [collision] contains the attribute 'name' but none was provided in the element modifier. The assumed element to be modified is: <collision name='top_collision'>
+ 95/221 Test #108: UNIT_Actor_TEST ........................................   Passed    0.10 sec
 test 111
         Start 111: check_UNIT_AirPressure_TEST
 
 111: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_AirPressure_TEST.xml"
 111: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
 111: Test timeout computed to be: 10000000
- 97/221 Test  #87: INTEGRATION_sdf_custom .................................   Passed    4.29 sec
+63: Error [Param.cc:399] Unknown error. Unable to set value [0.5 0.5 ] for key[size]
+63: Warning [ParamPassing.cc:612] No modifications for element <geometry/>
+63:  provided, skipping modification for:
+63: <collision name="top_collision">
+63:     <!-- element missing -->
+63:     <geometry>
+63:         <sphere>
+63:             <radius>0.5</radius>
+63:         </sphere>
+63:     </geometry>
+63:     <!-- element has invalid value -->
+63:     <geometry>
+63:         <box>
+63:             <size>0.5 0.5</size>
+63:         </box>
+63:     </geometry>
+63:     <!-- no modifications listed, warning is printed (not error) -->
+63:     <geometry/>
+63: </collision>
+63: 
+63: Error [Param.cc:925] Empty string used when setting a required parameter. Key[name]
+55: [       OK ] DOMRoot.LoadNestedExplicitCanonicalLink (154 ms)
+55: [ RUN      ] DOMRoot.ModelPlacementFrameAttribute
+99: [       OK ] DOMVisual.Material (129 ms)
+99: [ RUN      ] DOMVisual.MaterialScriptNoUri
+111: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_AirPressure_TEST.xml
+111: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_AirPressure_TEST.xml
+63: Element identifier requires an element_id attribute, but the element_id is not set. Skipping element alteration:
+63: <foo/>
+63: 
+63: Could not find element <visual element_id='chassis::camera_visual'>. Skipping element modification:
+63: <visual element_id="chassis::camera_visual" action="modify">
+63:     <pose>-1.06 0 0 0 0 3.14</pose>
+63:     <geometry>
+63:         <box>
+63:             <size>0.1 0.1 0.1</size>
+63:         </box>
+63:     </geometry>
+63: </visual>
+63: 
+63: Could not add element <visual element_id='chassis'> because element already exists in included model. Skipping element addition:
+63: <visual element_id="chassis" name="visual" action="add">
+63:     <geometry>
+63:         <box>
+63:             <size>0.1 0.1 0.1</size>
+63:         </box>
+63:     </geometry>
+63: </visual>
+63: 
+63: Could not find element <visual element_id='chassis::test'>. Skipping element modification:
+63: <visual element_id="chassis::test" name="visual" action="add">
+63:     <geometry>
+63:         <box>
+63:             <size>0.1 0.1 0.1</size>
+63:         </box>
+63:     </geometry>
+63: </visual>
+63: 
+63: Missing name after double colons in element identifier. Skipping element alteration:
+63: <link element_id="chassis::test::" name="foo" action="add"/>
+63: 
+63: Missing an action attribute. Skipping child element modification with parent <visual element_id='top::camera_visual'>:
+63: <transparency>0.2</transparency>
+63: 
+63: Required attribute[name] in element[plugin] is not specified in SDF.
+63: Unable to convert XML to SDF. Skipping child element alteration with parent <visual element_id='top::camera_visual'>:
+63: <plugin/>
+63: 
+63: Element [test] is not a defined SDF element or is an invalid child specification. Skipping child element modification with parent <visual element_id='top::camera_visual'>:
+63: <test action="add"/>
+63: 
+63: Element [test] is not a defined SDF element. Skipping element alteration
+63: : <test element_id="chassis" name="new_elem" action="add"/>
+63: 
+63: Element to be added is missing a 'name' attribute. Skipping element addition:
+63: <plugin element_id="chassis" action="add"/>
+63: 
+63: The 'name' attribute can not be empty. Skipping element addition:
+63: <plugin element_id="chassis" name="" action="add"/>
+63: 
+63: Required attribute[filename] in element[plugin] is not specified in SDF.
+63: Unable to convert XML to SDF. Skipping element addition:
+63: <plugin name="some_plugin"/>
+63: 
+63: Action [test] is not a valid action. Skipping element alteration:
+63: <link element_id="top" action="test"/>
+63: 
+63: Action [test] is not a valid action. Skipping child element modification with parent <collision element_id='left_wheel::collision'>:
+63: <geometry action="test"/>
+63: 
+63: Could not find element. Skipping child element removal with parent <collision element_id='left_wheel::collision'>:
+63: <laser_retro action="remove"/>
+63: 
+63: Could not find element. Skipping child element removal from <collision element_id='left_wheel::collision'> with parent <geometry>:
+63: <box/>
+63: 
+63: Could not find element. Skipping child element removal with parent <link element_id='top'>:
+63: <collision name="collision" action="remove"/>
+63: 
+63: Could not find element. Skipping child element replacement with parent <link element_id='top'>:
+63: <collision name="collision"/>
+63: 
+63: Replacement element is missing a 'name' attribute. Skipping element replacement <link element_id='top'>:
+63: <collision/>
+63: 
+63: Attribute [test] is invalid. Skipping attribute modification in:
+63: <collision name="top_collision" action="modify" test="foo"/>
+63: 
+63: Could not find element. Skipping child element modification with parent <link element_id='top'>:
+63: <geometry action="modify">
+63:     <box>
+63:         <size>1 1 1</size>
+63:     </box>
+63: </geometry>
+63: 
+63: Required attribute[type] in element[sensor] is not specified in SDF.
+63: Unable to convert XML to SDF. Skipping element replacement:
+63: <sensor name="camera"/>
+63: 
+63: Attribute [test] is invalid. Skipping attribute modification in:
+63: <link element_id="top" action="modify" test="foo">
+63:     <!-- element missing -->
+63:     <inertial/>
+63:     <collision name="top_collision">
+63:         <!-- element missing -->
+63:         <geometry>
+63:             <sphere>
+63:                 <radius>0.5</radius>
+63:             </sphere>
+63:         </geometry>
+63:         <!-- element has invalid value -->
+63:         <geometry>
+63:             <box>
+63:                 <size>0.5 0.5</size>
+63:             </box>
+63:         </geometry>
+63:         <!-- no modifications listed, warning is printed (not error) -->
+63:         <geometry/>
+63:     </collision>
+63: </link>
+63: 
+63: Could not find element [inertial]. Skipping modification for:
+63: <link element_id="top" action="modify" test="foo">
+63:     <!-- element missing -->
+63:     <inertial/>
+63:     <collision name="top_collision">
+63:         <!-- element missing -->
+63:         <geometry>
+63:             <sphere>
+63:                 <radius>0.5</radius>
+63:             </sphere>
+63:         </geometry>
+63:         <!-- element has invalid value -->
+63:         <geometry>
+63:             <box>
+63:                 <size>0.5 0.5</size>
+63:             </box>
+63:         </geometry>
+63:         <!-- no modifications listed, warning is printed (not error) -->
+63:         <geometry/>
+63:     </collision>
+63: </link>
+63: 
+63: Could not find element [sphere]. Skipping modification for:
+63: <geometry>
+63:     <sphere>
+63:         <radius>0.5</radius>
+63:     </sphere>
+63: </geometry>
+63: 
+63: Value [0.5 0.5] for element [size] is invalid. Skipping modification for:
+63: <box>
+63:     <size>0.5 0.5</size>
+63: </box>
+63: 
+ 96/221 Test #111: check_UNIT_AirPressure_TEST ............................   Passed    0.03 sec
 test 112
         Start 112: UNIT_Altimeter_TEST
 
@@ -34802,16 +34849,58 @@
 112: Environment variables: 
 112:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 112: Test timeout computed to be: 240
-111: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_AirPressure_TEST.xml
-111: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_AirPressure_TEST.xml
- 98/221 Test #111: check_UNIT_AirPressure_TEST ............................   Passed    0.07 sec
-test 113
-        Start 113: check_UNIT_Altimeter_TEST
-
-113: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Altimeter_TEST.xml"
-113: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-113: Test timeout computed to be: 10000000
-63: Error [Param.cc:925] Empty string used when setting a required parameter. Key[name]
+77: Error:   Could not find the 'robot' element in the xml file
+77:          at line 109 in ./urdf_parser/src/model.cpp
+77: [       OK ] Pose1_9.BadModelPoses (462 ms)
+77: [ RUN      ] Pose1_9.PoseSet8ValuesFail
+77: [       OK ] Pose1_9.PoseSet8ValuesFail (0 ms)
+77: [ RUN      ] Pose1_9.PoseElementSetAndGet
+77: [       OK ] Pose1_9.PoseElementSetAndGet (0 ms)
+77: [ RUN      ] Pose1_9.PoseElementSetAndParamGet
+77: [       OK ] Pose1_9.PoseElementSetAndParamGet (0 ms)
+77: [ RUN      ] Pose1_9.PoseParamSetAndGet
+77: [       OK ] Pose1_9.PoseParamSetAndGet (0 ms)
+77: [ RUN      ] Pose1_9.PoseParamSetFromStringAndGet
+77: [       OK ] Pose1_9.PoseParamSetFromStringAndGet (0 ms)
+77: [ RUN      ] Pose1_9.PoseParamSetAndElemGet
+77: [       OK ] Pose1_9.PoseParamSetAndElemGet (0 ms)
+77: [ RUN      ] Pose1_9.PoseParamSetAndParentElemGet
+77: [       OK ] Pose1_9.PoseParamSetAndParentElemGet (0 ms)
+77: [ RUN      ] Pose1_9.ChangingParentPoseElementAfterSet
+77: [       OK ] Pose1_9.ChangingParentPoseElementAfterSet (0 ms)
+77: [ RUN      ] Pose1_9.ChangingParentPoseElementAfterParamSetFromString
+77: Error [Param.cc:598] The value for //pose[@rotation_format='quat_xyzw'] must have 7 values, but 6 were found instead in '1, 2, 3, 0.4, 0.5, 0.6'.
+77: Error [Param.cc:1015] Failed to set value '1, 2, 3, 0.4, 0.5, 0.6' to key [pose] for new parent element of name 'pose', reverting to previous value '1, 2, 3, 0.4, 0.5, 0.6'.
+77: [       OK ] Pose1_9.ChangingParentPoseElementAfterParamSetFromString (0 ms)
+77: [ RUN      ] Pose1_9.ChangingAttributeOfParentElement
+77: Error [Param.cc:534] The attribute //pose[@degrees='true'] does not apply when parsing quaternions, //pose[@rotation_format='quat_xyzw'].
+77: Error [Param.cc:1015] Failed to set value '1, 2, 3, 0.4, 0.5, 0.6' to key [pose] for new parent element of name 'pose', reverting to previous value '1, 2, 3, 0.4, 0.5, 0.6'.
+77: Error [Param.cc:524] Undefined attribute //pose[@rotation_format='invalid_format'], only 'euler_rpy' and 'quat_xyzw' is supported.
+77: Error [Param.cc:1015] Failed to set value '1, 2, 3, 0.4, 0.5, 0.6' to key [pose] for new parent element of name 'pose', reverting to previous value '1, 2, 3, 0.4, 0.5, 0.6'.
+77: [       OK ] Pose1_9.ChangingAttributeOfParentElement (0 ms)
+77: [ RUN      ] Pose1_9.QuatXYZWSetDegreesTrueFail
+77: Error [Param.cc:534] The attribute //pose[@degrees='true'] does not apply when parsing quaternions, //pose[@rotation_format='quat_xyzw'].
+77: Error [Param.cc:1015] Failed to set value '1 2 3 0.7071068 0 0 0.7071068' to key [pose] for new parent element of name 'pose', reverting to previous value '1 2 3 0.7071068 0 0 0.7071068'.
+77: [       OK ] Pose1_9.QuatXYZWSetDegreesTrueFail (0 ms)
+77: [ RUN      ] Pose1_9.ToStringWithoutAttrib
+77: [       OK ] Pose1_9.ToStringWithoutAttrib (0 ms)
+77: [ RUN      ] Pose1_9.ToStringWithDegreesFalse
+77: [       OK ] Pose1_9.ToStringWithDegreesFalse (0 ms)
+77: [ RUN      ] Pose1_9.ToStringWithDegreesTrue
+77: [       OK ] Pose1_9.ToStringWithDegreesTrue (0 ms)
+77: [ RUN      ] Pose1_9.ToStringWithEulerRPY
+77: [       OK ] Pose1_9.ToStringWithEulerRPY (0 ms)
+77: [ RUN      ] Pose1_9.ToStringWithEulerRPYDegreesTrue
+77: [       OK ] Pose1_9.ToStringWithEulerRPYDegreesTrue (0 ms)
+77: [ RUN      ] Pose1_9.ToStringWithQuatXYZ
+77: [       OK ] Pose1_9.ToStringWithQuatXYZ (0 ms)
+77: [ RUN      ] Pose1_9.ToStringWithQuatXYZWDegreesFalse
+77: [       OK ] Pose1_9.ToStringWithQuatXYZWDegreesFalse (0 ms)
+77: [ RUN      ] Pose1_9.ToStringAfterChangingDegreeAttribute
+77: [       OK ] Pose1_9.ToStringAfterChangingDegreeAttribute (0 ms)
+77: [ RUN      ] Pose1_9.IncludePoseInModelString
+59: [       OK ] NestedModel.PartiallyFlattened (213 ms)
+59: [ RUN      ] NestedModel.TwoLevelNestedModelWithFramesDirectComparison
 110: Running main() from /usr/src/gtest/src/gtest_main.cc
 110: [==========] Running 4 tests from 1 test suite.
 110: [----------] Global test environment set-up.
@@ -34823,13 +34912,63 @@
 110: [ RUN      ] DOMAirPressure.Load
 110: [       OK ] DOMAirPressure.Load (0 ms)
 110: [ RUN      ] DOMAirPressure.ToElement
-110: [       OK ] DOMAirPressure.ToElement (8 ms)
-110: [----------] 4 tests from DOMAirPressure (8 ms total)
+110: [       OK ] DOMAirPressure.ToElement (4 ms)
+110: [----------] 4 tests from DOMAirPressure (4 ms total)
 110: 
 110: [----------] Global test environment tear-down
-110: [==========] 4 tests from 1 test suite ran. (8 ms total)
+110: [==========] 4 tests from 1 test suite ran. (4 ms total)
 110: [  PASSED  ] 4 tests.
- 99/221 Test #110: UNIT_AirPressure_TEST ..................................   Passed    0.19 sec
+ 97/221 Test #110: UNIT_AirPressure_TEST ..................................   Passed    0.11 sec
+test 113
+        Start 113: check_UNIT_Altimeter_TEST
+
+113: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Altimeter_TEST.xml"
+113: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+113: Test timeout computed to be: 10000000
+93: Warning [Utils.cc:129] [/sdf/model[@name="joint_incorrect_tags"][@some_attribute="staheousth"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L3]: XML Attribute[some_attribute] in element[model] not defined in SDF.
+31: [       OK ] IncludesTest.MergeInclude (694 ms)
+31: [ RUN      ] IncludesTest.MergeIncludePlacementFrame
+93: [       OK ] UnrecognizedElements.UnrecognizedElementsWithWarningsPolicies (371 ms)
+93: [ RUN      ] UnrecognizedElements.UnrecognizedElementsWithNamespaces
+113: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Altimeter_TEST.xml
+113: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Altimeter_TEST.xml
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+39: [       OK ] DOMJoint.LoadJointNestedParentChild (191 ms)
+39: [ RUN      ] DOMJoint.Sensors
+89: [       OK ] SDFDomConversion.Joints (165 ms)
+89: [----------] 3 tests from SDFDomConversion (627 ms total)
+89: 
+89: [----------] Global test environment tear-down
+89: [==========] 3 tests from 1 test suite ran. (627 ms total)
+89: [  PASSED  ] 3 tests.
+ 98/221 Test #113: check_UNIT_Altimeter_TEST ..............................   Passed    0.03 sec
 test 114
         Start 114: UNIT_Atmosphere_TEST
 
@@ -34838,8 +34977,24 @@
 114: Environment variables: 
 114:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 114: Test timeout computed to be: 240
-113: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Altimeter_TEST.xml
-113: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Altimeter_TEST.xml
+25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_attached_to].
+25: Error Code 23: Msg: attached_to name[self_cycle] is identical to frame name[self_cycle], causing a graph cycle in world with name[world_frame_invalid_attached_to].
+25: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [F] has 0 outgoing edges; it should only have 1 outgoing edge in WORLD attached_to graph.
+25: Error Code 24: Msg: Graph has world scope but sink vertex named [F] does not have FrameType WORLD, LINK or STATIC_MODEL when starting from vertex with name [F].
+25: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [self_cycle].
+25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_attached_to].
+25: Error Code 26: Msg: relative_to name[self_cycle] is identical to frame name[self_cycle], causing a graph cycle in world with name[world_frame_invalid_attached_to].
+25: Error Code 27: Msg: PoseRelativeToGraph error, MODEL / FRAME vertex with name [F] is disconnected; it should have 1 incoming edge in WORLD relative_to graph.
+25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [2].
+25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [self_cycle].
+25: Error Code 9: Msg: Failed to load a world.
+ 99/221 Test  #89: INTEGRATION_sdf_dom_conversion .........................   Passed    0.74 sec
+test 115
+        Start 115: check_UNIT_Atmosphere_TEST
+
+115: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Atmosphere_TEST.xml"
+115: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+115: Test timeout computed to be: 10000000
 112: Running main() from /usr/src/gtest/src/gtest_main.cc
 112: [==========] Running 4 tests from 1 test suite.
 112: [----------] Global test environment set-up.
@@ -34851,22 +35006,16 @@
 112: [ RUN      ] DOMAltimeter.Load
 112: [       OK ] DOMAltimeter.Load (0 ms)
 112: [ RUN      ] DOMAltimeter.ToElement
-103: [       OK ] DOMWorld.NestedModels (446 ms)
-112: [       OK ] DOMAltimeter.ToElement (13 ms)
-112: [----------] 4 tests from DOMAltimeter (13 ms total)
+112: [       OK ] DOMAltimeter.ToElement (4 ms)
+112: [----------] 4 tests from DOMAltimeter (4 ms total)
 112: 
 112: [----------] Global test environment tear-down
-112: [==========] 4 tests from 1 test suite ran. (13 ms total)
+99: A <script> element is missing a child <uri> element, or the <uri> element is empty.
+99: A <script> element is missing a child <name> element, or the <name> element is empty.
+99: The value[invalid] for a <shader><type> element is not supported
+112: [==========] 4 tests from 1 test suite ran. (4 ms total)
 112: [  PASSED  ] 4 tests.
-100/221 Test #112: UNIT_Altimeter_TEST ....................................   Passed    0.21 sec
-test 115
-        Start 115: check_UNIT_Atmosphere_TEST
-
-115: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Atmosphere_TEST.xml"
-115: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-115: Test timeout computed to be: 10000000
-103: [ RUN      ] DOMWorld.NestedFrames
-101/221 Test #113: check_UNIT_Altimeter_TEST ..............................   Passed    0.18 sec
+100/221 Test #112: UNIT_Altimeter_TEST ....................................   Passed    0.10 sec
 test 116
         Start 116: UNIT_Box_TEST
 
@@ -34875,26 +35024,34 @@
 116: Environment variables: 
 116:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 116: Test timeout computed to be: 240
+99: [       OK ] DOMVisual.MaterialScriptNoUri (120 ms)
+99: [ RUN      ] DOMVisual.MaterialScriptNormalMapMissing
 115: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Atmosphere_TEST.xml
 115: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Atmosphere_TEST.xml
-102/221 Test #115: check_UNIT_Atmosphere_TEST .............................   Passed    0.09 sec
+101/221 Test #115: check_UNIT_Atmosphere_TEST .............................   Passed    0.03 sec
 test 117
         Start 117: check_UNIT_Box_TEST
 
 117: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Box_TEST.xml"
 117: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
 117: Test timeout computed to be: 10000000
-75: Error:   Could not find the 'robot' element in the xml file
-75:          at line 109 in ./urdf_parser/src/model.cpp
-75: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
-75: Error [parser.cc:820] parse as old deprecated model file failed.
-75: Error Code 4: [/sdf/include[0]/plugin[0]:<data-string>:L1]: Msg: Required attribute[filename] in element[plugin] is not specified in SDF.
-75: Error Code 9: [/sdf/include[0]/plugin[0]:<data-string>:L1]: Msg: Error reading plugin element
-75: Error Code 9: Msg: Error reading element <sdf>
-75: [       OK ] PluginInclude.PluginMissingFilename (397 ms)
-75: [----------] 2 tests from PluginInclude (5487 ms total)
-75: 
-75: [----------] Global test environment tear-down
+55: [       OK ] DOMRoot.ModelPlacementFrameAttribute (129 ms)
+55: [ RUN      ] DOMRoot.LoadInvalidNestedModelWithoutLinks
+63: [       OK ] ParamPassingTest.ExperimentalParamsTag (1549 ms)
+63: [ RUN      ] ParamPassingTest.NestedInclude
+103: [       OK ] DOMWorld.Duplicate (172 ms)
+103: [ RUN      ] DOMWorld.LoadIncorrectElement
+117: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Box_TEST.xml
+117: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Box_TEST.xml
+102/221 Test #117: check_UNIT_Box_TEST ....................................   Passed    0.03 sec
+test 118
+        Start 118: UNIT_Camera_TEST
+
+118: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Camera_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Camera_TEST.xml"
+118: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+118: Environment variables: 
+118:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+118: Test timeout computed to be: 240
 114: Running main() from /usr/src/gtest/src/gtest_main.cc
 114: [==========] Running 7 tests from 1 test suite.
 114: [----------] Global test environment set-up.
@@ -34918,27 +35075,44 @@
 114: [----------] Global test environment tear-down
 114: [==========] 7 tests from 1 test suite ran. (0 ms total)
 114: [  PASSED  ] 7 tests.
-103/221 Test #114: UNIT_Atmosphere_TEST ...................................   Passed    0.20 sec
-test 118
-        Start 118: UNIT_Camera_TEST
-
-118: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Camera_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Camera_TEST.xml"
-118: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-118: Environment variables: 
-118:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-118: Test timeout computed to be: 240
-75: [==========] 2 tests from 1 test suite ran. (5487 ms total)
-75: [  PASSED  ] 2 tests.
-104/221 Test  #75: INTEGRATION_plugin_include .............................   Passed    8.38 sec
+93: Warning [Utils.cc:129] [/sdf/model[@name="namespaced_tags"][@some_attribute="some value"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements_with_namespace.sdf:L5]: XML Attribute[some_attribute] in element[model] not defined in SDF.
+103/221 Test #114: UNIT_Atmosphere_TEST ...................................   Passed    0.11 sec
 test 119
         Start 119: check_UNIT_Camera_TEST
 
 119: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Camera_TEST.xml"
 119: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
 119: Test timeout computed to be: 10000000
+93: [       OK ] UnrecognizedElements.UnrecognizedElementsWithNamespaces (130 ms)
+93: [ RUN      ] UnrecognizedElements.OldElementsInNewSchemas
+116: Running main() from /usr/src/gtest/src/gtest_main.cc
+116: [==========] Running 8 tests from 1 test suite.
+116: [----------] Global test environment set-up.
+116: [----------] 8 tests from DOMBox
+116: [ RUN      ] DOMBox.Construction
+116: [       OK ] DOMBox.Construction (0 ms)
+116: [ RUN      ] DOMBox.MoveConstructor
+116: [       OK ] DOMBox.MoveConstructor (0 ms)
+116: [ RUN      ] DOMBox.CopyConstructor
+116: [       OK ] DOMBox.CopyConstructor (0 ms)
+116: [ RUN      ] DOMBox.CopyAssigmentOperator
+116: [       OK ] DOMBox.CopyAssigmentOperator (0 ms)
+116: [ RUN      ] DOMBox.MoveAssignmentConstructor
+116: [       OK ] DOMBox.MoveAssignmentConstructor (0 ms)
+116: [ RUN      ] DOMBox.CopyAssignmentAfterMove
+116: [       OK ] DOMBox.CopyAssignmentAfterMove (0 ms)
+116: [ RUN      ] DOMBox.Load
+116: [       OK ] DOMBox.Load (0 ms)
+116: [ RUN      ] DOMBox.Shape
+116: [       OK ] DOMBox.Shape (0 ms)
+116: [----------] 8 tests from DOMBox (0 ms total)
+116: 
+116: [----------] Global test environment tear-down
+116: [==========] 8 tests from 1 test suite ran. (0 ms total)
+116: [  PASSED  ] 8 tests.
 119: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Camera_TEST.xml
 119: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Camera_TEST.xml
-105/221 Test #119: check_UNIT_Camera_TEST .................................   Passed    0.03 sec
+104/221 Test #116: UNIT_Box_TEST ..........................................   Passed    0.11 sec
 test 120
         Start 120: UNIT_Capsule_TEST
 
@@ -34947,8 +35121,101 @@
 120: Environment variables: 
 120:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 120: Test timeout computed to be: 240
-103: [       OK ] DOMWorld.NestedFrames (268 ms)
-103: [ RUN      ] DOMWorld.LoadWorldWithDuplicateChildNames
+39: [       OK ] DOMJoint.Sensors (135 ms)
+39: [----------] 16 tests from DOMJoint (2123 ms total)
+39: 
+39: [----------] Global test environment tear-down
+39: [==========] 16 tests from 1 test suite ran. (2123 ms total)
+39: [  PASSED  ] 16 tests.
+105/221 Test #119: check_UNIT_Camera_TEST .................................   Passed    0.03 sec
+test 121
+        Start 121: check_UNIT_Capsule_TEST
+
+121: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Capsule_TEST.xml"
+121: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+121: Test timeout computed to be: 10000000
+106/221 Test  #39: INTEGRATION_joint_dom ..................................   Passed    2.23 sec
+test 122
+        Start 122: UNIT_Collision_TEST
+
+122: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Collision_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Collision_TEST.xml"
+122: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+122: Environment variables: 
+122:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+122: Test timeout computed to be: 240
+99: A normal map shader type has been specified, but a normal_map has not.
+99: [       OK ] DOMVisual.MaterialScriptNormalMapMissing (124 ms)
+99: [ RUN      ] DOMVisual.Transparency
+25: [       OK ] DOMFrame.LoadWorldFramesInvalidAttachedTo (269 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesRelativeTo
+118: Running main() from /usr/src/gtest/src/gtest_main.cc
+118: [==========] Running 2 tests from 1 test suite.
+118: [----------] Global test environment set-up.
+118: [----------] 2 tests from DOMCamera
+118: [ RUN      ] DOMCamera.Construction
+118: [       OK ] DOMCamera.Construction (0 ms)
+118: [ RUN      ] DOMCamera.ToElement
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+121: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Capsule_TEST.xml
+121: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Capsule_TEST.xml
+118: [       OK ] DOMCamera.ToElement (5 ms)
+118: [----------] 2 tests from DOMCamera (5 ms total)
+118: 
+118: [----------] Global test environment tear-down
+118: [==========] 2 tests from 1 test suite ran. (5 ms total)
+118: [  PASSED  ] 2 tests.
+107/221 Test #118: UNIT_Camera_TEST .......................................   Passed    0.11 sec
+test 123
+        Start 123: check_UNIT_Collision_TEST
+
+123: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Collision_TEST.xml"
+123: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+123: Test timeout computed to be: 10000000
+108/221 Test #121: check_UNIT_Capsule_TEST ................................   Passed    0.03 sec
+test 124
+        Start 124: UNIT_Console_TEST
+
+124: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Console_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Console_TEST.xml"
+124: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+124: Environment variables: 
+124:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+124: Test timeout computed to be: 240
+123: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Collision_TEST.xml
+123: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Collision_TEST.xml
+109/221 Test #123: check_UNIT_Collision_TEST ..............................   Passed    0.03 sec
+test 125
+        Start 125: check_UNIT_Console_TEST
+
+125: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Console_TEST.xml"
+125: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+125: Test timeout computed to be: 10000000
+77: [       OK ] Pose1_9.IncludePoseInModelString (263 ms)
+77: [ RUN      ] Pose1_9.IncludeEulerRPYPoseInModelString
+125: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Console_TEST.xml
+125: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Console_TEST.xml
+103: [       OK ] DOMWorld.LoadIncorrectElement (176 ms)
+103: [ RUN      ] DOMWorld.Load
+55: Error Code 16: Msg: A model must have at least one link.
+55: Error Code 16: Msg: A model must have at least one link.
+55: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
+55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1].
+55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1::__model__].
+55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1::nested_without_links2].
+55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__].
+110/221 Test #125: check_UNIT_Console_TEST ................................   Passed    0.03 sec
+test 126
+        Start 126: UNIT_Cylinder_TEST
+
+126: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Cylinder_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Cylinder_TEST.xml"
+126: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+126: Environment variables: 
+126:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+126: Test timeout computed to be: 240
+55: [       OK ] DOMRoot.LoadInvalidNestedModelWithoutLinks (196 ms)
+55: [----------] 9 tests from DOMRoot (1538 ms total)
+55: 
+55: [----------] 1 test from DOMLink
+55: [ RUN      ] DOMLink.NestedModelPoseRelativeTo
 120: Running main() from /usr/src/gtest/src/gtest_main.cc
 120: [==========] Running 8 tests from 1 test suite.
 120: [----------] Global test environment set-up.
@@ -34974,34 +35241,13 @@
 120: [----------] Global test environment tear-down
 120: [==========] 8 tests from 1 test suite ran. (0 ms total)
 120: [  PASSED  ] 8 tests.
-106/221 Test #120: UNIT_Capsule_TEST ......................................   Passed    0.09 sec
-test 121
-        Start 121: check_UNIT_Capsule_TEST
-
-121: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Capsule_TEST.xml"
-121: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-121: Test timeout computed to be: 10000000
-99: Running main() from /usr/src/gtest/src/gtest_main.cc
-99: [==========] Running 10 tests from 1 test suite.
-99: [----------] Global test environment set-up.
-99: [----------] 10 tests from DOMVisual
-99: [ RUN      ] DOMVisual.NotAVisual
-99: [       OK ] DOMVisual.NotAVisual (0 ms)
-99: [ RUN      ] DOMVisual.NoName
-99:   <visual/>
-99: Error [Element.cc:979] Missing element description for [geometry]
-99: [       OK ] DOMVisual.NoName (0 ms)
-99: [ RUN      ] DOMVisual.DoublePendulum
-121: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Capsule_TEST.xml
-107/221 Test #121: check_UNIT_Capsule_TEST ................................   Passed    0.03 sec
-test 122
-        Start 122: UNIT_Collision_TEST
+111/221 Test #120: UNIT_Capsule_TEST ......................................   Passed    0.10 sec
+test 127
+        Start 127: check_UNIT_Cylinder_TEST
 
-122: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Collision_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Collision_TEST.xml"
-122: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-122: Environment variables: 
-122:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-122: Test timeout computed to be: 240
+127: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Cylinder_TEST.xml"
+127: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+127: Test timeout computed to be: 10000000
 122: Running main() from /usr/src/gtest/src/gtest_main.cc
 122: [==========] Running 8 tests from 2 test suites.
 122: [----------] Global test environment set-up.
@@ -35030,49 +35276,28 @@
 122: [----------] Global test environment tear-down
 122: [==========] 8 tests from 2 test suites ran. (0 ms total)
 122: [  PASSED  ] 8 tests.
-108/221 Test #122: UNIT_Collision_TEST ....................................   Passed    0.11 sec
-test 123
-        Start 123: check_UNIT_Collision_TEST
-
-123: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Collision_TEST.xml"
-123: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-123: Test timeout computed to be: 10000000
-123: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Collision_TEST.xml
-99: [       OK ] DOMVisual.DoublePendulum (176 ms)
-99: [ RUN      ] DOMVisual.Material
-109/221 Test #123: check_UNIT_Collision_TEST ..............................   Passed    0.05 sec
-test 124
-        Start 124: UNIT_Console_TEST
-
-124: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Console_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Console_TEST.xml"
-124: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-124: Environment variables: 
-124:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-124: Test timeout computed to be: 240
-95: [       OK ] SDFParser.UrdfGazeboExtensionURDFTest (3371 ms)
-95: [----------] 1 test from SDFParser (3371 ms total)
-95: 
-95: [----------] Global test environment tear-down
-95: [==========] 1 test from 1 test suite ran. (3371 ms total)
-95: [  PASSED  ] 1 test.
-110/221 Test  #95: INTEGRATION_urdf_gazebo_extensions .....................   Passed    3.46 sec
-test 125
-        Start 125: check_UNIT_Console_TEST
+112/221 Test #122: UNIT_Collision_TEST ....................................   Passed    0.11 sec
+test 128
+        Start 128: UNIT_Element_TEST
 
-125: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Console_TEST.xml"
-125: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-125: Test timeout computed to be: 10000000
-125: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Console_TEST.xml
-125: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Console_TEST.xml
-111/221 Test #125: check_UNIT_Console_TEST ................................   Passed    0.05 sec
-test 126
-        Start 126: UNIT_Cylinder_TEST
+128: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Element_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Element_TEST.xml"
+128: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+128: Environment variables: 
+128:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+128: Test timeout computed to be: 240
+127: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Cylinder_TEST.xml
+127: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Cylinder_TEST.xml
+113/221 Test #127: check_UNIT_Cylinder_TEST ...............................   Passed    0.03 sec
+test 129
+        Start 129: check_UNIT_Element_TEST
 
-126: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Cylinder_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Cylinder_TEST.xml"
-126: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-126: Environment variables: 
-126:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-126: Test timeout computed to be: 240
+129: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Element_TEST.xml"
+129: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+129: Test timeout computed to be: 10000000
+101: [       OK ] WhitespaceTest.Whitespace (615 ms)
+101: [----------] 1 test from WhitespaceTest (615 ms total)
+101: 
+101: [----------] Global test environment tear-down
 124: [==========] Running 5 tests from 1 test suite.
 124: [----------] Global test environment set-up.
 124: [----------] 5 tests from Console
@@ -35081,7 +35306,7 @@
 124: Error [Console_TEST.cc:62] Error.
 124: [       OK ] Console.nohome (0 ms)
 124: [ RUN      ] Console.logdir_is_file
-124: /tmp/aLaErU/.sdformat exists but is not a directory.  Will not log.
+124: /tmp/aVeAPK/.sdformat exists but is not a directory.  Will not log.
 124: Error [Console_TEST.cc:81] Error.
 124: [       OK ] Console.logdir_is_file (0 ms)
 124: [ RUN      ] Console.logdir_doesnt_exist
@@ -35099,39 +35324,51 @@
 124: [----------] Global test environment tear-down
 124: [==========] 5 tests from 1 test suite ran. (0 ms total)
 124: [  PASSED  ] 5 tests.
-112/221 Test #124: UNIT_Console_TEST ......................................   Passed    0.12 sec
-test 127
-        Start 127: check_UNIT_Cylinder_TEST
+59: [       OK ] NestedModel.TwoLevelNestedModelWithFramesDirectComparison (320 ms)
+59: [ RUN      ] NestedModel.NestedModelWithSiblingFrames
+114/221 Test #124: UNIT_Console_TEST ......................................   Passed    0.11 sec
+test 130
+        Start 130: UNIT_Ellipsoid_TEST
 
-127: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Cylinder_TEST.xml"
-127: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-127: Test timeout computed to be: 10000000
-99: [       OK ] DOMVisual.Material (133 ms)
-99: [ RUN      ] DOMVisual.MaterialScriptNoUri
-127: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Cylinder_TEST.xml
-127: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Cylinder_TEST.xml
-103: [       OK ] DOMWorld.LoadWorldWithDuplicateChildNames (379 ms)
-103: [----------] 8 tests from DOMWorld (2376 ms total)
-103: 
-103: [----------] Global test environment tear-down
-113/221 Test #127: check_UNIT_Cylinder_TEST ...............................   Passed    0.04 sec
-test 128
-        Start 128: UNIT_Element_TEST
+130: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Ellipsoid_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml"
+130: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+130: Environment variables: 
+130:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+130: Test timeout computed to be: 240
+101: [==========] 1 test from 1 test suite ran. (615 ms total)
+101: [  PASSED  ] 1 test.
+25: [       OK ] DOMFrame.LoadModelFramesRelativeTo (136 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesInvalidRelativeTo
+129: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Element_TEST.xml
+129: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Element_TEST.xml
+99: [       OK ] DOMVisual.Transparency (137 ms)
+99: [ RUN      ] DOMVisual.LaserRetro
+115/221 Test #129: check_UNIT_Element_TEST ................................   Passed    0.03 sec
+test 131
+        Start 131: check_UNIT_Ellipsoid_TEST
 
-128: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Element_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Element_TEST.xml"
-128: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-128: Environment variables: 
-128:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-128: Test timeout computed to be: 240
-103: [==========] 8 tests from 1 test suite ran. (2376 ms total)
-103: [  PASSED  ] 8 tests.
-114/221 Test #103: INTEGRATION_world_dom ..................................   Passed    2.48 sec
-test 129
-        Start 129: check_UNIT_Element_TEST
+131: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml"
+131: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+131: Test timeout computed to be: 10000000
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+116/221 Test #101: INTEGRATION_whitespace .................................   Passed    0.75 sec
+test 132
+        Start 132: UNIT_Error_TEST
 
-129: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Element_TEST.xml"
-129: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-129: Test timeout computed to be: 10000000
+132: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Error_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Error_TEST.xml"
+132: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+132: Environment variables: 
+132:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+132: Test timeout computed to be: 240
+131: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml
+131: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml
+117/221 Test #131: check_UNIT_Ellipsoid_TEST ..............................   Passed    0.03 sec
+test 133
+        Start 133: check_UNIT_Error_TEST
+
+133: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Error_TEST.xml"
+133: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+133: Test timeout computed to be: 10000000
 126: Running main() from /usr/src/gtest/src/gtest_main.cc
 126: [==========] Running 8 tests from 1 test suite.
 126: [----------] Global test environment set-up.
@@ -35157,29 +35394,15 @@
 126: [----------] Global test environment tear-down
 126: [==========] 8 tests from 1 test suite ran. (0 ms total)
 126: [  PASSED  ] 8 tests.
-115/221 Test #126: UNIT_Cylinder_TEST .....................................   Passed    0.11 sec
-test 130
-        Start 130: UNIT_Ellipsoid_TEST
-
-130: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Ellipsoid_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml"
-130: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-130: Environment variables: 
-130:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-130: Test timeout computed to be: 240
-129: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Element_TEST.xml
-129: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Element_TEST.xml
-116/221 Test #129: check_UNIT_Element_TEST ................................   Passed    0.06 sec
-test 131
-        Start 131: check_UNIT_Ellipsoid_TEST
+118/221 Test #126: UNIT_Cylinder_TEST .....................................   Passed    0.11 sec
+test 134
+        Start 134: UNIT_Exception_TEST
 
-131: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml"
-131: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-131: Test timeout computed to be: 10000000
-99: A <script> element is missing a child <uri> element, or the <uri> element is empty.
-99: A <script> element is missing a child <name> element, or the <name> element is empty.
-99: The value[invalid] for a <shader><type> element is not supported
-99: [       OK ] DOMVisual.MaterialScriptNoUri (120 ms)
-99: [ RUN      ] DOMVisual.MaterialScriptNormalMapMissing
+134: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Exception_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Exception_TEST.xml"
+134: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+134: Environment variables: 
+134:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+134: Test timeout computed to be: 240
 128: [==========] Running 37 tests from 1 test suite.
 128: [----------] Global test environment set-up.
 128: [----------] 37 tests from Element
@@ -35263,24 +35486,26 @@
 128: [----------] Global test environment tear-down
 128: [==========] 37 tests from 1 test suite ran. (0 ms total)
 128: [  PASSED  ] 37 tests.
-117/221 Test #128: UNIT_Element_TEST ......................................   Passed    0.11 sec
-test 132
-        Start 132: UNIT_Error_TEST
+119/221 Test #128: UNIT_Element_TEST ......................................   Passed    0.09 sec
+test 135
+        Start 135: check_UNIT_Exception_TEST
 
-132: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Error_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Error_TEST.xml"
-132: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-132: Environment variables: 
-132:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-132: Test timeout computed to be: 240
-131: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml
-131: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml
-118/221 Test #131: check_UNIT_Ellipsoid_TEST ..............................   Passed    0.05 sec
-test 133
-        Start 133: check_UNIT_Error_TEST
+135: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Exception_TEST.xml"
+135: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+135: Test timeout computed to be: 10000000
+133: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Error_TEST.xml
+133: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Error_TEST.xml
+120/221 Test #133: check_UNIT_Error_TEST ..................................   Passed    0.04 sec
+test 136
+        Start 136: UNIT_Frame_TEST
 
-133: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Error_TEST.xml"
-133: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-133: Test timeout computed to be: 10000000
+136: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Frame_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Frame_TEST.xml"
+136: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+136: Environment variables: 
+136:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+136: Test timeout computed to be: 240
+135: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Exception_TEST.xml
+135: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Exception_TEST.xml
 130: Running main() from /usr/src/gtest/src/gtest_main.cc
 130: [==========] Running 8 tests from 1 test suite.
 130: [----------] Global test environment set-up.
@@ -35306,24 +35531,83 @@
 130: [----------] Global test environment tear-down
 130: [==========] 8 tests from 1 test suite ran. (0 ms total)
 130: [  PASSED  ] 8 tests.
-119/221 Test #130: UNIT_Ellipsoid_TEST ....................................   Passed    0.12 sec
-test 134
-        Start 134: UNIT_Exception_TEST
+121/221 Test #135: check_UNIT_Exception_TEST ..............................   Passed    0.03 sec
+test 137
+        Start 137: check_UNIT_Frame_TEST
 
-134: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Exception_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Exception_TEST.xml"
-134: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-134: Environment variables: 
-134:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-134: Test timeout computed to be: 240
-133: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Error_TEST.xml
-133: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Error_TEST.xml
-120/221 Test #133: check_UNIT_Error_TEST ..................................   Passed    0.06 sec
-test 135
-        Start 135: check_UNIT_Exception_TEST
+137: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Frame_TEST.xml"
+137: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+137: Test timeout computed to be: 10000000
+122/221 Test #130: UNIT_Ellipsoid_TEST ....................................   Passed    0.10 sec
+test 138
+        Start 138: UNIT_Filesystem_TEST
 
-135: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Exception_TEST.xml"
-135: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-135: Test timeout computed to be: 10000000
+138: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Filesystem_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Filesystem_TEST.xml"
+138: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+138: Environment variables: 
+138:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+138: Test timeout computed to be: 240
+93: [       OK ] UnrecognizedElements.OldElementsInNewSchemas (264 ms)
+93: [----------] 3 tests from UnrecognizedElements (766 ms total)
+93: 
+93: [----------] Global test environment tear-down
+77: [       OK ] Pose1_9.IncludeEulerRPYPoseInModelString (174 ms)
+77: [ RUN      ] Pose1_9.IncludeQuatXYZWPoseIn
+93: [==========] 4 tests from 2 test suites ran. (919 ms total)
+93: [  PASSED  ] 4 tests.
+25: Error Code 25: Msg: relative_to name[A] specified by frame with name[F] does not match a nested model, link, joint, or frame name in model with name[model_invalid_frame_relative_to].
+25: Error Code 26: Msg: relative_to name[cycle] is identical to frame name[cycle], causing a graph cycle in model with name[model_invalid_frame_relative_to].
+25: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_invalid_frame_relative_to::F] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
+25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
+25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_invalid_frame_relative_to::cycle].
+25: [       OK ] DOMFrame.LoadModelFramesInvalidRelativeTo (119 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesRelativeToJoint
+25: [       OK ] DOMFrame.LoadModelFramesRelativeToJoint (128 ms)
+25: [ RUN      ] DOMFrame.LoadWorldFramesRelativeTo
+25: [       OK ] DOMFrame.LoadWorldFramesRelativeTo (168 ms)
+25: [ RUN      ] DOMFrame.LoadWorldFramesInvalidRelativeTo
+25: Error Code 25: Msg: relative_to name[A] specified by model with name[M] does not match a model or frame name in world with name[world_frame_invalid_relative_to].
+25: Error Code 26: Msg: relative_to name[cycle] is identical to model name[cycle], causing a graph cycle in world with name[world_frame_invalid_relative_to].
+25: Error Code 25: Msg: relative_to name[A] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_relative_to].
+25: Error Code 26: Msg: relative_to name[self_cycle] is identical to frame name[self_cycle], causing a graph cycle in world with name[world_frame_invalid_relative_to].
+25: Error Code 27: Msg: PoseRelativeToGraph error, MODEL / FRAME vertex with name [M] is disconnected; it should have 1 incoming edge in WORLD relative_to graph.
+25: Error Code 27: Msg: PoseRelativeToGraph error, MODEL / FRAME vertex with name [F] is disconnected; it should have 1 incoming edge in WORLD relative_to graph.
+25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [8].
+25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [2].
+25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
+25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [3].
+25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [cycle].
+25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [cycle].
+25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [cycle].
+25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [self_cycle].
+25: Error Code 9: Msg: Failed to load a world.
+25: [       OK ] DOMFrame.LoadWorldFramesInvalidRelativeTo (156 ms)
+25: [ RUN      ] DOMFrame.WorldIncludeModel
+25: [       OK ] DOMFrame.WorldIncludeModel (240 ms)
+25: [----------] 12 tests from DOMFrame (2029 ms total)
+25: 
+25: [----------] Global test environment tear-down
+25: [==========] 19 tests from 2 test suites ran. (3388 ms total)
+25: [  PASSED  ] 19 tests.
+103: [       OK ] DOMWorld.Load (175 ms)
+103: [ RUN      ] DOMWorld.LoadModelFrameSameName
+103: Warning [World.cc:206] Non-unique name[ground] detected 2 times in XML children of world with name[world_model_frame_same_name].
+103: Warning [World.cc:217] Non-unique name[ground] detected 2 times in XML children of world with name[world_model_frame_same_name].
+103: Warning [World.cc:288] Frame with name [ground] in world with name [world_model_frame_same_name] has a name collision, changing frame name to [ground_frame].
+103: [       OK ] DOMWorld.LoadModelFrameSameName (140 ms)
+103: [ RUN      ] DOMWorld.NestedModels
+103: [       OK ] DOMWorld.NestedModels (155 ms)
+103: [ RUN      ] DOMWorld.NestedFrames
+103: [       OK ] DOMWorld.NestedFrames (134 ms)
+103: [ RUN      ] DOMWorld.LoadWorldWithDuplicateChildNames
+103: [       OK ] DOMWorld.LoadWorldWithDuplicateChildNames (218 ms)
+103: [----------] 8 tests from DOMWorld (1324 ms total)
+103: 
+103: [----------] Global test environment tear-down
+103: [==========] 8 tests from 1 test suite ran. (1324 ms total)
+103: [  PASSED  ] 8 tests.
+137: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Frame_TEST.xml
+137: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Frame_TEST.xml
 132: Running main() from /usr/src/gtest/src/gtest_main.cc
 132: [==========] Running 5 tests from 1 test suite.
 132: [----------] Global test environment set-up.
@@ -35343,33 +35627,6 @@
 132: [----------] Global test environment tear-down
 132: [==========] 5 tests from 1 test suite ran. (0 ms total)
 132: [  PASSED  ] 5 tests.
-121/221 Test #132: UNIT_Error_TEST ........................................   Passed    0.11 sec
-test 136
-        Start 136: UNIT_Frame_TEST
-
-136: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Frame_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Frame_TEST.xml"
-136: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-136: Environment variables: 
-136:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-136: Test timeout computed to be: 240
-101: [       OK ] WhitespaceTest.Whitespace (2954 ms)
-101: [----------] 1 test from WhitespaceTest (2955 ms total)
-101: 
-101: [----------] Global test environment tear-down
-135: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Exception_TEST.xml
-135: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Exception_TEST.xml
-122/221 Test #135: check_UNIT_Exception_TEST ..............................   Passed    0.06 sec
-test 137
-        Start 137: check_UNIT_Frame_TEST
-
-137: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Frame_TEST.xml"
-137: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-137: Test timeout computed to be: 10000000
-99: A normal map shader type has been specified, but a normal_map has not.
-101: [==========] 1 test from 1 test suite ran. (2955 ms total)
-101: [  PASSED  ] 1 test.
-99: [       OK ] DOMVisual.MaterialScriptNormalMapMissing (171 ms)
-99: [ RUN      ] DOMVisual.Transparency
 134: [==========] Running 1 test from 1 test suite.
 134: [----------] Global test environment set-up.
 134: [----------] 1 test from Exception
@@ -35383,25 +35640,225 @@
 134: [----------] Global test environment tear-down
 134: [==========] 1 test from 1 test suite ran. (0 ms total)
 134: [  PASSED  ] 1 test.
-123/221 Test #134: UNIT_Exception_TEST ....................................   Passed    0.12 sec
-test 138
-        Start 138: UNIT_Filesystem_TEST
-
-138: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Filesystem_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Filesystem_TEST.xml"
-138: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-138: Environment variables: 
-138:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-138: Test timeout computed to be: 240
-137: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Frame_TEST.xml
-137: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Frame_TEST.xml
-124/221 Test #137: check_UNIT_Frame_TEST ..................................   Passed    0.06 sec
+99: [       OK ] DOMVisual.LaserRetro (139 ms)
+99: [ RUN      ] DOMVisual.LoadModelFramesRelativeToJoint
+99: [       OK ] DOMVisual.LoadModelFramesRelativeToJoint (108 ms)
+99: [ RUN      ] DOMVisual.VisibilityFlags
+99: [       OK ] DOMVisual.VisibilityFlags (102 ms)
+99: [----------] 10 tests from DOMVisual (1025 ms total)
+99: 
+99: [----------] Global test environment tear-down
+99: [==========] 10 tests from 1 test suite ran. (1025 ms total)
+99: [  PASSED  ] 10 tests.
+55: [       OK ] DOMLink.NestedModelPoseRelativeTo (199 ms)
+55: [----------] 1 test from DOMLink (199 ms total)
+55: 
+55: [----------] Global test environment tear-down
+55: [==========] 14 tests from 3 test suites ran. (2122 ms total)
+55: [  PASSED  ] 14 tests.
+136: Running main() from /usr/src/gtest/src/gtest_main.cc
+136: [==========] Running 1 test from 1 test suite.
+136: [----------] Global test environment set-up.
+136: [----------] 1 test from DOMframe
+136: [ RUN      ] DOMframe.Construction
+136: [       OK ] DOMframe.Construction (0 ms)
+136: [----------] 1 test from DOMframe (0 ms total)
+136: 
+136: [----------] Global test environment tear-down
+136: [==========] 1 test from 1 test suite ran. (0 ms total)
+136: [  PASSED  ] 1 test.
+31: [       OK ] IncludesTest.MergeIncludePlacementFrame (495 ms)
+31: [ RUN      ] IncludesTest.InvalidMergeInclude
+31: Warning [Utils.cc:129] [[@merge="true"]:<data-string>:L4]: XML Attribute[merge] in element[include] not defined in SDF.
+31: Error:   Could not find the 'robot' element in the xml file
+31:          at line 109 in ./urdf_parser/src/model.cpp
+31: [       OK ] IncludesTest.InvalidMergeInclude (885 ms)
+31: [----------] 8 tests from IncludesTest (3572 ms total)
+31: 
+31: [----------] Global test environment tear-down
+31: [==========] 8 tests from 1 test suite ran. (3572 ms total)
+31: [  PASSED  ] 8 tests.
+138: [==========] Running 7 tests from 1 test suite.
+138: [----------] Global test environment set-up.
+138: [----------] 7 tests from Filesystem
+138: [ RUN      ] Filesystem.exists
+138: [       OK ] Filesystem.exists (0 ms)
+138: [ RUN      ] Filesystem.symlink_exists
+138: [       OK ] Filesystem.symlink_exists (0 ms)
+138: [ RUN      ] Filesystem.current_path
+138: [       OK ] Filesystem.current_path (0 ms)
+138: [ RUN      ] Filesystem.append
+138: [       OK ] Filesystem.append (0 ms)
+138: [ RUN      ] Filesystem.current_path_error
+138: [       OK ] Filesystem.current_path_error (0 ms)
+138: [ RUN      ] Filesystem.basename
+138: [       OK ] Filesystem.basename (0 ms)
+138: [ RUN      ] Filesystem.directory_iterator
+138: [       OK ] Filesystem.directory_iterator (0 ms)
+138: [----------] 7 tests from Filesystem (0 ms total)
+138: 
+138: [----------] Global test environment tear-down
+138: [==========] 7 tests from 1 test suite ran. (0 ms total)
+138: [  PASSED  ] 7 tests.
+59: [       OK ] NestedModel.NestedModelWithSiblingFrames (224 ms)
+59: [ RUN      ] NestedModel.NestedFrameOnlyModel
+59: [       OK ] NestedModel.NestedFrameOnlyModel (142 ms)
+59: [ RUN      ] NestedModel.IncludeElements
+59: [       OK ] NestedModel.IncludeElements (184 ms)
+59: [----------] 10 tests from NestedModel (2425 ms total)
+59: 
+59: [----------] 3 tests from PlacementFrame
+59: [ RUN      ] PlacementFrame.WorldInclude
+59: [       OK ] PlacementFrame.WorldInclude (887 ms)
+59: [ RUN      ] PlacementFrame.ModelInclude
+59: [       OK ] PlacementFrame.ModelInclude (761 ms)
+59: [ RUN      ] PlacementFrame.ModelPlacementFrameAttribute
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [       OK ] URDFParser.AtlasURDF_5runs_performance (2075 ms)
+106: [----------] 1 test from URDFParser (2075 ms total)
+106: 
+106: [----------] Global test environment tear-down
+106: [==========] 1 test from 1 test suite ran. (2075 ms total)
+106: [  PASSED  ] 1 test.
+77: [       OK ] Pose1_9.IncludeQuatXYZWPoseIn (169 ms)
+77: [ RUN      ] Pose1_9.IncludePoseInWorld
+77: [       OK ] Pose1_9.IncludePoseInWorld (394 ms)
+77: [----------] 26 tests from Pose1_9 (2011 ms total)
+77: 
+77: [----------] Global test environment tear-down
+77: [==========] 26 tests from 1 test suite ran. (2011 ms total)
+77: [  PASSED  ] 26 tests.
+67: [       OK ] ParserConfig.ParseWithNonGlobalConfig (2041 ms)
+67: [----------] 3 tests from ParserConfig (2041 ms total)
+67: 
+67: [----------] Global test environment tear-down
+67: [==========] 3 tests from 1 test suite ran. (2041 ms total)
+67: [  PASSED  ] 3 tests.
+63: [       OK ] ParamPassingTest.NestedInclude (817 ms)
+63: [----------] 2 tests from ParamPassingTest (2367 ms total)
+63: 
+63: [----------] Global test environment tear-down
+63: [==========] 2 tests from 1 test suite ran. (2367 ms total)
+63: [  PASSED  ] 2 tests.
+123/221 Test  #25: INTEGRATION_frame ......................................   Passed    5.66 sec
 test 139
         Start 139: check_UNIT_Filesystem_TEST
 
 139: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Filesystem_TEST.xml"
 139: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
 139: Test timeout computed to be: 10000000
-125/221 Test #101: INTEGRATION_whitespace .................................   Passed    3.10 sec
+124/221 Test  #31: INTEGRATION_includes ...................................   Passed    5.59 sec
 test 140
         Start 140: UNIT_ForceTorque_TEST
 
@@ -35410,27 +35867,14 @@
 140: Environment variables: 
 140:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 140: Test timeout computed to be: 240
-136: Running main() from /usr/src/gtest/src/gtest_main.cc
-136: [==========] Running 1 test from 1 test suite.
-136: [----------] Global test environment set-up.
-136: [----------] 1 test from DOMframe
-136: [ RUN      ] DOMframe.Construction
-136: [       OK ] DOMframe.Construction (0 ms)
-136: [----------] 1 test from DOMframe (0 ms total)
-136: 
-136: [----------] Global test environment tear-down
-136: [==========] 1 test from 1 test suite ran. (0 ms total)
-136: [  PASSED  ] 1 test.
-126/221 Test #136: UNIT_Frame_TEST ........................................   Passed    0.12 sec
+125/221 Test  #55: INTEGRATION_model_dom ..................................   Passed    5.07 sec
 test 141
         Start 141: check_UNIT_ForceTorque_TEST
 
 141: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ForceTorque_TEST.xml"
 141: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
 141: Test timeout computed to be: 10000000
-139: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Filesystem_TEST.xml
-139: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Filesystem_TEST.xml
-127/221 Test #139: check_UNIT_Filesystem_TEST .............................   Passed    0.06 sec
+126/221 Test  #63: INTEGRATION_param_passing ..............................   Passed    4.88 sec
 test 142
         Start 142: UNIT_Geometry_TEST
 
@@ -35439,40 +35883,14 @@
 142: Environment variables: 
 142:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 142: Test timeout computed to be: 240
-141: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ForceTorque_TEST.xml
-141: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ForceTorque_TEST.xml
-128/221 Test #141: check_UNIT_ForceTorque_TEST ............................   Passed    0.04 sec
+127/221 Test  #67: INTEGRATION_parser_config ..............................   Passed    4.81 sec
 test 143
         Start 143: check_UNIT_Geometry_TEST
 
 143: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Geometry_TEST.xml"
 143: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
 143: Test timeout computed to be: 10000000
-138: [==========] Running 7 tests from 1 test suite.
-138: [----------] Global test environment set-up.
-138: [----------] 7 tests from Filesystem
-138: [ RUN      ] Filesystem.exists
-138: [       OK ] Filesystem.exists (0 ms)
-138: [ RUN      ] Filesystem.symlink_exists
-138: [       OK ] Filesystem.symlink_exists (0 ms)
-138: [ RUN      ] Filesystem.current_path
-138: [       OK ] Filesystem.current_path (0 ms)
-138: [ RUN      ] Filesystem.append
-138: [       OK ] Filesystem.append (0 ms)
-138: [ RUN      ] Filesystem.current_path_error
-138: [       OK ] Filesystem.current_path_error (0 ms)
-138: [ RUN      ] Filesystem.basename
-138: [       OK ] Filesystem.basename (0 ms)
-138: [ RUN      ] Filesystem.directory_iterator
-138: [       OK ] Filesystem.directory_iterator (0 ms)
-138: [----------] 7 tests from Filesystem (0 ms total)
-138: 
-138: [----------] Global test environment tear-down
-143: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Geometry_TEST.xml
-143: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Geometry_TEST.xml
-138: [==========] 7 tests from 1 test suite ran. (0 ms total)
-138: [  PASSED  ] 7 tests.
-129/221 Test #138: UNIT_Filesystem_TEST ...................................   Passed    0.14 sec
+128/221 Test  #77: INTEGRATION_pose_1_9_sdf ...............................   Passed    4.44 sec
 test 144
         Start 144: UNIT_Gui_TEST
 
@@ -35481,16 +35899,14 @@
 144: Environment variables: 
 144:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 144: Test timeout computed to be: 240
-130/221 Test #143: check_UNIT_Geometry_TEST ...............................   Passed    0.06 sec
+129/221 Test  #93: INTEGRATION_unknown ....................................   Passed    3.93 sec
 test 145
         Start 145: check_UNIT_Gui_TEST
 
 145: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Gui_TEST.xml"
 145: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
 145: Test timeout computed to be: 10000000
-145: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Gui_TEST.xml
-145: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Gui_TEST.xml
-131/221 Test #145: check_UNIT_Gui_TEST ....................................   Passed    0.05 sec
+130/221 Test  #99: INTEGRATION_visual_dom .................................   Passed    3.77 sec
 test 146
         Start 146: UNIT_Heightmap_TEST
 
@@ -35499,15 +35915,176 @@
 146: Environment variables: 
 146:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 146: Test timeout computed to be: 240
-140: Running main() from /usr/src/gtest/src/gtest_main.cc
-140: [==========] Running 3 tests from 1 test suite.
-140: [----------] Global test environment set-up.
-140: [----------] 3 tests from DOMForceTorque
-140: [ RUN      ] DOMForceTorque.Construction
-140: [       OK ] DOMForceTorque.Construction (0 ms)
-140: [ RUN      ] DOMForceTorque.Load
-140: [       OK ] DOMForceTorque.Load (0 ms)
-140: [ RUN      ] DOMForceTorque.ToElement
+131/221 Test #103: INTEGRATION_world_dom ..................................   Passed    3.68 sec
+test 147
+        Start 147: check_UNIT_Heightmap_TEST
+
+147: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Heightmap_TEST.xml"
+147: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+147: Test timeout computed to be: 10000000
+132/221 Test #106: PERFORMANCE_parser_urdf ................................   Passed    3.54 sec
+test 148
+        Start 148: UNIT_Imu_TEST
+
+148: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Imu_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Imu_TEST.xml"
+148: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+148: Environment variables: 
+148:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+148: Test timeout computed to be: 240
+133/221 Test #132: UNIT_Error_TEST ........................................   Passed    3.00 sec
+test 149
+        Start 149: check_UNIT_Imu_TEST
+
+149: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Imu_TEST.xml"
+149: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+149: Test timeout computed to be: 10000000
+134/221 Test #134: UNIT_Exception_TEST ....................................   Passed    2.97 sec
+test 150
+        Start 150: UNIT_InterfaceElements_TEST
+
+150: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_InterfaceElements_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml"
+150: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+150: Environment variables: 
+150:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+150: Test timeout computed to be: 240
+135/221 Test #136: UNIT_Frame_TEST ........................................   Passed    2.95 sec
+test 151
+        Start 151: check_UNIT_InterfaceElements_TEST
+
+151: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml"
+151: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+151: Test timeout computed to be: 10000000
+136/221 Test #137: check_UNIT_Frame_TEST ..................................   Passed    2.94 sec
+test 152
+        Start 152: UNIT_Joint_TEST
+
+152: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Joint_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Joint_TEST.xml"
+152: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+152: Environment variables: 
+152:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+152: Test timeout computed to be: 240
+137/221 Test #138: UNIT_Filesystem_TEST ...................................   Passed    2.93 sec
+test 153
+        Start 153: check_UNIT_Joint_TEST
+
+153: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Joint_TEST.xml"
+153: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+153: Test timeout computed to be: 10000000
+59: [       OK ] PlacementFrame.ModelPlacementFrameAttribute (808 ms)
+59: [----------] 3 tests from PlacementFrame (2457 ms total)
+59: 
+59: [----------] 4 tests from NestedReference
+59: [ RUN      ] NestedReference.PoseRelativeTo
+139: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Filesystem_TEST.xml
+138/221 Test #139: check_UNIT_Filesystem_TEST .............................   Passed    0.05 sec
+test 154
+        Start 154: UNIT_JointAxis_TEST
+
+154: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_JointAxis_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_JointAxis_TEST.xml"
+154: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+154: Environment variables: 
+154:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+154: Test timeout computed to be: 240
+141: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ForceTorque_TEST.xml
+141: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ForceTorque_TEST.xml
+139/221 Test #141: check_UNIT_ForceTorque_TEST ............................   Passed    0.04 sec
+test 155
+        Start 155: check_UNIT_JointAxis_TEST
+
+155: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_JointAxis_TEST.xml"
+155: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+155: Test timeout computed to be: 10000000
+143: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Geometry_TEST.xml
+143: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Geometry_TEST.xml
+140/221 Test #143: check_UNIT_Geometry_TEST ...............................   Passed    0.04 sec
+test 156
+        Start 156: UNIT_Lidar_TEST
+
+156: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Lidar_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Lidar_TEST.xml"
+156: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+156: Environment variables: 
+156:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+156: Test timeout computed to be: 240
+145: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Gui_TEST.xml
+145: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Gui_TEST.xml
+141/221 Test #145: check_UNIT_Gui_TEST ....................................   Passed    0.04 sec
+test 157
+        Start 157: check_UNIT_Lidar_TEST
+
+157: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Lidar_TEST.xml"
+157: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+157: Test timeout computed to be: 10000000
+147: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Heightmap_TEST.xml
+147: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Heightmap_TEST.xml
+142/221 Test #147: check_UNIT_Heightmap_TEST ..............................   Passed    0.03 sec
+test 158
+        Start 158: UNIT_Light_TEST
+
+158: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Light_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Light_TEST.xml"
+158: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+158: Environment variables: 
+158:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+158: Test timeout computed to be: 240
+149: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Imu_TEST.xml
+149: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Imu_TEST.xml
+143/221 Test #149: check_UNIT_Imu_TEST ....................................   Passed    0.03 sec
+test 159
+        Start 159: check_UNIT_Light_TEST
+
+159: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Light_TEST.xml"
+159: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+159: Test timeout computed to be: 10000000
+151: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml
+151: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml
+153: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Joint_TEST.xml
+153: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Joint_TEST.xml
+144/221 Test #151: check_UNIT_InterfaceElements_TEST ......................   Passed    0.03 sec
+test 160
+        Start 160: UNIT_Link_TEST
+
+160: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Link_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Link_TEST.xml"
+160: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+160: Environment variables: 
+160:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+160: Test timeout computed to be: 240
+155: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_JointAxis_TEST.xml
+155: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_JointAxis_TEST.xml
+145/221 Test #153: check_UNIT_Joint_TEST ..................................   Passed    0.03 sec
+test 161
+        Start 161: check_UNIT_Link_TEST
+
+161: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Link_TEST.xml"
+161: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+161: Test timeout computed to be: 10000000
+157: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Lidar_TEST.xml
+157: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Lidar_TEST.xml
+146/221 Test #155: check_UNIT_JointAxis_TEST ..............................   Passed    0.03 sec
+test 162
+        Start 162: UNIT_Magnetometer_TEST
+
+162: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Magnetometer_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml"
+162: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+162: Environment variables: 
+162:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+162: Test timeout computed to be: 240
+147/221 Test #157: check_UNIT_Lidar_TEST ..................................   Passed    0.03 sec
+test 163
+        Start 163: check_UNIT_Magnetometer_TEST
+
+163: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml"
+163: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+163: Test timeout computed to be: 10000000
+159: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Light_TEST.xml
+159: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Light_TEST.xml
+148/221 Test #159: check_UNIT_Light_TEST ..................................   Passed    0.03 sec
+test 164
+        Start 164: UNIT_Material_TEST
+
+164: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Material_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Material_TEST.xml"
+164: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+164: Environment variables: 
+164:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+164: Test timeout computed to be: 240
 142: Running main() from /usr/src/gtest/src/gtest_main.cc
 142: [==========] Running 14 tests from 1 test suite.
 142: [----------] Global test environment set-up.
@@ -35545,21 +36122,48 @@
 142: [----------] Global test environment tear-down
 142: [==========] 14 tests from 1 test suite ran. (0 ms total)
 142: [  PASSED  ] 14 tests.
-132/221 Test #142: UNIT_Geometry_TEST .....................................   Passed    0.17 sec
-test 147
-        Start 147: check_UNIT_Heightmap_TEST
+149/221 Test #142: UNIT_Geometry_TEST .....................................   Passed    0.08 sec
+test 165
+        Start 165: check_UNIT_Material_TEST
 
-147: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Heightmap_TEST.xml"
-147: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-147: Test timeout computed to be: 10000000
-140: [       OK ] DOMForceTorque.ToElement (17 ms)
-140: [----------] 3 tests from DOMForceTorque (17 ms total)
+165: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Material_TEST.xml"
+165: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+165: Test timeout computed to be: 10000000
+161: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Link_TEST.xml
+161: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Link_TEST.xml
+150/221 Test #161: check_UNIT_Link_TEST ...................................   Passed    0.03 sec
+test 166
+        Start 166: UNIT_Mesh_TEST
+
+166: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Mesh_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Mesh_TEST.xml"
+166: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+166: Environment variables: 
+166:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+166: Test timeout computed to be: 240
+140: Running main() from /usr/src/gtest/src/gtest_main.cc
+140: [==========] Running 3 tests from 1 test suite.
+140: [----------] Global test environment set-up.
+140: [----------] 3 tests from DOMForceTorque
+140: [ RUN      ] DOMForceTorque.Construction
+140: [       OK ] DOMForceTorque.Construction (0 ms)
+140: [ RUN      ] DOMForceTorque.Load
+140: [       OK ] DOMForceTorque.Load (0 ms)
+140: [ RUN      ] DOMForceTorque.ToElement
+140: [       OK ] DOMForceTorque.ToElement (8 ms)
+140: [----------] 3 tests from DOMForceTorque (8 ms total)
 140: 
 140: [----------] Global test environment tear-down
-140: [==========] 3 tests from 1 test suite ran. (17 ms total)
+140: [==========] 3 tests from 1 test suite ran. (8 ms total)
 140: [  PASSED  ] 3 tests.
-99: [       OK ] DOMVisual.Transparency (279 ms)
-99: [ RUN      ] DOMVisual.LaserRetro
+163: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml
+163: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml
+151/221 Test #140: UNIT_ForceTorque_TEST ..................................   Passed    0.10 sec
+test 167
+        Start 167: check_UNIT_Mesh_TEST
+
+167: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Mesh_TEST.xml"
+167: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+167: Test timeout computed to be: 10000000
 144: Running main() from /usr/src/gtest/src/gtest_main.cc
 144: [==========] Running 8 tests from 1 test suite.
 144: [----------] Global test environment set-up.
@@ -35585,62 +36189,118 @@
 144: [----------] Global test environment tear-down
 144: [==========] 8 tests from 1 test suite ran. (0 ms total)
 144: [  PASSED  ] 8 tests.
-133/221 Test #144: UNIT_Gui_TEST ..........................................   Passed    0.13 sec
-test 148
-        Start 148: UNIT_Imu_TEST
+152/221 Test #144: UNIT_Gui_TEST ..........................................   Passed    0.10 sec
+test 168
+        Start 168: UNIT_Model_TEST
 
-148: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Imu_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Imu_TEST.xml"
-148: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-148: Environment variables: 
-148:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-148: Test timeout computed to be: 240
-134/221 Test #140: UNIT_ForceTorque_TEST ..................................   Passed    0.25 sec
-test 149
-        Start 149: check_UNIT_Imu_TEST
+168: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Model_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Model_TEST.xml"
+168: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+168: Environment variables: 
+168:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+168: Test timeout computed to be: 240
+153/221 Test #163: check_UNIT_Magnetometer_TEST ...........................   Passed    0.03 sec
+test 169
+        Start 169: check_UNIT_Model_TEST
 
-149: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Imu_TEST.xml"
-149: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-149: Test timeout computed to be: 10000000
-147: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Heightmap_TEST.xml
-147: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Heightmap_TEST.xml
-135/221 Test #147: check_UNIT_Heightmap_TEST ..............................   Passed    0.06 sec
-test 150
-        Start 150: UNIT_InterfaceElements_TEST
+169: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Model_TEST.xml"
+169: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+169: Test timeout computed to be: 10000000
+165: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Material_TEST.xml
+165: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Material_TEST.xml
+146: Running main() from /usr/src/gtest/src/gtest_main.cc
+146: [==========] Running 8 tests from 1 test suite.
+146: [----------] Global test environment set-up.
+146: [----------] 8 tests from DOMHeightmap
+146: [ RUN      ] DOMHeightmap.Construction
+146: [       OK ] DOMHeightmap.Construction (0 ms)
+146: [ RUN      ] DOMHeightmap.MoveConstructor
+146: [       OK ] DOMHeightmap.MoveConstructor (0 ms)
+146: [ RUN      ] DOMHeightmap.CopyConstructor
+146: [       OK ] DOMHeightmap.CopyConstructor (0 ms)
+146: [ RUN      ] DOMHeightmap.CopyAssignmentOperator
+146: [       OK ] DOMHeightmap.CopyAssignmentOperator (0 ms)
+146: [ RUN      ] DOMHeightmap.MoveAssignmentOperator
+146: [       OK ] DOMHeightmap.MoveAssignmentOperator (0 ms)
+146: [ RUN      ] DOMHeightmap.CopyAssignmentAfterMove
+146: [       OK ] DOMHeightmap.CopyAssignmentAfterMove (0 ms)
+146: [ RUN      ] DOMHeightmap.Set
+146: [       OK ] DOMHeightmap.Set (0 ms)
+146: [ RUN      ] DOMHeightmap.LoadErrors
+146: [       OK ] DOMHeightmap.LoadErrors (0 ms)
+146: [----------] 8 tests from DOMHeightmap (0 ms total)
+146: 
+146: [----------] Global test environment tear-down
+146: [==========] 8 tests from 1 test suite ran. (0 ms total)
+146: [  PASSED  ] 8 tests.
+148: Running main() from /usr/src/gtest/src/gtest_main.cc
+148: [==========] Running 3 tests from 1 test suite.
+148: [----------] Global test environment set-up.
+148: [----------] 3 tests from DOMImu
+148: [ RUN      ] DOMImu.Construction
+148: [       OK ] DOMImu.Construction (0 ms)
+148: [ RUN      ] DOMImu.Load
+148: [       OK ] DOMImu.Load (0 ms)
+148: [ RUN      ] DOMImu.ToElement
+154/221 Test #146: UNIT_Heightmap_TEST ....................................   Passed    0.10 sec
+test 170
+        Start 170: UNIT_NavSat_TEST
 
-150: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_InterfaceElements_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml"
-150: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-150: Environment variables: 
-150:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-150: Test timeout computed to be: 240
-81: [       OK ] DOMRoot.Load (3874 ms)
-81: [ RUN      ] DOMRoot.LoadMultipleModels
-63: Error [parser.cc:163] Unable to load file[]: Error=XML_ERROR_FILE_NOT_FOUND ErrorID=3 (0x3) Line number=0: filename=
-99: [       OK ] DOMVisual.LaserRetro (165 ms)
-99: [ RUN      ] DOMVisual.LoadModelFramesRelativeToJoint
-117: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Box_TEST.xml
-117: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Box_TEST.xml
-136/221 Test #117: check_UNIT_Box_TEST ....................................   Passed    1.31 sec
-test 151
-        Start 151: check_UNIT_InterfaceElements_TEST
+170: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_NavSat_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_NavSat_TEST.xml"
+170: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+170: Environment variables: 
+170:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+170: Test timeout computed to be: 240
+148: [       OK ] DOMImu.ToElement (9 ms)
+148: [----------] 3 tests from DOMImu (9 ms total)
+148: 
+148: [----------] Global test environment tear-down
+148: [==========] 3 tests from 1 test suite ran. (9 ms total)
+148: [  PASSED  ] 3 tests.
+150: Running main() from /usr/src/gtest/src/gtest_main.cc
+150: [==========] Running 1 test from 1 test suite.
+150: [----------] Global test environment set-up.
+150: [----------] 1 test from InterfaceElements
+150: [ RUN      ] InterfaceElements.Construction
+150: [       OK ] InterfaceElements.Construction (0 ms)
+150: [----------] 1 test from InterfaceElements (0 ms total)
+150: 
+150: [----------] Global test environment tear-down
+150: [==========] 1 test from 1 test suite ran. (0 ms total)
+150: [  PASSED  ] 1 test.
+167: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Mesh_TEST.xml
+167: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Mesh_TEST.xml
+155/221 Test #165: check_UNIT_Material_TEST ...............................   Passed    0.03 sec
+test 171
+        Start 171: check_UNIT_NavSat_TEST
 
-151: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml"
-151: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-151: Test timeout computed to be: 10000000
-151: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml
-151: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml
-137/221 Test #151: check_UNIT_InterfaceElements_TEST ......................   Passed    0.02 sec
-test 152
-        Start 152: UNIT_Joint_TEST
+171: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_NavSat_TEST.xml"
+171: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+171: Test timeout computed to be: 10000000
+156/221 Test #148: UNIT_Imu_TEST ..........................................   Passed    0.10 sec
+test 172
+        Start 172: UNIT_Noise_TEST
 
-152: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Joint_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Joint_TEST.xml"
-152: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-152: Environment variables: 
-152:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-152: Test timeout computed to be: 240
-81: [       OK ] DOMRoot.LoadMultipleModels (147 ms)
-81: [ RUN      ] DOMRoot.LoadDuplicateModels
-99: [       OK ] DOMVisual.LoadModelFramesRelativeToJoint (102 ms)
-99: [ RUN      ] DOMVisual.VisibilityFlags
+172: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Noise_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Noise_TEST.xml"
+172: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+172: Environment variables: 
+172:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+172: Test timeout computed to be: 240
+157/221 Test #150: UNIT_InterfaceElements_TEST ............................   Passed    0.10 sec
+test 173
+        Start 173: check_UNIT_Noise_TEST
+
+173: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Noise_TEST.xml"
+173: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+173: Test timeout computed to be: 10000000
+158/221 Test #167: check_UNIT_Mesh_TEST ...................................   Passed    0.03 sec
+test 174
+        Start 174: UNIT_Param_TEST
+
+174: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Param_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Param_TEST.xml"
+174: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+174: Environment variables: 
+174:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+174: Test timeout computed to be: 240
 152: Running main() from /usr/src/gtest/src/gtest_main.cc
 152: [==========] Running 7 tests from 1 test suite.
 152: [----------] Global test environment set-up.
@@ -35658,34 +36318,15 @@
 152: [ RUN      ] DOMJoint.CopyAssignmentAfterMove
 152: [       OK ] DOMJoint.CopyAssignmentAfterMove (0 ms)
 152: [ RUN      ] DOMJoint.ToElement
-81: [       OK ] DOMRoot.LoadDuplicateModels (117 ms)
-81: [----------] 5 tests from DOMRoot (6591 ms total)
-81: 
-81: [----------] Global test environment tear-down
-99: [       OK ] DOMVisual.VisibilityFlags (103 ms)
-99: [----------] 10 tests from DOMVisual (1253 ms total)
-99: 
-99: [----------] Global test environment tear-down
-99: [==========] 10 tests from 1 test suite ran. (1253 ms total)
-99: [  PASSED  ] 10 tests.
-138/221 Test  #99: INTEGRATION_visual_dom .................................   Passed    3.81 sec
-test 153
-        Start 153: check_UNIT_Joint_TEST
-
-153: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Joint_TEST.xml"
-153: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-153: Test timeout computed to be: 10000000
-153: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Joint_TEST.xml
-153: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Joint_TEST.xml
-139/221 Test #153: check_UNIT_Joint_TEST ..................................   Passed    0.02 sec
-test 154
-        Start 154: UNIT_JointAxis_TEST
+169: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Model_TEST.xml
+169: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Model_TEST.xml
+159/221 Test #169: check_UNIT_Model_TEST ..................................   Passed    0.03 sec
+test 175
+        Start 175: check_UNIT_Param_TEST
 
-154: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_JointAxis_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_JointAxis_TEST.xml"
-154: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-154: Environment variables: 
-154:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-154: Test timeout computed to be: 240
+175: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Param_TEST.xml"
+175: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+175: Test timeout computed to be: 10000000
 154: Running main() from /usr/src/gtest/src/gtest_main.cc
 154: [==========] Running 7 tests from 1 test suite.
 154: [----------] Global test environment set-up.
@@ -35709,98 +36350,15 @@
 154: [----------] Global test environment tear-down
 154: [==========] 7 tests from 1 test suite ran. (0 ms total)
 154: [  PASSED  ] 7 tests.
-140/221 Test #154: UNIT_JointAxis_TEST ....................................   Passed    0.07 sec
-test 155
-        Start 155: check_UNIT_JointAxis_TEST
-
-155: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_JointAxis_TEST.xml"
-155: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-155: Test timeout computed to be: 10000000
-81: [==========] 5 tests from 1 test suite ran. (6591 ms total)
-81: [  PASSED  ] 5 tests.
-141/221 Test  #81: INTEGRATION_root_dom ...................................   Passed    8.91 sec
-test 156
-        Start 156: UNIT_Lidar_TEST
-
-156: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Lidar_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Lidar_TEST.xml"
-156: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-156: Environment variables: 
-156:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-156: Test timeout computed to be: 240
-155: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_JointAxis_TEST.xml
-118: Running main() from /usr/src/gtest/src/gtest_main.cc
-118: [==========] Running 2 tests from 1 test suite.
-118: [----------] Global test environment set-up.
-118: [----------] 2 tests from DOMCamera
-118: [ RUN      ] DOMCamera.Construction
-118: [       OK ] DOMCamera.Construction (0 ms)
-118: [ RUN      ] DOMCamera.ToElement
-142/221 Test #155: check_UNIT_JointAxis_TEST ..............................   Passed    0.02 sec
-test 157
-        Start 157: check_UNIT_Lidar_TEST
-
-157: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Lidar_TEST.xml"
-157: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-157: Test timeout computed to be: 10000000
-118: [       OK ] DOMCamera.ToElement (4 ms)
-118: [----------] 2 tests from DOMCamera (4 ms total)
-118: 
-118: [----------] Global test environment tear-down
-118: [==========] 2 tests from 1 test suite ran. (4 ms total)
-118: [  PASSED  ] 2 tests.
-143/221 Test #118: UNIT_Camera_TEST .......................................   Passed    1.54 sec
-test 158
-        Start 158: UNIT_Light_TEST
-
-158: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Light_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Light_TEST.xml"
-158: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-158: Environment variables: 
-158:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-158: Test timeout computed to be: 240
-157: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Lidar_TEST.xml
-157: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Lidar_TEST.xml
-144/221 Test #157: check_UNIT_Lidar_TEST ..................................   Passed    0.02 sec
-test 159
-        Start 159: check_UNIT_Light_TEST
-
-159: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Light_TEST.xml"
-159: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-159: Test timeout computed to be: 10000000
-159: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Light_TEST.xml
-159: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Light_TEST.xml
-145/221 Test #159: check_UNIT_Light_TEST ..................................   Passed    0.02 sec
-test 160
-        Start 160: UNIT_Link_TEST
-
-160: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Link_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Link_TEST.xml"
-160: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-160: Environment variables: 
-160:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-160: Test timeout computed to be: 240
-156: Running main() from /usr/src/gtest/src/gtest_main.cc
-156: [==========] Running 4 tests from 1 test suite.
-156: [----------] Global test environment set-up.
-156: [----------] 4 tests from DOMLidar
-156: [ RUN      ] DOMLidar.Construction
-156: [       OK ] DOMLidar.Construction (0 ms)
-156: [ RUN      ] DOMLidar.Set
-156: [       OK ] DOMLidar.Set (0 ms)
-156: [ RUN      ] DOMLidar.Load
-156: [       OK ] DOMLidar.Load (0 ms)
-156: [ RUN      ] DOMLidar.ToElement
-156: [       OK ] DOMLidar.ToElement (3 ms)
-156: [----------] 4 tests from DOMLidar (3 ms total)
-156: 
-156: [----------] Global test environment tear-down
-156: [==========] 4 tests from 1 test suite ran. (3 ms total)
-156: [  PASSED  ] 4 tests.
-146/221 Test #156: UNIT_Lidar_TEST ........................................   Passed    0.07 sec
-test 161
-        Start 161: check_UNIT_Link_TEST
+160/221 Test #154: UNIT_JointAxis_TEST ....................................   Passed    0.10 sec
+test 176
+        Start 176: UNIT_parser_TEST
 
-161: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Link_TEST.xml"
-161: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-161: Test timeout computed to be: 10000000
+176: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_parser_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_TEST.xml"
+176: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+176: Environment variables: 
+176:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+176: Test timeout computed to be: 240
 158: Running main() from /usr/src/gtest/src/gtest_main.cc
 158: [==========] Running 9 tests from 1 test suite.
 158: [----------] Global test environment set-up.
@@ -35822,32 +36380,58 @@
 158: [ RUN      ] DOMLight.AttenuationClamp
 158: [       OK ] DOMLight.AttenuationClamp (0 ms)
 158: [ RUN      ] DOMLight.ToElement
+171: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_NavSat_TEST.xml
+171: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_NavSat_TEST.xml
+156: Running main() from /usr/src/gtest/src/gtest_main.cc
+156: [==========] Running 4 tests from 1 test suite.
+156: [----------] Global test environment set-up.
+156: [----------] 4 tests from DOMLidar
+156: [ RUN      ] DOMLidar.Construction
+156: [       OK ] DOMLidar.Construction (0 ms)
+156: [ RUN      ] DOMLidar.Set
+156: [       OK ] DOMLidar.Set (0 ms)
+156: [ RUN      ] DOMLidar.Load
+156: [       OK ] DOMLidar.Load (0 ms)
+156: [ RUN      ] DOMLidar.ToElement
+156: [       OK ] DOMLidar.ToElement (3 ms)
+156: [----------] 4 tests from DOMLidar (3 ms total)
+156: 
+156: [----------] Global test environment tear-down
 158: [       OK ] DOMLight.ToElement (3 ms)
 158: [----------] 9 tests from DOMLight (4 ms total)
 158: 
 158: [----------] Global test environment tear-down
+156: [==========] 4 tests from 1 test suite ran. (3 ms total)
+156: [  PASSED  ] 4 tests.
 158: [==========] 9 tests from 1 test suite ran. (4 ms total)
 158: [  PASSED  ] 9 tests.
-147/221 Test #158: UNIT_Light_TEST ........................................   Passed    0.07 sec
-test 162
-        Start 162: UNIT_Magnetometer_TEST
+173: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Noise_TEST.xml
+173: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Noise_TEST.xml
+161/221 Test #156: UNIT_Lidar_TEST ........................................   Passed    0.10 sec
+test 177
+        Start 177: check_UNIT_parser_TEST
 
-162: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Magnetometer_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml"
-162: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-162: Environment variables: 
-162:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-162: Test timeout computed to be: 240
-161: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Link_TEST.xml
-161: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Link_TEST.xml
-148/221 Test #161: check_UNIT_Link_TEST ...................................   Passed    0.02 sec
-test 163
-        Start 163: check_UNIT_Magnetometer_TEST
+177: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_TEST.xml"
+177: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+177: Test timeout computed to be: 10000000
+162/221 Test #158: UNIT_Light_TEST ........................................   Passed    0.10 sec
+test 178
+        Start 178: UNIT_ParserConfig_TEST
 
-163: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml"
-163: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-163: Test timeout computed to be: 10000000
-163: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml
-163: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml
+178: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_ParserConfig_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml"
+178: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+178: Environment variables: 
+178:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+178: Test timeout computed to be: 240
+163/221 Test #171: check_UNIT_NavSat_TEST .................................   Passed    0.03 sec
+test 179
+        Start 179: check_UNIT_ParserConfig_TEST
+
+179: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml"
+179: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+179: Test timeout computed to be: 10000000
+175: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Param_TEST.xml
+175: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Param_TEST.xml
 160: Running main() from /usr/src/gtest/src/gtest_main.cc
 160: [==========] Running 11 tests from 1 test suite.
 160: [----------] Global test environment set-up.
@@ -35879,34 +36463,31 @@
 160: [----------] Global test environment tear-down
 160: [==========] 11 tests from 1 test suite ran. (0 ms total)
 160: [  PASSED  ] 11 tests.
-149/221 Test #160: UNIT_Link_TEST .........................................   Passed    0.07 sec
-test 164
-        Start 164: UNIT_Material_TEST
+164/221 Test #160: UNIT_Link_TEST .........................................   Passed    0.10 sec
+test 180
+        Start 180: UNIT_ParticleEmitter_TEST
 
-164: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Material_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Material_TEST.xml"
-164: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-164: Environment variables: 
-164:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-164: Test timeout computed to be: 240
-150/221 Test #163: check_UNIT_Magnetometer_TEST ...........................   Passed    0.02 sec
-test 165
-        Start 165: check_UNIT_Material_TEST
+180: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_ParticleEmitter_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml"
+180: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+180: Environment variables: 
+180:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+180: Test timeout computed to be: 240
+165/221 Test #173: check_UNIT_Noise_TEST ..................................   Passed    0.03 sec
+test 181
+        Start 181: check_UNIT_ParticleEmitter_TEST
 
-165: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Material_TEST.xml"
-165: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-165: Test timeout computed to be: 10000000
-165: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Material_TEST.xml
-165: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Material_TEST.xml
-151/221 Test #165: check_UNIT_Material_TEST ...............................   Passed    0.02 sec
-test 166
-        Start 166: UNIT_Mesh_TEST
+181: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml"
+181: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+181: Test timeout computed to be: 10000000
+166/221 Test #175: check_UNIT_Param_TEST ..................................   Passed    0.03 sec
+test 182
+        Start 182: UNIT_Pbr_TEST
 
-166: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Mesh_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Mesh_TEST.xml"
-166: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-166: Environment variables: 
-166:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-166: Test timeout computed to be: 240
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+182: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Pbr_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Pbr_TEST.xml"
+182: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+182: Environment variables: 
+182:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+182: Test timeout computed to be: 240
 162: Running main() from /usr/src/gtest/src/gtest_main.cc
 162: [==========] Running 4 tests from 1 test suite.
 162: [----------] Global test environment set-up.
@@ -35918,30 +36499,29 @@
 162: [ RUN      ] DOMMagnetometer.Load
 162: [       OK ] DOMMagnetometer.Load (0 ms)
 162: [ RUN      ] DOMMagnetometer.ToElement
-162: [       OK ] DOMMagnetometer.ToElement (4 ms)
+177: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_TEST.xml
+177: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_TEST.xml
+152: [       OK ] DOMJoint.ToElement (44 ms)
+152: [----------] 7 tests from DOMJoint (44 ms total)
+152: 
+152: [----------] Global test environment tear-down
+152: [==========] 7 tests from 1 test suite ran. (44 ms total)
+152: [  PASSED  ] 7 tests.
+162: [       OK ] DOMMagnetometer.ToElement (5 ms)
 162: [----------] 4 tests from DOMMagnetometer (5 ms total)
 162: 
 162: [----------] Global test environment tear-down
 162: [==========] 4 tests from 1 test suite ran. (5 ms total)
 162: [  PASSED  ] 4 tests.
-152/221 Test #162: UNIT_Magnetometer_TEST .................................   Passed    0.08 sec
-test 167
-        Start 167: check_UNIT_Mesh_TEST
-
-167: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Mesh_TEST.xml"
-167: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-167: Test timeout computed to be: 10000000
-167: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Mesh_TEST.xml
-167: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Mesh_TEST.xml
-153/221 Test #167: check_UNIT_Mesh_TEST ...................................   Passed    0.02 sec
-test 168
-        Start 168: UNIT_Model_TEST
+167/221 Test #177: check_UNIT_parser_TEST .................................   Passed    0.02 sec
+test 183
+        Start 183: check_UNIT_Pbr_TEST
 
-168: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Model_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Model_TEST.xml"
-168: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-168: Environment variables: 
-168:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-168: Test timeout computed to be: 240
+183: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Pbr_TEST.xml"
+183: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+183: Test timeout computed to be: 10000000
+179: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml
+179: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml
 164: Running main() from /usr/src/gtest/src/gtest_main.cc
 164: [==========] Running 8 tests from 2 test suites.
 164: [----------] Global test environment set-up.
@@ -35968,17 +36548,51 @@
 164: [----------] 1 test from DOMAtmosphere (0 ms total)
 164: 
 164: [----------] Global test environment tear-down
+168/221 Test #152: UNIT_Joint_TEST ........................................   Passed    0.14 sec
+test 184
+        Start 184: UNIT_Physics_TEST
+
+184: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Physics_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Physics_TEST.xml"
+184: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+184: Environment variables: 
+184:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+184: Test timeout computed to be: 240
+169/221 Test #162: UNIT_Magnetometer_TEST .................................   Passed    0.11 sec
+test 185
+        Start 185: check_UNIT_Physics_TEST
+
+185: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Physics_TEST.xml"
+185: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+185: Test timeout computed to be: 10000000
 164: [==========] 8 tests from 2 test suites ran. (0 ms total)
 164: [  PASSED  ] 8 tests.
-154/221 Test #164: UNIT_Material_TEST .....................................   Passed    0.07 sec
-test 169
-        Start 169: check_UNIT_Model_TEST
+181: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml
+181: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml
+170/221 Test #164: UNIT_Material_TEST .....................................   Passed    0.10 sec
+test 186
+        Start 186: UNIT_Plane_TEST
 
-169: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Model_TEST.xml"
-169: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-169: Test timeout computed to be: 10000000
-169: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Model_TEST.xml
-169: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Model_TEST.xml
+186: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Plane_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Plane_TEST.xml"
+186: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+186: Environment variables: 
+186:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+186: Test timeout computed to be: 240
+171/221 Test #179: check_UNIT_ParserConfig_TEST ...........................   Passed    0.03 sec
+test 187
+        Start 187: check_UNIT_Plane_TEST
+
+187: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Plane_TEST.xml"
+187: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+187: Test timeout computed to be: 10000000
+172/221 Test #181: check_UNIT_ParticleEmitter_TEST ........................   Passed    0.03 sec
+test 188
+        Start 188: UNIT_Root_TEST
+
+188: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Root_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Root_TEST.xml"
+188: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+188: Environment variables: 
+188:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+188: Test timeout computed to be: 240
 166: Running main() from /usr/src/gtest/src/gtest_main.cc
 166: [==========] Running 8 tests from 1 test suite.
 166: [----------] Global test environment set-up.
@@ -36004,66 +36618,24 @@
 166: [----------] Global test environment tear-down
 166: [==========] 8 tests from 1 test suite ran. (0 ms total)
 166: [  PASSED  ] 8 tests.
-155/221 Test #166: UNIT_Mesh_TEST .........................................   Passed    0.07 sec
-test 170
-        Start 170: UNIT_NavSat_TEST
-
-170: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_NavSat_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_NavSat_TEST.xml"
-170: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-170: Environment variables: 
-170:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-170: Test timeout computed to be: 240
-156/221 Test #169: check_UNIT_Model_TEST ..................................   Passed    0.03 sec
-test 171
-        Start 171: check_UNIT_NavSat_TEST
-
-171: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_NavSat_TEST.xml"
-171: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-171: Test timeout computed to be: 10000000
-105: No unversioned symbols found (num versioned symbols:3277)
-157/221 Test #105: INTEGRATION_versioned_symbols ..........................   Passed    3.54 sec
-test 172
-        Start 172: UNIT_Noise_TEST
-
-172: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Noise_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Noise_TEST.xml"
-172: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-172: Environment variables: 
-172:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-172: Test timeout computed to be: 240
-171: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_NavSat_TEST.xml
-171: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_NavSat_TEST.xml
-158/221 Test #171: check_UNIT_NavSat_TEST .................................   Passed    0.02 sec
-test 173
-        Start 173: check_UNIT_Noise_TEST
+173/221 Test #166: UNIT_Mesh_TEST .........................................   Passed    0.10 sec
+test 189
+        Start 189: check_UNIT_Root_TEST
 
-173: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Noise_TEST.xml"
-173: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-173: Test timeout computed to be: 10000000
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-170: Running main() from /usr/src/gtest/src/gtest_main.cc
-170: [==========] Running 3 tests from 1 test suite.
-170: [----------] Global test environment set-up.
-170: [----------] 3 tests from DOMNavSat
-170: [ RUN      ] DOMNavSat.Construction
-170: [       OK ] DOMNavSat.Construction (0 ms)
-170: [ RUN      ] DOMNavSat.Set
-170: [       OK ] DOMNavSat.Set (0 ms)
-170: [ RUN      ] DOMNavSat.Load
-170: [       OK ] DOMNavSat.Load (0 ms)
-170: [----------] 3 tests from DOMNavSat (0 ms total)
-170: 
-170: [----------] Global test environment tear-down
-170: [==========] 3 tests from 1 test suite ran. (0 ms total)
-170: [  PASSED  ] 3 tests.
-159/221 Test #170: UNIT_NavSat_TEST .......................................   Passed    0.28 sec
-test 174
-        Start 174: UNIT_Param_TEST
+189: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Root_TEST.xml"
+189: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+189: Test timeout computed to be: 10000000
+183: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Pbr_TEST.xml
+183: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Pbr_TEST.xml
+174/221 Test #183: check_UNIT_Pbr_TEST ....................................   Passed    0.02 sec
+test 190
+        Start 190: UNIT_Scene_TEST
 
-174: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Param_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Param_TEST.xml"
-174: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-174: Environment variables: 
-174:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-174: Test timeout computed to be: 240
+190: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Scene_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Scene_TEST.xml"
+190: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+190: Environment variables: 
+190:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+190: Test timeout computed to be: 240
 168: Running main() from /usr/src/gtest/src/gtest_main.cc
 168: [==========] Running 9 tests from 1 test suite.
 168: [----------] Global test environment set-up.
@@ -36091,24 +36663,81 @@
 168: [----------] Global test environment tear-down
 168: [==========] 9 tests from 1 test suite ran. (0 ms total)
 168: [  PASSED  ] 9 tests.
-160/221 Test #168: UNIT_Model_TEST ........................................   Passed    0.35 sec
-test 175
-        Start 175: check_UNIT_Param_TEST
+185: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Physics_TEST.xml
+185: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Physics_TEST.xml
+187: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Plane_TEST.xml
+187: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Plane_TEST.xml
+175/221 Test #168: UNIT_Model_TEST ........................................   Passed    0.10 sec
+test 191
+        Start 191: check_UNIT_Scene_TEST
 
-175: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Param_TEST.xml"
-175: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-175: Test timeout computed to be: 10000000
-175: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Param_TEST.xml
-175: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Param_TEST.xml
-161/221 Test #175: check_UNIT_Param_TEST ..................................   Passed    0.03 sec
-test 176
-        Start 176: UNIT_parser_TEST
+191: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Scene_TEST.xml"
+191: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+191: Test timeout computed to be: 10000000
+176/221 Test #185: check_UNIT_Physics_TEST ................................   Passed    0.03 sec
+test 192
+        Start 192: UNIT_SemanticPose_TEST
 
-176: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_parser_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_TEST.xml"
-176: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-176: Environment variables: 
-176:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-176: Test timeout computed to be: 240
+192: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_SemanticPose_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml"
+192: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+192: Environment variables: 
+192:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+192: Test timeout computed to be: 240
+170: Running main() from /usr/src/gtest/src/gtest_main.cc
+170: [==========] Running 3 tests from 1 test suite.
+170: [----------] Global test environment set-up.
+170: [----------] 3 tests from DOMNavSat
+170: [ RUN      ] DOMNavSat.Construction
+170: [       OK ] DOMNavSat.Construction (0 ms)
+170: [ RUN      ] DOMNavSat.Set
+170: [       OK ] DOMNavSat.Set (0 ms)
+170: [ RUN      ] DOMNavSat.Load
+170: [       OK ] DOMNavSat.Load (0 ms)
+170: [----------] 3 tests from DOMNavSat (0 ms total)
+170: 
+170: [----------] Global test environment tear-down
+170: [==========] 3 tests from 1 test suite ran. (0 ms total)
+170: [  PASSED  ] 3 tests.
+177/221 Test #170: UNIT_NavSat_TEST .......................................   Passed    0.10 sec
+test 193
+        Start 193: check_UNIT_SemanticPose_TEST
+
+193: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml"
+193: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+193: Test timeout computed to be: 10000000
+178/221 Test #187: check_UNIT_Plane_TEST ..................................   Passed    0.03 sec
+test 194
+        Start 194: UNIT_SDF_TEST
+
+194: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_SDF_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SDF_TEST.xml"
+194: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+194: Environment variables: 
+194:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+194: Test timeout computed to be: 240
+189: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Root_TEST.xml
+189: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Root_TEST.xml
+172: Running main() from /usr/src/gtest/src/gtest_main.cc
+172: [==========] Running 3 tests from 1 test suite.
+172: [----------] Global test environment set-up.
+172: [----------] 3 tests from DOMNoise
+172: [ RUN      ] DOMNoise.ConstructionAndSet
+172: [       OK ] DOMNoise.ConstructionAndSet (0 ms)
+172: [ RUN      ] DOMNoise.Load
+172: [       OK ] DOMNoise.Load (0 ms)
+172: [ RUN      ] DOMNoise.ToElement
+172: [       OK ] DOMNoise.ToElement (2 ms)
+172: [----------] 3 tests from DOMNoise (3 ms total)
+172: 
+172: [----------] Global test environment tear-down
+172: [==========] 3 tests from 1 test suite ran. (3 ms total)
+172: [  PASSED  ] 3 tests.
+179/221 Test #189: check_UNIT_Root_TEST ...................................   Passed    0.03 sec
+test 195
+        Start 195: check_UNIT_SDF_TEST
+
+195: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SDF_TEST.xml"
+195: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+195: Test timeout computed to be: 10000000
 174: [==========] Running 35 tests from 2 test suites.
 174: [----------] Global test environment set-up.
 174: [----------] 32 tests from Param
@@ -36216,50 +36845,61 @@
 174: [----------] 3 tests from SetFromString (0 ms total)
 174: 
 174: [----------] Global test environment tear-down
-67: [       OK ] ParserConfig.ParseWithNonGlobalConfig (10371 ms)
-67: [----------] 3 tests from ParserConfig (10371 ms total)
-67: 
-67: [----------] Global test environment tear-down
-174: [==========] 35 tests from 2 test suites ran. (3 ms total)
+174: [==========] 35 tests from 2 test suites ran. (2 ms total)
 174: [  PASSED  ] 35 tests.
-67: [==========] 3 tests from 1 test suite ran. (10371 ms total)
-67: [  PASSED  ] 3 tests.
-162/221 Test #174: UNIT_Param_TEST ........................................   Passed    0.07 sec
-test 177
-        Start 177: check_UNIT_parser_TEST
+191: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Scene_TEST.xml
+191: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Scene_TEST.xml
+180/221 Test #172: UNIT_Noise_TEST ........................................   Passed    0.10 sec
+test 196
+        Start 196: UNIT_Sensor_TEST
 
-177: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_TEST.xml"
-177: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-177: Test timeout computed to be: 10000000
-163/221 Test  #67: INTEGRATION_parser_config ..............................   Passed   12.09 sec
-test 178
-        Start 178: UNIT_ParserConfig_TEST
+196: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Sensor_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sensor_TEST.xml"
+196: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+196: Environment variables: 
+196:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+196: Test timeout computed to be: 240
+181/221 Test #174: UNIT_Param_TEST ........................................   Passed    0.10 sec
+test 197
+        Start 197: check_UNIT_Sensor_TEST
 
-178: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_ParserConfig_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml"
-178: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-178: Environment variables: 
-178:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-178: Test timeout computed to be: 240
-177: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_TEST.xml
-177: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_TEST.xml
-164/221 Test #177: check_UNIT_parser_TEST .................................   Passed    0.03 sec
-test 179
-        Start 179: check_UNIT_ParserConfig_TEST
+197: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sensor_TEST.xml"
+197: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+197: Test timeout computed to be: 10000000
+182/221 Test #191: check_UNIT_Scene_TEST ..................................   Passed    0.03 sec
+test 198
+        Start 198: UNIT_Sky_TEST
 
-179: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml"
-179: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-179: Test timeout computed to be: 10000000
-179: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml
-179: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml
-165/221 Test #179: check_UNIT_ParserConfig_TEST ...........................   Passed    0.06 sec
-test 180
-        Start 180: UNIT_ParticleEmitter_TEST
+198: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Sky_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sky_TEST.xml"
+198: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+198: Environment variables: 
+198:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+198: Test timeout computed to be: 240
+176: [==========] Running 16 tests from 2 test suites.
+176: [----------] Global test environment set-up.
+176: [----------] 15 tests from Parser
+176: [ RUN      ] Parser.initStringTrim
+176: [       OK ] Parser.initStringTrim (0 ms)
+176: [ RUN      ] Parser.CustomUnknownElements
+193: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml
+193: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml
+183/221 Test #193: check_UNIT_SemanticPose_TEST ...........................   Passed    0.03 sec
+test 199
+        Start 199: check_UNIT_Sky_TEST
 
-180: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_ParticleEmitter_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml"
-180: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-180: Environment variables: 
-180:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-180: Test timeout computed to be: 240
+199: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sky_TEST.xml"
+199: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+199: Test timeout computed to be: 10000000
+195: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SDF_TEST.xml
+195: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SDF_TEST.xml
+184/221 Test #195: check_UNIT_SDF_TEST ....................................   Passed    0.03 sec
+test 200
+        Start 200: UNIT_Sphere_TEST
+
+200: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Sphere_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sphere_TEST.xml"
+200: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+200: Environment variables: 
+200:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+200: Test timeout computed to be: 240
 178: Running main() from /usr/src/gtest/src/gtest_main.cc
 178: [==========] Running 6 tests from 1 test suite.
 178: [----------] Global test environment set-up.
@@ -36281,34 +36921,15 @@
 178: [----------] Global test environment tear-down
 178: [==========] 6 tests from 1 test suite ran. (0 ms total)
 178: [  PASSED  ] 6 tests.
-166/221 Test #178: UNIT_ParserConfig_TEST .................................   Passed    0.10 sec
-test 181
-        Start 181: check_UNIT_ParticleEmitter_TEST
-
-181: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml"
-181: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-181: Test timeout computed to be: 10000000
-176: [==========] Running 16 tests from 2 test suites.
-176: [----------] Global test environment set-up.
-176: [----------] 15 tests from Parser
-176: [ RUN      ] Parser.initStringTrim
-176: [       OK ] Parser.initStringTrim (0 ms)
-176: [ RUN      ] Parser.CustomUnknownElements
-181: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml
-181: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml
-167/221 Test #181: check_UNIT_ParticleEmitter_TEST ........................   Passed    0.03 sec
-test 182
-        Start 182: UNIT_Pbr_TEST
+197: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sensor_TEST.xml
+197: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sensor_TEST.xml
+185/221 Test #178: UNIT_ParserConfig_TEST .................................   Passed    0.10 sec
+test 201
+        Start 201: check_UNIT_Sphere_TEST
 
-182: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Pbr_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Pbr_TEST.xml"
-182: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-182: Environment variables: 
-182:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-182: Test timeout computed to be: 240
-79: [       OK ] SDFParser.ProvideFeedbackTest (8336 ms)
-79: [----------] 1 test from SDFParser (8336 ms total)
-79: 
-79: [----------] Global test environment tear-down
+201: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sphere_TEST.xml"
+201: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+201: Test timeout computed to be: 10000000
 180: Running main() from /usr/src/gtest/src/gtest_main.cc
 180: [==========] Running 1 test from 1 test suite.
 180: [----------] Global test environment set-up.
@@ -36320,24 +36941,6 @@
 180: [----------] Global test environment tear-down
 180: [==========] 1 test from 1 test suite ran. (0 ms total)
 180: [  PASSED  ] 1 test.
-168/221 Test #180: UNIT_ParticleEmitter_TEST ..............................   Passed    0.15 sec
-test 183
-        Start 183: check_UNIT_Pbr_TEST
-
-183: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Pbr_TEST.xml"
-183: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-183: Test timeout computed to be: 10000000
-79: [==========] 1 test from 1 test suite ran. (8336 ms total)
-79: [  PASSED  ] 1 test.
-169/221 Test  #79: INTEGRATION_provide_feedback ...........................   Passed   10.56 sec
-test 184
-        Start 184: UNIT_Physics_TEST
-
-184: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Physics_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Physics_TEST.xml"
-184: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-184: Environment variables: 
-184:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-184: Test timeout computed to be: 240
 182: Running main() from /usr/src/gtest/src/gtest_main.cc
 182: [==========] Running 8 tests from 1 test suite.
 182: [----------] Global test environment set-up.
@@ -36363,157 +36966,40 @@
 182: [----------] Global test environment tear-down
 182: [==========] 8 tests from 1 test suite ran. (0 ms total)
 182: [  PASSED  ] 8 tests.
-170/221 Test #182: UNIT_Pbr_TEST ..........................................   Passed    0.13 sec
-test 185
-        Start 185: check_UNIT_Physics_TEST
-
-185: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Physics_TEST.xml"
-185: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-185: Test timeout computed to be: 10000000
-183: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Pbr_TEST.xml
-171/221 Test #183: check_UNIT_Pbr_TEST ....................................   Passed    0.05 sec
-test 186
-        Start 186: UNIT_Plane_TEST
-
-186: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Plane_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Plane_TEST.xml"
-186: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-186: Environment variables: 
-186:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-186: Test timeout computed to be: 240
-185: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Physics_TEST.xml
-185: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Physics_TEST.xml
-172/221 Test #185: check_UNIT_Physics_TEST ................................   Passed    0.06 sec
-test 187
-        Start 187: check_UNIT_Plane_TEST
-
-187: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Plane_TEST.xml"
-187: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-187: Test timeout computed to be: 10000000
-146: Running main() from /usr/src/gtest/src/gtest_main.cc
-146: [==========] Running 8 tests from 1 test suite.
-146: [----------] Global test environment set-up.
-146: [----------] 8 tests from DOMHeightmap
-146: [ RUN      ] DOMHeightmap.Construction
-146: [       OK ] DOMHeightmap.Construction (0 ms)
-146: [ RUN      ] DOMHeightmap.MoveConstructor
-146: [       OK ] DOMHeightmap.MoveConstructor (0 ms)
-146: [ RUN      ] DOMHeightmap.CopyConstructor
-146: [       OK ] DOMHeightmap.CopyConstructor (0 ms)
-146: [ RUN      ] DOMHeightmap.CopyAssignmentOperator
-146: [       OK ] DOMHeightmap.CopyAssignmentOperator (0 ms)
-146: [ RUN      ] DOMHeightmap.MoveAssignmentOperator
-146: [       OK ] DOMHeightmap.MoveAssignmentOperator (0 ms)
-146: [ RUN      ] DOMHeightmap.CopyAssignmentAfterMove
-146: [       OK ] DOMHeightmap.CopyAssignmentAfterMove (0 ms)
-146: [ RUN      ] DOMHeightmap.Set
-146: [       OK ] DOMHeightmap.Set (0 ms)
-146: [ RUN      ] DOMHeightmap.LoadErrors
-146: [       OK ] DOMHeightmap.LoadErrors (0 ms)
-146: [----------] 8 tests from DOMHeightmap (0 ms total)
-146: 
-146: [----------] Global test environment tear-down
-146: [==========] 8 tests from 1 test suite ran. (0 ms total)
-146: [  PASSED  ] 8 tests.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-173/221 Test #146: UNIT_Heightmap_TEST ....................................   Passed    1.49 sec
-test 188
-        Start 188: UNIT_Root_TEST
+199: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sky_TEST.xml
+199: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sky_TEST.xml
+186/221 Test #180: UNIT_ParticleEmitter_TEST ..............................   Passed    0.10 sec
+test 202
+        Start 202: UNIT_Surface_TEST
 
-188: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Root_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Root_TEST.xml"
-188: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-188: Environment variables: 
-188:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-188: Test timeout computed to be: 240
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-187: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Plane_TEST.xml
-187: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Plane_TEST.xml
-174/221 Test #187: check_UNIT_Plane_TEST ..................................   Passed    0.06 sec
-test 189
-        Start 189: check_UNIT_Root_TEST
+202: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Surface_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Surface_TEST.xml"
+202: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+202: Environment variables: 
+202:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+202: Test timeout computed to be: 240
+187/221 Test #197: check_UNIT_Sensor_TEST .................................   Passed    0.03 sec
+test 203
+        Start 203: check_UNIT_Surface_TEST
 
-189: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Root_TEST.xml"
-189: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-189: Test timeout computed to be: 10000000
-150: Running main() from /usr/src/gtest/src/gtest_main.cc
-150: [==========] Running 1 test from 1 test suite.
-150: [----------] Global test environment set-up.
-150: [----------] 1 test from InterfaceElements
-150: [ RUN      ] InterfaceElements.Construction
-150: [       OK ] InterfaceElements.Construction (0 ms)
-150: [----------] 1 test from InterfaceElements (0 ms total)
-150: 
-150: [----------] Global test environment tear-down
-150: [==========] 1 test from 1 test suite ran. (0 ms total)
-150: [  PASSED  ] 1 test.
-176: [       OK ] Parser.CustomUnknownElements (294 ms)
-176: [ RUN      ] Parser.ReusedSDFVersion
-175/221 Test #150: UNIT_InterfaceElements_TEST ............................   Passed    1.46 sec
-test 190
-        Start 190: UNIT_Scene_TEST
+203: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Surface_TEST.xml"
+203: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+203: Test timeout computed to be: 10000000
+188/221 Test #182: UNIT_Pbr_TEST ..........................................   Passed    0.10 sec
+test 204
+        Start 204: UNIT_Types_TEST
 
-190: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Scene_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Scene_TEST.xml"
-190: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-190: Environment variables: 
-190:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-190: Test timeout computed to be: 240
-186: Running main() from /usr/src/gtest/src/gtest_main.cc
-186: [==========] Running 8 tests from 1 test suite.
-186: [----------] Global test environment set-up.
-186: [----------] 8 tests from DOMPlane
-186: [ RUN      ] DOMPlane.Construction
-186: [       OK ] DOMPlane.Construction (0 ms)
-186: [ RUN      ] DOMPlane.MoveConstructor
-186: [       OK ] DOMPlane.MoveConstructor (0 ms)
-186: [ RUN      ] DOMPlane.CopyConstructor
-186: [       OK ] DOMPlane.CopyConstructor (0 ms)
-186: [ RUN      ] DOMPlane.CopyAssignmentOperator
-186: [       OK ] DOMPlane.CopyAssignmentOperator (0 ms)
-186: [ RUN      ] DOMPlane.MoveAssignmentOperator
-186: [       OK ] DOMPlane.MoveAssignmentOperator (0 ms)
-186: [ RUN      ] DOMPlane.CopyAssignmentAfterMove
-186: [       OK ] DOMPlane.CopyAssignmentAfterMove (0 ms)
-186: [ RUN      ] DOMPlane.Load
-186: [       OK ] DOMPlane.Load (0 ms)
-186: [ RUN      ] DOMPlane.Shape
-186: [       OK ] DOMPlane.Shape (0 ms)
-186: [----------] 8 tests from DOMPlane (0 ms total)
-186: 
-186: [----------] Global test environment tear-down
-186: [==========] 8 tests from 1 test suite ran. (0 ms total)
-186: [  PASSED  ] 8 tests.
-176/221 Test #186: UNIT_Plane_TEST ........................................   Passed    0.16 sec
-test 191
-        Start 191: check_UNIT_Scene_TEST
+204: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Types_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Types_TEST.xml"
+204: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+204: Environment variables: 
+204:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+204: Test timeout computed to be: 240
+189/221 Test #199: check_UNIT_Sky_TEST ....................................   Passed    0.03 sec
+test 205
+        Start 205: check_UNIT_Types_TEST
 
-191: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Scene_TEST.xml"
-191: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-191: Test timeout computed to be: 10000000
+205: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Types_TEST.xml"
+205: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+205: Test timeout computed to be: 10000000
 184: Running main() from /usr/src/gtest/src/gtest_main.cc
 184: [==========] Running 6 tests from 1 test suite.
 184: [----------] Global test environment set-up.
@@ -36535,26 +37021,24 @@
 184: [----------] Global test environment tear-down
 184: [==========] 6 tests from 1 test suite ran. (0 ms total)
 184: [  PASSED  ] 6 tests.
-177/221 Test #184: UNIT_Physics_TEST ......................................   Passed    0.22 sec
-test 192
-        Start 192: UNIT_SemanticPose_TEST
+190/221 Test #184: UNIT_Physics_TEST ......................................   Passed    0.10 sec
+test 206
+        Start 206: UNIT_Visual_TEST
 
-192: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_SemanticPose_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml"
-192: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-192: Environment variables: 
-192:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-192: Test timeout computed to be: 240
-189: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Root_TEST.xml
-189: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Root_TEST.xml
-178/221 Test #189: check_UNIT_Root_TEST ...................................   Passed    0.10 sec
-test 193
-        Start 193: check_UNIT_SemanticPose_TEST
+206: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Visual_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Visual_TEST.xml"
+206: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+206: Environment variables: 
+206:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+206: Test timeout computed to be: 240
+201: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sphere_TEST.xml
+201: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sphere_TEST.xml
+191/221 Test #201: check_UNIT_Sphere_TEST .................................   Passed    0.03 sec
+test 207
+        Start 207: check_UNIT_Visual_TEST
 
-193: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml"
-193: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-193: Test timeout computed to be: 10000000
-191: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Scene_TEST.xml
-191: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Scene_TEST.xml
+207: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Visual_TEST.xml"
+207: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+207: Test timeout computed to be: 10000000
 188: Running main() from /usr/src/gtest/src/gtest_main.cc
 188: [==========] Running 8 tests from 1 test suite.
 188: [----------] Global test environment set-up.
@@ -36566,21 +37050,44 @@
 188: [ RUN      ] DOMRoot.MoveAssignmentOperator
 188: [       OK ] DOMRoot.MoveAssignmentOperator (0 ms)
 188: [ RUN      ] DOMRoot.StringModelSdfParse
-148: Running main() from /usr/src/gtest/src/gtest_main.cc
-148: [==========] Running 3 tests from 1 test suite.
-148: [----------] Global test environment set-up.
-148: [----------] 3 tests from DOMImu
-148: [ RUN      ] DOMImu.Construction
-148: [       OK ] DOMImu.Construction (0 ms)
-148: [ RUN      ] DOMImu.Load
-148: [       OK ] DOMImu.Load (0 ms)
-148: [ RUN      ] DOMImu.ToElement
-148: [       OK ] DOMImu.ToElement (26 ms)
-148: [----------] 3 tests from DOMImu (27 ms total)
-148: 
-148: [----------] Global test environment tear-down
-148: [==========] 3 tests from 1 test suite ran. (27 ms total)
-148: [  PASSED  ] 3 tests.
+186: Running main() from /usr/src/gtest/src/gtest_main.cc
+186: [==========] Running 8 tests from 1 test suite.
+186: [----------] Global test environment set-up.
+186: [----------] 8 tests from DOMPlane
+186: [ RUN      ] DOMPlane.Construction
+186: [       OK ] DOMPlane.Construction (0 ms)
+186: [ RUN      ] DOMPlane.MoveConstructor
+186: [       OK ] DOMPlane.MoveConstructor (0 ms)
+186: [ RUN      ] DOMPlane.CopyConstructor
+186: [       OK ] DOMPlane.CopyConstructor (0 ms)
+186: [ RUN      ] DOMPlane.CopyAssignmentOperator
+186: [       OK ] DOMPlane.CopyAssignmentOperator (0 ms)
+186: [ RUN      ] DOMPlane.MoveAssignmentOperator
+186: [       OK ] DOMPlane.MoveAssignmentOperator (0 ms)
+186: [ RUN      ] DOMPlane.CopyAssignmentAfterMove
+186: [       OK ] DOMPlane.CopyAssignmentAfterMove (0 ms)
+186: [ RUN      ] DOMPlane.Load
+186: [       OK ] DOMPlane.Load (0 ms)
+186: [ RUN      ] DOMPlane.Shape
+186: [       OK ] DOMPlane.Shape (0 ms)
+186: [----------] 8 tests from DOMPlane (0 ms total)
+186: 
+186: [----------] Global test environment tear-down
+186: [==========] 8 tests from 1 test suite ran. (0 ms total)
+186: [  PASSED  ] 8 tests.
+203: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Surface_TEST.xml
+203: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Surface_TEST.xml
+192/221 Test #186: UNIT_Plane_TEST ........................................   Passed    0.10 sec
+test 208
+        Start 208: UNIT_World_TEST
+
+208: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_World_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_World_TEST.xml"
+208: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+208: Environment variables: 
+208:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+208: Test timeout computed to be: 240
+205: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Types_TEST.xml
+205: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Types_TEST.xml
 190: Running main() from /usr/src/gtest/src/gtest_main.cc
 190: [==========] Running 7 tests from 1 test suite.
 190: [----------] Global test environment set-up.
@@ -36604,74 +37111,31 @@
 190: [----------] Global test environment tear-down
 190: [==========] 7 tests from 1 test suite ran. (0 ms total)
 190: [  PASSED  ] 7 tests.
-179/221 Test #148: UNIT_Imu_TEST ..........................................   Passed    1.65 sec
-test 194
-        Start 194: UNIT_SDF_TEST
-
-194: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_SDF_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SDF_TEST.xml"
-194: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-194: Environment variables: 
-194:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-194: Test timeout computed to be: 240
-180/221 Test #190: UNIT_Scene_TEST ........................................   Passed    0.20 sec
-test 195
-        Start 195: check_UNIT_SDF_TEST
-
-195: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SDF_TEST.xml"
-195: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-195: Test timeout computed to be: 10000000
-181/221 Test #191: check_UNIT_Scene_TEST ..................................   Passed    0.22 sec
-test 196
-        Start 196: UNIT_Sensor_TEST
+193/221 Test #190: UNIT_Scene_TEST ........................................   Passed    0.10 sec
+test 209
+        Start 209: check_UNIT_World_TEST
 
-196: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Sensor_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sensor_TEST.xml"
-196: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-196: Environment variables: 
-196:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-196: Test timeout computed to be: 240
-193: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml
-193: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml
-182/221 Test #193: check_UNIT_SemanticPose_TEST ...........................   Passed    0.19 sec
-test 197
-        Start 197: check_UNIT_Sensor_TEST
+209: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_World_TEST.xml"
+209: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+209: Test timeout computed to be: 10000000
+194/221 Test #203: check_UNIT_Surface_TEST ................................   Passed    0.03 sec
+test 210
+        Start 210: UNIT_Utils_TEST
 
-197: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sensor_TEST.xml"
-197: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-197: Test timeout computed to be: 10000000
-116: Running main() from /usr/src/gtest/src/gtest_main.cc
-116: [==========] Running 8 tests from 1 test suite.
-116: [----------] Global test environment set-up.
-116: [----------] 8 tests from DOMBox
-116: [ RUN      ] DOMBox.Construction
-116: [       OK ] DOMBox.Construction (0 ms)
-116: [ RUN      ] DOMBox.MoveConstructor
-116: [       OK ] DOMBox.MoveConstructor (0 ms)
-116: [ RUN      ] DOMBox.CopyConstructor
-116: [       OK ] DOMBox.CopyConstructor (0 ms)
-116: [ RUN      ] DOMBox.CopyAssigmentOperator
-116: [       OK ] DOMBox.CopyAssigmentOperator (0 ms)
-116: [ RUN      ] DOMBox.MoveAssignmentConstructor
-116: [       OK ] DOMBox.MoveAssignmentConstructor (0 ms)
-116: [ RUN      ] DOMBox.CopyAssignmentAfterMove
-116: [       OK ] DOMBox.CopyAssignmentAfterMove (0 ms)
-116: [ RUN      ] DOMBox.Load
-116: [       OK ] DOMBox.Load (0 ms)
-116: [ RUN      ] DOMBox.Shape
-116: [       OK ] DOMBox.Shape (0 ms)
-116: [----------] 8 tests from DOMBox (0 ms total)
-116: 
-116: [----------] Global test environment tear-down
-116: [==========] 8 tests from 1 test suite ran. (0 ms total)
-116: [  PASSED  ] 8 tests.
-183/221 Test #116: UNIT_Box_TEST ..........................................   Passed    3.39 sec
-test 198
-        Start 198: UNIT_Sky_TEST
+210: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Utils_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Utils_TEST.xml"
+210: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+210: Environment variables: 
+210:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+210: Test timeout computed to be: 240
+195/221 Test #205: check_UNIT_Types_TEST ..................................   Passed    0.03 sec
+test 211
+        Start 211: check_UNIT_Utils_TEST
 
-198: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Sky_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sky_TEST.xml"
-198: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-198: Environment variables: 
-198:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-198: Test timeout computed to be: 240
+211: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Utils_TEST.xml"
+211: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+211: Test timeout computed to be: 10000000
+207: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Visual_TEST.xml
+207: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Visual_TEST.xml
 192: Running main() from /usr/src/gtest/src/gtest_main.cc
 192: [==========] Running 6 tests from 1 test suite.
 192: [----------] Global test environment set-up.
@@ -36693,359 +37157,144 @@
 192: [----------] Global test environment tear-down
 192: [==========] 6 tests from 1 test suite ran. (0 ms total)
 192: [  PASSED  ] 6 tests.
-184/221 Test #192: UNIT_SemanticPose_TEST .................................   Passed    0.71 sec
-test 199
-        Start 199: check_UNIT_Sky_TEST
-
-199: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sky_TEST.xml"
-199: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-199: Test timeout computed to be: 10000000
-59: [       OK ] PlacementFrame.WorldInclude (8680 ms)
-59: [ RUN      ] PlacementFrame.ModelInclude
-63: Warning [ParamPassing.cc:326] The original element [collision] contains the attribute 'name' but none was provided in the element modifier. The assumed element to be modified is: <collision name='top_collision'>
-63: Error [Param.cc:399] Unknown error. Unable to set value [0.5 0.5 ] for key[size]
-63: Warning [ParamPassing.cc:612] No modifications for element <geometry/>
-63:  provided, skipping modification for:
-63: <collision name="top_collision">
-63:     <!-- element missing -->
-63:     <geometry>
-63:         <sphere>
-63:             <radius>0.5</radius>
-63:         </sphere>
-63:     </geometry>
-63:     <!-- element has invalid value -->
-63:     <geometry>
-63:         <box>
-63:             <size>0.5 0.5</size>
-63:         </box>
-63:     </geometry>
-63:     <!-- no modifications listed, warning is printed (not error) -->
-63:     <geometry/>
-63: </collision>
-63: 
-63: Error [Param.cc:925] Empty string used when setting a required parameter. Key[name]
-63: Element identifier requires an element_id attribute, but the element_id is not set. Skipping element alteration:
-63: <foo/>
-63: 
-63: Could not find element <visual element_id='chassis::camera_visual'>. Skipping element modification:
-63: <visual element_id="chassis::camera_visual" action="modify">
-63:     <pose>-1.06 0 0 0 0 3.14</pose>
-63:     <geometry>
-63:         <box>
-63:             <size>0.1 0.1 0.1</size>
-63:         </box>
-63:     </geometry>
-63: </visual>
-63: 
-63: Could not add element <visual element_id='chassis'> because element already exists in included model. Skipping element addition:
-63: <visual element_id="chassis" name="visual" action="add">
-63:     <geometry>
-63:         <box>
-63:             <size>0.1 0.1 0.1</size>
-63:         </box>
-63:     </geometry>
-63: </visual>
-63: 
-63: Could not find element <visual element_id='chassis::test'>. Skipping element modification:
-63: <visual element_id="chassis::test" name="visual" action="add">
-63:     <geometry>
-63:         <box>
-63:             <size>0.1 0.1 0.1</size>
-63:         </box>
-63:     </geometry>
-63: </visual>
-63: 
-63: Missing name after double colons in element identifier. Skipping element alteration:
-63: <link element_id="chassis::test::" name="foo" action="add"/>
-63: 
-63: Missing an action attribute. Skipping child element modification with parent <visual element_id='top::camera_visual'>:
-63: <transparency>0.2</transparency>
-63: 
-63: Required attribute[name] in element[plugin] is not specified in SDF.
-63: Unable to convert XML to SDF. Skipping child element alteration with parent <visual element_id='top::camera_visual'>:
-63: <plugin/>
-63: 
-63: Element [test] is not a defined SDF element or is an invalid child specification. Skipping child element modification with parent <visual element_id='top::camera_visual'>:
-63: <test action="add"/>
-63: 
-63: Element [test] is not a defined SDF element. Skipping element alteration
-63: : <test element_id="chassis" name="new_elem" action="add"/>
-63: 
-63: Element to be added is missing a 'name' attribute. Skipping element addition:
-63: <plugin element_id="chassis" action="add"/>
-63: 
-63: The 'name' attribute can not be empty. Skipping element addition:
-63: <plugin element_id="chassis" name="" action="add"/>
-63: 
-63: Required attribute[filename] in element[plugin] is not specified in SDF.
-63: Unable to convert XML to SDF. Skipping element addition:
-63: <plugin name="some_plugin"/>
-63: 
-63: Action [test] is not a valid action. Skipping element alteration:
-63: <link element_id="top" action="test"/>
-63: 
-63: Action [test] is not a valid action. Skipping child element modification with parent <collision element_id='left_wheel::collision'>:
-63: <geometry action="test"/>
-63: 
-63: Could not find element. Skipping child element removal with parent <collision element_id='left_wheel::collision'>:
-63: <laser_retro action="remove"/>
-63: 
-63: Could not find element. Skipping child element removal from <collision element_id='left_wheel::collision'> with parent <geometry>:
-63: <box/>
-63: 
-63: Could not find element. Skipping child element removal with parent <link element_id='top'>:
-63: <collision name="collision" action="remove"/>
-63: 
-63: Could not find element. Skipping child element replacement with parent <link element_id='top'>:
-63: <collision name="collision"/>
-63: 
-63: Replacement element is missing a 'name' attribute. Skipping element replacement <link element_id='top'>:
-63: <collision/>
-63: 
-63: Attribute [test] is invalid. Skipping attribute modification in:
-63: <collision name="top_collision" action="modify" test="foo"/>
-63: 
-63: Could not find element. Skipping child element modification with parent <link element_id='top'>:
-63: <geometry action="modify">
-63:     <box>
-63:         <size>1 1 1</size>
-63:     </box>
-63: </geometry>
-63: 
-63: Required attribute[type] in element[sensor] is not specified in SDF.
-63: Unable to convert XML to SDF. Skipping element replacement:
-63: <sensor name="camera"/>
-63: 
-63: Attribute [test] is invalid. Skipping attribute modification in:
-63: <link element_id="top" action="modify" test="foo">
-63:     <!-- element missing -->
-63:     <inertial/>
-63:     <collision name="top_collision">
-63:         <!-- element missing -->
-63:         <geometry>
-63:             <sphere>
-63:                 <radius>0.5</radius>
-63:             </sphere>
-63:         </geometry>
-63:         <!-- element has invalid value -->
-63:         <geometry>
-63:             <box>
-63:                 <size>0.5 0.5</size>
-63:             </box>
-63:         </geometry>
-63:         <!-- no modifications listed, warning is printed (not error) -->
-63:         <geometry/>
-63:     </collision>
-63: </link>
-63: 
-63: Could not find element [inertial]. Skipping modification for:
-63: <link element_id="top" action="modify" test="foo">
-63:     <!-- element missing -->
-63:     <inertial/>
-63:     <collision name="top_collision">
-63:         <!-- element missing -->
-63:         <geometry>
-63:             <sphere>
-63:                 <radius>0.5</radius>
-63:             </sphere>
-63:         </geometry>
-63:         <!-- element has invalid value -->
-63:         <geometry>
-63:             <box>
-63:                 <size>0.5 0.5</size>
-63:             </box>
-63:         </geometry>
-63:         <!-- no modifications listed, warning is printed (not error) -->
-63:         <geometry/>
-63:     </collision>
-63: </link>
-63: 
-63: Could not find element [sphere]. Skipping modification for:
-63: <geometry>
-63:     <sphere>
-63:         <radius>0.5</radius>
-63:     </sphere>
-63: </geometry>
-63: 
-63: Value [0.5 0.5] for element [size] is invalid. Skipping modification for:
-63: <box>
-63:     <size>0.5 0.5</size>
-63: </box>
-63: 
-63: [       OK ] ParamPassingTest.ExperimentalParamsTag (17877 ms)
-63: [ RUN      ] ParamPassingTest.NestedInclude
-176: [       OK ] Parser.ReusedSDFVersion (423 ms)
-176: [ RUN      ] Parser.readFileConversions
-149: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Imu_TEST.xml
-185/221 Test #149: check_UNIT_Imu_TEST ....................................   Passed    2.24 sec
-test 200
-        Start 200: UNIT_Sphere_TEST
-
-200: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Sphere_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sphere_TEST.xml"
-200: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-200: Environment variables: 
-200:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-200: Test timeout computed to be: 240
-172: Running main() from /usr/src/gtest/src/gtest_main.cc
-172: [==========] Running 3 tests from 1 test suite.
-172: [----------] Global test environment set-up.
-172: [----------] 3 tests from DOMNoise
-172: [ RUN      ] DOMNoise.ConstructionAndSet
-172: [       OK ] DOMNoise.ConstructionAndSet (0 ms)
-172: [ RUN      ] DOMNoise.Load
-172: [       OK ] DOMNoise.Load (0 ms)
-172: [ RUN      ] DOMNoise.ToElement
-172: [       OK ] DOMNoise.ToElement (8 ms)
-172: [----------] 3 tests from DOMNoise (8 ms total)
-172: 
-172: [----------] Global test environment tear-down
-172: [==========] 3 tests from 1 test suite ran. (8 ms total)
-172: [  PASSED  ] 3 tests.
-186/221 Test #172: UNIT_Noise_TEST ........................................   Passed    1.56 sec
-test 201
-        Start 201: check_UNIT_Sphere_TEST
-
-201: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sphere_TEST.xml"
-201: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-201: Test timeout computed to be: 10000000
-173: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Noise_TEST.xml
-173: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Noise_TEST.xml
-187/221 Test #173: check_UNIT_Noise_TEST ..................................   Passed    1.56 sec
-test 202
-        Start 202: UNIT_Surface_TEST
-
-202: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Surface_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Surface_TEST.xml"
-202: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-202: Environment variables: 
-202:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-202: Test timeout computed to be: 240
-152: [       OK ] DOMJoint.ToElement (1698 ms)
-152: [----------] 7 tests from DOMJoint (1698 ms total)
-152: 
-152: [----------] Global test environment tear-down
-152: [==========] 7 tests from 1 test suite ran. (1698 ms total)
-152: [  PASSED  ] 7 tests.
-188/221 Test #152: UNIT_Joint_TEST ........................................   Passed    2.09 sec
-test 203
-        Start 203: check_UNIT_Surface_TEST
-
-203: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Surface_TEST.xml"
-203: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-203: Test timeout computed to be: 10000000
-195: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SDF_TEST.xml
-195: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_SDF_TEST.xml
-189/221 Test #195: check_UNIT_SDF_TEST ....................................   Passed    0.63 sec
-test 204
-        Start 204: UNIT_Types_TEST
-
-204: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Types_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Types_TEST.xml"
-204: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-204: Environment variables: 
-204:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-204: Test timeout computed to be: 240
-197: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sensor_TEST.xml
-197: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sensor_TEST.xml
-199: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sky_TEST.xml
-199: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sky_TEST.xml
-190/221 Test #197: check_UNIT_Sensor_TEST .................................   Passed    0.59 sec
-test 205
-        Start 205: check_UNIT_Types_TEST
+196/221 Test #192: UNIT_SemanticPose_TEST .................................   Passed    0.10 sec
+test 212
+        Start 212: UNIT_XmlUtils_TEST
 
-205: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Types_TEST.xml"
-205: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-205: Test timeout computed to be: 10000000
-191/221 Test #199: check_UNIT_Sky_TEST ....................................   Passed    0.12 sec
-test 206
-        Start 206: UNIT_Visual_TEST
+212: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_XmlUtils_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml"
+212: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+212: Environment variables: 
+212:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+212: Test timeout computed to be: 240
+194: [==========] Running 14 tests from 1 test suite.
+194: [----------] Global test environment set-up.
+194: [----------] 14 tests from SDF
+194: [ RUN      ] SDF.UpdateAttribute
+197/221 Test #207: check_UNIT_Visual_TEST .................................   Passed    0.03 sec
+test 213
+        Start 213: check_UNIT_XmlUtils_TEST
 
-206: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Visual_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Visual_TEST.xml"
-206: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-206: Environment variables: 
-206:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-206: Test timeout computed to be: 240
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-188: [       OK ] DOMRoot.StringModelSdfParse (780 ms)
-188: [ RUN      ] DOMRoot.StringLightSdfParse
-201: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sphere_TEST.xml
-201: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Sphere_TEST.xml
-192/221 Test #201: check_UNIT_Sphere_TEST .................................   Passed    0.10 sec
-test 207
-        Start 207: check_UNIT_Visual_TEST
+213: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml"
+213: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+213: Test timeout computed to be: 10000000
+209: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_World_TEST.xml
+209: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_World_TEST.xml
+198/221 Test #209: check_UNIT_World_TEST ..................................   Passed    0.03 sec
+test 214
+        Start 214: UNIT_FrameSemantics_TEST
 
-207: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Visual_TEST.xml"
-207: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-207: Test timeout computed to be: 10000000
-203: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Surface_TEST.xml
-203: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Surface_TEST.xml
-193/221 Test #203: check_UNIT_Surface_TEST ................................   Passed    0.10 sec
-test 208
-        Start 208: UNIT_World_TEST
+214: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_FrameSemantics_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml"
+214: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+214: Environment variables: 
+214:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+214: Test timeout computed to be: 240
+211: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Utils_TEST.xml
+211: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Utils_TEST.xml
+196: Running main() from /usr/src/gtest/src/gtest_main.cc
+196: [==========] Running 11 tests from 1 test suite.
+196: [----------] Global test environment set-up.
+196: [----------] 11 tests from DOMSensor
+196: [ RUN      ] DOMSensor.Construction
+196: [       OK ] DOMSensor.Construction (0 ms)
+196: [ RUN      ] DOMSensor.MoveConstructor
+196: [       OK ] DOMSensor.MoveConstructor (0 ms)
+196: [ RUN      ] DOMSensor.CopyConstructor
+196: [       OK ] DOMSensor.CopyConstructor (0 ms)
+196: [ RUN      ] DOMSensor.MoveAssignment
+196: [       OK ] DOMSensor.MoveAssignment (0 ms)
+196: [ RUN      ] DOMSensor.CopyAssignment
+196: [       OK ] DOMSensor.CopyAssignment (0 ms)
+196: [ RUN      ] DOMSensor.CopyAssignmentAfterMove
+196: [       OK ] DOMSensor.CopyAssignmentAfterMove (0 ms)
+196: [ RUN      ] DOMSensor.Load
+196: [       OK ] DOMSensor.Load (0 ms)
+196: [ RUN      ] DOMSensor.Type
+196: [       OK ] DOMSensor.Type (0 ms)
+196: [ RUN      ] DOMSensor.EnableMetrics
+199/221 Test #211: check_UNIT_Utils_TEST ..................................   Passed    0.03 sec
+test 215
+        Start 215: check_UNIT_FrameSemantics_TEST
 
-208: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_World_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_World_TEST.xml"
-208: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-208: Environment variables: 
-208:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-208: Test timeout computed to be: 240
-205: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Types_TEST.xml
-205: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Types_TEST.xml
-194/221 Test #205: check_UNIT_Types_TEST ..................................   Passed    0.09 sec
-test 209
-        Start 209: check_UNIT_World_TEST
+215: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml"
+215: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+215: Test timeout computed to be: 10000000
+198: Running main() from /usr/src/gtest/src/gtest_main.cc
+198: [==========] Running 7 tests from 1 test suite.
+198: [----------] Global test environment set-up.
+198: [----------] 7 tests from DOMSky
+198: [ RUN      ] DOMSky.Construction
+198: [       OK ] DOMSky.Construction (0 ms)
+198: [ RUN      ] DOMSky.CopyConstruction
+198: [       OK ] DOMSky.CopyConstruction (0 ms)
+198: [ RUN      ] DOMSky.MoveConstruction
+198: [       OK ] DOMSky.MoveConstruction (0 ms)
+198: [ RUN      ] DOMSky.MoveAssignmentOperator
+198: [       OK ] DOMSky.MoveAssignmentOperator (0 ms)
+198: [ RUN      ] DOMSky.AssignmentOperator
+198: [       OK ] DOMSky.AssignmentOperator (0 ms)
+198: [ RUN      ] DOMSky.CopyAssignmentAfterMove
+198: [       OK ] DOMSky.CopyAssignmentAfterMove (0 ms)
+198: [ RUN      ] DOMSky.Set
+198: [       OK ] DOMSky.Set (0 ms)
+198: [----------] 7 tests from DOMSky (0 ms total)
+198: 
+198: [----------] Global test environment tear-down
+198: [==========] 7 tests from 1 test suite ran. (0 ms total)
+198: [  PASSED  ] 7 tests.
+213: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml
+213: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml
+200: Running main() from /usr/src/gtest/src/gtest_main.cc
+200: [==========] Running 8 tests from 1 test suite.
+200: [----------] Global test environment set-up.
+200: [----------] 8 tests from DOMSphere
+200: [ RUN      ] DOMSphere.Construction
+200: [       OK ] DOMSphere.Construction (0 ms)
+200: [ RUN      ] DOMSphere.MoveConstructor
+200: [       OK ] DOMSphere.MoveConstructor (0 ms)
+200: [ RUN      ] DOMSphere.CopyConstructor
+200: [       OK ] DOMSphere.CopyConstructor (0 ms)
+200: [ RUN      ] DOMSphere.CopyAssignmentOperator
+200: [       OK ] DOMSphere.CopyAssignmentOperator (0 ms)
+200: [ RUN      ] DOMSphere.MoveAssignmentOperator
+200: [       OK ] DOMSphere.MoveAssignmentOperator (0 ms)
+200: [ RUN      ] DOMSphere.CopyAssignmentAfterMove
+200: [       OK ] DOMSphere.CopyAssignmentAfterMove (0 ms)
+200: [ RUN      ] DOMSphere.Load
+200: [       OK ] DOMSphere.Load (0 ms)
+200: [ RUN      ] DOMSphere.Shape
+200: [       OK ] DOMSphere.Shape (0 ms)
+200: [----------] 8 tests from DOMSphere (0 ms total)
+200: 
+200: [----------] Global test environment tear-down
+200: [==========] 8 tests from 1 test suite ran. (0 ms total)
+200: [  PASSED  ] 8 tests.
+200/221 Test #198: UNIT_Sky_TEST ..........................................   Passed    0.11 sec
+test 216
+        Start 216: UNIT_Converter_TEST
 
-209: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_World_TEST.xml"
-209: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-209: Test timeout computed to be: 10000000
-207: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Visual_TEST.xml
-207: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Visual_TEST.xml
-195/221 Test #207: check_UNIT_Visual_TEST .................................   Passed    0.09 sec
-test 210
-        Start 210: UNIT_Utils_TEST
+216: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Converter_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Converter_TEST.xml"
+216: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+216: Environment variables: 
+216:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+216: Test timeout computed to be: 240
+201/221 Test #200: UNIT_Sphere_TEST .......................................   Passed    0.10 sec
+test 217
+        Start 217: check_UNIT_Converter_TEST
 
-210: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Utils_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Utils_TEST.xml"
-210: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-210: Environment variables: 
-210:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-210: Test timeout computed to be: 240
-209: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_World_TEST.xml
-209: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_World_TEST.xml
-196/221 Test #209: check_UNIT_World_TEST ..................................   Passed    0.09 sec
-test 211
-        Start 211: check_UNIT_Utils_TEST
+217: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Converter_TEST.xml"
+217: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+217: Test timeout computed to be: 10000000
+202/221 Test #213: check_UNIT_XmlUtils_TEST ...............................   Passed    0.04 sec
+test 218
+        Start 218: UNIT_parser_urdf_TEST
 
-211: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Utils_TEST.xml"
-211: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-211: Test timeout computed to be: 10000000
-194: [==========] Running 14 tests from 1 test suite.
-194: [----------] Global test environment set-up.
-194: [----------] 14 tests from SDF
-194: [ RUN      ] SDF.UpdateAttribute
+218: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_parser_urdf_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml"
+218: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+218: Environment variables: 
+218:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+218: Test timeout computed to be: 240
+176: [       OK ] Parser.CustomUnknownElements (125 ms)
+176: [ RUN      ] Parser.ReusedSDFVersion
 202: Running main() from /usr/src/gtest/src/gtest_main.cc
 202: [==========] Running 9 tests from 2 test suites.
 202: [----------] Global test environment set-up.
@@ -37076,54 +37325,13 @@
 202: [----------] Global test environment tear-down
 202: [==========] 9 tests from 2 test suites ran. (0 ms total)
 202: [  PASSED  ] 9 tests.
-197/221 Test #202: UNIT_Surface_TEST ......................................   Passed    0.28 sec
-test 212
-        Start 212: UNIT_XmlUtils_TEST
+203/221 Test #202: UNIT_Surface_TEST ......................................   Passed    0.10 sec
+test 219
+        Start 219: check_UNIT_parser_urdf_TEST
 
-212: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_XmlUtils_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml"
-212: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-212: Environment variables: 
-212:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-212: Test timeout computed to be: 240
-208: Running main() from /usr/src/gtest/src/gtest_main.cc
-208: [==========] Running 12 tests from 1 test suite.
-208: [----------] Global test environment set-up.
-208: [----------] 12 tests from DOMWorld
-208: [ RUN      ] DOMWorld.Construction
-208: [       OK ] DOMWorld.Construction (0 ms)
-208: [ RUN      ] DOMWorld.CopyConstructor
-208: [       OK ] DOMWorld.CopyConstructor (0 ms)
-208: [ RUN      ] DOMWorld.CopyAssignmentOperator
-208: [       OK ] DOMWorld.CopyAssignmentOperator (0 ms)
-208: [ RUN      ] DOMWorld.MoveConstructor
-208: [       OK ] DOMWorld.MoveConstructor (0 ms)
-208: [ RUN      ] DOMWorld.MoveAssignmentOperator
-208: [       OK ] DOMWorld.MoveAssignmentOperator (0 ms)
-208: [ RUN      ] DOMWorld.CopyAssignmentAfterMove
-208: [       OK ] DOMWorld.CopyAssignmentAfterMove (0 ms)
-208: [ RUN      ] DOMWorld.Set
-208: [       OK ] DOMWorld.Set (0 ms)
-208: [ RUN      ] DOMWorld.SetGui
-208: [       OK ] DOMWorld.SetGui (0 ms)
-208: [ RUN      ] DOMWorld.SetScene
-208: [       OK ] DOMWorld.SetScene (0 ms)
-208: [ RUN      ] DOMWorld.AddModel
-208: [       OK ] DOMWorld.AddModel (0 ms)
-208: [ RUN      ] DOMWorld.AddActor
-208: [       OK ] DOMWorld.AddActor (0 ms)
-208: [ RUN      ] DOMWorld.AddLight
-208: [       OK ] DOMWorld.AddLight (0 ms)
-208: [----------] 12 tests from DOMWorld (0 ms total)
-208: 
-208: [----------] Global test environment tear-down
-208: [==========] 12 tests from 1 test suite ran. (0 ms total)
-208: [  PASSED  ] 12 tests.
-188: [       OK ] DOMRoot.StringLightSdfParse (344 ms)
-188: [ RUN      ] DOMRoot.StringActorSdfParse
-188: [       OK ] DOMRoot.StringActorSdfParse (1673 ms)
-188: [ RUN      ] DOMRoot.Set
-188: [       OK ] DOMRoot.Set (0 ms)
-188: [ RUN      ] DOMRoot.FrameSemanticsOnMove
+219: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml"
+219: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+219: Test timeout computed to be: 10000000
 204: [==========] Running 10 tests from 1 test suite.
 204: [----------] Global test environment set-up.
 204: [----------] 10 tests from Types
@@ -37152,229 +37360,26 @@
 204: [----------] Global test environment tear-down
 204: [==========] 10 tests from 1 test suite ran. (0 ms total)
 204: [  PASSED  ] 10 tests.
-198: Running main() from /usr/src/gtest/src/gtest_main.cc
-198: [==========] Running 7 tests from 1 test suite.
-198: [----------] Global test environment set-up.
-198: [----------] 7 tests from DOMSky
-198: [ RUN      ] DOMSky.Construction
-198: [       OK ] DOMSky.Construction (0 ms)
-198: [ RUN      ] DOMSky.CopyConstruction
-198: [       OK ] DOMSky.CopyConstruction (0 ms)
-198: [ RUN      ] DOMSky.MoveConstruction
-198: [       OK ] DOMSky.MoveConstruction (0 ms)
-198: [ RUN      ] DOMSky.MoveAssignmentOperator
-198: [       OK ] DOMSky.MoveAssignmentOperator (0 ms)
-198: [ RUN      ] DOMSky.AssignmentOperator
-198: [       OK ] DOMSky.AssignmentOperator (0 ms)
-198: [ RUN      ] DOMSky.CopyAssignmentAfterMove
-198: [       OK ] DOMSky.CopyAssignmentAfterMove (0 ms)
-198: [ RUN      ] DOMSky.Set
-198: [       OK ] DOMSky.Set (0 ms)
-198: [----------] 7 tests from DOMSky (0 ms total)
-198: 
-198: [----------] Global test environment tear-down
-198: [==========] 7 tests from 1 test suite ran. (0 ms total)
-198: [  PASSED  ] 7 tests.
-176: [       OK ] Parser.readFileConversions (1018 ms)
-176: [ RUN      ] Parser.NameUniqueness
-176: Error: Non-unique names detected in type world in
-176: <sdf version='1.9'>
-176:   <world name='default'>
-176:     <gravity>0 0 -9.8</gravity>
-176:     <magnetic_field>5.5645e-6 22.8758e-6 -42.3884e-6</magnetic_field>
-176:     <atmosphere type='adiabatic'/>
-176:     <physics type='ode'>
-176:       <max_step_size>0.001</max_step_size>
-176:       <real_time_factor>1.0</real_time_factor>
-176:       <real_time_update_rate>1000</real_time_update_rate>
-176:     </physics>
-176:     <scene>
-176:       <ambient>0.4 0.4 0.4 1.0</ambient>
-176:       <background>.7 .7 .7 1</background>
-176:       <shadows>true</shadows>
-176:     </scene>
-176:   </world>
-176:   <world name='default'>
-176:     <gravity>0 0 -9.8</gravity>
-176:     <magnetic_field>5.5645e-6 22.8758e-6 -42.3884e-6</magnetic_field>
-176:     <atmosphere type='adiabatic'/>
-176:     <physics type='ode'>
-176:       <max_step_size>0.001</max_step_size>
-176:       <real_time_factor>1.0</real_time_factor>
-176:       <real_time_update_rate>1000</real_time_update_rate>
-176:     </physics>
-176:     <scene>
-176:       <ambient>0.4 0.4 0.4 1.0</ambient>
-176:       <background>.7 .7 .7 1</background>
-176:       <shadows>true</shadows>
-176:     </scene>
-176:   </world>
-176: </sdf>
-176: 
-176: Error: Non-unique names detected in <world name='default'>
-176:   <physics name='my_physics' type='bullet'>
-176:     <max_step_size>0.1</max_step_size>
-176:     <real_time_factor>0.5</real_time_factor>
-176:     <real_time_update_rate>1000</real_time_update_rate>
-176:   </physics>
-176:   <light name='spot' type='spot'>
-176:     <cast_shadows>true</cast_shadows>
-176:     <spot>
-176:       <inner_angle>0.1</inner_angle>
-176:       <outer_angle>0.5</outer_angle>
-176:       <falloff>2.2</falloff>
-176:     </spot>
-176:     <direction>0 0 -1</direction>
-176:   </light>
-176:   <model name='spot'>
-176:     <link name='L'/>
-176:   </model>
-176:   <gravity>0 0 -9.8</gravity>
-176:   <magnetic_field>5.5645e-6 22.8758e-6 -42.3884e-6</magnetic_field>
-176:   <atmosphere type='adiabatic'/>
-176:   <scene>
-176:     <ambient>0.4 0.4 0.4 1.0</ambient>
-176:     <background>.7 .7 .7 1</background>
-176:     <shadows>true</shadows>
-176:   </scene>
-176: </world>
-176: 
-176: Error: Non-unique names detected in type link in
-176: <model name='duplicate_links'>
-176:   <link name='link'>
-176:     <pose>1 1 1 0 0 0</pose>
-176:   </link>
-176:   <link name='link'>
-176:     <pose>2 2 2 0 0 0</pose>
-176:   </link>
-176: </model>
-176: 
-176: Error: Non-unique names detected in type joint in
-176: <model name='duplicate_joints'>
-176:   <link name='link1'/>
-176:   <link name='link2'/>
-176:   <link name='link3'/>
-176:   <joint name='joint' type='fixed'>
-176:     <parent>link1</parent>
-176:     <child>link2</child>
-176:   </joint>
-176:   <joint name='joint' type='fixed'>
-176:     <parent>link2</parent>
-176:     <child>link3</child>
-176:   </joint>
-176: </model>
-176: 
-176: Error: Non-unique names detected in <model name='link_joint_same_name'>
-176:   <link name='base'>
-176:     <pose>1 0 0 0 0 0</pose>
-176:   </link>
-176:   <link name='attachment'>
-176:     <pose>0 2 0 0 0 0</pose>
-176:   </link>
-176:   <joint name='attachment' type='fixed'>
-176:     <pose>0 0 3 0 0 0</pose>
-176:     <parent>base</parent>
-176:     <child>attachment</child>
-176:   </joint>
-176: </model>
-176: 
-176: Error: Non-unique names detected in type collision in
-176: <link name='link'>
-176:   <collision name='collision'>
-176:     <geometry/>
-176:   </collision>
-176:   <collision name='collision'>
-176:     <geometry/>
-176:   </collision>
-176: </link>
-176: 
-176: Error: Non-unique names detected in <link name='link'>
-176:   <visual name='visual'>
-176:     <geometry/>
-176:   </visual>
-176:   <visual name='visual'>
-176:     <geometry/>
-176:   </visual>
-176: </link>
-176: 
-176: [       OK ] Parser.NameUniqueness (884 ms)
-176: [ RUN      ] Parser.SyntaxErrorInValues
-176: [       OK ] Parser.SyntaxErrorInValues (408 ms)
-176: [ RUN      ] Parser.MissingRequiredAttributesErrors
-176: [       OK ] Parser.MissingRequiredAttributesErrors (302 ms)
-176: [ RUN      ] Parser.IncludesErrors
-196: Running main() from /usr/src/gtest/src/gtest_main.cc
-196: [==========] Running 11 tests from 1 test suite.
-196: [----------] Global test environment set-up.
-196: [----------] 11 tests from DOMSensor
-196: [ RUN      ] DOMSensor.Construction
-196: [       OK ] DOMSensor.Construction (0 ms)
-196: [ RUN      ] DOMSensor.MoveConstructor
-196: [       OK ] DOMSensor.MoveConstructor (0 ms)
-196: [ RUN      ] DOMSensor.CopyConstructor
-196: [       OK ] DOMSensor.CopyConstructor (0 ms)
-196: [ RUN      ] DOMSensor.MoveAssignment
-196: [       OK ] DOMSensor.MoveAssignment (0 ms)
-196: [ RUN      ] DOMSensor.CopyAssignment
-196: [       OK ] DOMSensor.CopyAssignment (0 ms)
-196: [ RUN      ] DOMSensor.CopyAssignmentAfterMove
-196: [       OK ] DOMSensor.CopyAssignmentAfterMove (0 ms)
-196: [ RUN      ] DOMSensor.Load
-196: [       OK ] DOMSensor.Load (0 ms)
-196: [ RUN      ] DOMSensor.Type
-196: [       OK ] DOMSensor.Type (0 ms)
-196: [ RUN      ] DOMSensor.EnableMetrics
-196: [       OK ] DOMSensor.EnableMetrics (740 ms)
-196: [ RUN      ] DOMSensor.MutableSensors
-196: [       OK ] DOMSensor.MutableSensors (0 ms)
-196: [ RUN      ] DOMSensor.ToElement
-196: [       OK ] DOMSensor.ToElement (68 ms)
-196: [----------] 11 tests from DOMSensor (808 ms total)
-196: 
-196: [----------] Global test environment tear-down
-196: [==========] 11 tests from 1 test suite ran. (808 ms total)
-196: [  PASSED  ] 11 tests.
-211: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Utils_TEST.xml
-211: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Utils_TEST.xml
-198/221 Test #196: UNIT_Sensor_TEST .......................................   Passed    2.91 sec
-test 213
-        Start 213: check_UNIT_XmlUtils_TEST
-
-213: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml"
-213: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-213: Test timeout computed to be: 10000000
-199/221 Test #198: UNIT_Sky_TEST ..........................................   Passed    2.47 sec
-test 214
-        Start 214: UNIT_FrameSemantics_TEST
-
-214: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_FrameSemantics_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml"
-214: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-214: Environment variables: 
-214:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-214: Test timeout computed to be: 240
-200/221 Test #204: UNIT_Types_TEST ........................................   Passed    2.41 sec
-test 215
-        Start 215: check_UNIT_FrameSemantics_TEST
-
-215: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml"
-215: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-215: Test timeout computed to be: 10000000
-201/221 Test #208: UNIT_World_TEST ........................................   Passed    2.34 sec
-test 216
-        Start 216: UNIT_Converter_TEST
+215: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml
+215: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml
+204/221 Test #204: UNIT_Types_TEST ........................................   Passed    0.10 sec
+test 220
+        Start 220: UNIT_ParamPassing_TEST
 
-216: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_Converter_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Converter_TEST.xml"
-216: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-216: Environment variables: 
-216:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-216: Test timeout computed to be: 240
-202/221 Test #211: check_UNIT_Utils_TEST ..................................   Passed    2.24 sec
-test 217
-        Start 217: check_UNIT_Converter_TEST
+220: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_ParamPassing_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml"
+220: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+220: Environment variables: 
+220:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+220: Test timeout computed to be: 240
+205/221 Test #215: check_UNIT_FrameSemantics_TEST .........................   Passed    0.04 sec
+test 221
+        Start 221: check_UNIT_ParamPassing_TEST
 
-217: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Converter_TEST.xml"
-217: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-217: Test timeout computed to be: 10000000
+221: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml"
+221: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
+221: Test timeout computed to be: 10000000
+217: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Converter_TEST.xml
+217: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Converter_TEST.xml
 206: Running main() from /usr/src/gtest/src/gtest_main.cc
 206: [==========] Running 9 tests from 1 test suite.
 206: [----------] Global test environment set-up.
@@ -37402,139 +37407,102 @@
 206: [----------] Global test environment tear-down
 206: [==========] 9 tests from 1 test suite ran. (0 ms total)
 206: [  PASSED  ] 9 tests.
-203/221 Test #206: UNIT_Visual_TEST .......................................   Passed    2.42 sec
-test 218
-        Start 218: UNIT_parser_urdf_TEST
-
-218: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_parser_urdf_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml"
-218: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-218: Environment variables: 
-218:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-218: Test timeout computed to be: 240
-200: Running main() from /usr/src/gtest/src/gtest_main.cc
-200: [==========] Running 8 tests from 1 test suite.
-200: [----------] Global test environment set-up.
-200: [----------] 8 tests from DOMSphere
-200: [ RUN      ] DOMSphere.Construction
-200: [       OK ] DOMSphere.Construction (0 ms)
-200: [ RUN      ] DOMSphere.MoveConstructor
-200: [       OK ] DOMSphere.MoveConstructor (0 ms)
-200: [ RUN      ] DOMSphere.CopyConstructor
-200: [       OK ] DOMSphere.CopyConstructor (0 ms)
-200: [ RUN      ] DOMSphere.CopyAssignmentOperator
-200: [       OK ] DOMSphere.CopyAssignmentOperator (0 ms)
-200: [ RUN      ] DOMSphere.MoveAssignmentOperator
-200: [       OK ] DOMSphere.MoveAssignmentOperator (0 ms)
-200: [ RUN      ] DOMSphere.CopyAssignmentAfterMove
-200: [       OK ] DOMSphere.CopyAssignmentAfterMove (0 ms)
-200: [ RUN      ] DOMSphere.Load
-200: [       OK ] DOMSphere.Load (0 ms)
-200: [ RUN      ] DOMSphere.Shape
-200: [       OK ] DOMSphere.Shape (0 ms)
-200: [----------] 8 tests from DOMSphere (0 ms total)
-200: 
-200: [----------] Global test environment tear-down
-200: [==========] 8 tests from 1 test suite ran. (0 ms total)
-200: [  PASSED  ] 8 tests.
-204/221 Test #200: UNIT_Sphere_TEST .......................................   Passed    3.92 sec
-test 219
-        Start 219: check_UNIT_parser_urdf_TEST
-
-219: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml"
-219: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-219: Test timeout computed to be: 10000000
-213: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml
-213: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml
-205/221 Test #213: check_UNIT_XmlUtils_TEST ...............................   Passed    1.57 sec
-test 220
-        Start 220: UNIT_ParamPassing_TEST
-
-220: Test command: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src/UNIT_ParamPassing_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml"
-220: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-220: Environment variables: 
-220:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-220: Test timeout computed to be: 240
-215: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml
-215: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml
-206/221 Test #215: check_UNIT_FrameSemantics_TEST .........................   Passed    1.47 sec
-test 221
-        Start 221: check_UNIT_ParamPassing_TEST
-
-221: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml"
-221: Working Directory: /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/src
-221: Test timeout computed to be: 10000000
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [       OK ] URDFParser.AtlasURDF_5runs_performance (8129 ms)
-106: [----------] 1 test from URDFParser (8129 ms total)
-106: 
-106: [----------] Global test environment tear-down
-106: [==========] 1 test from 1 test suite ran. (8129 ms total)
-106: [  PASSED  ] 1 test.
-207/221 Test #106: PERFORMANCE_parser_urdf ................................   Passed    8.28 sec
-59: [       OK ] PlacementFrame.ModelInclude (3548 ms)
-59: [ RUN      ] PlacementFrame.ModelPlacementFrameAttribute
-63: [       OK ] ParamPassingTest.NestedInclude (3303 ms)
-63: [----------] 2 tests from ParamPassingTest (21181 ms total)
-63: 
-63: [----------] Global test environment tear-down
-63: [==========] 2 tests from 1 test suite ran. (21181 ms total)
-63: [  PASSED  ] 2 tests.
-208/221 Test  #63: INTEGRATION_param_passing ..............................   Passed   22.03 sec
+206/221 Test #206: UNIT_Visual_TEST .......................................   Passed    0.10 sec
+207/221 Test #217: check_UNIT_Converter_TEST ..............................   Passed    0.03 sec
+208: Running main() from /usr/src/gtest/src/gtest_main.cc
+208: [==========] Running 12 tests from 1 test suite.
+208: [----------] Global test environment set-up.
+208: [----------] 12 tests from DOMWorld
+208: [ RUN      ] DOMWorld.Construction
+208: [       OK ] DOMWorld.Construction (0 ms)
+208: [ RUN      ] DOMWorld.CopyConstructor
+208: [       OK ] DOMWorld.CopyConstructor (0 ms)
+208: [ RUN      ] DOMWorld.CopyAssignmentOperator
+208: [       OK ] DOMWorld.CopyAssignmentOperator (0 ms)
+208: [ RUN      ] DOMWorld.MoveConstructor
+208: [       OK ] DOMWorld.MoveConstructor (0 ms)
+208: [ RUN      ] DOMWorld.MoveAssignmentOperator
+208: [       OK ] DOMWorld.MoveAssignmentOperator (0 ms)
+208: [ RUN      ] DOMWorld.CopyAssignmentAfterMove
+208: [       OK ] DOMWorld.CopyAssignmentAfterMove (0 ms)
+208: [ RUN      ] DOMWorld.Set
+208: [       OK ] DOMWorld.Set (0 ms)
+208: [ RUN      ] DOMWorld.SetGui
+208: [       OK ] DOMWorld.SetGui (0 ms)
+208: [ RUN      ] DOMWorld.SetScene
+208: [       OK ] DOMWorld.SetScene (0 ms)
+208: [ RUN      ] DOMWorld.AddModel
+208: [       OK ] DOMWorld.AddModel (0 ms)
+208: [ RUN      ] DOMWorld.AddActor
+208: [       OK ] DOMWorld.AddActor (0 ms)
+208: [ RUN      ] DOMWorld.AddLight
+208: [       OK ] DOMWorld.AddLight (0 ms)
+208: [----------] 12 tests from DOMWorld (0 ms total)
+208: 
+208: [----------] Global test environment tear-down
+208: [==========] 12 tests from 1 test suite ran. (0 ms total)
+208: [  PASSED  ] 12 tests.
+219: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml
+219: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml
+208/221 Test #208: UNIT_World_TEST ........................................   Passed    0.10 sec
+209/221 Test #219: check_UNIT_parser_urdf_TEST ............................   Passed    0.03 sec
+210: Running main() from /usr/src/gtest/src/gtest_main.cc
+210: [==========] Running 7 tests from 2 test suites.
+210: [----------] Global test environment set-up.
+210: [----------] 6 tests from DOMUtils
+210: [ RUN      ] DOMUtils.PoseDefaultValues
+210: [       OK ] DOMUtils.PoseDefaultValues (0 ms)
+210: [ RUN      ] DOMUtils.PoseNoFrame
+210: [       OK ] DOMUtils.PoseNoFrame (0 ms)
+210: [ RUN      ] DOMUtils.PoseNoValue
+210: [       OK ] DOMUtils.PoseNoValue (0 ms)
+210: [ RUN      ] DOMUtils.PoseWithFrame
+210: [       OK ] DOMUtils.PoseWithFrame (0 ms)
+210: [ RUN      ] DOMUtils.PoseWithValue
+210: [       OK ] DOMUtils.PoseWithValue (0 ms)
+210: [ RUN      ] DOMUtils.ReservedNames
+210: [       OK ] DOMUtils.ReservedNames (0 ms)
+210: [----------] 6 tests from DOMUtils (0 ms total)
+210: 
+210: [----------] 1 test from PolicyUtils
+210: [ RUN      ] PolicyUtils.EnforcementPolicyErrors
+210: [       OK ] PolicyUtils.EnforcementPolicyErrors (0 ms)
+210: [----------] 1 test from PolicyUtils (0 ms total)
+210: 
+210: [----------] Global test environment tear-down
+210: [==========] 7 tests from 2 test suites ran. (0 ms total)
+210: [  PASSED  ] 7 tests.
+221: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml
+221: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml
+210/221 Test #210: UNIT_Utils_TEST ........................................   Passed    0.10 sec
+59: [       OK ] NestedReference.PoseRelativeTo (389 ms)
+59: [ RUN      ] NestedReference.PoseRelativeToInWorld
+211/221 Test #221: check_UNIT_ParamPassing_TEST ...........................   Passed    0.03 sec
+212: Running main() from /usr/src/gtest/src/gtest_main.cc
+212: [==========] Running 1 test from 1 test suite.
+212: [----------] Global test environment set-up.
+212: [----------] 1 test from XMLUtils
+212: [ RUN      ] XMLUtils.DeepClone
+212: [       OK ] XMLUtils.DeepClone (0 ms)
+212: [----------] 1 test from XMLUtils (0 ms total)
+212: 
+212: [----------] Global test environment tear-down
+212: [==========] 1 test from 1 test suite ran. (0 ms total)
+212: [  PASSED  ] 1 test.
+212/221 Test #212: UNIT_XmlUtils_TEST .....................................   Passed    0.10 sec
+188: [       OK ] DOMRoot.StringModelSdfParse (124 ms)
+188: [ RUN      ] DOMRoot.StringLightSdfParse
+214: Running main() from /usr/src/gtest/src/gtest_main.cc
+214: [==========] Running 7 tests from 2 test suites.
+214: [----------] Global test environment set-up.
+214: [----------] 3 tests from FrameSemantics
+214: [ RUN      ] FrameSemantics.buildFrameAttachedToGraph_Model
+194: [       OK ] SDF.UpdateAttribute (121 ms)
+194: [ RUN      ] SDF.UpdateElement
+196: [       OK ] DOMSensor.EnableMetrics (111 ms)
+196: [ RUN      ] DOMSensor.MutableSensors
+196: [       OK ] DOMSensor.MutableSensors (0 ms)
+196: [ RUN      ] DOMSensor.ToElement
 216: [==========] Running 47 tests from 1 test suite.
 216: [----------] Global test environment set-up.
 216: [----------] 47 tests from Converter
@@ -37655,6 +37623,11 @@
 216: [ RUN      ] Converter.SameVersion
 216: [       OK ] Converter.SameVersion (0 ms)
 216: [ RUN      ] Converter.NewerVersion
+220: Running main() from ./googletest/src/gtest_main.cc
+220: [==========] Running 1 test from 1 test suite.
+220: [----------] Global test environment set-up.
+220: [----------] 1 test from ParamPassing
+220: [ RUN      ] ParamPassing.GetElement
 216: [       OK ] Converter.NewerVersion (2 ms)
 216: [ RUN      ] Converter.MuchNewerVersion
 216: [       OK ] Converter.MuchNewerVersion (0 ms)
@@ -37666,63 +37639,9 @@
 216: [       OK ] Converter.Pose_16_to_17 (0 ms)
 216: [ RUN      ] Converter.World_17_to_18
 216: [       OK ] Converter.World_17_to_18 (0 ms)
-216: [----------] 47 tests from Converter (5 ms total)
+216: [----------] 47 tests from Converter (6 ms total)
 216: 
 216: [----------] Global test environment tear-down
-216: [==========] 47 tests from 1 test suite ran. (6 ms total)
-216: [  PASSED  ] 47 tests.
-209/221 Test #216: UNIT_Converter_TEST ....................................   Passed    1.47 sec
-176: [       OK ] Parser.IncludesErrors (1080 ms)
-176: [ RUN      ] Parser.PlacementFrameMissingPose
-176: Error:   Could not find the 'robot' element in the xml file
-176:          at line 109 in ./urdf_parser/src/model.cpp
-176: [       OK ] Parser.PlacementFrameMissingPose (255 ms)
-176: [ RUN      ] Parser.DoubleColonNameAttrError
-176: Error: Detected delimiter '::' in element name in
-176: <link name='A::B'/>
-176: 
-176: Error:   Could not find the 'robot' element in the xml file
-176:          at line 109 in ./urdf_parser/src/model.cpp
-176: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
-176: Error [parser.cc:820] parse as old deprecated model file failed.
-176: [       OK ] Parser.DoubleColonNameAttrError (262 ms)
-176: [ RUN      ] Parser.ReadSingleLineStringError
-188: [       OK ] DOMRoot.FrameSemanticsOnMove (1318 ms)
-188: [----------] 8 tests from DOMRoot (4117 ms total)
-188: 
-188: [----------] Global test environment tear-down
-188: [==========] 8 tests from 1 test suite ran. (4117 ms total)
-188: [  PASSED  ] 8 tests.
-210/221 Test #188: UNIT_Root_TEST .........................................   Passed    4.79 sec
-214: Running main() from /usr/src/gtest/src/gtest_main.cc
-214: [==========] Running 7 tests from 2 test suites.
-214: [----------] Global test environment set-up.
-214: [----------] 3 tests from FrameSemantics
-214: [ RUN      ] FrameSemantics.buildFrameAttachedToGraph_Model
-214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
-214: [       OK ] FrameSemantics.buildFrameAttachedToGraph_Model (137 ms)
-214: [ RUN      ] FrameSemantics.buildFrameAttachedToGraph_World
-219: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml
-219: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml
-211/221 Test #219: check_UNIT_parser_urdf_TEST ............................   Passed    0.04 sec
-176: Error:   Could not find the 'robot' element in the xml file
-176:          at line 109 in ./urdf_parser/src/model.cpp
-176: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
-176: Error [parser.cc:820] parse as old deprecated model file failed.
-176: Error Code 4: [/sdf/model[@name="test"]/link:<data-string>:L1]: Msg: Required attribute[name] in element[link] is not specified in SDF.
-221: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml
-221: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml
-176: [       OK ] Parser.ReadSingleLineStringError (161 ms)
-176: [ RUN      ] Parser.ReadMultiLineStringError
-212/221 Test #221: check_UNIT_ParamPassing_TEST ...........................   Passed    0.06 sec
-220: Running main() from ./googletest/src/gtest_main.cc
-220: [==========] Running 1 test from 1 test suite.
-220: [----------] Global test environment set-up.
-220: [----------] 1 test from ParamPassing
-220: [ RUN      ] ParamPassing.GetElement
-214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
-214: [       OK ] FrameSemantics.buildFrameAttachedToGraph_World (319 ms)
-214: [ RUN      ] FrameSemantics.buildPoseRelativeToGraph
 218: [==========] Running 19 tests from 1 test suite.
 218: [----------] Global test environment set-up.
 218: [----------] 19 tests from URDFParser
@@ -37732,7 +37651,9 @@
 218: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
 218: [       OK ] URDFParser.InitModelDoc_EmptyDoc_NoThrow (0 ms)
 218: [ RUN      ] URDFParser.InitModelDoc_BasicModel_NoThrow
-218: [       OK ] URDFParser.InitModelDoc_BasicModel_NoThrow (2 ms)
+216: [==========] 47 tests from 1 test suite ran. (6 ms total)
+216: [  PASSED  ] 47 tests.
+218: [       OK ] URDFParser.InitModelDoc_BasicModel_NoThrow (0 ms)
 218: [ RUN      ] URDFParser.ParseResults_BasicModel_ParseEqualToModel
 218: [       OK ] URDFParser.ParseResults_BasicModel_ParseEqualToModel (0 ms)
 218: [ RUN      ] URDFParser.ParseRobotOriginXYZBlank
@@ -37747,6 +37668,13 @@
 218: Error [parser_urdf.cc:288] xml key [0 foo 0][1] value [foo] is not a valid double from a 3-tuple
 218: [       OK ] URDFParser.ParseRobotOriginInvalidXYZ (0 ms)
 218: [ RUN      ] URDFParser.ParseGazeboLinkFactors
+213/221 Test #216: UNIT_Converter_TEST ....................................   Passed    0.11 sec
+196: [       OK ] DOMSensor.ToElement (14 ms)
+196: [----------] 11 tests from DOMSensor (125 ms total)
+196: 
+196: [----------] Global test environment tear-down
+196: [==========] 11 tests from 1 test suite ran. (125 ms total)
+196: [  PASSED  ] 11 tests.
 218: [       OK ] URDFParser.ParseGazeboLinkFactors (1 ms)
 218: [ RUN      ] URDFParser.ParseGazeboInvalidDampingFactor
 218: Error:   Inertial element must have inertia element
@@ -37767,133 +37695,94 @@
 218:          at line 475 in ./urdf_parser/src/link.cpp
 218: Error:   Could not parse collision element for Link [neck_tilt]
 218:          at line 475 in ./urdf_parser/src/link.cpp
-218: [       OK ] URDFParser.ParseGazeboJointElements (5 ms)
+218: [       OK ] URDFParser.ParseGazeboJointElements (1 ms)
 218: [ RUN      ] URDFParser.CheckFixedJointOptions_NoOption
-214: PoseRelativeToGraph unable to find unique frame with name [invalid] in graph.
-214: PoseRelativeToGraph unable to find unique frame with name [invalid] in graph.
-214: [       OK ] FrameSemantics.buildPoseRelativeToGraph (152 ms)
-214: [----------] 3 tests from FrameSemantics (614 ms total)
-214: 
-214: [----------] 4 tests from NestedFrameSemantics
-214: [ RUN      ] NestedFrameSemantics.buildFrameAttachedToGraph_Model
-176: Error:   Could not find the 'robot' element in the xml file
-176:          at line 109 in ./urdf_parser/src/model.cpp
-176: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
-176: Error [parser.cc:820] parse as old deprecated model file failed.
-176: Error Code 4: [/sdf/model[@name="test"]/link:<data-string>:L10]: Msg: Required attribute[name] in element[link] is not specified in SDF.
-176: [       OK ] Parser.ReadMultiLineStringError (287 ms)
-176: [ RUN      ] Parser.ElementFilePath
-220: [       OK ] ParamPassing.GetElement (328 ms)
-220: [----------] 1 test from ParamPassing (328 ms total)
+214/221 Test #196: UNIT_Sensor_TEST .......................................   Passed    0.23 sec
+188: [       OK ] DOMRoot.StringLightSdfParse (83 ms)
+188: [ RUN      ] DOMRoot.StringActorSdfParse
+176: [       OK ] Parser.ReusedSDFVersion (156 ms)
+176: [ RUN      ] Parser.readFileConversions
+59: [       OK ] NestedReference.PoseRelativeToInWorld (132 ms)
+59: [ RUN      ] NestedReference.PlacementFrameAttribute
+214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
+214: [       OK ] FrameSemantics.buildFrameAttachedToGraph_Model (124 ms)
+214: [ RUN      ] FrameSemantics.buildFrameAttachedToGraph_World
+194: [       OK ] SDF.UpdateElement (113 ms)
+194: [ RUN      ] SDF.ElementRemoveFromParent
+218: [       OK ] URDFParser.CheckFixedJointOptions_NoOption (108 ms)
+218: [ RUN      ] URDFParser.CheckFixedJointOptions_disableJointLumping
+220: [       OK ] ParamPassing.GetElement (123 ms)
+220: [----------] 1 test from ParamPassing (123 ms total)
 220: 
 220: [----------] Global test environment tear-down
-220: [==========] 1 test from 1 test suite ran. (328 ms total)
+188: [       OK ] DOMRoot.StringActorSdfParse (84 ms)
+188: [ RUN      ] DOMRoot.Set
+188: [       OK ] DOMRoot.Set (0 ms)
+188: [ RUN      ] DOMRoot.FrameSemanticsOnMove
+220: [==========] 1 test from 1 test suite ran. (123 ms total)
 220: [  PASSED  ] 1 test.
-213/221 Test #220: UNIT_ParamPassing_TEST .................................   Passed    0.45 sec
-218: [       OK ] URDFParser.CheckFixedJointOptions_NoOption (421 ms)
-218: [ RUN      ] URDFParser.CheckFixedJointOptions_disableJointLumping
-212: Running main() from /usr/src/gtest/src/gtest_main.cc
-212: [==========] Running 1 test from 1 test suite.
-212: [----------] Global test environment set-up.
-212: [----------] 1 test from XMLUtils
-212: [ RUN      ] XMLUtils.DeepClone
-212: [       OK ] XMLUtils.DeepClone (0 ms)
-212: [----------] 1 test from XMLUtils (0 ms total)
-212: 
-212: [----------] Global test environment tear-down
-212: [==========] 1 test from 1 test suite ran. (0 ms total)
-212: [  PASSED  ] 1 test.
-214/221 Test #212: UNIT_XmlUtils_TEST .....................................   Passed    4.24 sec
-210: Running main() from /usr/src/gtest/src/gtest_main.cc
-210: [==========] Running 7 tests from 2 test suites.
-210: [----------] Global test environment set-up.
-210: [----------] 6 tests from DOMUtils
-210: [ RUN      ] DOMUtils.PoseDefaultValues
-210: [       OK ] DOMUtils.PoseDefaultValues (0 ms)
-210: [ RUN      ] DOMUtils.PoseNoFrame
-210: [       OK ] DOMUtils.PoseNoFrame (0 ms)
-210: [ RUN      ] DOMUtils.PoseNoValue
-210: [       OK ] DOMUtils.PoseNoValue (0 ms)
-210: [ RUN      ] DOMUtils.PoseWithFrame
-210: [       OK ] DOMUtils.PoseWithFrame (0 ms)
-210: [ RUN      ] DOMUtils.PoseWithValue
-210: [       OK ] DOMUtils.PoseWithValue (0 ms)
-210: [ RUN      ] DOMUtils.ReservedNames
-210: [       OK ] DOMUtils.ReservedNames (0 ms)
-210: [----------] 6 tests from DOMUtils (0 ms total)
-210: 
-210: [----------] 1 test from PolicyUtils
-210: [ RUN      ] PolicyUtils.EnforcementPolicyErrors
-210: [       OK ] PolicyUtils.EnforcementPolicyErrors (0 ms)
-210: [----------] 1 test from PolicyUtils (0 ms total)
-210: 
-210: [----------] Global test environment tear-down
-210: [==========] 7 tests from 2 test suites ran. (0 ms total)
-210: [  PASSED  ] 7 tests.
-215/221 Test #210: UNIT_Utils_TEST ........................................   Passed    4.36 sec
-217: Checking for test results in /build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu/test_results/UNIT_Converter_TEST.xml
-216/221 Test #217: check_UNIT_Converter_TEST ..............................   Passed    2.18 sec
-194: [       OK ] SDF.UpdateAttribute (4462 ms)
-194: [ RUN      ] SDF.UpdateElement
-214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
-214: [       OK ] NestedFrameSemantics.buildFrameAttachedToGraph_Model (562 ms)
-214: [ RUN      ] NestedFrameSemantics.buildFrameAttachedToGraph_World
-218: [       OK ] URDFParser.CheckFixedJointOptions_disableJointLumping (392 ms)
+215/221 Test #220: UNIT_ParamPassing_TEST .................................   Passed    0.21 sec
+59: [       OK ] NestedReference.PlacementFrameAttribute (110 ms)
+59: [ RUN      ] NestedReference.PlacementFrameElement
+218: [       OK ] URDFParser.CheckFixedJointOptions_disableJointLumping (105 ms)
 218: [ RUN      ] URDFParser.CheckFixedJointOptions_preserveFixedJoint
-176: [       OK ] Parser.ElementFilePath (694 ms)
-176: [ RUN      ] Parser.MissingRequiredElement
-194: [       OK ] SDF.UpdateElement (253 ms)
-194: [ RUN      ] SDF.ElementRemoveFromParent
-218: [       OK ] URDFParser.CheckFixedJointOptions_preserveFixedJoint (283 ms)
-218: [ RUN      ] URDFParser.CheckFixedJointOptions_preserveFixedJoint_and_disableJointLumping
-59: [       OK ] PlacementFrame.ModelPlacementFrameAttribute (2131 ms)
-59: [----------] 3 tests from PlacementFrame (14360 ms total)
-59: 
-59: [----------] 4 tests from NestedReference
-59: [ RUN      ] NestedReference.PoseRelativeTo
-176: Error:   Could not find the 'robot' element in the xml file
-176:          at line 109 in ./urdf_parser/src/model.cpp
-176: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
-176: Error [parser.cc:820] parse as old deprecated model file failed.
-176: Error Code 8: [/sdf/world[@name="default"]/model[@name="test_model"]/joint[@name="joint"]/child:<data-string>:L7]: Msg: XML Missing required element[child], child of element[joint]
-176: [       OK ] Parser.MissingRequiredElement (248 ms)
-176: [ RUN      ] Parser.ElementRemovedAfterDeprecation
-194: [       OK ] SDF.ElementRemoveFromParent (270 ms)
+194: [       OK ] SDF.ElementRemoveFromParent (125 ms)
 194: [ RUN      ] SDF.ElementRemoveChild
-218: [       OK ] URDFParser.CheckFixedJointOptions_preserveFixedJoint_and_disableJointLumping (131 ms)
-218: [ RUN      ] URDFParser.CheckFixedJointOptions_NoOption_Repeated
-176: [       OK ] Parser.ElementRemovedAfterDeprecation (127 ms)
-176: [----------] 15 tests from Parser (6449 ms total)
-176: 
-176: [----------] 1 test from ValueConstraintsFixture
-176: [ RUN      ] ValueConstraintsFixture.ElementMinMaxValues
-194: [       OK ] SDF.ElementRemoveChild (167 ms)
+214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
+214: [       OK ] FrameSemantics.buildFrameAttachedToGraph_World (145 ms)
+214: [ RUN      ] FrameSemantics.buildPoseRelativeToGraph
+218: [       OK ] URDFParser.CheckFixedJointOptions_preserveFixedJoint (104 ms)
+218: [ RUN      ] URDFParser.CheckFixedJointOptions_preserveFixedJoint_and_disableJointLumping
+176: [       OK ] Parser.readFileConversions (265 ms)
+176: [ RUN      ] Parser.NameUniqueness
+194: [       OK ] SDF.ElementRemoveChild (123 ms)
 194: [ RUN      ] SDF.EmptyValues
 194: [       OK ] SDF.EmptyValues (0 ms)
 194: [ RUN      ] SDF.GetAny
-218: [       OK ] URDFParser.CheckFixedJointOptions_NoOption_Repeated (112 ms)
-218: [ RUN      ] URDFParser.CheckJointTransform
-218: [       OK ] URDFParser.CheckJointTransform (6 ms)
-218: [ RUN      ] URDFParser.OutputPrecision
-218: [       OK ] URDFParser.OutputPrecision (0 ms)
-218: [ RUN      ] URDFParser.ParseWhitespace
-218: [       OK ] URDFParser.ParseWhitespace (0 ms)
-218: [----------] 19 tests from URDFParser (1360 ms total)
-218: 
-218: [----------] Global test environment tear-down
-218: [==========] 19 tests from 1 test suite ran. (1360 ms total)
-218: [  PASSED  ] 19 tests.
-217/221 Test #218: UNIT_parser_urdf_TEST ..................................   Passed    3.05 sec
-59: [       OK ] NestedReference.PoseRelativeTo (385 ms)
-59: [ RUN      ] NestedReference.PoseRelativeToInWorld
-176: [       OK ] ValueConstraintsFixture.ElementMinMaxValues (251 ms)
-176: [----------] 1 test from ValueConstraintsFixture (251 ms total)
+214: PoseRelativeToGraph unable to find unique frame with name [invalid] in graph.
+214: PoseRelativeToGraph unable to find unique frame with name [invalid] in graph.
+214: [       OK ] FrameSemantics.buildPoseRelativeToGraph (130 ms)
+214: [----------] 3 tests from FrameSemantics (400 ms total)
+214: 
+214: [----------] 4 tests from NestedFrameSemantics
+214: [ RUN      ] NestedFrameSemantics.buildFrameAttachedToGraph_Model
+218: [       OK ] URDFParser.CheckFixedJointOptions_preserveFixedJoint_and_disableJointLumping (104 ms)
+218: [ RUN      ] URDFParser.CheckFixedJointOptions_NoOption_Repeated
+176: Error: Non-unique names detected in type world in
+176: <sdf version='1.9'>
+176:   <world name='default'>
+176:     <gravity>0 0 -9.8</gravity>
+176:     <magnetic_field>5.5645e-6 22.8758e-6 -42.3884e-6</magnetic_field>
+176:     <atmosphere type='adiabatic'/>
+176:     <physics type='ode'>
+176:       <max_step_size>0.001</max_step_size>
+176:       <real_time_factor>1.0</real_time_factor>
+176:       <real_time_update_rate>1000</real_time_update_rate>
+176:     </physics>
+176:     <scene>
+176:       <ambient>0.4 0.4 0.4 1.0</ambient>
+176:       <background>.7 .7 .7 1</background>
+176:       <shadows>true</shadows>
+176:     </scene>
+176:   </world>
+176:   <world name='default'>
+176:     <gravity>0 0 -9.8</gravity>
+176:     <magnetic_field>5.5645e-6 22.8758e-6 -42.3884e-6</magnetic_field>
+176:     <atmosphere type='adiabatic'/>
+176:     <physics type='ode'>
+176:       <max_step_size>0.001</max_step_size>
+176:       <real_time_factor>1.0</real_time_factor>
+176:       <real_time_update_rate>1000</real_time_update_rate>
+176:     </physics>
+176:     <scene>
+176:       <ambient>0.4 0.4 0.4 1.0</ambient>
+176:       <background>.7 .7 .7 1</background>
+176:       <shadows>true</shadows>
+176:     </scene>
+176:   </world>
+176: </sdf>
 176: 
-176: [----------] Global test environment tear-down
-176: [==========] 16 tests from 2 test suites ran. (6701 ms total)
-176: [  PASSED  ] 16 tests.
-218/221 Test #176: UNIT_parser_TEST .......................................   Passed    6.84 sec
-194: [       OK ] SDF.GetAny (240 ms)
+194: [       OK ] SDF.GetAny (143 ms)
 194: [ RUN      ] SDF.Version
 194: [       OK ] SDF.Version (0 ms)
 194: [ RUN      ] SDF.FilePath
@@ -37901,59 +37790,220 @@
 194: [ RUN      ] SDF.OriginalVersion
 194: [       OK ] SDF.OriginalVersion (0 ms)
 194: [ RUN      ] SDF.PrintDoc
-194: [       OK ] SDF.PrintDoc (9 ms)
+194: [       OK ] SDF.PrintDoc (6 ms)
 194: [ RUN      ] SDF.PrintDescription
 194: [       OK ] SDF.PrintDescription (0 ms)
 194: [ RUN      ] SDF.PrintValues
 194: [       OK ] SDF.PrintValues (0 ms)
 194: [ RUN      ] SDF.ToStringAndParse
-59: [       OK ] NestedReference.PoseRelativeToInWorld (184 ms)
-59: [ RUN      ] NestedReference.PlacementFrameAttribute
-194: [       OK ] SDF.ToStringAndParse (231 ms)
+214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
+218: [       OK ] URDFParser.CheckFixedJointOptions_NoOption_Repeated (99 ms)
+218: [ RUN      ] URDFParser.CheckJointTransform
+218: [       OK ] URDFParser.CheckJointTransform (3 ms)
+218: [ RUN      ] URDFParser.OutputPrecision
+218: [       OK ] URDFParser.OutputPrecision (0 ms)
+218: [ RUN      ] URDFParser.ParseWhitespace
+218: [       OK ] URDFParser.ParseWhitespace (0 ms)
+218: [----------] 19 tests from URDFParser (530 ms total)
+218: 
+218: [----------] Global test environment tear-down
+218: [==========] 19 tests from 1 test suite ran. (530 ms total)
+218: [  PASSED  ] 19 tests.
+214: [       OK ] NestedFrameSemantics.buildFrameAttachedToGraph_Model (168 ms)
+214: [ RUN      ] NestedFrameSemantics.buildFrameAttachedToGraph_World
+216/221 Test #218: UNIT_parser_urdf_TEST ..................................   Passed    0.63 sec
+176: Error: Non-unique names detected in <world name='default'>
+176:   <physics name='my_physics' type='bullet'>
+176:     <max_step_size>0.1</max_step_size>
+176:     <real_time_factor>0.5</real_time_factor>
+176:     <real_time_update_rate>1000</real_time_update_rate>
+176:   </physics>
+176:   <light name='spot' type='spot'>
+176:     <cast_shadows>true</cast_shadows>
+176:     <spot>
+176:       <inner_angle>0.1</inner_angle>
+176:       <outer_angle>0.5</outer_angle>
+176:       <falloff>2.2</falloff>
+176:     </spot>
+176:     <direction>0 0 -1</direction>
+176:   </light>
+176:   <model name='spot'>
+176:     <link name='L'/>
+176:   </model>
+176:   <gravity>0 0 -9.8</gravity>
+176:   <magnetic_field>5.5645e-6 22.8758e-6 -42.3884e-6</magnetic_field>
+176:   <atmosphere type='adiabatic'/>
+176:   <scene>
+176:     <ambient>0.4 0.4 0.4 1.0</ambient>
+176:     <background>.7 .7 .7 1</background>
+176:     <shadows>true</shadows>
+176:   </scene>
+176: </world>
+176: 
+188: [       OK ] DOMRoot.FrameSemanticsOnMove (520 ms)
+188: [----------] 8 tests from DOMRoot (813 ms total)
+188: 
+188: [----------] Global test environment tear-down
+176: Error: Non-unique names detected in type link in
+176: <model name='duplicate_links'>
+176:   <link name='link'>
+176:     <pose>1 1 1 0 0 0</pose>
+176:   </link>
+176:   <link name='link'>
+176:     <pose>2 2 2 0 0 0</pose>
+176:   </link>
+176: </model>
+176: 
+188: [==========] 8 tests from 1 test suite ran. (813 ms total)
+188: [  PASSED  ] 8 tests.
+217/221 Test #188: UNIT_Root_TEST .........................................   Passed    0.93 sec
+194: [       OK ] SDF.ToStringAndParse (195 ms)
 194: [ RUN      ] SDF.WriteURIPath
+214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
 194: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-194: [       OK ] SDF.WriteURIPath (19 ms)
-194: [----------] 14 tests from SDF (5661 ms total)
+194: [       OK ] SDF.WriteURIPath (15 ms)
+194: [----------] 14 tests from SDF (846 ms total)
 194: 
 194: [----------] Global test environment tear-down
-194: [==========] 14 tests from 1 test suite ran. (5661 ms total)
+194: [==========] 14 tests from 1 test suite ran. (846 ms total)
 194: [  PASSED  ] 14 tests.
-219/221 Test #194: UNIT_SDF_TEST ..........................................   Passed    6.54 sec
-59: [       OK ] NestedReference.PlacementFrameAttribute (146 ms)
-59: [ RUN      ] NestedReference.PlacementFrameElement
-214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
-214: [       OK ] NestedFrameSemantics.buildFrameAttachedToGraph_World (2191 ms)
+214: [       OK ] NestedFrameSemantics.buildFrameAttachedToGraph_World (172 ms)
 214: [ RUN      ] NestedFrameSemantics.ModelWithoutLinksWithNestedStaticModel
-59: [       OK ] NestedReference.PlacementFrameElement (1067 ms)
-59: [----------] 4 tests from NestedReference (1784 ms total)
+218/221 Test #194: UNIT_SDF_TEST ..........................................   Passed    0.95 sec
+176: Error: Non-unique names detected in type joint in
+176: <model name='duplicate_joints'>
+176:   <link name='link1'/>
+176:   <link name='link2'/>
+176:   <link name='link3'/>
+176:   <joint name='joint' type='fixed'>
+176:     <parent>link1</parent>
+176:     <child>link2</child>
+176:   </joint>
+176:   <joint name='joint' type='fixed'>
+176:     <parent>link2</parent>
+176:     <child>link3</child>
+176:   </joint>
+176: </model>
+176: 
+59: [       OK ] NestedReference.PlacementFrameElement (600 ms)
+59: [----------] 4 tests from NestedReference (1233 ms total)
 59: 
 59: [----------] Global test environment tear-down
-59: [==========] 17 tests from 3 test suites ran. (25731 ms total)
+59: [==========] 17 tests from 3 test suites ran. (6116 ms total)
 59: [  PASSED  ] 17 tests.
-220/221 Test  #59: INTEGRATION_nested_model ...............................   Passed   25.87 sec
-214: [       OK ] NestedFrameSemantics.ModelWithoutLinksWithNestedStaticModel (492 ms)
+219/221 Test  #59: INTEGRATION_nested_model ...............................   Passed    6.24 sec
+214: [       OK ] NestedFrameSemantics.ModelWithoutLinksWithNestedStaticModel (121 ms)
 214: [ RUN      ] NestedFrameSemantics.InvalidAttachedToScope
+176: Error: Non-unique names detected in <model name='link_joint_same_name'>
+176:   <link name='base'>
+176:     <pose>1 0 0 0 0 0</pose>
+176:   </link>
+176:   <link name='attachment'>
+176:     <pose>0 2 0 0 0 0</pose>
+176:   </link>
+176:   <joint name='attachment' type='fixed'>
+176:     <pose>0 0 3 0 0 0</pose>
+176:     <parent>base</parent>
+176:     <child>attachment</child>
+176:   </joint>
+176: </model>
+176: 
+176: Error: Non-unique names detected in type collision in
+176: <link name='link'>
+176:   <collision name='collision'>
+176:     <geometry/>
+176:   </collision>
+176:   <collision name='collision'>
+176:     <geometry/>
+176:   </collision>
+176: </link>
+176: 
 214: Error: attached_to name[M2::M1::L1] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_attached_to_scope].
 214: Error in validateFrameAttachedToGraph: FrameAttachedToGraph error, Non-LINK vertex with name [F] has 0 outgoing edges; it should only have 1 outgoing edge in WORLD attached_to graph.
 214: Error in validateFrameAttachedToGraph: Graph has world scope but sink vertex named [F] does not have FrameType WORLD, LINK or STATIC_MODEL when starting from vertex with name [F].
 214: Error: attached_to name[M2::M1::L1] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_attached_to_scope].
-214: [       OK ] NestedFrameSemantics.InvalidAttachedToScope (648 ms)
-214: [----------] 4 tests from NestedFrameSemantics (3896 ms total)
+214: [       OK ] NestedFrameSemantics.InvalidAttachedToScope (123 ms)
+214: [----------] 4 tests from NestedFrameSemantics (585 ms total)
 214: 
 214: [----------] Global test environment tear-down
-214: [==========] 7 tests from 2 test suites ran. (4510 ms total)
+214: [==========] 7 tests from 2 test suites ran. (986 ms total)
 214: [  PASSED  ] 7 tests.
-221/221 Test #214: UNIT_FrameSemantics_TEST ...............................   Passed    5.76 sec
+220/221 Test #214: UNIT_FrameSemantics_TEST ...............................   Passed    1.09 sec
+176: Error: Non-unique names detected in <link name='link'>
+176:   <visual name='visual'>
+176:     <geometry/>
+176:   </visual>
+176:   <visual name='visual'>
+176:     <geometry/>
+176:   </visual>
+176: </link>
+176: 
+176: [       OK ] Parser.NameUniqueness (855 ms)
+176: [ RUN      ] Parser.SyntaxErrorInValues
+176: [       OK ] Parser.SyntaxErrorInValues (295 ms)
+176: [ RUN      ] Parser.MissingRequiredAttributesErrors
+176: [       OK ] Parser.MissingRequiredAttributesErrors (100 ms)
+176: [ RUN      ] Parser.IncludesErrors
+176: [       OK ] Parser.IncludesErrors (488 ms)
+176: [ RUN      ] Parser.PlacementFrameMissingPose
+176: Error:   Could not find the 'robot' element in the xml file
+176:          at line 109 in ./urdf_parser/src/model.cpp
+176: [       OK ] Parser.PlacementFrameMissingPose (184 ms)
+176: [ RUN      ] Parser.DoubleColonNameAttrError
+176: Error: Detected delimiter '::' in element name in
+176: <link name='A::B'/>
+176: 
+176: Error:   Could not find the 'robot' element in the xml file
+176:          at line 109 in ./urdf_parser/src/model.cpp
+176: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
+176: Error [parser.cc:820] parse as old deprecated model file failed.
+176: [       OK ] Parser.DoubleColonNameAttrError (164 ms)
+176: [ RUN      ] Parser.ReadSingleLineStringError
+176: Error:   Could not find the 'robot' element in the xml file
+176:          at line 109 in ./urdf_parser/src/model.cpp
+176: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
+176: Error [parser.cc:820] parse as old deprecated model file failed.
+176: Error Code 4: [/sdf/model[@name="test"]/link:<data-string>:L1]: Msg: Required attribute[name] in element[link] is not specified in SDF.
+176: [       OK ] Parser.ReadSingleLineStringError (85 ms)
+176: [ RUN      ] Parser.ReadMultiLineStringError
+176: Error:   Could not find the 'robot' element in the xml file
+176:          at line 109 in ./urdf_parser/src/model.cpp
+176: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
+176: Error [parser.cc:820] parse as old deprecated model file failed.
+176: Error Code 4: [/sdf/model[@name="test"]/link:<data-string>:L10]: Msg: Required attribute[name] in element[link] is not specified in SDF.
+176: [       OK ] Parser.ReadMultiLineStringError (84 ms)
+176: [ RUN      ] Parser.ElementFilePath
+176: [       OK ] Parser.ElementFilePath (139 ms)
+176: [ RUN      ] Parser.MissingRequiredElement
+176: Error:   Could not find the 'robot' element in the xml file
+176:          at line 109 in ./urdf_parser/src/model.cpp
+176: Error [parser_urdf.cc:3226] Unable to call parseURDF on robot model
+176: Error [parser.cc:820] parse as old deprecated model file failed.
+176: Error Code 8: [/sdf/world[@name="default"]/model[@name="test_model"]/joint[@name="joint"]/child:<data-string>:L7]: Msg: XML Missing required element[child], child of element[joint]
+176: [       OK ] Parser.MissingRequiredElement (104 ms)
+176: [ RUN      ] Parser.ElementRemovedAfterDeprecation
+176: [       OK ] Parser.ElementRemovedAfterDeprecation (87 ms)
+176: [----------] 15 tests from Parser (3138 ms total)
+176: 
+176: [----------] 1 test from ValueConstraintsFixture
+176: [ RUN      ] ValueConstraintsFixture.ElementMinMaxValues
+176: [       OK ] ValueConstraintsFixture.ElementMinMaxValues (192 ms)
+176: [----------] 1 test from ValueConstraintsFixture (192 ms total)
+176: 
+176: [----------] Global test environment tear-down
+176: [==========] 16 tests from 2 test suites ran. (3331 ms total)
+176: [  PASSED  ] 16 tests.
+221/221 Test #176: UNIT_parser_TEST .......................................   Passed    3.44 sec
 
 100% tests passed, 0 tests failed out of 221
 
-Total Test time (real) =  30.99 sec
+Total Test time (real) =   9.32 sec
 make[2]: Leaving directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 make[1]: Leaving directory '/build/sdformat-12.3.0+ds'
    create-stamp debian/debhelper-build-stamp
    dh_prep
    dh_auto_install
-	cd obj-x86_64-linux-gnu && make -j15 install DESTDIR=/build/sdformat-12.3.0\+ds/debian/tmp AM_UPDATE_INFO_DIR=no "INSTALL=install --strip-program=true"
+	cd obj-x86_64-linux-gnu && make -j16 install DESTDIR=/build/sdformat-12.3.0\+ds/debian/tmp AM_UPDATE_INFO_DIR=no "INSTALL=install --strip-program=true"
 make[1]: Entering directory '/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu'
 /usr/bin/cmake -S/build/sdformat-12.3.0+ds -B/build/sdformat-12.3.0+ds/obj-x86_64-linux-gnu --check-build-system CMakeFiles/Makefile.cmake 0
 make  -f CMakeFiles/Makefile2 preinstall
@@ -38768,12 +38818,12 @@
    dh_gencontrol
    dh_md5sums
    dh_builddeb
+dpkg-deb: building package 'libsdformat12-12' in '../libsdformat12-12_12.3.0+ds-2_amd64.deb'.
 dpkg-deb: building package 'libsdformat12-12-dbgsym' in '../libsdformat12-12-dbgsym_12.3.0+ds-2_amd64.deb'.
-dpkg-deb: building package 'sdformat-doc' in '../sdformat-doc_12.3.0+ds-2_all.deb'.
-dpkg-deb: building package 'sdformat-sdf' in '../sdformat-sdf_12.3.0+ds-2_all.deb'.
 dpkg-deb: building package 'libsdformat6-dev' in '../libsdformat6-dev_12.3.0+ds-2_all.deb'.
-dpkg-deb: building package 'libsdformat12-12' in '../libsdformat12-12_12.3.0+ds-2_amd64.deb'.
+dpkg-deb: building package 'sdformat-sdf' in '../sdformat-sdf_12.3.0+ds-2_all.deb'.
 dpkg-deb: building package 'libsdformat-dev' in '../libsdformat-dev_12.3.0+ds-2_amd64.deb'.
+dpkg-deb: building package 'sdformat-doc' in '../sdformat-doc_12.3.0+ds-2_all.deb'.
  dpkg-genbuildinfo --build=binary -O../sdformat_12.3.0+ds-2_amd64.buildinfo
  dpkg-genchanges --build=binary -O../sdformat_12.3.0+ds-2_amd64.changes
 dpkg-genchanges: info: binary-only upload (no source code included)
@@ -38781,12 +38831,14 @@
 dpkg-buildpackage: info: binary-only upload (no source included)
 dpkg-genchanges: info: not including original source code in upload
 I: copying local configuration
+I: user script /srv/workspace/pbuilder/3362460/tmp/hooks/B01_cleanup starting
+I: user script /srv/workspace/pbuilder/3362460/tmp/hooks/B01_cleanup finished
 I: unmounting dev/ptmx filesystem
 I: unmounting dev/pts filesystem
 I: unmounting dev/shm filesystem
 I: unmounting proc filesystem
 I: unmounting sys filesystem
 I: cleaning the build env 
-I: removing directory /srv/workspace/pbuilder/711679 and its subdirectories
-I: Current time: Sat Apr 15 00:13:05 -12 2023
-I: pbuilder-time-stamp: 1681560785
+I: removing directory /srv/workspace/pbuilder/3362460 and its subdirectories
+I: Current time: Sat May 18 08:45:05 +14 2024
+I: pbuilder-time-stamp: 1715971505