Diff of the two buildlogs:

--
--- b1/build.log	2023-04-22 05:58:54.805529864 +0000
+++ b2/build.log	2023-04-22 07:11:43.515830170 +0000
@@ -1,6 +1,6 @@
 I: pbuilder: network access will be disabled during build
-I: Current time: Thu May 23 23:45:09 -12 2024
-I: pbuilder-time-stamp: 1716551109
+I: Current time: Sat Apr 22 19:59:02 +14 2023
+I: pbuilder-time-stamp: 1682143142
 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
@@ -33,52 +33,84 @@
 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/11390/tmp/hooks/D02_print_environment starting
+I: user script /srv/workspace/pbuilder/22017/tmp/hooks/D01_modify_environment starting
+debug: Running on codethink16-arm64.
+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 Apr 22 19:59 /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/22017/tmp/hooks/D01_modify_environment finished
+I: user script /srv/workspace/pbuilder/22017/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='arm64'
-  DEBIAN_FRONTEND='noninteractive'
+  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]="aarch64-unknown-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=arm64
+  DEBIAN_FRONTEND=noninteractive
   DEB_BUILD_OPTIONS='buildinfo=+all reproducible=+all parallel=8'
-  DISTRIBUTION='bookworm'
-  HOME='/var/lib/jenkins'
-  HOST_ARCH='arm64'
+  DIRSTACK=()
+  DISTRIBUTION=bookworm
+  EUID=0
+  FUNCNAME=([0]="Echo" [1]="main")
+  GROUPS=()
+  HOME=/var/lib/jenkins
+  HOSTNAME=i-capture-the-hostname
+  HOSTTYPE=aarch64
+  HOST_ARCH=arm64
   IFS=' 	
   '
-  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='11390'
-  PS1='# '
-  PS2='> '
+  LANG=C
+  LANGUAGE=nl_BE:nl
+  LC_ALL=C
+  MACHTYPE=aarch64-unknown-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=22017
   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.rHYOZEBy/pbuilderrc_SGtH --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.rHYOZEBy/b1 --logfile b1/build.log sdformat_12.3.0+ds-2.dsc'
-  SUDO_GID='117'
-  SUDO_UID='110'
-  SUDO_USER='jenkins'
-  TERM='unknown'
-  TZ='/usr/share/zoneinfo/Etc/GMT+12'
-  USER='root'
-  USERNAME='root'
-  _='/usr/bin/systemd-run'
-  http_proxy='http://192.168.101.16:3128'
+  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.rHYOZEBy/pbuilderrc_o27G --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.rHYOZEBy/b2 --logfile b2/build.log --extrapackages usrmerge sdformat_12.3.0+ds-2.dsc'
+  SUDO_GID=117
+  SUDO_UID=110
+  SUDO_USER=jenkins
+  TERM=unknown
+  TZ=/usr/share/zoneinfo/Etc/GMT-14
+  UID=0
+  USER=root
+  USERNAME=root
+  _='I: set'
+  http_proxy=http://192.168.101.16:3128
 I: uname -a
-  Linux codethink13-arm64 4.15.0-209-generic #220-Ubuntu SMP Tue Mar 21 19:52:44 UTC 2023 aarch64 GNU/Linux
+  Linux i-capture-the-hostname 4.15.0-209-generic #220-Ubuntu SMP Tue Mar 21 19:52:44 UTC 2023 aarch64 GNU/Linux
 I: ls -l /bin
-  lrwxrwxrwx 1 root root 7 May 22 04:50 /bin -> usr/bin
-I: user script /srv/workspace/pbuilder/11390/tmp/hooks/D02_print_environment finished
+  lrwxrwxrwx 1 root root 7 Apr 21 00:25 /bin -> usr/bin
+I: user script /srv/workspace/pbuilder/22017/tmp/hooks/D02_print_environment finished
  -> Attempting to satisfy build-dependencies
  -> Creating pbuilder-satisfydepends-dummy package
 Package: pbuilder-satisfydepends-dummy
@@ -343,7 +375,7 @@
 Get: 193 http://deb.debian.org/debian bookworm/main arm64 texlive-pictures all 2022.20230122-3 [15.8 MB]
 Get: 194 http://deb.debian.org/debian bookworm/main arm64 texlive-latex-extra all 2022.20230122-3 [19.2 MB]
 Get: 195 http://deb.debian.org/debian bookworm/main arm64 texlive-plain-generic all 2022.20230122-3 [28.9 MB]
-Fetched 229 MB in 5s (47.2 MB/s)
+Fetched 229 MB in 6s (41.0 MB/s)
 debconf: delaying package configuration, since apt-utils is not installed
 Selecting previously unselected package libpython3.11-minimal:arm64.
 (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 ... 19616 files and directories currently installed.)
@@ -1166,8 +1198,17 @@
 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/22017/tmp/hooks/A99_set_merged_usr starting
+Re-configuring usrmerge...
+I: user script /srv/workspace/pbuilder/22017/tmp/hooks/A99_set_merged_usr finished
+hostname: Temporary failure in name resolution
+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
@@ -1320,655 +1361,655 @@
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 make  -f test/CMakeFiles/gtest.dir/build.make test/CMakeFiles/gtest.dir/depend
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/CMakeFiles/gtest.dir/DependInfo.cmake --color=
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+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
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 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-aarch64-linux-gnu'
-[  0%] Building CXX object test/CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o
 [  0%] Running xml schema compiler on altimeter.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
-[  0%] Building CXX object src/CMakeFiles/sdformat12.dir/Actor.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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/aarch64-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
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [  0%] Running xml schema compiler on actor.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[  0%] Building CXX object src/CMakeFiles/sdformat12.dir/Actor.cc.o
 [  0%] Running xml schema compiler on actor.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-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-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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/aarch64-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-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [  0%] Running xml schema compiler on actor.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [  0%] Running xml schema compiler on actor.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [  0%] Running xml schema compiler on audio_source.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
 [  0%] Running xml schema compiler on audio_sink.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
 [  0%] Running xml schema compiler on air_pressure.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [  0%] Running xml schema compiler on air_pressure.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [  0%] Running xml schema compiler on air_pressure.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
 [  0%] Running xml schema compiler on air_pressure.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[  0%] Running xml schema compiler on altimeter.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [  1%] Running xml schema compiler on battery.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
 [  1%] Running xml schema compiler on box_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
 [  1%] Running xml schema compiler on altimeter.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[  1%] Running xml schema compiler on altimeter.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
 [  1%] Running xml schema compiler on altimeter.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[  1%] Running xml schema compiler on altimeter.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[  1%] Running xml schema compiler on camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[  1%] Running xml schema compiler on altimeter.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [  2%] Running xml schema compiler on atmosphere.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[  2%] Running xml schema compiler on audio_source.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[  2%] Running xml schema compiler on camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
 [  3%] Running xml schema compiler on atmosphere.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[  3%] Running xml schema compiler on collision.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
 [  3%] Running xml schema compiler on atmosphere.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [  3%] Running xml schema compiler on atmosphere.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[  3%] Running xml schema compiler on collision.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[  3%] Running xml schema compiler on audio_source.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[  3%] Running xml schema compiler on audio_sink.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[  3%] Running xml schema compiler on battery.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [  3%] Running xml schema compiler on audio_source.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [  3%] Running xml schema compiler on audio_source.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[  3%] Running xml schema compiler on box_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
 [  3%] Running xml schema compiler on contact.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[  3%] Running xml schema compiler on audio_source.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[  3%] Running xml schema compiler on cylinder_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[  3%] Running xml schema compiler on audio_source.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
 [  3%] Running xml schema compiler on audio_sink.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[  3%] Running xml schema compiler on camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [  4%] Running xml schema compiler on audio_sink.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[  5%] Running xml schema compiler on audio_sink.sdf
+[  4%] Running xml schema compiler on frame.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[  6%] Running xml schema compiler on capsule_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[  6%] Running xml schema compiler on cylinder_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[  6%] Running xml schema compiler on battery.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[  4%] Running xml schema compiler on audio_sink.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[  5%] Running xml schema compiler on forcetorque.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[  5%] Running xml schema compiler on battery.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[  6%] Running xml schema compiler on audio_sink.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[  6%] Running xml schema compiler on geometry.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[  6%] Running xml schema compiler on gps.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
 [  6%] Running xml schema compiler on battery.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[  6%] Running xml schema compiler on battery.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[  6%] Running xml schema compiler on collision.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[  6%] Running xml schema compiler on contact.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [  6%] Running xml schema compiler on battery.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[  6%] Running xml schema compiler on frame.sdf
 [  6%] Running xml schema compiler on box_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[  6%] Running xml schema compiler on gripper.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[  6%] Running xml schema compiler on box_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[  6%] Running xml schema compiler on camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [  6%] Running xml schema compiler on box_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[  6%] Running xml schema compiler on cylinder_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[  6%] Running xml schema compiler on ellipsoid_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[  6%] Running xml schema compiler on camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [  6%] Running xml schema compiler on box_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[  6%] Running xml schema compiler on gui.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[  6%] Running xml schema compiler on capsule_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [  6%] Running xml schema compiler on camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[  7%] Running xml schema compiler on forcetorque.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[  8%] Running xml schema compiler on frame.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[  8%] Running xml schema compiler on forcetorque.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[  8%] Running xml schema compiler on camera.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[  8%] Running xml schema compiler on camera.sdf
+[  6%] Running xml schema compiler on camera.sdf
+[  7%] Running xml schema compiler on collision.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
 [  8%] Running xml schema compiler on capsule_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[  8%] Running xml schema compiler on geometry.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[  8%] Running xml schema compiler on geometry.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[  8%] Running xml schema compiler on gps.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[  9%] Running xml schema compiler on collision.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[  8%] Running xml schema compiler on contact.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[  9%] Running xml schema compiler on heightmap_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
 [ 10%] Running xml schema compiler on collision.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 10%] Running xml schema compiler on cylinder_shape.sdf
+[ 11%] Running xml schema compiler on collision.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
 [ 11%] Running xml schema compiler on collision.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 11%] Running xml schema compiler on gps.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 11%] Running xml schema compiler on gripper.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 11%] Running xml schema compiler on gui.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 11%] Running xml schema compiler on contact.sdf
-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) {
-      |            ^
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 11%] Running xml schema compiler on ellipsoid_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 11%] Running xml schema compiler on image_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 11%] Running xml schema compiler on frame.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [ 11%] Running xml schema compiler on contact.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
 [ 11%] Running xml schema compiler on contact.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 11%] Running xml schema compiler on gripper.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 11%] Running xml schema compiler on heightmap_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 12%] Running xml schema compiler on image_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 11%] Running xml schema compiler on contact.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 11%] Running xml schema compiler on forcetorque.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 11%] Running xml schema compiler on imu.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 12%] Running xml schema compiler on geometry.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [ 12%] Running xml schema compiler on cylinder_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
 [ 12%] Running xml schema compiler on cylinder_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 12%] Running xml schema compiler on cylinder_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 12%] Running xml schema compiler on gui.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 12%] Running xml schema compiler on imu.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 12%] Running xml schema compiler on ellipsoid_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 12%] Running xml schema compiler on cylinder_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 12%] Running xml schema compiler on gps.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-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) {
+      |            ^
 [ 12%] Running xml schema compiler on frame.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
 [ 12%] Running xml schema compiler on inertial.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 12%] Running xml schema compiler on gripper.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [ 12%] Running xml schema compiler on frame.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 13%] Running xml schema compiler on heightmap_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 13%] Running xml schema compiler on forcetorque.sdf
+[ 12%] Running xml schema compiler on ellipsoid_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 12%] Running xml schema compiler on gui.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 12%] Running xml schema compiler on forcetorque.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 13%] Running xml schema compiler on frame.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 13%] Running xml schema compiler on joint.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 13%] Running xml schema compiler on forcetorque.sdf
+[ 12%] Running xml schema compiler on joint.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 12%] Running xml schema compiler on heightmap_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 12%] Running xml schema compiler on forcetorque.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 13%] Running xml schema compiler on lidar.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 13%] Running xml schema compiler on frame.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [ 13%] Running xml schema compiler on image_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [ 14%] Running xml schema compiler on geometry.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 14%] Running xml schema compiler on forcetorque.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 14%] Running xml schema compiler on light.sdf
-[ 14%] Running xml schema compiler on geometry.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 15%] Running xml schema compiler on light_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [ 15%] Running xml schema compiler on imu.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 16%] Running xml schema compiler on geometry.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 15%] Running xml schema compiler on geometry.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 16%] Running xml schema compiler on light.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 16%] Running xml schema compiler on forcetorque.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 16%] Running xml schema compiler on inertial.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [ 16%] Running xml schema compiler on gps.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 16%] Running xml schema compiler on link.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 16%] Running xml schema compiler on link_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 16%] Running xml schema compiler on inertial.sdf
+[ 16%] Running xml schema compiler on joint.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [ 17%] Running xml schema compiler on gps.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 17%] Running xml schema compiler on light_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 17%] Running xml schema compiler on geometry.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 17%] Running xml schema compiler on lidar.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [ 17%] Running xml schema compiler on gripper.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 17%] Running xml schema compiler on gps.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 17%] Running xml schema compiler on logical_camera.sdf
-[ 17%] Running xml schema compiler on joint.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 17%] Running xml schema compiler on magnetometer.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [ 17%] Running xml schema compiler on gripper.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 17%] Running xml schema compiler on gps.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 17%] Running xml schema compiler on link.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 17%] Running xml schema compiler on light.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 17%] Running xml schema compiler on light_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [ 17%] Running xml schema compiler on gui.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
 [ 17%] Running xml schema compiler on gripper.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 17%] Running xml schema compiler on material.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 17%] Running xml schema compiler on gui.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 18%] Running xml schema compiler on link.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 18%] Running xml schema compiler on gui.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 18%] Running xml schema compiler on mesh_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 18%] Running xml schema compiler on link_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 18%] Running xml schema compiler on link_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [ 18%] Running xml schema compiler on heightmap_shape.sdf
-[ 19%] Running xml schema compiler on light.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 19%] Running xml schema compiler on gui.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 19%] Running xml schema compiler on model.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 19%] Running xml schema compiler on heightmap_shape.sdf
+[ 18%] Running xml schema compiler on gui.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 18%] Running xml schema compiler on heightmap_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 19%] Running xml schema compiler on image_shape.sdf
+[ 18%] Running xml schema compiler on logical_camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 18%] Running xml schema compiler on logical_camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 18%] Running xml schema compiler on magnetometer.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 18%] Running xml schema compiler on image_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 19%] Running xml schema compiler on model_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 19%] Running xml schema compiler on light_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 19%] Running xml schema compiler on heightmap_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 19%] Running xml schema compiler on noise.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 19%] Running xml schema compiler on image_shape.sdf
-[ 19%] Running xml schema compiler on particle_emitter.sdf
+[ 18%] Running xml schema compiler on heightmap_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 18%] Running xml schema compiler on image_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 20%] Running xml schema compiler on imu.sdf
+[ 18%] Running xml schema compiler on magnetometer.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 18%] Running xml schema compiler on material.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 18%] Running xml schema compiler on mesh_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 19%] Running xml schema compiler on imu.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 20%] Running xml schema compiler on link.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
 [ 20%] Running xml schema compiler on image_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 21%] Running xml schema compiler on imu.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 21%] Running xml schema compiler on imu.sdf
-[ 21%] Running xml schema compiler on link_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 20%] Running xml schema compiler on imu.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 21%] Running xml schema compiler on inertial.sdf
+[ 21%] Running xml schema compiler on material.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 22%] Running xml schema compiler on model.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 22%] Running xml schema compiler on model_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 22%] Running xml schema compiler on inertial.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 21%] Running xml schema compiler on inertial.sdf
-[ 22%] Running xml schema compiler on physics.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 22%] Running xml schema compiler on plane_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 22%] Running xml schema compiler on imu.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [ 23%] Running xml schema compiler on inertial.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 23%] Running xml schema compiler on logical_camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 23%] Running xml schema compiler on joint.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 23%] Running xml schema compiler on mesh_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 23%] Running xml schema compiler on noise.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 23%] Running xml schema compiler on particle_emitter.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [ 23%] Running xml schema compiler on joint.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 23%] Running xml schema compiler on plugin.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 23%] Running xml schema compiler on inertial.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [ 23%] Running xml schema compiler on joint.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 23%] Running xml schema compiler on polyline_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 23%] Running xml schema compiler on magnetometer.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 23%] Running xml schema compiler on population.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 23%] Running xml schema compiler on pose.sdf
-[ 23%] Running xml schema compiler on lidar.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 23%] Running xml schema compiler on lidar.sdf
+[ 23%] Running xml schema compiler on model.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 23%] Running xml schema compiler on physics.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [ 23%] Running xml schema compiler on lidar.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 23%] Running xml schema compiler on model_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 23%] Running xml schema compiler on joint.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 23%] Running xml schema compiler on lidar.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 24%] Running xml schema compiler on material.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 25%] Running xml schema compiler on projector.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 25%] Running xml schema compiler on light.sdf
-[ 25%] Running xml schema compiler on ray.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 25%] Running xml schema compiler on light.sdf
+[ 23%] Building CXX object src/CMakeFiles/sdformat12.dir/AirPressure.cc.o
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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/aarch64-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
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 23%] Running xml schema compiler on plane_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 23%] Running xml schema compiler on light.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 25%] Running xml schema compiler on light.sdf
+[ 23%] Running xml schema compiler on noise.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 23%] Running xml schema compiler on lidar.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 23%] Running xml schema compiler on light.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 25%] Running xml schema compiler on mesh_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 25%] Running xml schema compiler on rfidtag.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 25%] Running xml schema compiler on light_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 25%] Running xml schema compiler on rfid.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 25%] Running xml schema compiler on light_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 25%] Running xml schema compiler on light_state.sdf
+[ 24%] Running xml schema compiler on plugin.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 24%] Running xml schema compiler on physics.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 24%] Running xml schema compiler on light_state.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 25%] Running xml schema compiler on model.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 25%] Running xml schema compiler on road.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 26%] Running xml schema compiler on link.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 26%] Running xml schema compiler on root.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 26%] Running xml schema compiler on link.sdf
+[ 24%] Running xml schema compiler on light.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 24%] Running xml schema compiler on polyline_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 24%] Running xml schema compiler on light_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 25%] Running xml schema compiler on link.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 26%] Running xml schema compiler on plane_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 27%] Running xml schema compiler on light_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 27%] Running xml schema compiler on population.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [ 27%] Running xml schema compiler on link.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 28%] Running xml schema compiler on scene.sdf
-[ 28%] Running xml schema compiler on model_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 28%] Running xml schema compiler on link_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 28%] Running xml schema compiler on sensor.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 28%] Running xml schema compiler on link_state.sdf
+[ 27%] Running xml schema compiler on link_state.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 29%] Running xml schema compiler on link_state.sdf
+[ 27%] Running xml schema compiler on plugin.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 27%] Running xml schema compiler on link.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 27%] Running xml schema compiler on pose.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 27%] Running xml schema compiler on logical_camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 27%] Running xml schema compiler on polyline_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 28%] Running xml schema compiler on link_state.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 29%] Running xml schema compiler on noise.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 29%] Running xml schema compiler on spherical_coordinates.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 29%] Running xml schema compiler on logical_camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 29%] Running xml schema compiler on sphere_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 29%] Running xml schema compiler on logical_camera.sdf
-[ 29%] Running xml schema compiler on logical_camera.sdf
+[ 28%] Running xml schema compiler on link_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 28%] Running xml schema compiler on projector.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 28%] Running xml schema compiler on population.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 28%] Running xml schema compiler on magnetometer.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 28%] Running xml schema compiler on logical_camera.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 29%] Running xml schema compiler on magnetometer.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 29%] Running xml schema compiler on physics.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 29%] Running xml schema compiler on sonar.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 29%] Running xml schema compiler on state.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 29%] Running xml schema compiler on ray.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 29%] Running xml schema compiler on logical_camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [ 29%] Running xml schema compiler on magnetometer.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 29%] Running xml schema compiler on material.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 29%] Running xml schema compiler on pose.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 29%] Running xml schema compiler on rfidtag.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [ 29%] Running xml schema compiler on magnetometer.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [ 29%] Running xml schema compiler on material.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 30%] Running xml schema compiler on surface.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 30%] Running xml schema compiler on material.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 31%] Running xml schema compiler on plane_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 31%] Running xml schema compiler on transceiver.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 31%] Running xml schema compiler on material.sdf
-[ 31%] Running xml schema compiler on mesh_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 31%] Running xml schema compiler on plugin.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 31%] Running xml schema compiler on mesh_shape.sdf
+[ 29%] Running xml schema compiler on projector.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 29%] Running xml schema compiler on mesh_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 29%] Running xml schema compiler on rfid.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 29%] Running xml schema compiler on material.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 29%] Running xml schema compiler on mesh_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 31%] Running xml schema compiler on world.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 31%] Running xml schema compiler on visual.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
-[ 32%] Running xml schema compiler on model.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 30%] Running xml schema compiler on ray.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 31%] Running xml schema compiler on model.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 31%] Running xml schema compiler on road.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 [ 32%] Running xml schema compiler on mesh_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 32%] Running xml schema compiler on polyline_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 32%] Running xml schema compiler on population.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [ 32%] Running xml schema compiler on model.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 32%] Built target schema1_9
-[ 33%] Running xml schema compiler on model_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 34%] Running xml schema compiler on model.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 34%] Running xml schema compiler on pose.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 34%] Running xml schema compiler on model_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 34%] Running xml schema compiler on projector.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 34%] Running xml schema compiler on noise.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 34%] Running xml schema compiler on particle_emitter.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 35%] Running xml schema compiler on ray.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 35%] Running xml schema compiler on model_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 35%] Running xml schema compiler on rfidtag.sdf
+[ 32%] Running xml schema compiler on root.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 32%] Running xml schema compiler on rfidtag.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 35%] Running xml schema compiler on noise.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 35%] Running xml schema compiler on physics.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 35%] Running xml schema compiler on plane_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 35%] Running xml schema compiler on rfid.sdf
+[ 32%] Running xml schema compiler on model_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 32%] Running xml schema compiler on model.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 32%] Running xml schema compiler on rfid.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 35%] Running xml schema compiler on noise.sdf
+[ 33%] Running xml schema compiler on model_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 33%] Running xml schema compiler on scene.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 33%] Running xml schema compiler on noise.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 35%] Running xml schema compiler on road.sdf
+[ 33%] Running xml schema compiler on model_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 33%] Running xml schema compiler on road.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 35%] Running xml schema compiler on particle_emitter.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 35%] Running xml schema compiler on plugin.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 36%] Running xml schema compiler on polyline_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 36%] Running xml schema compiler on particle_emitter.sdf
+[ 33%] Running xml schema compiler on noise.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 34%] Running xml schema compiler on sensor.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 34%] Running xml schema compiler on particle_emitter.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 36%] Running xml schema compiler on root.sdf
+[ 34%] Running xml schema compiler on noise.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 34%] Running xml schema compiler on root.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 36%] Running xml schema compiler on scene.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 36%] Running xml schema compiler on population.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 36%] Running xml schema compiler on pose.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 36%] Running xml schema compiler on physics.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 36%] Running xml schema compiler on physics.sdf
+[ 34%] Running xml schema compiler on particle_emitter.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 34%] Running xml schema compiler on physics.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 37%] Running xml schema compiler on sensor.sdf
+[ 34%] Running xml schema compiler on particle_emitter.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 34%] Running xml schema compiler on spherical_coordinates.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 34%] Running xml schema compiler on scene.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 34%] Running xml schema compiler on physics.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 34%] Running xml schema compiler on sphere_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 35%] Running xml schema compiler on physics.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 35%] Running xml schema compiler on plane_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 36%] Running xml schema compiler on sensor.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 36%] Running xml schema compiler on plane_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 36%] Running xml schema compiler on sonar.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 37%] Running xml schema compiler on plugin.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 37%] Running xml schema compiler on plane_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [ 37%] Running xml schema compiler on spherical_coordinates.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 37%] Running xml schema compiler on projector.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 37%] Running xml schema compiler on ray.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 37%] Running xml schema compiler on plane_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 37%] Running xml schema compiler on plane_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 37%] Running xml schema compiler on plugin.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 37%] Running xml schema compiler on state.sdf
+[ 37%] Running xml schema compiler on polyline_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 37%] Running xml schema compiler on plugin.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [ 37%] Running xml schema compiler on sphere_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 37%] Running xml schema compiler on sonar.sdf
+[ 38%] Running xml schema compiler on polyline_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 38%] Running xml schema compiler on population.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 38%] Running xml schema compiler on polyline_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 38%] Running xml schema compiler on surface.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 38%] Running xml schema compiler on population.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 38%] Running xml schema compiler on sonar.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 38%] Running xml schema compiler on rfidtag.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 38%] Running xml schema compiler on rfid.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 39%] Running xml schema compiler on plugin.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 40%] Running xml schema compiler on plugin.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 40%] Running xml schema compiler on state.sdf
+[ 38%] Running xml schema compiler on population.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 38%] Running xml schema compiler on pose.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 39%] Running xml schema compiler on transceiver.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 39%] Running xml schema compiler on state.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 40%] Running xml schema compiler on surface.sdf
+[ 39%] Running xml schema compiler on pose.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 39%] Running xml schema compiler on projector.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 39%] Running xml schema compiler on pose.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 39%] Running xml schema compiler on visual.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 39%] Running xml schema compiler on surface.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 40%] Running xml schema compiler on road.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 40%] Running xml schema compiler on polyline_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 40%] Running xml schema compiler on root.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 40%] Running xml schema compiler on polyline_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 39%] Running xml schema compiler on projector.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 40%] Running xml schema compiler on projector.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 40%] Running xml schema compiler on ray.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 40%] Running xml schema compiler on world.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
+[ 40%] Running xml schema compiler on ray.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
 [ 41%] Running xml schema compiler on transceiver.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 41%] Running xml schema compiler on visual.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 41%] Running xml schema compiler on scene.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 41%] Running xml schema compiler on population.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 41%] Running xml schema compiler on population.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 41%] Running xml schema compiler on sensor.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 41%] Running xml schema compiler on world.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
-[ 41%] Running xml schema compiler on spherical_coordinates.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 42%] Running xml schema compiler on sphere_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 42%] Running xml schema compiler on pose.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 42%] Running xml schema compiler on pose.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 42%] Running xml schema compiler on sonar.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 42%] Running xml schema compiler on projector.sdf
-[ 42%] Built target schema1_5
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 43%] Running xml schema compiler on ray.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 43%] Running xml schema compiler on state.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 43%] Running xml schema compiler on rfidtag.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 43%] Running xml schema compiler on projector.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 43%] Running xml schema compiler on rfid.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 43%] Running xml schema compiler on road.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 43%] Running xml schema compiler on surface.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 43%] Running xml schema compiler on transceiver.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 43%] Running xml schema compiler on root.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 43%] Running xml schema compiler on ray.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 44%] Running xml schema compiler on visual.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 44%] Running xml schema compiler on scene.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 44%] Running xml schema compiler on world.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
-[ 45%] Running xml schema compiler on sensor.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 45%] Running xml schema compiler on rfidtag.sdf
+[ 41%] Running xml schema compiler on ray.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 41%] Running xml schema compiler on rfidtag.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 45%] Running xml schema compiler on spherical_coordinates.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 45%] Running xml schema compiler on sphere_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 45%] Built target schema1_7
-[ 45%] Running xml schema compiler on sonar.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 45%] Running xml schema compiler on state.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 46%] Running xml schema compiler on rfid.sdf
+[ 41%] Built target schema1_8
+[ 42%] Running xml schema compiler on rfid.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 46%] Running xml schema compiler on surface.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 47%] Running xml schema compiler on transceiver.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 47%] Running xml schema compiler on visual.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 47%] Running xml schema compiler on world.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.8
-[ 47%] Running xml schema compiler on road.sdf
+[ 43%] Running xml schema compiler on rfidtag.sdf
+[ 43%] Running xml schema compiler on visual.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 43%] Running xml schema compiler on rfidtag.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 43%] Running xml schema compiler on road.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 47%] Running xml schema compiler on root.sdf
+[ 43%] Running xml schema compiler on root.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 47%] Running xml schema compiler on sensor.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 47%] Running xml schema compiler on scene.sdf
+[ 43%] Running xml schema compiler on rfid.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 43%] Running xml schema compiler on world.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.5
+[ 43%] Running xml schema compiler on rfid.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 43%] Running xml schema compiler on scene.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 47%] Running xml schema compiler on spherical_coordinates.sdf
+[ 43%] Running xml schema compiler on road.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 43%] Running xml schema compiler on sensor.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 43%] Running xml schema compiler on road.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 43%] Running xml schema compiler on spherical_coordinates.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 47%] Running xml schema compiler on sphere_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 47%] Built target schema1_8
-[ 48%] Running xml schema compiler on sonar.sdf
+[ 43%] Built target schema1_5
+[ 43%] Running xml schema compiler on sphere_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
+[ 43%] Running xml schema compiler on root.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 43%] Running xml schema compiler on root.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 44%] Running xml schema compiler on sonar.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 48%] Running xml schema compiler on state.sdf
+[ 44%] Running xml schema compiler on state.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 48%] Running xml schema compiler on surface.sdf
+[ 44%] Running xml schema compiler on surface.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 48%] Running xml schema compiler on transceiver.sdf
+[ 44%] Running xml schema compiler on scene.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 45%] Running xml schema compiler on scene.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 45%] Running xml schema compiler on transceiver.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 49%] Running xml schema compiler on visual.sdf
+[ 46%] Running xml schema compiler on visual.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 49%] Running xml schema compiler on world.sdf
+[ 46%] Running xml schema compiler on sensor.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 46%] Running xml schema compiler on world.sdf
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.6
-[ 49%] Building CXX object src/CMakeFiles/sdformat12.dir/AirPressure.cc.o
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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/aarch64-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
-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 spherical_coordinates.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 46%] Running xml schema compiler on sensor.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 46%] Running xml schema compiler on spherical_coordinates.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 47%] Running xml schema compiler on sphere_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
+[ 47%] Running xml schema compiler on sonar.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 47%] Built target schema1_6
+[ 47%] Running xml schema compiler on state.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 47%] Running xml schema compiler on sonar.sdf
+[ 47%] Running xml schema compiler on sphere_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 47%] Running xml schema compiler on surface.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 47%] Running xml schema compiler on transceiver.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 48%] Running xml schema compiler on visual.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 48%] Running xml schema compiler on state.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 48%] Running xml schema compiler on world.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.7
+[ 49%] Running xml schema compiler on surface.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [ 50%] Building CXX object src/CMakeFiles/sdformat12.dir/Altimeter.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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/aarch64-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
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 50%] Building CXX object src/CMakeFiles/sdformat12.dir/Atmosphere.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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/aarch64-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
+[ 50%] Running xml schema compiler on transceiver.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-aarch64-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-aarch64-linux-gnu/sdf/1.9
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
+[ 50%] Built target schema1_7
+[ 50%] Running xml schema compiler on visual.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
+[ 50%] Running xml schema compiler on world.sdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/sdf/1.9
 [ 50%] Building CXX object src/CMakeFiles/sdformat12.dir/Box.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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/aarch64-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]
@@ -1976,7 +2017,7 @@
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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/aarch64-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]
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 50%] Built target schema1_6
+[ 50%] Built target schema1_9
 [ 50%] Building CXX object src/CMakeFiles/sdformat12.dir/Capsule.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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/aarch64-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
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
@@ -1998,15 +2039,15 @@
 [ 51%] Building CXX object src/CMakeFiles/sdformat12.dir/Ellipsoid.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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/aarch64-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
 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/EmbeddedSdf.cc.o
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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/aarch64-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-aarch64-linux-gnu/src/EmbeddedSdf.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 51%] Linking CXX static library libgtest.a
 cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test && /usr/bin/cmake -P CMakeFiles/gtest.dir/cmake_clean_target.cmake
 cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test && /usr/bin/cmake -E cmake_link_script CMakeFiles/gtest.dir/link.txt --verbose=1
 /usr/bin/ar qc libgtest.a "CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o"
 /usr/bin/ranlib libgtest.a
-[ 51%] Building CXX object src/CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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/aarch64-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-aarch64-linux-gnu/src/EmbeddedSdf.cc
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 51%] 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-aarch64-linux-gnu'
@@ -2187,83 +2228,80 @@
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 62%] Built target sdformat12
 make  -f test/integration/CMakeFiles/INTEGRATION_actor_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_actor_dom.dir/depend
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+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/DependInfo.cmake --color=
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+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
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-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -MD -MT test/integration/CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o -MF CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o.d -o CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o -c /build/sdformat-12.3.0+ds/test/integration/cfm_damping_implicit_spring_damper.cc
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o
-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_converter.dir/converter.cc.o
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -MD -MT test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o -MF CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o.d -o CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o -c /build/sdformat-12.3.0+ds/test/integration/deprecated_specs.cc
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 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-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -MD -MT test/integration/CMakeFiles/INTEGRATION_converter.dir/converter.cc.o -MF CMakeFiles/INTEGRATION_converter.dir/converter.cc.o.d -o CMakeFiles/INTEGRATION_converter.dir/converter.cc.o -c /build/sdformat-12.3.0+ds/test/integration/converter.cc
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -MD -MT test/integration/CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o -MF CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o.d -o CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o -c /build/sdformat-12.3.0+ds/test/integration/cfm_damping_implicit_spring_damper.cc
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.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]
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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_converter.dir/converter.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]
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -MD -MT test/integration/CMakeFiles/INTEGRATION_converter.dir/converter.cc.o -MF CMakeFiles/INTEGRATION_converter.dir/converter.cc.o.d -o CMakeFiles/INTEGRATION_converter.dir/converter.cc.o -c /build/sdformat-12.3.0+ds/test/integration/converter.cc
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
 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_deprecated_specs.dir/deprecated_specs.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-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -MD -MT test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o -MF CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o.d -o CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o -c /build/sdformat-12.3.0+ds/test/integration/deprecated_specs.cc
 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-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
-[ 62%] Linking CXX executable INTEGRATION_deprecated_specs
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 62%] Built target INTEGRATION_audio
 make  -f test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/build.make test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/depend
@@ -2275,6 +2313,9 @@
 [ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 62%] Linking CXX executable INTEGRATION_deprecated_specs
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 62%] Built target INTEGRATION_deprecated_specs
 make  -f test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/build.make test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/depend
@@ -2286,14 +2327,11 @@
 [ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 62%] Linking CXX executable INTEGRATION_cfm_damping_implicit_spring_damper
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 [ 62%] Linking CXX executable INTEGRATION_default_elements
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 62%] Built target INTEGRATION_cfm_damping_implicit_spring_damper
+[ 62%] Built target INTEGRATION_default_elements
 make  -f test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/build.make test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/DependInfo.cmake --color=
@@ -2303,22 +2341,25 @@
 [ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 63%] Linking CXX executable INTEGRATION_category_bitmask
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 62%] Built target INTEGRATION_default_elements
+[ 63%] Built target INTEGRATION_category_bitmask
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/build.make test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o
+[ 63%] Building CXX object test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
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-[ 63%] Linking CXX executable INTEGRATION_category_bitmask
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 63%] Linking CXX executable INTEGRATION_cfm_damping_implicit_spring_damper
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 63%] Built target INTEGRATION_category_bitmask
+[ 63%] Built target INTEGRATION_cfm_damping_implicit_spring_damper
 make  -f test/integration/CMakeFiles/INTEGRATION_frame.dir/build.make test/integration/CMakeFiles/INTEGRATION_frame.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_frame.dir/DependInfo.cmake --color=
@@ -2342,11 +2383,14 @@
 [ 63%] Building CXX object test/integration/CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
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+[ 63%] Linking CXX executable INTEGRATION_collision_dom
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 [ 64%] Linking CXX executable INTEGRATION_converter
 cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_converter.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_converter.dir/converter.cc.o -o INTEGRATION_converter   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 64%] Built target INTEGRATION_converter
+[ 64%] Built target INTEGRATION_collision_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_include.dir/build.make test/integration/CMakeFiles/INTEGRATION_include.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_include.dir/DependInfo.cmake --color=
@@ -2356,11 +2400,8 @@
 [ 64%] Building CXX object test/integration/CMakeFiles/INTEGRATION_include.dir/include.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
-[ 64%] Linking CXX executable INTEGRATION_collision_dom
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 64%] Built target INTEGRATION_collision_dom
+[ 64%] Built target INTEGRATION_converter
 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_includes.dir/DependInfo.cmake --color=
@@ -2486,19 +2527,19 @@
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 69%] Linking CXX executable INTEGRATION_joint_axis_dom
-cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_joint_axis_dom.dir/link.txt --verbose=1
-[ 69%] Built target INTEGRATION_light_dom
-/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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 68%] Built target INTEGRATION_light_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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/build.make test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 69%] Building CXX object test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o
+[ 68%] Building CXX object test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
+[ 69%] Linking CXX executable INTEGRATION_joint_axis_dom
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 69%] Built target INTEGRATION_joint_axis_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/build.make test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/depend
@@ -2538,53 +2579,53 @@
 [ 70%] Building CXX object test/integration/CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
-[ 70%] Linking CXX executable INTEGRATION_link_light
+[ 71%] Linking CXX executable INTEGRATION_locale_fix
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 71%] Linking CXX executable INTEGRATION_link_light
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 70%] Built target INTEGRATION_link_light
+[ 71%] Built target INTEGRATION_locale_fix
 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_model_versions.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_model_versions.dir/build.make test/integration/CMakeFiles/INTEGRATION_model_versions.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 70%] Building CXX object test/integration/CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o
+[ 71%] Building CXX object test/integration/CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
-[ 70%] Linking CXX executable INTEGRATION_locale_fix_cxx
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
-[ 70%] Linking CXX executable INTEGRATION_joint_dom
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 70%] Built target INTEGRATION_locale_fix_cxx
+[ 71%] Built target INTEGRATION_link_light
 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_nested_model.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_nested_model.dir/build.make test/integration/CMakeFiles/INTEGRATION_nested_model.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 71%] Building CXX object test/integration/CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o
+[ 72%] Building CXX object test/integration/CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
+[ 72%] Linking CXX executable INTEGRATION_locale_fix_cxx
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 71%] Built target INTEGRATION_joint_dom
+[ 72%] Built target INTEGRATION_locale_fix_cxx
 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/build.make test/integration/CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/build
-[ 72%] Linking CXX executable INTEGRATION_locale_fix
-cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_locale_fix.dir/link.txt --verbose=1
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-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_locale_fix.dir/locale_fix.cc.o -o INTEGRATION_locale_fix   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 [ 72%] 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-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 72%] Linking CXX executable INTEGRATION_joint_dom
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 72%] Built target INTEGRATION_locale_fix
+[ 72%] Built target INTEGRATION_joint_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_param_passing.dir/build.make test/integration/CMakeFiles/INTEGRATION_param_passing.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_param_passing.dir/DependInfo.cmake --color=
@@ -2638,41 +2679,38 @@
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 73%] Linking CXX executable INTEGRATION_nested_multiple_elements_error
 cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/link.txt --verbose=1
-[ 73%] Linking CXX executable INTEGRATION_param_passing
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o -o INTEGRATION_nested_multiple_elements_error   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-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_param_passing.dir/param_passing.cc.o -o INTEGRATION_param_passing   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 73%] Built target INTEGRATION_nested_multiple_elements_error
 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/DependInfo.cmake --color=
-[ 73%] Built target INTEGRATION_param_passing
-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-aarch64-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu'
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-make  -f test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/build
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 74%] Building CXX object test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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%] Building CXX object test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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_param_passing
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 [ 74%] Linking CXX executable INTEGRATION_model_dom
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 74%] Linking CXX executable INTEGRATION_link_dom
-cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_link_dom.dir/link.txt --verbose=1
+[ 74%] Built target INTEGRATION_param_passing
+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-aarch64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/DependInfo.cmake --color=
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
+make  -f test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/build
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
+[ 74%] Building CXX object test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 74%] Built target INTEGRATION_model_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_include.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/INTEGRATION_link_dom.dir/link_dom.cc.o -o INTEGRATION_link_dom   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
@@ -2681,6 +2719,9 @@
 [ 74%] Building CXX object test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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_link_dom
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 74%] Built target INTEGRATION_link_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/build.make test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/depend
@@ -2821,9 +2862,6 @@
 [ 78%] Linking CXX executable INTEGRATION_sdf_basic
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
-[ 78%] Linking CXX executable INTEGRATION_scene_dom
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 78%] Built target INTEGRATION_sdf_basic
 make  -f test/integration/CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/build.make test/integration/CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/depend
@@ -2835,6 +2873,9 @@
 [ 78%] Building CXX object test/integration/CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/urdf_joint_parameters.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -MD -MT test/integration/CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/urdf_joint_parameters.cc.o -MF CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/urdf_joint_parameters.cc.o.d -o CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/urdf_joint_parameters.cc.o -c /build/sdformat-12.3.0+ds/test/integration/urdf_joint_parameters.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_scene_dom
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 78%] Built target INTEGRATION_scene_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_visual_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_visual_dom.dir/depend
@@ -2846,28 +2887,28 @@
 [ 78%] Building CXX object test/integration/CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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_surface_dom
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 [ 78%] Linking CXX executable INTEGRATION_sdf_custom
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 78%] Built target INTEGRATION_sdf_custom
+[ 78%] Built target INTEGRATION_surface_dom
 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_whitespace.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_whitespace.dir/build.make test/integration/CMakeFiles/INTEGRATION_whitespace.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 78%] Building CXX object test/integration/CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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_surface_dom
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 78%] Built target INTEGRATION_surface_dom
+[ 78%] Built target INTEGRATION_sdf_custom
 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/CMakeFiles/INTEGRATION_world_dom.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-aarch64-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_world_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_world_dom.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
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 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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_urdf_joint_parameters
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_sdf_dom_conversion
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 78%] Built target INTEGRATION_urdf_joint_parameters
+[ 78%] Built target INTEGRATION_sdf_dom_conversion
 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Altimeter_TEST.dir/DependInfo.cmake --color=
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 [ 78%] Building CXX object src/CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
 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_dom_conversion
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_urdf_joint_parameters
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 78%] Built target INTEGRATION_sdf_dom_conversion
+[ 78%] Built target INTEGRATION_urdf_joint_parameters
 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Atmosphere_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Atmosphere_TEST.dir/build.make src/CMakeFiles/UNIT_Atmosphere_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 78%] Linking CXX executable INTEGRATION_urdf_gazebo_extensions
-cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/link.txt --verbose=1
 [ 78%] Building CXX object src/CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
-/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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-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]
+[ 79%] Linking CXX executable PERFORMANCE_parser_urdf
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
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+[ 79%] Built target PERFORMANCE_parser_urdf
 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-aarch64-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 78%] Building CXX object src/CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o
+[ 79%] Building CXX object src/CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o
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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/PERFORMANCE_parser_urdf.dir/parser_urdf.cc.o -o PERFORMANCE_parser_urdf   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 79%] Linking CXX executable INTEGRATION_urdf_gazebo_extensions
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
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+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 81%] Linking CXX executable UNIT_AirPressure_TEST
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+[ 81%] Building CXX object src/CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o
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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_Altimeter_TEST.dir/Altimeter_TEST.cc.o -o UNIT_Altimeter_TEST   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 81%] Linking CXX executable UNIT_Atmosphere_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 81%] Built target UNIT_Altimeter_TEST
+[ 81%] Built target UNIT_Atmosphere_TEST
 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Ellipsoid_TEST.dir/DependInfo.cmake --color=
@@ -3059,22 +3097,25 @@
 [ 81%] Building CXX object src/CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
+[ 82%] Linking CXX executable UNIT_Console_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 81%] Built target UNIT_Box_TEST
+[ 82%] 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Error_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Error_TEST.dir/build.make src/CMakeFiles/UNIT_Error_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 81%] Building CXX object src/CMakeFiles/UNIT_Error_TEST.dir/Error_TEST.cc.o
+[ 82%] Building CXX object src/CMakeFiles/UNIT_Error_TEST.dir/Error_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
-[ 82%] Linking CXX executable UNIT_Console_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 82%] Linking CXX executable UNIT_Box_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 82%] Built target UNIT_Console_TEST
+[ 82%] Built target UNIT_Box_TEST
 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Exception_TEST.dir/DependInfo.cmake --color=
@@ -3084,14 +3125,14 @@
 [ 82%] Building CXX object src/CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 82%] Linking CXX executable UNIT_Error_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 [ 83%] Linking CXX executable UNIT_Exception_TEST
 cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Exception_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_Exception_TEST.dir/Exception_TEST.cc.o -o UNIT_Exception_TEST   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
-[ 83%] Linking CXX executable UNIT_Error_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 83%] Built target UNIT_Exception_TEST
+[ 83%] Built target UNIT_Error_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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Frame_TEST.dir/DependInfo.cmake --color=
@@ -3102,7 +3143,7 @@
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 83%] Built target UNIT_Error_TEST
+[ 83%] Built target UNIT_Exception_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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Filesystem_TEST.dir/DependInfo.cmake --color=
@@ -3112,29 +3153,26 @@
 [ 83%] Building CXX object src/CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 84%] Linking CXX executable UNIT_Camera_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 83%] Linking CXX executable UNIT_Capsule_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 84%] Built target UNIT_Camera_TEST
+[ 83%] Built target UNIT_Capsule_TEST
 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_ForceTorque_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu'
-[ 84%] Building CXX object src/CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o
+[ 83%] Building CXX object src/CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
-[ 84%] Linking CXX executable UNIT_Capsule_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 84%] Linking CXX executable UNIT_Camera_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 84%] Linking CXX executable UNIT_Collision_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Collision_TEST.dir/link.txt --verbose=1
-[ 84%] Built target UNIT_Capsule_TEST
+[ 84%] Built target UNIT_Camera_TEST
 make  -f src/CMakeFiles/UNIT_Geometry_TEST.dir/build.make src/CMakeFiles/UNIT_Geometry_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_Collision_TEST.dir/Collision_TEST.cc.o -o UNIT_Collision_TEST   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Geometry_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
@@ -3143,6 +3181,9 @@
 [ 84%] Building CXX object src/CMakeFiles/UNIT_Geometry_TEST.dir/Geometry_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
+[ 84%] Linking CXX executable UNIT_Collision_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 84%] Built target UNIT_Collision_TEST
 make  -f src/CMakeFiles/UNIT_Gui_TEST.dir/build.make src/CMakeFiles/UNIT_Gui_TEST.dir/depend
@@ -3154,11 +3195,11 @@
 [ 85%] Building CXX object src/CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
-[ 85%] Linking CXX executable UNIT_Filesystem_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 85%] Linking CXX executable UNIT_Ellipsoid_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 85%] Built target UNIT_Filesystem_TEST
+[ 85%] Built target UNIT_Ellipsoid_TEST
 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Heightmap_TEST.dir/DependInfo.cmake --color=
@@ -3168,11 +3209,11 @@
 [ 85%] Building CXX object src/CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
-[ 85%] Linking CXX executable UNIT_Ellipsoid_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 85%] Linking CXX executable UNIT_Cylinder_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 85%] Built target UNIT_Ellipsoid_TEST
+[ 85%] Built target UNIT_Cylinder_TEST
 make  -f src/CMakeFiles/UNIT_Imu_TEST.dir/build.make src/CMakeFiles/UNIT_Imu_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Imu_TEST.dir/DependInfo.cmake --color=
@@ -3182,11 +3223,11 @@
 [ 85%] Building CXX object src/CMakeFiles/UNIT_Imu_TEST.dir/Imu_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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_Cylinder_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 85%] Linking CXX executable UNIT_Filesystem_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 85%] Built target UNIT_Cylinder_TEST
+[ 85%] Built target UNIT_Filesystem_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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_InterfaceElements_TEST.dir/DependInfo.cmake --color=
@@ -3227,6 +3268,9 @@
 [ 86%] Linking CXX executable UNIT_Gui_TEST
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 86%] Linking CXX executable UNIT_Geometry_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Geometry_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_Geometry_TEST.dir/Geometry_TEST.cc.o -o UNIT_Geometry_TEST   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 86%] Built target UNIT_Gui_TEST
 make  -f src/CMakeFiles/UNIT_Lidar_TEST.dir/build.make src/CMakeFiles/UNIT_Lidar_TEST.dir/depend
@@ -3238,9 +3282,6 @@
 [ 87%] Building CXX object src/CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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 UNIT_Geometry_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Geometry_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_Geometry_TEST.dir/Geometry_TEST.cc.o -o UNIT_Geometry_TEST   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 87%] Built target UNIT_Geometry_TEST
 make  -f src/CMakeFiles/UNIT_Light_TEST.dir/build.make src/CMakeFiles/UNIT_Light_TEST.dir/depend
@@ -3350,11 +3391,11 @@
 [ 90%] Building CXX object src/CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -MD -MT src/CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o -MF CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o.d -o CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Noise_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_Magnetometer_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 90%] Linking CXX executable UNIT_Light_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 90%] Built target UNIT_Magnetometer_TEST
+[ 90%] Built target UNIT_Light_TEST
 make  -f src/CMakeFiles/UNIT_Param_TEST.dir/build.make src/CMakeFiles/UNIT_Param_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Param_TEST.dir/DependInfo.cmake --color=
@@ -3364,11 +3405,11 @@
 [ 90%] Building CXX object src/CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
-[ 90%] Linking CXX executable UNIT_Light_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 90%] Linking CXX executable UNIT_Magnetometer_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 90%] Built target UNIT_Light_TEST
+[ 90%] Built target UNIT_Magnetometer_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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_parser_TEST.dir/DependInfo.cmake --color=
@@ -3392,11 +3433,11 @@
 [ 90%] Building CXX object src/CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
-[ 90%] Linking CXX executable UNIT_Mesh_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 90%] Linking CXX executable UNIT_Material_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 90%] Built target UNIT_Mesh_TEST
+[ 90%] Built target UNIT_Material_TEST
 make  -f src/CMakeFiles/UNIT_ParticleEmitter_TEST.dir/build.make src/CMakeFiles/UNIT_ParticleEmitter_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_ParticleEmitter_TEST.dir/DependInfo.cmake --color=
@@ -3406,28 +3447,28 @@
 [ 91%] Building CXX object src/CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
-[ 91%] Linking CXX executable UNIT_Material_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
-[ 91%] Linking CXX executable UNIT_NavSat_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 91%] Linking CXX executable UNIT_Mesh_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 91%] Built target UNIT_NavSat_TEST
+[ 91%] Built target UNIT_Mesh_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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Pbr_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu'
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 91%] Building CXX object src/CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
-[ 91%] Built target UNIT_Material_TEST
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 91%] Linking CXX executable UNIT_NavSat_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
+[ 91%] Built target UNIT_NavSat_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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Physics_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-aarch64-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-aarch64-linux-gnu'
@@ -3470,15 +3511,15 @@
 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Scene_TEST.dir/DependInfo.cmake --color=
+[ 92%] Linking CXX executable UNIT_ParticleEmitter_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_ParticleEmitter_TEST.dir/link.txt --verbose=1
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Scene_TEST.dir/build.make src/CMakeFiles/UNIT_Scene_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-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_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o -o UNIT_ParticleEmitter_TEST   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 [ 93%] Building CXX object src/CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
-[ 93%] Linking CXX executable UNIT_ParticleEmitter_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 93%] Built target UNIT_ParticleEmitter_TEST
 make  -f src/CMakeFiles/UNIT_SemanticPose_TEST.dir/build.make src/CMakeFiles/UNIT_SemanticPose_TEST.dir/depend
@@ -3521,36 +3562,36 @@
 [ 94%] Linking CXX executable UNIT_parser_TEST
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
-[ 94%] Linking CXX executable UNIT_Root_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 94%] Built target UNIT_Root_TEST
+[ 94%] Built target UNIT_parser_TEST
 make  -f src/CMakeFiles/UNIT_Sky_TEST.dir/build.make src/CMakeFiles/UNIT_Sky_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Sky_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
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-[ 94%] Built target UNIT_parser_TEST
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 94%] Linking CXX executable UNIT_Pbr_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
+[ 94%] Built target UNIT_Pbr_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-aarch64-linux-gnu'
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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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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
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 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
-[ 94%] Linking CXX executable UNIT_Param_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 94%] Linking CXX executable UNIT_Root_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 94%] Built target UNIT_Param_TEST
+[ 94%] Built target UNIT_Root_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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Surface_TEST.dir/DependInfo.cmake --color=
@@ -3560,14 +3601,11 @@
 [ 94%] Building CXX object src/CMakeFiles/UNIT_Surface_TEST.dir/Surface_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
-[ 94%] Linking CXX executable UNIT_Pbr_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
-[ 94%] Linking CXX executable UNIT_Scene_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 94%] Linking CXX executable UNIT_Param_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 94%] Built target UNIT_Pbr_TEST
+[ 94%] Built target UNIT_Param_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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Types_TEST.dir/DependInfo.cmake --color=
@@ -3577,8 +3615,11 @@
 [ 94%] Building CXX object src/CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
+[ 94%] Linking CXX executable UNIT_SemanticPose_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_SemanticPose_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_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o -o UNIT_SemanticPose_TEST   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 94%] Built target UNIT_Scene_TEST
+[ 94%] Built target UNIT_SemanticPose_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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Visual_TEST.dir/DependInfo.cmake --color=
@@ -3588,11 +3629,11 @@
 [ 94%] Building CXX object src/CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 94%] Linking CXX executable UNIT_SemanticPose_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_SemanticPose_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_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o -o UNIT_SemanticPose_TEST   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 94%] Linking CXX executable UNIT_Scene_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 94%] Built target UNIT_SemanticPose_TEST
+[ 94%] Built target UNIT_Scene_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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_World_TEST.dir/DependInfo.cmake --color=
@@ -3616,67 +3657,67 @@
 [ 94%] Building CXX object src/CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
-[ 94%] Linking CXX executable UNIT_Sky_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 95%] Linking CXX executable UNIT_Surface_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 94%] Built target UNIT_Sky_TEST
+[ 95%] Built target UNIT_Surface_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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_XmlUtils_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu'
-[ 95%] Linking CXX executable UNIT_Surface_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Surface_TEST.dir/link.txt --verbose=1
 [ 95%] Building CXX object src/CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o
-/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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
+[ 95%] Linking CXX executable UNIT_Sky_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 [ 95%] Linking CXX executable UNIT_Sphere_TEST
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 95%] Built target UNIT_Surface_TEST
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
+[ 95%] Built target UNIT_Sky_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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_FrameSemantics_TEST.dir/DependInfo.cmake --color=
-[ 95%] Built target UNIT_Sphere_TEST
-make  -f src/CMakeFiles/UNIT_Converter_TEST.dir/build.make src/CMakeFiles/UNIT_Converter_TEST.dir/depend
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Converter_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_FrameSemantics_TEST.dir/build.make src/CMakeFiles/UNIT_FrameSemantics_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu'
 [ 95%] Building CXX object src/CMakeFiles/UNIT_FrameSemantics_TEST.dir/FrameSemantics_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
+[ 95%] Built target UNIT_Sphere_TEST
+make  -f src/CMakeFiles/UNIT_Converter_TEST.dir/build.make src/CMakeFiles/UNIT_Converter_TEST.dir/depend
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_Converter_TEST.dir/DependInfo.cmake --color=
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu'
 [ 95%] Building CXX object src/CMakeFiles/UNIT_Converter_TEST.dir/Converter_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -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]
-[ 96%] Linking CXX executable UNIT_Sensor_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 95%] Linking CXX executable UNIT_SDF_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_SDF_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_SDF_TEST.dir/SDF_TEST.cc.o -o UNIT_SDF_TEST   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 96%] Built target UNIT_Sensor_TEST
+[ 95%] Built target UNIT_SDF_TEST
 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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_parser_urdf_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 make  -f src/CMakeFiles/UNIT_parser_urdf_TEST.dir/build.make src/CMakeFiles/UNIT_parser_urdf_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 96%] Building CXX object src/CMakeFiles/UNIT_parser_urdf_TEST.dir/parser_urdf_TEST.cc.o
+[ 95%] Building CXX object src/CMakeFiles/UNIT_parser_urdf_TEST.dir/parser_urdf_TEST.cc.o
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu -I/build/sdformat-12.3.0+ds/obj-aarch64-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 -I/usr/lib/aarch64-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]
-[ 96%] Linking CXX executable UNIT_SDF_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_SDF_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_SDF_TEST.dir/SDF_TEST.cc.o -o UNIT_SDF_TEST   -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+[ 96%] Linking CXX executable UNIT_Sensor_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 96%] Built target UNIT_SDF_TEST
+[ 96%] Built target UNIT_Sensor_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-aarch64-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/CMakeFiles/UNIT_ParamPassing_TEST.dir/DependInfo.cmake --color=
@@ -3691,16 +3732,16 @@
 /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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 98%] Built target UNIT_Visual_TEST
-[ 98%] Linking CXX executable UNIT_World_TEST
-cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
-[ 98%] Built target UNIT_World_TEST
 [ 98%] Linking CXX executable UNIT_Utils_TEST
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 [ 98%] Built target UNIT_Utils_TEST
+[ 98%] Linking CXX executable UNIT_World_TEST
+cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
+[ 98%] Built target UNIT_World_TEST
 [ 98%] Linking CXX executable UNIT_XmlUtils_TEST
 cd /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/aarch64-linux-gnu/libtinyxml2.so.9.0.0 /usr/lib/aarch64-linux-gnu/libignition-math6.so.6.10.0 
@@ -20003,7 +20044,7 @@
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 1/urw/helvetic/uhvr8a.pfb></usr/share/texlive/texmf-dist/fonts/type1/urw/helvet
 ic/uhvro8a.pfb>
-Output written on refman.pdf (716 pages, 2370446 bytes).
+Output written on refman.pdf (716 pages, 2370473 bytes).
 Transcript written on refman.log.
 makeindex refman.idx
 This is makeindex, version 2.16 [TeX Live 2022] (kpathsea + Thai support).
@@ -25701,7 +25742,7 @@
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 1/urw/helvetic/uhvr8a.pfb></usr/share/texlive/texmf-dist/fonts/type1/urw/helvet
 ic/uhvro8a.pfb>
-Output written on refman.pdf (802 pages, 2470573 bytes).
+Output written on refman.pdf (802 pages, 2470617 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 ] ;\
@@ -29045,7 +29086,7 @@
 /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, 2467854 bytes).
+Output written on refman.pdf (802 pages, 2467897 bytes).
 Transcript written on refman.log.
 makeindex refman.idx
 This is makeindex, version 2.16 [TeX Live 2022] (kpathsea + Thai support).
@@ -32388,7 +32429,7 @@
 /fonts/type1/urw/helvetic/uhvbo8a.pfb></usr/share/texlive/texmf-dist/fonts/type
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 ic/uhvro8a.pfb>
-Output written on refman.pdf (802 pages, 2467854 bytes).
+Output written on refman.pdf (802 pages, 2467897 bytes).
 Transcript written on refman.log.
 make[6]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/doxygen/latex'
 mv /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/doxygen/latex/refman.pdf /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/doxygen/latex/sdf-12.3.0.pdf
@@ -32484,16 +32525,16 @@
 9: Environment variables: 
 9:  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:
 9: Test timeout computed to be: 240
-  2/221 Test   #4: check_INTEGRATION_audio ................................   Passed    0.11 sec
+  2/221 Test   #4: check_INTEGRATION_audio ................................   Passed    0.14 sec
 test 10
         Start  10: check_INTEGRATION_collision_dom
 
 10: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_collision_dom.xml"
 10: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 10: Test timeout computed to be: 10000000
-6: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_category_bitmask.xml
-6: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_category_bitmask.xml
-  3/221 Test   #6: check_INTEGRATION_category_bitmask .....................   Passed    0.15 sec
+8: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/test_results/INTEGRATION_cfm_damping_implicit_spring_damper.xml
+  3/221 Test   #8: check_INTEGRATION_cfm_damping_implicit_spring_damper ...   Passed    0.10 sec
 test 11
         Start  11: INTEGRATION_converter
 
@@ -32502,18 +32543,18 @@
 11: Environment variables: 
 11:  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:
 11: Test timeout computed to be: 240
-8: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/test_results/INTEGRATION_cfm_damping_implicit_spring_damper.xml
-10: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_collision_dom.xml
-10: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_collision_dom.xml
-  4/221 Test   #8: check_INTEGRATION_cfm_damping_implicit_spring_damper ...   Passed    0.16 sec
+6: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_category_bitmask.xml
+6: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_category_bitmask.xml
+  4/221 Test   #6: check_INTEGRATION_category_bitmask .....................   Passed    0.16 sec
 test 12
         Start  12: check_INTEGRATION_converter
 
 12: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_converter.xml"
 12: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 12: Test timeout computed to be: 10000000
-  5/221 Test  #10: check_INTEGRATION_collision_dom ........................   Passed    0.13 sec
+10: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_collision_dom.xml
+10: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_collision_dom.xml
+  5/221 Test  #10: check_INTEGRATION_collision_dom ........................   Passed    0.16 sec
 test 13
         Start  13: INTEGRATION_default_elements
 
@@ -32522,49 +32563,38 @@
 13: Environment variables: 
 13:  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:
 13: 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
-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
 12: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_converter.xml
 12: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_converter.xml
+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
 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
-  6/221 Test  #12: check_INTEGRATION_converter ............................   Passed    0.14 sec
+  6/221 Test  #12: check_INTEGRATION_converter ............................   Passed    0.18 sec
 test 14
         Start  14: check_INTEGRATION_default_elements
 
 14: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_default_elements.xml"
 14: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 14: Test timeout computed to be: 10000000
-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
-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
+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
 14: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_default_elements.xml
 14: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_default_elements.xml
-  7/221 Test  #14: check_INTEGRATION_default_elements .....................   Passed    0.14 sec
+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
+  7/221 Test  #14: check_INTEGRATION_default_elements .....................   Passed    0.17 sec
 test 15
         Start  15: INTEGRATION_deprecated_specs
 
@@ -32578,57 +32608,103 @@
 11: [----------] Global test environment set-up.
 11: [----------] 5 tests from ConverterIntegration
 11: [ RUN      ] ConverterIntegration.ParserFileConverter
+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
+3: [       OK ] SDFParser.AudioSDF_FullParameters_noThrow (436 ms)
+3: [----------] 1 test from SDFParser (437 ms total)
+3: 
+3: [----------] Global test environment tear-down
+3: [==========] 1 test from 1 test suite ran. (437 ms total)
+3: [  PASSED  ] 1 test.
+  8/221 Test   #3: INTEGRATION_audio ......................................   Passed    0.78 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-aarch64-linux-gnu/test_results/INTEGRATION_deprecated_specs.xml"
+16: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
+16: Test timeout computed to be: 10000000
+16: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_deprecated_specs.xml
+16: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_deprecated_specs.xml
+  9/221 Test  #16: check_INTEGRATION_deprecated_specs .....................   Passed    0.04 sec
+test 17
+        Start  17: INTEGRATION_disable_fixed_joint_reduction
+
+17: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/INTEGRATION_disable_fixed_joint_reduction "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml"
+17: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
+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
 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
-7: [       OK ] SDFParser.CFMDampingSDFTest (517 ms)
-7: [ RUN      ] SDFParser.CFMDampingURDFTest
+1: [       OK ] DOMActor.LoadActors (537 ms)
+1: [ RUN      ] DOMActor.CopySdfLoadedProperties
 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
 15: Error [parser.cc:437] Could not find the 'element' element in the xml file
-15: [       OK ] DeprecatedSpecs.Spec1_0 (10 ms)
+15: [       OK ] DeprecatedSpecs.Spec1_0 (11 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 (10 ms total)
+15: [----------] 2 tests from DeprecatedSpecs (11 ms total)
 15: 
 15: [----------] 2 tests from DeprecatedElements
 15: [ RUN      ] DeprecatedElements.CanEmitErrors
-5: [       OK ] CategoryBitmask.WasSpecified (706 ms)
-5: [ RUN      ] CategoryBitmask.WasNotSpecified
-3: [       OK ] SDFParser.AudioSDF_FullParameters_noThrow (673 ms)
-3: [----------] 1 test from SDFParser (673 ms total)
-3: 
-3: [----------] Global test environment tear-down
-9: [       OK ] DOMCollision.DoublePendulum (682 ms)
+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
+11: [       OK ] ConverterIntegration.ParserFileConverter (789 ms)
+11: [ RUN      ] ConverterIntegration.convertFileToNotLatestVersion
+9: [       OK ] DOMCollision.DoublePendulum (702 ms)
 9: [ RUN      ] DOMCollision.LoadModelFramesRelativeToJoint
-3: [==========] 1 test from 1 test suite ran. (673 ms total)
-3: [  PASSED  ] 1 test.
-  8/221 Test   #3: INTEGRATION_audio ......................................   Passed    1.13 sec
-test 16
-        Start  16: check_INTEGRATION_deprecated_specs
+7: [       OK ] SDFParser.CFMDampingSDFTest (921 ms)
+7: [ RUN      ] SDFParser.CFMDampingURDFTest
+5: [       OK ] CategoryBitmask.WasSpecified (1006 ms)
+5: [ RUN      ] CategoryBitmask.WasNotSpecified
+1: [       OK ] DOMActor.CopySdfLoadedProperties (659 ms)
+1: [----------] 2 tests from DOMActor (1197 ms total)
+1: 
+1: [----------] Global test environment tear-down
+1: [==========] 2 tests from 1 test suite ran. (1197 ms total)
+1: [  PASSED  ] 2 tests.
+ 10/221 Test   #1: INTEGRATION_actor_dom ..................................   Passed    1.62 sec
+test 18
+        Start  18: check_INTEGRATION_disable_fixed_joint_reduction
 
-16: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_deprecated_specs.xml"
-16: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
-16: Test timeout computed to be: 10000000
-16: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_deprecated_specs.xml
-16: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_deprecated_specs.xml
-11: [       OK ] ConverterIntegration.ParserFileConverter (676 ms)
-11: [ RUN      ] ConverterIntegration.convertFileToNotLatestVersion
-  9/221 Test  #16: check_INTEGRATION_deprecated_specs .....................   Passed    0.15 sec
-test 17
-        Start  17: 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-aarch64-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml"
+18: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
+18: Test timeout computed to be: 10000000
+18: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml
+ 11/221 Test  #18: check_INTEGRATION_disable_fixed_joint_reduction ........   Passed    0.11 sec
+test 19
+        Start  19: INTEGRATION_element_tracing
 
-17: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/INTEGRATION_disable_fixed_joint_reduction "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml"
-17: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
-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
+19: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/INTEGRATION_element_tracing "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_element_tracing.xml"
+19: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
+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
+13: [       OK ] ExplicitlySetInFile.EmptyRoadSphCoords (858 ms)
+13: [ RUN      ] ExplicitlySetInFile.EmptyAxis
+15: [       OK ] DeprecatedElements.CanEmitErrors (725 ms)
+15: [ RUN      ] DeprecatedElements.CanEmitWarningWithErrorEnforcmentPolicy
 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]
@@ -32662,59 +32738,29 @@
 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.
-1: [       OK ] DOMActor.LoadActors (1084 ms)
-1: [ RUN      ] DOMActor.CopySdfLoadedProperties
-15: [       OK ] DeprecatedElements.CanEmitErrors (605 ms)
-15: [ RUN      ] DeprecatedElements.CanEmitWarningWithErrorEnforcmentPolicy
-13: [       OK ] ExplicitlySetInFile.EmptyRoadSphCoords (803 ms)
-13: [ RUN      ] ExplicitlySetInFile.EmptyAxis
-5: [       OK ] CategoryBitmask.WasNotSpecified (506 ms)
-5: [----------] 2 tests from CategoryBitmask (1212 ms total)
-5: 
-5: [----------] Global test environment tear-down
-5: [==========] 2 tests from 1 test suite ran. (1212 ms total)
-5: [  PASSED  ] 2 tests.
- 10/221 Test   #5: INTEGRATION_category_bitmask ...........................   Passed    1.57 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-aarch64-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml"
-18: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
-18: Test timeout computed to be: 10000000
-7: [       OK ] SDFParser.CFMDampingURDFTest (838 ms)
-7: [----------] 2 tests from SDFParser (1356 ms total)
-7: 
-7: [----------] Global test environment tear-down
-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
-18: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml
-7: [==========] 2 tests from 1 test suite ran. (1356 ms total)
-7: [  PASSED  ] 2 tests.
- 11/221 Test  #18: check_INTEGRATION_disable_fixed_joint_reduction ........   Passed    0.09 sec
-test 19
-        Start  19: INTEGRATION_element_tracing
-
-19: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/INTEGRATION_element_tracing "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_element_tracing.xml"
-19: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
-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
- 12/221 Test   #7: INTEGRATION_cfm_damping_implicit_spring_damper .........   Passed    1.65 sec
+11: [       OK ] ConverterIntegration.convertFileToNotLatestVersion (700 ms)
+11: [ RUN      ] ConverterIntegration.ParserStringConverter
+9: [       OK ] DOMCollision.LoadModelFramesRelativeToJoint (663 ms)
+9: [----------] 4 tests from DOMCollision (1366 ms total)
+9: 
+9: [----------] Global test environment tear-down
+9: [==========] 4 tests from 1 test suite ran. (1366 ms total)
+9: [  PASSED  ] 4 tests.
+ 12/221 Test   #9: INTEGRATION_collision_dom ..............................   Passed    1.98 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-aarch64-linux-gnu/test_results/INTEGRATION_element_tracing.xml"
 20: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 20: Test timeout computed to be: 10000000
-11: [       OK ] ConverterIntegration.convertFileToNotLatestVersion (496 ms)
-11: [ RUN      ] ConverterIntegration.ParserStringConverter
 20: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_element_tracing.xml
 20: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_element_tracing.xml
- 13/221 Test  #20: check_INTEGRATION_element_tracing ......................   Passed    0.18 sec
+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
+ 13/221 Test  #20: check_INTEGRATION_element_tracing ......................   Passed    0.20 sec
 test 21
         Start  21: INTEGRATION_fixed_joint_reduction
 
@@ -32723,35 +32769,26 @@
 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
-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
-9: [       OK ] DOMCollision.LoadModelFramesRelativeToJoint (959 ms)
-9: [----------] 4 tests from DOMCollision (1642 ms total)
-9: 
-9: [----------] Global test environment tear-down
-9: [==========] 4 tests from 1 test suite ran. (1642 ms total)
-9: [  PASSED  ] 4 tests.
- 14/221 Test   #9: INTEGRATION_collision_dom ..............................   Passed    2.00 sec
+5: [       OK ] CategoryBitmask.WasNotSpecified (809 ms)
+5: [----------] 2 tests from CategoryBitmask (1815 ms total)
+5: 
+5: [----------] Global test environment tear-down
+7: [       OK ] SDFParser.CFMDampingURDFTest (869 ms)
+7: [----------] 2 tests from SDFParser (1791 ms total)
+7: 
+7: [----------] Global test environment tear-down
+5: [==========] 2 tests from 1 test suite ran. (1815 ms total)
+5: [  PASSED  ] 2 tests.
+7: [==========] 2 tests from 1 test suite ran. (1791 ms total)
+7: [  PASSED  ] 2 tests.
+ 14/221 Test   #5: INTEGRATION_category_bitmask ...........................   Passed    2.35 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-aarch64-linux-gnu/test_results/INTEGRATION_fixed_joint_reduction.xml"
 22: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 22: Test timeout computed to be: 10000000
-13: [       OK ] ExplicitlySetInFile.EmptyAxis (727 ms)
-13: [ RUN      ] ExplicitlySetInFile.ToString
-15: [       OK ] DeprecatedElements.CanEmitWarningWithErrorEnforcmentPolicy (741 ms)
-15: [----------] 2 tests from DeprecatedElements (1347 ms total)
-15: 
-15: [----------] Global test environment tear-down
-22: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_fixed_joint_reduction.xml
-22: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_fixed_joint_reduction.xml
-15: [==========] 4 tests from 2 test suites ran. (1358 ms total)
-15: [  PASSED  ] 4 tests.
- 15/221 Test  #15: INTEGRATION_deprecated_specs ...........................   Passed    1.75 sec
+ 15/221 Test   #7: INTEGRATION_cfm_damping_implicit_spring_damper .........   Passed    2.34 sec
 test 23
         Start  23: INTEGRATION_force_torque_sensor
 
@@ -32760,21 +32797,24 @@
 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
- 16/221 Test  #22: check_INTEGRATION_fixed_joint_reduction ................   Passed    0.16 sec
+13: [       OK ] ExplicitlySetInFile.EmptyAxis (713 ms)
+13: [ RUN      ] ExplicitlySetInFile.ToString
+15: [       OK ] DeprecatedElements.CanEmitWarningWithErrorEnforcmentPolicy (685 ms)
+15: [----------] 2 tests from DeprecatedElements (1411 ms total)
+15: 
+15: [----------] Global test environment tear-down
+15: [==========] 4 tests from 2 test suites ran. (1422 ms total)
+15: [  PASSED  ] 4 tests.
+ 16/221 Test  #15: INTEGRATION_deprecated_specs ...........................   Passed    1.96 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-aarch64-linux-gnu/test_results/INTEGRATION_force_torque_sensor.xml"
 24: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 24: Test timeout computed to be: 10000000
-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
-24: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_force_torque_sensor.xml
-24: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_force_torque_sensor.xml
- 17/221 Test  #24: check_INTEGRATION_force_torque_sensor ..................   Passed    0.16 sec
+22: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_fixed_joint_reduction.xml
+22: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_fixed_joint_reduction.xml
+ 17/221 Test  #22: check_INTEGRATION_fixed_joint_reduction ................   Passed    0.20 sec
 test 25
         Start  25: INTEGRATION_frame
 
@@ -32783,33 +32823,30 @@
 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
-1: [       OK ] DOMActor.CopySdfLoadedProperties (1082 ms)
-1: [----------] 2 tests from DOMActor (2167 ms total)
-1: 
-1: [----------] Global test environment tear-down
-11: [       OK ] ConverterIntegration.ParserStringConverter (766 ms)
-11: [ RUN      ] ConverterIntegration.ParserStringConverterFrom14
-1: [==========] 2 tests from 1 test suite ran. (2167 ms total)
-1: [  PASSED  ] 2 tests.
-17: [       OK ] SDFParser.DisableFixedJointReductionTest (938 ms)
-17: [----------] 1 test from SDFParser (938 ms total)
-17: 
-17: [----------] Global test environment tear-down
-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
- 18/221 Test   #1: INTEGRATION_actor_dom ..................................   Passed    2.64 sec
+24: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_force_torque_sensor.xml
+24: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_force_torque_sensor.xml
+ 18/221 Test  #24: check_INTEGRATION_force_torque_sensor ..................   Passed    0.18 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-aarch64-linux-gnu/test_results/INTEGRATION_frame.xml"
 26: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 26: Test timeout computed to be: 10000000
-17: [==========] 1 test from 1 test suite ran. (938 ms total)
-17: [  PASSED  ] 1 test.
- 19/221 Test  #17: INTEGRATION_disable_fixed_joint_reduction ..............   Passed    1.40 sec
+11: [       OK ] ConverterIntegration.ParserStringConverter (667 ms)
+11: [ RUN      ] ConverterIntegration.ParserStringConverterFrom14
+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
+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
+26: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_frame.xml
+26: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_frame.xml
+ 19/221 Test  #26: check_INTEGRATION_frame ................................   Passed    0.19 sec
 test 27
         Start  27: INTEGRATION_geometry_dom
 
@@ -32818,9 +32855,13 @@
 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-aarch64-linux-gnu/test_results/INTEGRATION_frame.xml
-26: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_frame.xml
- 20/221 Test  #26: check_INTEGRATION_frame ................................   Passed    0.15 sec
+13: [       OK ] ExplicitlySetInFile.ToString (544 ms)
+13: [----------] 3 tests from ExplicitlySetInFile (2117 ms total)
+13: 
+13: [----------] Global test environment tear-down
+13: [==========] 3 tests from 1 test suite ran. (2117 ms total)
+13: [  PASSED  ] 3 tests.
+ 20/221 Test  #13: INTEGRATION_default_elements ...........................   Passed    2.71 sec
 test 28
         Start  28: check_INTEGRATION_geometry_dom
 
@@ -32829,12 +32870,7 @@
 28: Test timeout computed to be: 10000000
 28: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_geometry_dom.xml
 28: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_geometry_dom.xml
-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
- 21/221 Test  #28: check_INTEGRATION_geometry_dom .........................   Passed    0.11 sec
+ 21/221 Test  #28: check_INTEGRATION_geometry_dom .........................   Passed    0.09 sec
 test 29
         Start  29: INTEGRATION_include
 
@@ -32843,29 +32879,36 @@
 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
-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
-19: [       OK ] ElementTracing.NestedModels (926 ms)
-19: [ RUN      ] ElementTracing.includes
-13: [       OK ] ExplicitlySetInFile.ToString (779 ms)
-13: [----------] 3 tests from ExplicitlySetInFile (2310 ms total)
-13: 
-13: [----------] Global test environment tear-down
-13: [==========] 3 tests from 1 test suite ran. (2310 ms total)
-13: [  PASSED  ] 3 tests.
- 22/221 Test  #13: INTEGRATION_default_elements ...........................   Passed    2.82 sec
+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
+17: [       OK ] SDFParser.DisableFixedJointReductionTest (2076 ms)
+17: [----------] 1 test from SDFParser (2076 ms total)
+17: 
+17: [----------] Global test environment tear-down
+17: [==========] 1 test from 1 test suite ran. (2076 ms total)
+17: [  PASSED  ] 1 test.
+23: [       OK ] SDFParser.ForceTorqueSensorTest (629 ms)
+23: [----------] 1 test from SDFParser (629 ms total)
+23: 
+23: [----------] Global test environment tear-down
+ 22/221 Test  #17: INTEGRATION_disable_fixed_joint_reduction ..............   Passed    2.58 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-aarch64-linux-gnu/test_results/INTEGRATION_include.xml"
 30: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 30: Test timeout computed to be: 10000000
-30: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_include.xml
-30: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_include.xml
- 23/221 Test  #30: check_INTEGRATION_include ..............................   Passed    0.16 sec
+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: [==========] 1 test from 1 test suite ran. (629 ms total)
+23: [  PASSED  ] 1 test.
+ 23/221 Test  #23: INTEGRATION_force_torque_sensor ........................   Passed    1.04 sec
 test 31
         Start  31: INTEGRATION_includes
 
@@ -32874,11 +32917,6 @@
 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
-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]
 29: [==========] Running 1 test from 1 test suite.
 29: [----------] Global test environment set-up.
 29: [----------] 1 test from Include
@@ -32889,20 +32927,19 @@
 29: [----------] Global test environment tear-down
 29: [==========] 1 test from 1 test suite ran. (3 ms total)
 29: [  PASSED  ] 1 test.
-27: [       OK ] DOMGeometry.Shapes (370 ms)
-27: [----------] 1 test from DOMGeometry (370 ms total)
-27: 
-27: [----------] Global test environment tear-down
- 24/221 Test  #29: INTEGRATION_include ....................................   Passed    0.39 sec
+19: [       OK ] ElementTracing.NestedModels (1205 ms)
+19: [ RUN      ] ElementTracing.includes
+ 24/221 Test  #29: INTEGRATION_include ....................................   Passed    0.37 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-aarch64-linux-gnu/test_results/INTEGRATION_includes.xml"
 32: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 32: Test timeout computed to be: 10000000
-27: [==========] 1 test from 1 test suite ran. (371 ms total)
-27: [  PASSED  ] 1 test.
- 25/221 Test  #27: INTEGRATION_geometry_dom ...............................   Passed    0.63 sec
+30: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_include.xml
+32: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_includes.xml
+32: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_includes.xml
+ 25/221 Test  #32: check_INTEGRATION_includes .............................   Passed    0.11 sec
 test 33
         Start  33: INTEGRATION_interface_api
 
@@ -32911,26 +32948,18 @@
 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
-21: [       OK ] SDFParser.FixedJointReductionEquivalenceTest (945 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionVisualTest
-11: [       OK ] ConverterIntegration.ParserStringConverterFrom14 (773 ms)
-11: [ RUN      ] ConverterIntegration.UnflattenConversion
-23: [       OK ] SDFParser.ForceTorqueSensorTest (769 ms)
-23: [----------] 1 test from SDFParser (769 ms total)
-23: 
-23: [----------] Global test environment tear-down
-32: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_includes.xml
-32: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_includes.xml
- 26/221 Test  #32: check_INTEGRATION_includes .............................   Passed    0.13 sec
+ 26/221 Test  #30: check_INTEGRATION_include ..............................   Passed    0.20 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-aarch64-linux-gnu/test_results/INTEGRATION_interface_api.xml"
 34: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 34: Test timeout computed to be: 10000000
-23: [==========] 1 test from 1 test suite ran. (769 ms total)
-23: [  PASSED  ] 1 test.
- 27/221 Test  #23: INTEGRATION_force_torque_sensor ........................   Passed    1.19 sec
+11: [       OK ] ConverterIntegration.ParserStringConverterFrom14 (918 ms)
+11: [ RUN      ] ConverterIntegration.UnflattenConversion
+34: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_interface_api.xml
+34: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_interface_api.xml
+ 27/221 Test  #34: check_INTEGRATION_interface_api ........................   Passed    0.17 sec
 test 35
         Start  35: INTEGRATION_joint_axis_frame
 
@@ -32939,20 +32968,46 @@
 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
-34: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_interface_api.xml
-34: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_interface_api.xml
- 28/221 Test  #34: check_INTEGRATION_interface_api ........................   Passed    0.11 sec
+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
+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.FixedJointReductionEquivalenceTest (1119 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionVisualTest
+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
+25: [       OK ] Frame.ModelFrame (847 ms)
+25: [ RUN      ] Frame.FrameDefaultPose
+27: [       OK ] DOMGeometry.Shapes (619 ms)
+27: [----------] 1 test from DOMGeometry (619 ms total)
+27: 
+27: [----------] Global test environment tear-down
+27: [==========] 1 test from 1 test suite ran. (619 ms total)
+27: [  PASSED  ] 1 test.
+ 28/221 Test  #27: INTEGRATION_geometry_dom ...............................   Passed    1.23 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-aarch64-linux-gnu/test_results/INTEGRATION_joint_axis_frame.xml"
 36: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 36: Test timeout computed to be: 10000000
-25: [       OK ] Frame.ModelFrame (703 ms)
-25: [ RUN      ] Frame.FrameDefaultPose
+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
 36: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_joint_axis_frame.xml
 36: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_joint_axis_frame.xml
- 29/221 Test  #36: check_INTEGRATION_joint_axis_frame .....................   Passed    0.11 sec
+ 29/221 Test  #36: check_INTEGRATION_joint_axis_frame .....................   Passed    0.14 sec
 test 37
         Start  37: INTEGRATION_joint_axis_dom
 
@@ -32961,48 +33016,22 @@
 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
-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
-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
-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
+25: [       OK ] Frame.FrameDefaultPose (546 ms)
+25: [ RUN      ] Frame.NoFrame
+33: [       OK ] InterfaceAPI.NestedIncludeData (621 ms)
+33: [ RUN      ] InterfaceAPI.CustomParserPrecedence
 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.FixedJointReductionVisualTest (675 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionCollisionTest
 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
-25: [       OK ] Frame.FrameDefaultPose (522 ms)
-25: [ RUN      ] Frame.NoFrame
-33: [       OK ] InterfaceAPI.NestedIncludeData (682 ms)
-33: [ RUN      ] InterfaceAPI.CustomParserPrecedence
-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 (660 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionCollisionVisualExtensionTest
-11: [       OK ] ConverterIntegration.UnflattenConversion (1345 ms)
-11: [----------] 5 tests from ConverterIntegration (4058 ms total)
-11: 
-11: [----------] Global test environment tear-down
+21: [       OK ] SDFParser.FixedJointReductionVisualTest (790 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionCollisionTest
 35: <axis>
 35:   <xyz expressed_in='__model__'>1 0 0</xyz>
 35:   <limit>
@@ -33010,22 +33039,26 @@
 35:     <upper>1e16</upper>
 35:   </limit>
 35: </axis>
-35: [       OK ] JointAxisFrame.Version_1_4_missing (832 ms)
+35: [       OK ] JointAxisFrame.Version_1_4_missing (636 ms)
 35: [ RUN      ] JointAxisFrame.Version_1_4_no_convert
-25: [       OK ] Frame.NoFrame (635 ms)
-25: [ RUN      ] Frame.StateFrame
-11: [==========] 5 tests from 1 test suite ran. (4058 ms total)
+11: [       OK ] ConverterIntegration.UnflattenConversion (1209 ms)
+11: [----------] 5 tests from ConverterIntegration (4286 ms total)
+11: 
+11: [----------] Global test environment tear-down
+11: [==========] 5 tests from 1 test suite ran. (4286 ms total)
 11: [  PASSED  ] 5 tests.
- 30/221 Test  #11: INTEGRATION_converter ..................................   Passed    4.62 sec
+ 30/221 Test  #11: INTEGRATION_converter ..................................   Passed    4.75 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-aarch64-linux-gnu/test_results/INTEGRATION_joint_axis_dom.xml"
 38: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 38: Test timeout computed to be: 10000000
+25: [       OK ] Frame.NoFrame (497 ms)
+25: [ RUN      ] Frame.StateFrame
 38: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_joint_axis_dom.xml
 38: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_joint_axis_dom.xml
- 31/221 Test  #38: check_INTEGRATION_joint_axis_dom .......................   Passed    0.14 sec
+ 31/221 Test  #38: check_INTEGRATION_joint_axis_dom .......................   Passed    0.16 sec
 test 39
         Start  39: INTEGRATION_joint_dom
 
@@ -33034,10 +33067,24 @@
 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
-33: [       OK ] InterfaceAPI.CustomParserPrecedence (774 ms)
+33: [       OK ] InterfaceAPI.CustomParserPrecedence (612 ms)
 33: [ RUN      ] InterfaceAPI.TomlParserWorldInclude
-37: [       OK ] DOMJointAxis.Complete (1077 ms)
-37: [ RUN      ] DOMJointAxis.XyzExpressedIn
+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]
+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 (601 ms)
+35: [ RUN      ] JointAxisFrame.Version_1_4_to_1_5
+21: [       OK ] SDFParser.FixedJointReductionCollisionTest (793 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionCollisionVisualExtensionTest
 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.
@@ -33047,51 +33094,12 @@
 39: [ RUN      ] DOMJoint.NoName
 39: [       OK ] DOMJoint.NoName (0 ms)
 39: [ RUN      ] DOMJoint.DoublePendulum
-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
-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 (687 ms)
-35: [ RUN      ] JointAxisFrame.Version_1_4_to_1_5
-21: [       OK ] SDFParser.FixedJointReductionCollisionVisualExtensionTest (753 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionCollisionVisualExtensionEmptyRootTest
-25: [       OK ] Frame.StateFrame (802 ms)
+25: [       OK ] Frame.StateFrame (587 ms)
 25: [ RUN      ] Frame.IncludeRelativeTo
-37: [       OK ] DOMJointAxis.XyzExpressedIn (617 ms)
-37: [ RUN      ] DOMJointAxis.InfiniteLimits
-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.TomlParserWorldInclude (852 ms)
+37: [       OK ] DOMJointAxis.Complete (957 ms)
+37: [ RUN      ] DOMJointAxis.XyzExpressedIn
+33: [       OK ] InterfaceAPI.TomlParserWorldInclude (589 ms)
 33: [ RUN      ] InterfaceAPI.TomlParserModelInclude
-21: [       OK ] SDFParser.FixedJointReductionCollisionVisualExtensionEmptyRootTest (632 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionSimple
-39: [       OK ] DOMJoint.DoublePendulum (779 ms)
-39: [ RUN      ] DOMJoint.Complete
 35: <axis>
 35:   <xyz>1 0 0</xyz>
 35:   <use_parent_model_frame>true</use_parent_model_frame>
@@ -33100,40 +33108,56 @@
 35:     <upper>1e16</upper>
 35:   </limit>
 35: </axis>
-35: [       OK ] JointAxisFrame.Version_1_4_to_1_5 (799 ms)
+35: [       OK ] JointAxisFrame.Version_1_4_to_1_5 (571 ms)
 35: [ RUN      ] JointAxisFrame.Version_1_5_missing
-37: [       OK ] DOMJointAxis.InfiniteLimits (480 ms)
-37: [ RUN      ] DOMJointAxis.XyzNormalization
-33: [       OK ] InterfaceAPI.TomlParserModelInclude (347 ms)
+33: [       OK ] InterfaceAPI.TomlParserModelInclude (501 ms)
 33: [ RUN      ] InterfaceAPI.FrameSemantics
-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[1.11647e-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]
-21: [       OK ] SDFParser.FixedJointReductionSimple (387 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionPluginFrameExtensionTest
-19: [       OK ] ElementTracing.includes (3609 ms)
-19: [----------] 2 tests from ElementTracing (4535 ms total)
+39: [       OK ] DOMJoint.DoublePendulum (779 ms)
+39: [ RUN      ] DOMJoint.Complete
+37: [       OK ] DOMJointAxis.XyzExpressedIn (719 ms)
+37: [ RUN      ] DOMJointAxis.InfiniteLimits
+35: [       OK ] JointAxisFrame.Version_1_5_missing (594 ms)
+35: [----------] 4 tests from JointAxisFrame (2416 ms total)
+35: 
+35: [----------] Global test environment tear-down
+19: [       OK ] ElementTracing.includes (3131 ms)
+19: [----------] 2 tests from ElementTracing (4337 ms total)
 19: 
 19: [----------] Global test environment tear-down
-19: [==========] 2 tests from 1 test suite ran. (4535 ms total)
-19: [  PASSED  ] 2 tests.
- 32/221 Test  #19: INTEGRATION_element_tracing ............................   Passed    5.05 sec
+35: [==========] 4 tests from 1 test suite ran. (2416 ms total)
+35: [  PASSED  ] 4 tests.
+ 32/221 Test  #35: INTEGRATION_joint_axis_frame ...........................   Passed    2.85 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-aarch64-linux-gnu/test_results/INTEGRATION_joint_dom.xml"
 40: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 40: Test timeout computed to be: 10000000
-21: [       OK ] SDFParser.FixedJointReductionPluginFrameExtensionTest (328 ms)
-21: [----------] 7 tests from SDFParser (4383 ms total)
-21: 
-21: [----------] Global test environment tear-down
-21: [==========] 7 tests from 1 test suite ran. (4383 ms total)
-21: [  PASSED  ] 7 tests.
- 33/221 Test  #21: INTEGRATION_fixed_joint_reduction ......................   Passed    4.92 sec
+31: [       OK ] IncludesTest.Includes (2852 ms)
+31: [ RUN      ] IncludesTest.Includes_15
+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
+40: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_joint_dom.xml
+40: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_joint_dom.xml
+19: [==========] 2 tests from 1 test suite ran. (4337 ms total)
+19: [  PASSED  ] 2 tests.
+ 33/221 Test  #40: check_INTEGRATION_joint_dom ............................   Passed    0.10 sec
 test 41
         Start  41: INTEGRATION_light_dom
 
@@ -33142,28 +33166,20 @@
 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
-40: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_joint_dom.xml
-40: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_joint_dom.xml
- 34/221 Test  #40: check_INTEGRATION_joint_dom ............................   Passed    0.11 sec
+21: [       OK ] SDFParser.FixedJointReductionCollisionVisualExtensionTest (1279 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionCollisionVisualExtensionEmptyRootTest
+ 34/221 Test  #19: INTEGRATION_element_tracing ............................   Passed    5.08 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-aarch64-linux-gnu/test_results/INTEGRATION_light_dom.xml"
 42: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 42: Test timeout computed to be: 10000000
-33: [       OK ] InterfaceAPI.FrameSemantics (554 ms)
+33: [       OK ] InterfaceAPI.FrameSemantics (599 ms)
 33: [ RUN      ] InterfaceAPI.Reposturing
-35: [       OK ] JointAxisFrame.Version_1_5_missing (734 ms)
-35: [----------] 4 tests from JointAxisFrame (3062 ms total)
-35: 
-35: [----------] Global test environment tear-down
-35: [==========] 4 tests from 1 test suite ran. (3062 ms total)
-35: [  PASSED  ] 4 tests.
-37: [       OK ] DOMJointAxis.XyzNormalization (702 ms)
-37: [----------] 4 tests from DOMJointAxis (2878 ms total)
-37: 
-37: [----------] Global test environment tear-down
- 35/221 Test  #35: INTEGRATION_joint_axis_frame ...........................   Passed    3.52 sec
+42: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_light_dom.xml
+42: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_light_dom.xml
+ 35/221 Test  #42: check_INTEGRATION_light_dom ............................   Passed    0.14 sec
 test 43
         Start  43: INTEGRATION_link_dom
 
@@ -33172,18 +33188,58 @@
 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
-42: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_light_dom.xml
-42: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_light_dom.xml
-37: [==========] 4 tests from 1 test suite ran. (2878 ms total)
+25: [       OK ] Frame.IncludeRelativeTo (1351 ms)
+25: [ RUN      ] Frame.IncludeRelativeToEmptyPose
+37: [       OK ] DOMJointAxis.InfiniteLimits (751 ms)
+37: [ RUN      ] DOMJointAxis.XyzNormalization
+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
+39: [       OK ] DOMJoint.Complete (944 ms)
+39: [ RUN      ] DOMJoint.LoadJointParentWorld
+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
+33: [       OK ] InterfaceAPI.Reposturing (665 ms)
+33: [ RUN      ] InterfaceAPI.PlacementFrame
+37: [       OK ] DOMJointAxis.XyzNormalization (767 ms)
+37: [----------] 4 tests from DOMJointAxis (3196 ms total)
+37: 
+37: [----------] Global test environment tear-down
+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
+37: [==========] 4 tests from 1 test suite ran. (3196 ms total)
 37: [  PASSED  ] 4 tests.
- 36/221 Test  #42: check_INTEGRATION_light_dom ............................   Passed    0.16 sec
+39: [       OK ] DOMJoint.LoadJointParentWorld (675 ms)
+39: [ RUN      ] DOMJoint.LoadInvalidJointChildWorld
+ 36/221 Test  #37: INTEGRATION_joint_axis_dom .............................   Passed    3.70 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-aarch64-linux-gnu/test_results/INTEGRATION_link_dom.xml"
 44: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 44: Test timeout computed to be: 10000000
- 37/221 Test  #37: INTEGRATION_joint_axis_dom .............................   Passed    3.39 sec
+21: [       OK ] SDFParser.FixedJointReductionCollisionVisualExtensionEmptyRootTest (1247 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionSimple
+41: [       OK ] DOMWorld.LoadLights (952 ms)
+41: [----------] 1 test from DOMWorld (952 ms total)
+41: 
+41: [----------] Global test environment tear-down
+44: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_link_dom.xml
+44: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_link_dom.xml
+ 37/221 Test  #44: check_INTEGRATION_link_dom .............................   Passed    0.14 sec
 test 45
         Start  45: INTEGRATION_link_light
 
@@ -33192,36 +33248,22 @@
 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
-44: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_link_dom.xml
-44: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_link_dom.xml
-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
- 38/221 Test  #44: check_INTEGRATION_link_dom .............................   Passed    0.16 sec
+41: [==========] 1 test from 1 test suite ran. (952 ms total)
+41: [  PASSED  ] 1 test.
+ 38/221 Test  #41: INTEGRATION_light_dom ..................................   Passed    1.39 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-aarch64-linux-gnu/test_results/INTEGRATION_link_light.xml"
 46: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 46: Test timeout computed to be: 10000000
-39: [       OK ] DOMJoint.Complete (1084 ms)
-39: [ RUN      ] DOMJoint.LoadJointParentWorld
-33: [       OK ] InterfaceAPI.Reposturing (387 ms)
-33: [ RUN      ] InterfaceAPI.PlacementFrame
+25: [       OK ] Frame.IncludeRelativeToEmptyPose (1193 ms)
+25: [ RUN      ] Frame.IncludeFrameWithSubmodel
+43: [       OK ] DOMLink.LoadVisualCollision (801 ms)
+43: [ RUN      ] DOMLink.InertialDoublePendulum
 46: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_link_light.xml
 46: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_link_light.xml
-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
- 39/221 Test  #46: check_INTEGRATION_link_light ...........................   Passed    0.18 sec
+ 39/221 Test  #46: check_INTEGRATION_link_light ...........................   Passed    0.09 sec
 test 47
         Start  47: INTEGRATION_locale_fix
 
@@ -33230,36 +33272,67 @@
 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
-25: [       OK ] Frame.IncludeRelativeTo (1881 ms)
-25: [ RUN      ] Frame.IncludeRelativeToEmptyPose
+31: [       OK ] IncludesTest.Includes_15 (1575 ms)
+31: [ RUN      ] IncludesTest.Includes_15_convert
+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.
+39: [       OK ] DOMJoint.LoadInvalidJointChildWorld (551 ms)
+39: [ RUN      ] DOMJoint.LoadJointParentFrame
 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
-31: [       OK ] IncludesTest.Includes (3796 ms)
-31: [ RUN      ] IncludesTest.Includes_15
-45: [       OK ] Frame.LinkLight (278 ms)
-45: [----------] 1 test from Frame (278 ms total)
+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
+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[1.11647e-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]
+21: [       OK ] SDFParser.FixedJointReductionSimple (801 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionPluginFrameExtensionTest
+43: [       OK ] DOMLink.InertialDoublePendulum (764 ms)
+43: [ RUN      ] DOMLink.InertialComplete
+39: [       OK ] DOMJoint.LoadJointParentFrame (601 ms)
+39: [ RUN      ] DOMJoint.LoadJointChildFrame
+45: [       OK ] Frame.LinkLight (609 ms)
+45: [----------] 1 test from Frame (609 ms total)
 45: 
 45: [----------] Global test environment tear-down
-45: [==========] 1 test from 1 test suite ran. (278 ms total)
+45: [==========] 1 test from 1 test suite ran. (609 ms total)
 45: [  PASSED  ] 1 test.
- 40/221 Test  #45: INTEGRATION_link_light .................................   Passed    0.72 sec
+ 40/221 Test  #45: INTEGRATION_link_light .................................   Passed    1.10 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-aarch64-linux-gnu/test_results/INTEGRATION_locale_fix.xml"
 48: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 48: 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
-48: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_locale_fix.xml
-48: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_locale_fix.xml
- 41/221 Test  #48: check_INTEGRATION_locale_fix ...........................   Passed    0.06 sec
+47: [       OK ] CheckFixForLocal.MakeTestToFail (649 ms)
+47: [----------] 1 test from CheckFixForLocal (649 ms total)
+47: 
+47: [----------] Global test environment tear-down
+25: [       OK ] Frame.IncludeFrameWithSubmodel (1062 ms)
+25: [----------] 7 tests from Frame (6086 ms total)
+25: 
+25: [----------] 12 tests from DOMFrame
+25: [ RUN      ] DOMFrame.LoadModelFramesAttachedTo
+47: [==========] 1 test from 1 test suite ran. (650 ms total)
+47: [  PASSED  ] 1 test.
+ 41/221 Test  #47: INTEGRATION_locale_fix .................................   Passed    1.02 sec
 test 49
         Start  49: INTEGRATION_locale_fix_cxx
 
@@ -33268,24 +33341,25 @@
 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: [       OK ] DOMWorld.LoadLights (917 ms)
-41: [----------] 1 test from DOMWorld (917 ms total)
-41: 
-41: [----------] Global test environment tear-down
-41: [==========] 1 test from 1 test suite ran. (917 ms total)
-41: [  PASSED  ] 1 test.
- 42/221 Test  #41: INTEGRATION_light_dom ..................................   Passed    1.31 sec
+33: [       OK ] InterfaceAPI.PlacementFrame (1735 ms)
+33: [ RUN      ] InterfaceAPI.NameCollision
+48: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_locale_fix.xml
+ 42/221 Test  #48: check_INTEGRATION_locale_fix ...........................   Passed    0.15 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-aarch64-linux-gnu/test_results/INTEGRATION_locale_fix_cxx.xml"
 50: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 50: Test timeout computed to be: 10000000
-39: [       OK ] DOMJoint.LoadJointParentWorld (965 ms)
-39: [ RUN      ] DOMJoint.LoadInvalidJointChildWorld
+21: [       OK ] SDFParser.FixedJointReductionPluginFrameExtensionTest (594 ms)
+21: [----------] 7 tests from SDFParser (6626 ms total)
+21: 
+21: [----------] Global test environment tear-down
+21: [==========] 7 tests from 1 test suite ran. (6626 ms total)
+21: [  PASSED  ] 7 tests.
 50: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_locale_fix_cxx.xml
 50: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_locale_fix_cxx.xml
- 43/221 Test  #50: check_INTEGRATION_locale_fix_cxx .......................   Passed    0.10 sec
+ 43/221 Test  #21: INTEGRATION_fixed_joint_reduction ......................   Passed    7.16 sec
 test 51
         Start  51: INTEGRATION_material_pbr
 
@@ -33294,6 +33368,15 @@
 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
+ 44/221 Test  #50: check_INTEGRATION_locale_fix_cxx .......................   Passed    0.15 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-aarch64-linux-gnu/test_results/INTEGRATION_material_pbr.xml"
+52: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
+52: Test timeout computed to be: 10000000
+43: [       OK ] DOMLink.InertialComplete (599 ms)
+43: [ RUN      ] DOMLink.InertialInvalid
 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.
@@ -33305,18 +33388,7 @@
 49: [----------] Global test environment tear-down
 49: [==========] 1 test from 1 test suite ran. (0 ms total)
 49: [  PASSED  ] 1 test.
- 44/221 Test  #49: INTEGRATION_locale_fix_cxx .............................   Passed    0.45 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-aarch64-linux-gnu/test_results/INTEGRATION_material_pbr.xml"
-52: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
-52: Test timeout computed to be: 10000000
-43: [       OK ] DOMLink.LoadVisualCollision (998 ms)
-43: [ RUN      ] DOMLink.InertialDoublePendulum
-52: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_material_pbr.xml
-52: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_material_pbr.xml
- 45/221 Test  #52: check_INTEGRATION_material_pbr .........................   Passed    0.12 sec
+ 45/221 Test  #49: INTEGRATION_locale_fix_cxx .............................   Passed    0.33 sec
 test 53
         Start  53: INTEGRATION_material
 
@@ -33325,47 +33397,21 @@
 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
-25: [       OK ] Frame.IncludeRelativeToEmptyPose (994 ms)
-25: [ RUN      ] Frame.IncludeFrameWithSubmodel
-33: [       OK ] InterfaceAPI.PlacementFrame (1221 ms)
-33: [ RUN      ] InterfaceAPI.NameCollision
-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.
-39: [       OK ] DOMJoint.LoadInvalidJointChildWorld (463 ms)
-39: [ RUN      ] DOMJoint.LoadJointParentFrame
-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
-47: [       OK ] CheckFixForLocal.MakeTestToFail (936 ms)
-47: [----------] 1 test from CheckFixForLocal (936 ms total)
-47: 
-47: [----------] Global test environment tear-down
-47: [==========] 1 test from 1 test suite ran. (936 ms total)
-47: [  PASSED  ] 1 test.
- 46/221 Test  #47: INTEGRATION_locale_fix .................................   Passed    1.45 sec
+52: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_material_pbr.xml
+52: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_material_pbr.xml
+ 46/221 Test  #52: check_INTEGRATION_material_pbr .........................   Passed    0.14 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-aarch64-linux-gnu/test_results/INTEGRATION_material.xml"
 54: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 54: Test timeout computed to be: 10000000
-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
+39: [       OK ] DOMJoint.LoadJointChildFrame (584 ms)
+39: [ RUN      ] DOMJoint.LoadJointPoseRelativeTo
 54: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_material.xml
 54: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_material.xml
+31: [       OK ] IncludesTest.Includes_15_convert (1514 ms)
+31: [ RUN      ] IncludesTest.IncludeModelMissingConfig
  47/221 Test  #54: check_INTEGRATION_material .............................   Passed    0.14 sec
 test 55
         Start  55: INTEGRATION_model_dom
@@ -33375,15 +33421,21 @@
 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
-25: [       OK ] Frame.IncludeFrameWithSubmodel (612 ms)
-25: [----------] 7 tests from Frame (6176 ms total)
-25: 
-25: [----------] 12 tests from DOMFrame
-25: [ RUN      ] DOMFrame.LoadModelFramesAttachedTo
-39: [       OK ] DOMJoint.LoadJointParentFrame (479 ms)
-39: [ RUN      ] DOMJoint.LoadJointChildFrame
-31: [       OK ] IncludesTest.Includes_15 (1910 ms)
-31: [ RUN      ] IncludesTest.Includes_15_convert
+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
+25: [       OK ] DOMFrame.LoadModelFramesAttachedTo (596 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesInvalidAttachedTo
+43: A link named link has invalid inertia.
+53: Running main() from /usr/src/gtest/src/gtest_main.cc
+53: [==========] Running 3 tests from 1 test suite.
+43: [       OK ] DOMLink.InertialInvalid (467 ms)
+43: [ RUN      ] DOMLink.Sensors
+53: [----------] Global test environment set-up.
+53: [----------] 3 tests from Material
+53: [ RUN      ] Material.InvalidColors
 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.
@@ -33393,25 +33445,8 @@
 55: [ RUN      ] DOMModel.NoName
 55: [       OK ] DOMModel.NoName (0 ms)
 55: [ RUN      ] DOMModel.NoLinks
-25: [       OK ] DOMFrame.LoadModelFramesAttachedTo (360 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesInvalidAttachedTo
-43: [       OK ] DOMLink.InertialDoublePendulum (1095 ms)
-43: [ RUN      ] DOMLink.InertialComplete
-51: [       OK ] Material.PbrDOM (762 ms)
-51: [ RUN      ] Material.MaterialPBR
-39: [       OK ] DOMJoint.LoadJointChildFrame (335 ms)
-39: [ RUN      ] DOMJoint.LoadJointPoseRelativeTo
-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: 
+39: [       OK ] DOMJoint.LoadJointPoseRelativeTo (553 ms)
+39: [ RUN      ] DOMJoint.LoadInvalidJointPoseRelativeTo
 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.
@@ -33422,33 +33457,56 @@
 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].
-39: [       OK ] DOMJoint.LoadJointPoseRelativeTo (356 ms)
-39: [ RUN      ] DOMJoint.LoadInvalidJointPoseRelativeTo
-55: [       OK ] DOMModel.NoLinks (654 ms)
-55: [ RUN      ] DOMModel.LoadModelWithDuplicateChildNames
-43: [       OK ] DOMLink.InertialComplete (652 ms)
-43: [ RUN      ] DOMLink.InertialInvalid
-33: [       OK ] InterfaceAPI.NameCollision (1627 ms)
-33: [----------] 8 tests from InterfaceAPI (6460 ms total)
+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 (597 ms)
+31: [ RUN      ] IncludesTest.IncludeUrdf
+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].
+39: [       OK ] DOMJoint.LoadInvalidJointPoseRelativeTo (208 ms)
+39: [ RUN      ] DOMJoint.LoadInvalidChild
+33: [       OK ] InterfaceAPI.NameCollision (1250 ms)
+33: [----------] 8 tests from InterfaceAPI (6576 ms total)
 33: 
 33: [----------] Global test environment tear-down
-33: [==========] 8 tests from 1 test suite ran. (6460 ms total)
+33: [==========] 8 tests from 1 test suite ran. (6576 ms total)
 33: [  PASSED  ] 8 tests.
-51: [       OK ] Material.MaterialPBR (733 ms)
-51: [----------] 2 tests from Material (1496 ms total)
-51: 
-51: [----------] Global test environment tear-down
- 48/221 Test  #33: INTEGRATION_interface_api ..............................   Passed    6.84 sec
+51: [       OK ] Material.PbrDOM (766 ms)
+51: [ RUN      ] Material.MaterialPBR
+ 48/221 Test  #33: INTEGRATION_interface_api ..............................   Passed    6.96 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-aarch64-linux-gnu/test_results/INTEGRATION_model_dom.xml"
 56: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 56: Test timeout computed to be: 10000000
-51: [==========] 2 tests from 1 test suite ran. (1496 ms total)
-51: [  PASSED  ] 2 tests.
-53: Error [Param.cc:467] The value <specular>0 0.1</specular> is invalid.
- 49/221 Test  #51: INTEGRATION_material_pbr ...............................   Passed    1.96 sec
+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: 
+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 (192 ms)
+39: [ RUN      ] DOMJoint.LoadLinkJointSameName17Invalid
+56: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_model_dom.xml
+56: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_model_dom.xml
+ 49/221 Test  #56: check_INTEGRATION_model_dom ............................   Passed    0.15 sec
 test 57
         Start  57: INTEGRATION_model_versions
 
@@ -33457,12 +33515,32 @@
 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
+25: [       OK ] DOMFrame.LoadModelFramesInvalidAttachedTo (1063 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesAttachedToJoint
+55: [       OK ] DOMModel.NoLinks (834 ms)
+55: [ RUN      ] DOMModel.LoadModelWithDuplicateChildNames
+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].
+31: [       OK ] IncludesTest.IncludeUrdf (736 ms)
+31: [ RUN      ] IncludesTest.MergeInclude
+53: Error [Param.cc:467] The value <specular>0 0.1</specular> is invalid.
+39: [       OK ] DOMJoint.LoadLinkJointSameName17Invalid (480 ms)
+39: [ RUN      ] DOMJoint.LoadLinkJointSameName16Valid
 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.
-25: [       OK ] DOMFrame.LoadModelFramesInvalidAttachedTo (798 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesAttachedToJoint
+43: [       OK ] DOMLink.Sensors (1129 ms)
+43: [ RUN      ] DOMLink.LoadLinkPoseRelativeTo
 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>
@@ -33483,36 +33561,6 @@
 53:       </model>
 53:     </sdf>
 53: 
-56: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_model_dom.xml
-56: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_model_dom.xml
- 50/221 Test  #56: check_INTEGRATION_model_dom ............................   Passed    0.16 sec
-test 58
-        Start  58: check_INTEGRATION_model_versions
-
-58: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_model_versions.xml"
-58: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
-58: Test timeout computed to be: 10000000
-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].
-58: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_model_versions.xml
-58: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_model_versions.xml
- 51/221 Test  #58: check_INTEGRATION_model_versions .......................   Passed    0.10 sec
-test 59
-        Start  59: INTEGRATION_nested_model
-
-59: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/INTEGRATION_nested_model "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_nested_model.xml"
-59: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
-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
-39: [       OK ] DOMJoint.LoadInvalidJointPoseRelativeTo (664 ms)
-39: [ RUN      ] DOMJoint.LoadInvalidChild
-43: A link named link has invalid inertia.
-43: [       OK ] DOMLink.InertialInvalid (503 ms)
-43: [ RUN      ] DOMLink.Sensors
 57: [==========] Running 5 tests from 1 test suite.
 57: [----------] Global test environment set-up.
 57: [----------] 5 tests from ModelVersionsTest
@@ -33536,18 +33584,47 @@
 57: [----------] Global test environment tear-down
 57: [==========] 5 tests from 1 test suite ran. (1 ms total)
 57: [  PASSED  ] 5 tests.
- 52/221 Test  #57: INTEGRATION_model_versions .............................   Passed    0.45 sec
+51: [       OK ] Material.MaterialPBR (648 ms)
+51: [----------] 2 tests from Material (1414 ms total)
+51: 
+51: [----------] Global test environment tear-down
+ 50/221 Test  #57: INTEGRATION_model_versions .............................   Passed    0.51 sec
+test 58
+        Start  58: check_INTEGRATION_model_versions
+
+58: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_model_versions.xml"
+58: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
+58: Test timeout computed to be: 10000000
+51: [==========] 2 tests from 1 test suite ran. (1415 ms total)
+51: [  PASSED  ] 2 tests.
+ 51/221 Test  #51: INTEGRATION_material_pbr ...............................   Passed    1.79 sec
+test 59
+        Start  59: INTEGRATION_nested_model
+
+59: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/INTEGRATION_nested_model "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_nested_model.xml"
+59: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
+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
+58: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_model_versions.xml
+ 52/221 Test  #58: check_INTEGRATION_model_versions .......................   Passed    0.18 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-aarch64-linux-gnu/test_results/INTEGRATION_nested_model.xml"
 60: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 60: Test timeout computed to be: 10000000
-25: [       OK ] DOMFrame.LoadModelFramesAttachedToJoint (509 ms)
+25: [       OK ] DOMFrame.LoadModelFramesAttachedToJoint (568 ms)
 25: [ RUN      ] DOMFrame.LoadModelFramesAttachedToNestedModel
+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].
 60: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_nested_model.xml
 60: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_nested_model.xml
- 53/221 Test  #60: check_INTEGRATION_nested_model .........................   Passed    0.11 sec
+43: [       OK ] DOMLink.LoadLinkPoseRelativeTo (440 ms)
+43: [ RUN      ] DOMLink.LoadInvalidLinkPoseRelativeTo
+39: [       OK ] DOMJoint.LoadLinkJointSameName16Valid (450 ms)
+39: [ RUN      ] DOMJoint.LoadURDFJointPoseRelativeTo
+ 53/221 Test  #60: check_INTEGRATION_nested_model .........................   Passed    0.18 sec
 test 61
         Start  61: INTEGRATION_nested_multiple_elements_error
 
@@ -33556,6 +33633,11 @@
 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
+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
 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
@@ -33581,33 +33663,25 @@
 53:     </model>
 53:     </sdf>
 53: 
-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
-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 (612 ms)
-39: [ RUN      ] DOMJoint.LoadLinkJointSameName17Invalid
 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
-31: [       OK ] IncludesTest.Includes_15_convert (1744 ms)
-31: [ RUN      ] IncludesTest.IncludeModelMissingConfig
+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 (526 ms)
+43: [ RUN      ] DOMLink.ValidInertialPoseRelTo
 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.
+25: [       OK ] DOMFrame.LoadModelFramesAttachedToNestedModel (696 ms)
+25: [ RUN      ] DOMFrame.LoadWorldFramesAttachedTo
 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>
@@ -33628,29 +33702,21 @@
 53:     </model>
 53:     </sdf>
 53: 
-25: [       OK ] DOMFrame.LoadModelFramesAttachedToNestedModel (641 ms)
-25: [ RUN      ] DOMFrame.LoadWorldFramesAttachedTo
-43: [       OK ] DOMLink.Sensors (840 ms)
-43: [ RUN      ] DOMLink.LoadLinkPoseRelativeTo
-55: [       OK ] DOMModel.LoadModelWithDuplicateChildNames (1420 ms)
-55: [----------] 4 tests from DOMModel (2075 ms total)
+55: [       OK ] DOMModel.LoadModelWithDuplicateChildNames (1350 ms)
+55: [----------] 4 tests from DOMModel (2185 ms total)
 55: 
 55: [----------] 9 tests from DOMRoot
 55: [ RUN      ] DOMRoot.LoadLinkCheck
-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 (624 ms)
-31: [ RUN      ] IncludesTest.IncludeUrdf
+59: [       OK ] NestedModel.NestedModel (687 ms)
+59: [ RUN      ] NestedModel.State
+39: [       OK ] DOMJoint.LoadURDFJointPoseRelativeTo (743 ms)
+39: [ RUN      ] DOMJoint.LoadJointNestedParentChild
 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.
-25: [       OK ] DOMFrame.LoadWorldFramesAttachedTo (469 ms)
-25: [ RUN      ] DOMFrame.LoadWorldFramesInvalidAttachedTo
 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.
-59: [       OK ] NestedModel.NestedModel (969 ms)
-59: [ RUN      ] NestedModel.State
 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>
@@ -33671,60 +33737,33 @@
 53:     </model>
 53:     </sdf>
 53: 
-53: [       OK ] Material.InvalidColors (3012 ms)
+53: [       OK ] Material.InvalidColors (2369 ms)
 53: [ RUN      ] Material.ValidColors
-55: [       OK ] DOMRoot.LoadLinkCheck (541 ms)
-55: [ RUN      ] DOMRoot.LoadDoublePendulum
 53: 
-53: [       OK ] Material.ValidColors (256 ms)
+53: [       OK ] Material.ValidColors (201 ms)
 53: [ RUN      ] Material.URDFValidColors
-61: [       OK ] IncludesTest.NestedMultipleModelsError (1278 ms)
-61: [ RUN      ] IncludesTest.NestedMultipleActorsError
-43: [       OK ] DOMLink.LoadLinkPoseRelativeTo (961 ms)
-43: [ RUN      ] DOMLink.LoadInvalidLinkPoseRelativeTo
-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].
+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 (674 ms)
+43: [ RUN      ] DOMLink.InvalidInertialPoseRelTo
 53: 
-55: [       OK ] DOMRoot.LoadDoublePendulum (441 ms)
-55: [ RUN      ] DOMRoot.NestedModel
-53: [       OK ] Material.URDFValidColors (384 ms)
-53: [----------] 3 tests from Material (3652 ms total)
+53: [       OK ] Material.URDFValidColors (267 ms)
+53: [----------] 3 tests from Material (2837 ms total)
 53: 
 53: [----------] Global test environment tear-down
-53: [==========] 3 tests from 1 test suite ran. (3652 ms total)
+53: [==========] 3 tests from 1 test suite ran. (2846 ms total)
 53: [  PASSED  ] 3 tests.
- 54/221 Test  #53: INTEGRATION_material ...................................   Passed    4.14 sec
+ 54/221 Test  #53: INTEGRATION_material ...................................   Passed    3.29 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-aarch64-linux-gnu/test_results/INTEGRATION_nested_multiple_elements_error.xml"
 62: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 62: Test timeout computed to be: 10000000
-39: [       OK ] DOMJoint.LoadLinkJointSameName17Invalid (1465 ms)
-39: [ RUN      ] DOMJoint.LoadLinkJointSameName16Valid
 62: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/test_results/INTEGRATION_nested_multiple_elements_error.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.
- 55/221 Test  #62: check_INTEGRATION_nested_multiple_elements_error .......   Passed    0.12 sec
+59: [       OK ] NestedModel.State (647 ms)
+59: [ RUN      ] NestedModel.NestedInclude
+ 55/221 Test  #62: check_INTEGRATION_nested_multiple_elements_error .......   Passed    0.10 sec
 test 63
         Start  63: INTEGRATION_param_passing
 
@@ -33733,58 +33772,34 @@
 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
-59: [       OK ] NestedModel.State (878 ms)
-59: [ RUN      ] NestedModel.NestedInclude
-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
-31: [       OK ] IncludesTest.IncludeUrdf (1281 ms)
-31: [ RUN      ] IncludesTest.MergeInclude
-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 (729 ms)
-43: [ RUN      ] DOMLink.ValidInertialPoseRelTo
-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 (619 ms)
-39: [ RUN      ] DOMJoint.LoadURDFJointPoseRelativeTo
-61: [       OK ] IncludesTest.NestedMultipleActorsError (876 ms)
-61: [ RUN      ] IncludesTest.NestedMultipleLightsError
-55: [       OK ] DOMRoot.NestedModel (906 ms)
-55: [ RUN      ] DOMRoot.MultiNestedModel
-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.
-25: [       OK ] DOMFrame.LoadWorldFramesInvalidAttachedTo (1667 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesRelativeTo
-39: [       OK ] DOMJoint.LoadURDFJointPoseRelativeTo (390 ms)
-39: [ RUN      ] DOMJoint.LoadJointNestedParentChild
-43: [       OK ] DOMLink.ValidInertialPoseRelTo (453 ms)
-43: [ RUN      ] DOMLink.InvalidInertialPoseRelTo
-61: [       OK ] IncludesTest.NestedMultipleLightsError (711 ms)
-61: [ RUN      ] IncludesTest.NestedMultipleElementsError
+25: [       OK ] DOMFrame.LoadWorldFramesAttachedTo (831 ms)
+25: [ RUN      ] DOMFrame.LoadWorldFramesInvalidAttachedTo
+55: [       OK ] DOMRoot.LoadLinkCheck (744 ms)
+55: [ RUN      ] DOMRoot.LoadDoublePendulum
 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 (460 ms)
-43: [----------] 11 tests from DOMLink (6695 ms total)
+43: [       OK ] DOMLink.InvalidInertialPoseRelTo (508 ms)
+43: [----------] 11 tests from DOMLink (5913 ms total)
 43: 
 43: [----------] Global test environment tear-down
-43: [==========] 11 tests from 1 test suite ran. (6708 ms total)
+43: [==========] 11 tests from 1 test suite ran. (5913 ms total)
 43: [  PASSED  ] 11 tests.
- 56/221 Test  #43: INTEGRATION_link_dom ...................................   Passed    7.07 sec
+ 56/221 Test  #43: INTEGRATION_link_dom ...................................   Passed    6.36 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-aarch64-linux-gnu/test_results/INTEGRATION_param_passing.xml"
 64: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 64: Test timeout computed to be: 10000000
+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
 64: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_param_passing.xml
 64: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_param_passing.xml
-25: [       OK ] DOMFrame.LoadModelFramesRelativeTo (647 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesInvalidRelativeTo
- 57/221 Test  #64: check_INTEGRATION_param_passing ........................   Passed    0.11 sec
+39: [       OK ] DOMJoint.LoadJointNestedParentChild (1119 ms)
+39: [ RUN      ] DOMJoint.Sensors
+ 57/221 Test  #64: check_INTEGRATION_param_passing ........................   Passed    0.15 sec
 test 65
         Start  65: INTEGRATION_parser_error_detection
 
@@ -33793,49 +33808,47 @@
 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
-61: [       OK ] IncludesTest.NestedMultipleElementsError (525 ms)
-61: [ RUN      ] IncludesTest.NestedMultipleElementsErrorWorld
-55: [       OK ] DOMRoot.MultiNestedModel (1111 ms)
-55: [ RUN      ] DOMRoot.LoadCanonicalLink
+61: [       OK ] IncludesTest.NestedMultipleModelsError (1634 ms)
+61: [ RUN      ] IncludesTest.NestedMultipleActorsError
+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.LoadDoublePendulum (711 ms)
+55: [ RUN      ] DOMRoot.NestedModel
 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
-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 (485 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesRelativeToJoint
-39: [       OK ] DOMJoint.LoadJointNestedParentChild (1144 ms)
-39: [ RUN      ] DOMJoint.Sensors
-61: [       OK ] IncludesTest.NestedMultipleElementsErrorWorld (546 ms)
-61: [----------] 5 tests from IncludesTest (3938 ms total)
-61: 
-61: [----------] Global test environment tear-down
-65: Error [parser.cc:798] Error parsing XML from string: Error=XML_ERROR_MISMATCHED_ELEMENT ErrorID=14 (0xe) Line number=1: XMLElement name=geometry
-61: [==========] 5 tests from 1 test suite ran. (3938 ms total)
-61: [  PASSED  ] 5 tests.
- 58/221 Test  #61: INTEGRATION_nested_multiple_elements_error .............   Passed    4.33 sec
+39: [       OK ] DOMJoint.Sensors (755 ms)
+39: [----------] 16 tests from DOMJoint (8643 ms total)
+39: 
+39: [----------] Global test environment tear-down
+61: [       OK ] IncludesTest.NestedMultipleActorsError (635 ms)
+61: [ RUN      ] IncludesTest.NestedMultipleLightsError
+39: [==========] 16 tests from 1 test suite ran. (8643 ms total)
+39: [  PASSED  ] 16 tests.
+ 58/221 Test  #39: INTEGRATION_joint_dom ..................................   Passed    9.14 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-aarch64-linux-gnu/test_results/INTEGRATION_parser_error_detection.xml"
 66: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 66: Test timeout computed to be: 10000000
-55: [       OK ] DOMRoot.LoadCanonicalLink (612 ms)
-55: [ RUN      ] DOMRoot.LoadNestedCanonicalLink
-65: [       OK ] ParserErrorDetection.BadXML (589 ms)
-65: [----------] 1 test from ParserErrorDetection (589 ms total)
-65: 
-65: [----------] Global test environment tear-down
-65: [==========] 1 test from 1 test suite ran. (589 ms total)
-65: [  PASSED  ] 1 test.
-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]
- 59/221 Test  #65: INTEGRATION_parser_error_detection .....................   Passed    0.97 sec
+31: [       OK ] IncludesTest.MergeInclude (3199 ms)
+31: [ RUN      ] IncludesTest.MergeIncludePlacementFrame
+66: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_parser_error_detection.xml
+66: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_parser_error_detection.xml
+65: Error [parser.cc:798] Error parsing XML from string: Error=XML_ERROR_MISMATCHED_ELEMENT ErrorID=14 (0xe) Line number=1: XMLElement name=geometry
+ 59/221 Test  #66: check_INTEGRATION_parser_error_detection ...............   Passed    0.15 sec
 test 67
         Start  67: INTEGRATION_parser_config
 
@@ -33844,25 +33857,24 @@
 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
-66: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_parser_error_detection.xml
-25: [       OK ] DOMFrame.LoadModelFramesRelativeToJoint (569 ms)
-25: [ RUN      ] DOMFrame.LoadWorldFramesRelativeTo
- 60/221 Test  #66: check_INTEGRATION_parser_error_detection ...............   Passed    0.12 sec
+25: [       OK ] DOMFrame.LoadWorldFramesInvalidAttachedTo (1443 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesRelativeTo
+65: [       OK ] ParserErrorDetection.BadXML (512 ms)
+65: [----------] 1 test from ParserErrorDetection (512 ms total)
+65: 
+65: [----------] Global test environment tear-down
+65: [==========] 1 test from 1 test suite ran. (513 ms total)
+65: [  PASSED  ] 1 test.
+ 60/221 Test  #65: INTEGRATION_parser_error_detection .....................   Passed    1.00 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-aarch64-linux-gnu/test_results/INTEGRATION_parser_config.xml"
 68: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 68: Test timeout computed to be: 10000000
-39: [       OK ] DOMJoint.Sensors (570 ms)
-39: [----------] 16 tests from DOMJoint (9935 ms total)
-39: 
-39: [----------] Global test environment tear-down
 68: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_parser_config.xml
 68: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_parser_config.xml
-39: [==========] 16 tests from 1 test suite ran. (9935 ms total)
-39: [  PASSED  ] 16 tests.
- 61/221 Test  #68: check_INTEGRATION_parser_config ........................   Passed    0.11 sec
+ 61/221 Test  #68: check_INTEGRATION_parser_config ........................   Passed    0.10 sec
 test 69
         Start  69: INTEGRATION_particle_emitter_dom
 
@@ -33871,15 +33883,8 @@
 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
- 62/221 Test  #39: INTEGRATION_joint_dom ..................................   Passed   10.38 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-aarch64-linux-gnu/test_results/INTEGRATION_particle_emitter_dom.xml"
-70: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
-70: Test timeout computed to be: 10000000
-59: [       OK ] NestedModel.NestedInclude (2694 ms)
-59: [ RUN      ] NestedModel.NestedModelWithFrames
+55: [       OK ] DOMRoot.NestedModel (924 ms)
+55: [ RUN      ] DOMRoot.MultiNestedModel
 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.
@@ -33889,9 +33894,53 @@
 67: [ RUN      ] ParserConfig.NonGlobalConfig
 67: [       OK ] ParserConfig.NonGlobalConfig (0 ms)
 67: [ RUN      ] ParserConfig.ParseWithNonGlobalConfig
+61: [       OK ] IncludesTest.NestedMultipleLightsError (698 ms)
+61: [ RUN      ] IncludesTest.NestedMultipleElementsError
+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: [       OK ] DOMFrame.LoadModelFramesRelativeTo (634 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesInvalidRelativeTo
+59: [       OK ] NestedModel.NestedInclude (2238 ms)
+59: [ RUN      ] NestedModel.NestedModelWithFrames
+55: [       OK ] DOMRoot.MultiNestedModel (865 ms)
+55: [ RUN      ] DOMRoot.LoadCanonicalLink
+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()?
+61: [       OK ] IncludesTest.NestedMultipleElementsError (752 ms)
+61: [ RUN      ] IncludesTest.NestedMultipleElementsErrorWorld
+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 (680 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesRelativeToJoint
+69: [       OK ] DOMWorld.LoadParticleEmitter (1140 ms)
+69: [----------] 1 test from DOMWorld (1140 ms total)
+69: 
+69: [----------] Global test environment tear-down
+69: [==========] 1 test from 1 test suite ran. (1140 ms total)
+69: [  PASSED  ] 1 test.
+ 62/221 Test  #69: INTEGRATION_particle_emitter_dom .......................   Passed    1.56 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-aarch64-linux-gnu/test_results/INTEGRATION_particle_emitter_dom.xml"
+70: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
+70: Test timeout computed to be: 10000000
 70: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_particle_emitter_dom.xml
-70: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_particle_emitter_dom.xml
- 63/221 Test  #70: check_INTEGRATION_particle_emitter_dom .................   Passed    0.17 sec
+55: [       OK ] DOMRoot.LoadCanonicalLink (686 ms)
+55: [ RUN      ] DOMRoot.LoadNestedCanonicalLink
+63: Error [Param.cc:925] Empty string used when setting a required parameter. Key[element_id]
+ 63/221 Test  #70: check_INTEGRATION_particle_emitter_dom .................   Passed    0.11 sec
 test 71
         Start  71: INTEGRATION_plugin_attribute
 
@@ -33900,20 +33949,7 @@
 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
-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
-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.
-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
-55: [       OK ] DOMRoot.LoadNestedCanonicalLink (830 ms)
-55: [ RUN      ] DOMRoot.LoadNestedExplicitCanonicalLink
+63: Error [Param.cc:925] Empty string used when setting a required parameter. Key[element_id]
 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()?
@@ -33921,13 +33957,22 @@
 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()?
-71: [       OK ] PluginAttribute.ParseAttributes (279 ms)
-71: [----------] 1 test from PluginAttribute (279 ms total)
-71: 
-71: [----------] Global test environment tear-down
-71: [==========] 1 test from 1 test suite ran. (279 ms total)
-71: [  PASSED  ] 1 test.
- 64/221 Test  #71: INTEGRATION_plugin_attribute ...........................   Passed    0.67 sec
+25: [       OK ] DOMFrame.LoadModelFramesRelativeToJoint (621 ms)
+25: [ RUN      ] DOMFrame.LoadWorldFramesRelativeTo
+59: [       OK ] NestedModel.NestedModelWithFrames (1258 ms)
+59: [ RUN      ] NestedModel.NestedModelWithFramesDirectComparison
+61: [       OK ] IncludesTest.NestedMultipleElementsErrorWorld (802 ms)
+61: [----------] 5 tests from IncludesTest (4523 ms total)
+61: 
+61: [----------] Global test environment tear-down
+61: [==========] 5 tests from 1 test suite ran. (4523 ms total)
+61: [  PASSED  ] 5 tests.
+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  #61: INTEGRATION_nested_multiple_elements_error .............   Passed    5.01 sec
 test 72
         Start  72: check_INTEGRATION_plugin_attribute
 
@@ -33935,7 +33980,8 @@
 72: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 72: Test timeout computed to be: 10000000
 72: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_plugin_attribute.xml
- 65/221 Test  #72: check_INTEGRATION_plugin_attribute .....................   Passed    0.07 sec
+72: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_plugin_attribute.xml
+ 65/221 Test  #72: check_INTEGRATION_plugin_attribute .....................   Passed    0.10 sec
 test 73
         Start  73: INTEGRATION_plugin_bool
 
@@ -33944,61 +33990,35 @@
 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
-25: [       OK ] DOMFrame.LoadWorldFramesRelativeTo (1065 ms)
-25: [ RUN      ] DOMFrame.LoadWorldFramesInvalidRelativeTo
+31: [       OK ] IncludesTest.MergeIncludePlacementFrame (2703 ms)
+31: [ RUN      ] IncludesTest.InvalidMergeInclude
 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
-55: [       OK ] DOMRoot.LoadNestedExplicitCanonicalLink (699 ms)
-55: [ RUN      ] DOMRoot.ModelPlacementFrameAttribute
-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()?
-69: [       OK ] DOMWorld.LoadParticleEmitter (1120 ms)
-69: [----------] 1 test from DOMWorld (1120 ms total)
-69: 
-69: [----------] Global test environment tear-down
-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.
-59: [       OK ] NestedModel.NestedModelWithFrames (1525 ms)
-59: [ RUN      ] NestedModel.NestedModelWithFramesDirectComparison
-69: [==========] 1 test from 1 test suite ran. (1120 ms total)
-69: [  PASSED  ] 1 test.
-25: [       OK ] DOMFrame.LoadWorldFramesInvalidRelativeTo (726 ms)
-25: [ RUN      ] DOMFrame.WorldIncludeModel
-73: [       OK ] PluginBool.ParseBoolValue (438 ms)
-73: [----------] 1 test from PluginBool (438 ms total)
-73: 
-73: [----------] Global test environment tear-down
- 66/221 Test  #69: INTEGRATION_particle_emitter_dom .......................   Passed    1.69 sec
+71: [       OK ] PluginAttribute.ParseAttributes (595 ms)
+71: [----------] 1 test from PluginAttribute (595 ms total)
+71: 
+71: [----------] Global test environment tear-down
+71: [==========] 1 test from 1 test suite ran. (595 ms total)
+71: [  PASSED  ] 1 test.
+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'>
+ 66/221 Test  #71: INTEGRATION_plugin_attribute ...........................   Passed    0.98 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-aarch64-linux-gnu/test_results/INTEGRATION_plugin_bool.xml"
 74: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 74: Test timeout computed to be: 10000000
-73: [==========] 1 test from 1 test suite ran. (438 ms total)
-73: [  PASSED  ] 1 test.
- 67/221 Test  #73: INTEGRATION_plugin_bool ................................   Passed    0.80 sec
+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.
+25: [       OK ] DOMFrame.LoadWorldFramesRelativeTo (880 ms)
+25: [ RUN      ] DOMFrame.LoadWorldFramesInvalidRelativeTo
+55: [       OK ] DOMRoot.LoadNestedCanonicalLink (1061 ms)
+55: [ RUN      ] DOMRoot.LoadNestedExplicitCanonicalLink
+74: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_plugin_bool.xml
+74: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_plugin_bool.xml
+ 67/221 Test  #74: check_INTEGRATION_plugin_bool ..........................   Passed    0.11 sec
 test 75
         Start  75: INTEGRATION_plugin_include
 
@@ -34007,17 +34027,24 @@
 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
-74: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_plugin_bool.xml
- 68/221 Test  #74: check_INTEGRATION_plugin_bool ..........................   Passed    0.11 sec
+73: [       OK ] PluginBool.ParseBoolValue (484 ms)
+73: [----------] 1 test from PluginBool (484 ms total)
+73: 
+73: [----------] Global test environment tear-down
+73: [==========] 1 test from 1 test suite ran. (484 ms total)
+73: [  PASSED  ] 1 test.
+ 68/221 Test  #73: INTEGRATION_plugin_bool ................................   Passed    0.87 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-aarch64-linux-gnu/test_results/INTEGRATION_plugin_include.xml"
 76: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 76: Test timeout computed to be: 10000000
+59: [       OK ] NestedModel.NestedModelWithFramesDirectComparison (1149 ms)
+59: [ RUN      ] NestedModel.PartiallyFlattened
 76: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_plugin_include.xml
 76: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_plugin_include.xml
- 69/221 Test  #76: check_INTEGRATION_plugin_include .......................   Passed    0.13 sec
+ 69/221 Test  #76: check_INTEGRATION_plugin_include .......................   Passed    0.10 sec
 test 77
         Start  77: INTEGRATION_pose_1_9_sdf
 
@@ -34026,23 +34053,41 @@
 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
-55: [       OK ] DOMRoot.ModelPlacementFrameAttribute (702 ms)
-55: [ RUN      ] DOMRoot.LoadInvalidNestedModelWithoutLinks
 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
-31: [       OK ] IncludesTest.MergeInclude (4289 ms)
-31: [ RUN      ] IncludesTest.MergeIncludePlacementFrame
+55: [       OK ] DOMRoot.LoadNestedExplicitCanonicalLink (669 ms)
+55: [ RUN      ] DOMRoot.ModelPlacementFrameAttribute
+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.
 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
-63: Error [Param.cc:925] Empty string used when setting a required parameter. Key[name]
-59: [       OK ] NestedModel.NestedModelWithFramesDirectComparison (1195 ms)
-59: [ RUN      ] NestedModel.PartiallyFlattened
+25: [       OK ] DOMFrame.LoadWorldFramesInvalidRelativeTo (817 ms)
+25: [ RUN      ] DOMFrame.WorldIncludeModel
+55: [       OK ] DOMRoot.ModelPlacementFrameAttribute (527 ms)
+55: [ RUN      ] DOMRoot.LoadInvalidNestedModelWithoutLinks
+59: [       OK ] NestedModel.PartiallyFlattened (969 ms)
+59: [ RUN      ] NestedModel.TwoLevelNestedModelWithFramesDirectComparison
+75: [       OK ] PluginInclude.PluginChildElements (1363 ms)
+75: [ RUN      ] PluginInclude.PluginMissingFilename
 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.
@@ -34050,32 +34095,30 @@
 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 (1065 ms)
-55: [----------] 9 tests from DOMRoot (6911 ms total)
+55: [       OK ] DOMRoot.LoadInvalidNestedModelWithoutLinks (823 ms)
+55: [----------] 9 tests from DOMRoot (7014 ms total)
 55: 
 55: [----------] 1 test from DOMLink
 55: [ RUN      ] DOMLink.NestedModelPoseRelativeTo
-25: [       OK ] DOMFrame.WorldIncludeModel (1678 ms)
-25: [----------] 12 tests from DOMFrame (9621 ms total)
+25: [       OK ] DOMFrame.WorldIncludeModel (1507 ms)
+25: [----------] 12 tests from DOMFrame (10343 ms total)
 25: 
 25: [----------] Global test environment tear-down
-25: [==========] 19 tests from 2 test suites ran. (15797 ms total)
+63: Error [Param.cc:925] Empty string used when setting a required parameter. Key[name]
+25: [==========] 19 tests from 2 test suites ran. (16430 ms total)
 25: [  PASSED  ] 19 tests.
-75: [       OK ] PluginInclude.PluginChildElements (1512 ms)
-75: [ RUN      ] PluginInclude.PluginMissingFilename
- 70/221 Test  #25: INTEGRATION_frame ......................................   Passed   16.40 sec
+77: [       OK ] Pose1_9.PoseExpressionFormats (1661 ms)
+77: [ RUN      ] Pose1_9.PoseStringOutput
+ 70/221 Test  #25: INTEGRATION_frame ......................................   Passed   17.11 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-aarch64-linux-gnu/test_results/INTEGRATION_pose_1_9_sdf.xml"
 78: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 78: Test timeout computed to be: 10000000
-59: [       OK ] NestedModel.PartiallyFlattened (738 ms)
-59: [ RUN      ] NestedModel.TwoLevelNestedModelWithFramesDirectComparison
 78: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/test_results/INTEGRATION_pose_1_9_sdf.xml
-63: Error [parser.cc:163] Unable to load file[]: Error=XML_ERROR_FILE_NOT_FOUND ErrorID=3 (0x3) Line number=0: filename=
- 71/221 Test  #78: check_INTEGRATION_pose_1_9_sdf .........................   Passed    0.14 sec
+ 71/221 Test  #78: check_INTEGRATION_pose_1_9_sdf .........................   Passed    0.11 sec
 test 79
         Start  79: INTEGRATION_provide_feedback
 
@@ -34084,6 +34127,75 @@
 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
+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 (818 ms)
+75: [----------] 2 tests from PluginInclude (2182 ms total)
+75: 
+75: [----------] Global test environment tear-down
+75: [==========] 2 tests from 1 test suite ran. (2182 ms total)
+75: [  PASSED  ] 2 tests.
+ 72/221 Test  #75: INTEGRATION_plugin_include .............................   Passed    2.64 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-aarch64-linux-gnu/test_results/INTEGRATION_provide_feedback.xml"
+80: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
+80: Test timeout computed to be: 10000000
+80: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_provide_feedback.xml
+80: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_provide_feedback.xml
+ 73/221 Test  #80: check_INTEGRATION_provide_feedback .....................   Passed    0.11 sec
+test 81
+        Start  81: INTEGRATION_root_dom
+
+81: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/INTEGRATION_root_dom "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_root_dom.xml"
+81: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
+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.TwoLevelNestedModelWithFramesDirectComparison (1590 ms)
+59: [ RUN      ] NestedModel.NestedModelWithSiblingFrames
+79: [==========] Running 1 test from 1 test suite.
+79: [----------] Global test environment set-up.
+79: [----------] 1 test from SDFParser
+79: [ RUN      ] SDFParser.ProvideFeedbackTest
+55: [       OK ] DOMLink.NestedModelPoseRelativeTo (937 ms)
+55: [----------] 1 test from DOMLink (937 ms total)
+55: 
+55: [----------] Global test environment tear-down
+55: [==========] 14 tests from 3 test suites ran. (10137 ms total)
+55: [  PASSED  ] 14 tests.
+ 74/221 Test  #55: INTEGRATION_model_dom ..................................   Passed   10.50 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-aarch64-linux-gnu/test_results/INTEGRATION_root_dom.xml"
+82: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
+82: Test timeout computed to be: 10000000
+77: [       OK ] Pose1_9.PoseStringOutput (631 ms)
+77: [ RUN      ] Pose1_9.BadModelPoses
+82: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_root_dom.xml
+82: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_root_dom.xml
+ 75/221 Test  #82: check_INTEGRATION_root_dom .............................   Passed    0.11 sec
+test 83
+        Start  83: INTEGRATION_scene_dom
+
+83: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/INTEGRATION_scene_dom "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_scene_dom.xml"
+83: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
+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
+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
+63: Error [parser.cc:163] Unable to load file[]: Error=XML_ERROR_FILE_NOT_FOUND ErrorID=3 (0x3) Line number=0: filename=
 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/>
@@ -34254,93 +34366,34 @@
 63:     <size>0.5 0.5</size>
 63: </box>
 63: 
-55: [       OK ] DOMLink.NestedModelPoseRelativeTo (909 ms)
-55: [----------] 1 test from DOMLink (909 ms total)
-55: 
-55: [----------] Global test environment tear-down
-55: [==========] 14 tests from 3 test suites ran. (9896 ms total)
-55: [  PASSED  ] 14 tests.
- 72/221 Test  #55: INTEGRATION_model_dom ..................................   Passed   10.37 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-aarch64-linux-gnu/test_results/INTEGRATION_provide_feedback.xml"
-80: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
-80: Test timeout computed to be: 10000000
-79: [==========] Running 1 test from 1 test suite.
-79: [----------] Global test environment set-up.
-79: [----------] 1 test from SDFParser
-79: [ RUN      ] SDFParser.ProvideFeedbackTest
-80: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_provide_feedback.xml
-80: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_provide_feedback.xml
- 73/221 Test  #80: check_INTEGRATION_provide_feedback .....................   Passed    0.14 sec
-test 81
-        Start  81: INTEGRATION_root_dom
-
-81: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/INTEGRATION_root_dom "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_root_dom.xml"
-81: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
-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
-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 (718 ms)
-75: [----------] 2 tests from PluginInclude (2231 ms total)
-75: 
-75: [----------] Global test environment tear-down
-75: [==========] 2 tests from 1 test suite ran. (2231 ms total)
-75: [  PASSED  ] 2 tests.
- 74/221 Test  #75: INTEGRATION_plugin_include .............................   Passed    2.61 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-aarch64-linux-gnu/test_results/INTEGRATION_root_dom.xml"
-82: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
-82: Test timeout computed to be: 10000000
-82: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_root_dom.xml
-82: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_root_dom.xml
-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
- 75/221 Test  #82: check_INTEGRATION_root_dom .............................   Passed    0.18 sec
-test 83
-        Start  83: INTEGRATION_scene_dom
-
-83: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/INTEGRATION_scene_dom "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_scene_dom.xml"
-83: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
-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
-79: [       OK ] SDFParser.ProvideFeedbackTest (548 ms)
-79: [----------] 1 test from SDFParser (548 ms total)
+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
+77: Error:   Could not find the 'robot' element in the xml file
+77:          at line 109 in ./urdf_parser/src/model.cpp
+79: [       OK ] SDFParser.ProvideFeedbackTest (705 ms)
+79: [----------] 1 test from SDFParser (705 ms total)
 79: 
 79: [----------] Global test environment tear-down
-63: [       OK ] ParamPassingTest.ExperimentalParamsTag (6951 ms)
-63: [ RUN      ] ParamPassingTest.NestedInclude
-79: [==========] 1 test from 1 test suite ran. (549 ms total)
+79: [==========] 1 test from 1 test suite ran. (705 ms total)
 79: [  PASSED  ] 1 test.
- 76/221 Test  #79: INTEGRATION_provide_feedback ...........................   Passed    0.97 sec
+ 76/221 Test  #79: INTEGRATION_provide_feedback ...........................   Passed    1.12 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-aarch64-linux-gnu/test_results/INTEGRATION_scene_dom.xml"
 84: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 84: Test timeout computed to be: 10000000
-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
+81: Error:   Could not find the 'robot' element in the xml file
+81:          at line 109 in ./urdf_parser/src/model.cpp
+31: Warning [Utils.cc:129] [[@merge="true"]:<data-string>:L4]: XML Attribute[merge] in element[include] not defined in SDF.
+81: [       OK ] DOMRoot.InvalidSDF (550 ms)
+81: [ RUN      ] DOMRoot.NoVersion
 84: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_scene_dom.xml
 84: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_scene_dom.xml
- 77/221 Test  #84: check_INTEGRATION_scene_dom ............................   Passed    0.15 sec
+ 77/221 Test  #84: check_INTEGRATION_scene_dom ............................   Passed    0.10 sec
 test 85
         Start  85: INTEGRATION_sdf_basic
 
@@ -34349,14 +34402,18 @@
 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
-31: [       OK ] IncludesTest.MergeIncludePlacementFrame (2829 ms)
-31: [ RUN      ] IncludesTest.InvalidMergeInclude
-77: [       OK ] Pose1_9.PoseExpressionFormats (2513 ms)
-77: [ RUN      ] Pose1_9.PoseStringOutput
-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 (759 ms)
-81: [ RUN      ] DOMRoot.NoVersion
+77: Error:   Could not find the 'robot' element in the xml file
+77:          at line 109 in ./urdf_parser/src/model.cpp
+59: [       OK ] NestedModel.NestedModelWithSiblingFrames (1166 ms)
+59: [ RUN      ] NestedModel.NestedFrameOnlyModel
+63: [       OK ] ParamPassingTest.ExperimentalParamsTag (7933 ms)
+63: [ RUN      ] ParamPassingTest.NestedInclude
+83: [       OK ] DOMScene.LoadScene (636 ms)
+83: [----------] 1 test from DOMScene (636 ms total)
+83: 
+83: [----------] Global test environment tear-down
+83: [==========] 1 test from 1 test suite ran. (636 ms total)
+83: [  PASSED  ] 1 test.
 85: [==========] Running 1 test from 1 test suite.
 85: [----------] Global test environment set-up.
 85: [----------] 1 test from BasicTest
@@ -34367,19 +34424,14 @@
 85: [----------] Global test environment tear-down
 85: [==========] 1 test from 1 test suite ran. (0 ms total)
 85: [  PASSED  ] 1 test.
- 78/221 Test  #85: INTEGRATION_sdf_basic ..................................   Passed    0.44 sec
+ 78/221 Test  #83: INTEGRATION_scene_dom ..................................   Passed    1.03 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-aarch64-linux-gnu/test_results/INTEGRATION_sdf_basic.xml"
 86: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 86: Test timeout computed to be: 10000000
-77: [       OK ] Pose1_9.PoseStringOutput (390 ms)
-77: [ RUN      ] Pose1_9.BadModelPoses
-86: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_sdf_basic.xml
-59: [       OK ] NestedModel.TwoLevelNestedModelWithFramesDirectComparison (1782 ms)
-59: [ RUN      ] NestedModel.NestedModelWithSiblingFrames
- 79/221 Test  #86: check_INTEGRATION_sdf_basic ............................   Passed    0.10 sec
+ 79/221 Test  #85: INTEGRATION_sdf_basic ..................................   Passed    0.39 sec
 test 87
         Start  87: INTEGRATION_sdf_custom
 
@@ -34388,26 +34440,21 @@
 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
-83: [       OK ] DOMScene.LoadScene (758 ms)
-83: [----------] 1 test from DOMScene (758 ms total)
-83: 
-83: [----------] Global test environment tear-down
-83: [==========] 1 test from 1 test suite ran. (758 ms total)
-83: [  PASSED  ] 1 test.
- 80/221 Test  #83: INTEGRATION_scene_dom ..................................   Passed    1.05 sec
+81: Error:   Could not find the 'robot' element in the xml file
+81:          at line 109 in ./urdf_parser/src/model.cpp
+86: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_sdf_basic.xml
+81: [       OK ] DOMRoot.NoVersion (531 ms)
+81: [ RUN      ] DOMRoot.Load
+ 80/221 Test  #86: check_INTEGRATION_sdf_basic ............................   Passed    0.11 sec
 test 88
         Start  88: check_INTEGRATION_sdf_custom
 
 88: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_sdf_custom.xml"
 88: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 88: Test timeout computed to be: 10000000
-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 (362 ms)
-81: [ RUN      ] DOMRoot.Load
 88: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_sdf_custom.xml
 88: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_sdf_custom.xml
- 81/221 Test  #88: check_INTEGRATION_sdf_custom ...........................   Passed    0.12 sec
+ 81/221 Test  #88: check_INTEGRATION_sdf_custom ...........................   Passed    0.09 sec
 test 89
         Start  89: INTEGRATION_sdf_dom_conversion
 
@@ -34416,8 +34463,6 @@
 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: Error:   Could not find the 'robot' element in the xml file
-77:          at line 109 in ./urdf_parser/src/model.cpp
 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.
@@ -34430,39 +34475,13 @@
 89: [----------] Global test environment set-up.
 89: [----------] 3 tests from SDFDomConversion
 89: [ RUN      ] SDFDomConversion.Sensors
-59: [       OK ] NestedModel.NestedModelWithSiblingFrames (935 ms)
-59: [ RUN      ] NestedModel.NestedFrameOnlyModel
-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.Load (906 ms)
+59: [       OK ] NestedModel.NestedFrameOnlyModel (692 ms)
+59: [ RUN      ] NestedModel.IncludeElements
+81: [       OK ] DOMRoot.Load (793 ms)
 81: [ RUN      ] DOMRoot.LoadMultipleModels
-87: [       OK ] SDFParser.CustomElements (919 ms)
-87: [----------] 1 test from SDFParser (919 ms total)
-87: 
-87: [----------] Global test environment tear-down
-87: [==========] 1 test from 1 test suite ran. (919 ms total)
-87: [  PASSED  ] 1 test.
- 82/221 Test  #87: INTEGRATION_sdf_custom .................................   Passed    1.39 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-aarch64-linux-gnu/test_results/INTEGRATION_sdf_dom_conversion.xml"
-90: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
-90: Test timeout computed to be: 10000000
-90: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_sdf_dom_conversion.xml
-90: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_sdf_dom_conversion.xml
- 83/221 Test  #90: check_INTEGRATION_sdf_dom_conversion ...................   Passed    0.14 sec
-test 91
-        Start  91: INTEGRATION_surface_dom
-
-91: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/INTEGRATION_surface_dom "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_surface_dom.xml"
-91: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
-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
 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 (1743 ms)
+77: [       OK ] Pose1_9.BadModelPoses (2084 ms)
 77: [ RUN      ] Pose1_9.PoseSet8ValuesFail
 77: [       OK ] Pose1_9.PoseSet8ValuesFail (0 ms)
 77: [ RUN      ] Pose1_9.PoseElementSetAndGet
@@ -34482,7 +34501,7 @@
 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: [       OK ] Pose1_9.ChangingParentPoseElementAfterParamSetFromString (8 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'.
@@ -34510,37 +34529,48 @@
 77: [ RUN      ] Pose1_9.ToStringAfterChangingDegreeAttribute
 77: [       OK ] Pose1_9.ToStringAfterChangingDegreeAttribute (0 ms)
 77: [ RUN      ] Pose1_9.IncludePoseInModelString
-59: [       OK ] NestedModel.NestedFrameOnlyModel (794 ms)
-59: [ RUN      ] NestedModel.IncludeElements
-81: [       OK ] DOMRoot.LoadMultipleModels (746 ms)
-81: [ RUN      ] DOMRoot.LoadDuplicateModels
-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
-89: [       OK ] SDFDomConversion.Sensors (1286 ms)
-89: [ RUN      ] SDFDomConversion.Lights
-81: [       OK ] DOMRoot.LoadDuplicateModels (1023 ms)
-81: [----------] 5 tests from DOMRoot (3799 ms total)
-81: 
-81: [----------] Global test environment tear-down
-81: [==========] 5 tests from 1 test suite ran. (3799 ms total)
-81: [  PASSED  ] 5 tests.
-91: [       OK ] DOMSurface.Shapes (977 ms)
-91: [----------] 1 test from DOMSurface (977 ms total)
-91: 
-91: [----------] Global test environment tear-down
- 84/221 Test  #81: INTEGRATION_root_dom ...................................   Passed    4.18 sec
+87: [       OK ] SDFParser.CustomElements (722 ms)
+87: [----------] 1 test from SDFParser (722 ms total)
+87: 
+87: [----------] Global test environment tear-down
+87: [==========] 1 test from 1 test suite ran. (723 ms total)
+87: [  PASSED  ] 1 test.
+ 82/221 Test  #87: INTEGRATION_sdf_custom .................................   Passed    1.15 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-aarch64-linux-gnu/test_results/INTEGRATION_sdf_dom_conversion.xml"
+90: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
+90: Test timeout computed to be: 10000000
+90: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_sdf_dom_conversion.xml
+90: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_sdf_dom_conversion.xml
+ 83/221 Test  #90: check_INTEGRATION_sdf_dom_conversion ...................   Passed    0.10 sec
+test 91
+        Start  91: INTEGRATION_surface_dom
+
+91: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/INTEGRATION_surface_dom "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_surface_dom.xml"
+91: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
+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
+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 (5760 ms)
+31: [----------] 8 tests from IncludesTest (18940 ms total)
+31: 
+31: [----------] Global test environment tear-down
+31: [==========] 8 tests from 1 test suite ran. (18940 ms total)
+31: [  PASSED  ] 8 tests.
+ 84/221 Test  #31: INTEGRATION_includes ...................................   Passed   19.40 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-aarch64-linux-gnu/test_results/INTEGRATION_surface_dom.xml"
 92: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 92: Test timeout computed to be: 10000000
-91: [==========] 1 test from 1 test suite ran. (977 ms total)
-91: [  PASSED  ] 1 test.
- 85/221 Test  #91: INTEGRATION_surface_dom ................................   Passed    1.49 sec
+92: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_surface_dom.xml
+92: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_surface_dom.xml
+ 85/221 Test  #92: check_INTEGRATION_surface_dom ..........................   Passed    0.10 sec
 test 93
         Start  93: INTEGRATION_unknown
 
@@ -34549,13 +34579,33 @@
 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
-31: Warning [Utils.cc:129] [[@merge="true"]:<data-string>:L4]: XML Attribute[merge] in element[include] not defined in SDF.
-77: [       OK ] Pose1_9.IncludePoseInModelString (1406 ms)
-77: [ RUN      ] Pose1_9.IncludeEulerRPYPoseInModelString
-92: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_surface_dom.xml
-89: [       OK ] SDFDomConversion.Lights (1068 ms)
-89: [ RUN      ] SDFDomConversion.Joints
- 86/221 Test  #92: check_INTEGRATION_surface_dom ..........................   Passed    0.17 sec
+81: [       OK ] DOMRoot.LoadMultipleModels (688 ms)
+81: [ RUN      ] DOMRoot.LoadDuplicateModels
+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
+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
+67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+89: [       OK ] SDFDomConversion.Sensors (1509 ms)
+89: [ RUN      ] SDFDomConversion.Lights
+59: [       OK ] NestedModel.IncludeElements (1452 ms)
+59: [----------] 10 tests from NestedModel (11853 ms total)
+59: 
+59: [----------] 3 tests from PlacementFrame
+59: [ RUN      ] PlacementFrame.WorldInclude
+81: [       OK ] DOMRoot.LoadDuplicateModels (571 ms)
+81: [----------] 5 tests from DOMRoot (3135 ms total)
+81: 
+81: [----------] Global test environment tear-down
+81: [==========] 5 tests from 1 test suite ran. (3135 ms total)
+81: [  PASSED  ] 5 tests.
+ 86/221 Test  #81: INTEGRATION_root_dom ...................................   Passed    3.50 sec
 test 94
         Start  94: check_INTEGRATION_unknown
 
@@ -34564,7 +34614,7 @@
 94: Test timeout computed to be: 10000000
 94: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_unknown.xml
 94: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_unknown.xml
- 87/221 Test  #94: check_INTEGRATION_unknown ..............................   Passed    0.12 sec
+ 87/221 Test  #94: check_INTEGRATION_unknown ..............................   Passed    0.04 sec
 test 95
         Start  95: INTEGRATION_urdf_gazebo_extensions
 
@@ -34573,29 +34623,18 @@
 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
-59: [       OK ] NestedModel.IncludeElements (1557 ms)
-59: [----------] 10 tests from NestedModel (13072 ms total)
-59: 
-59: [----------] 3 tests from PlacementFrame
-59: [ RUN      ] PlacementFrame.WorldInclude
-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
-67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+91: [       OK ] DOMSurface.Shapes (707 ms)
+91: [----------] 1 test from DOMSurface (707 ms total)
+91: 
+91: [----------] Global test environment tear-down
 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
-63: [       OK ] ParamPassingTest.NestedInclude (4531 ms)
-63: [----------] 2 tests from ParamPassingTest (11482 ms total)
-63: 
-63: [----------] Global test environment tear-down
-63: [==========] 2 tests from 1 test suite ran. (11482 ms total)
-63: [  PASSED  ] 2 tests.
- 88/221 Test  #63: INTEGRATION_param_passing ..............................   Passed   11.89 sec
+91: [==========] 1 test from 1 test suite ran. (707 ms total)
+91: [  PASSED  ] 1 test.
+ 88/221 Test  #91: INTEGRATION_surface_dom ................................   Passed    1.13 sec
 test 96
         Start  96: check_INTEGRATION_urdf_gazebo_extensions
 
@@ -34604,7 +34643,8 @@
 96: Test timeout computed to be: 10000000
 96: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_urdf_gazebo_extensions.xml
 96: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_urdf_gazebo_extensions.xml
- 89/221 Test  #96: check_INTEGRATION_urdf_gazebo_extensions ...............   Passed    0.08 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.
+ 89/221 Test  #96: check_INTEGRATION_urdf_gazebo_extensions ...............   Passed    0.16 sec
 test 97
         Start  97: INTEGRATION_urdf_joint_parameters
 
@@ -34613,35 +34653,37 @@
 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
-95: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+77: [       OK ] Pose1_9.IncludePoseInModelString (1566 ms)
+77: [ RUN      ] Pose1_9.IncludeEulerRPYPoseInModelString
+93: [       OK ] Unknown.CopyUnknownElement (703 ms)
+93: [----------] 1 test from Unknown (703 ms total)
+93: 
+93: [----------] 3 tests from UnrecognizedElements
+93: [ RUN      ] UnrecognizedElements.UnrecognizedElementsWithWarningsPolicies
 67: Error [SDF.cc:160] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-77: [       OK ] Pose1_9.IncludeEulerRPYPoseInModelString (1037 ms)
-77: [ RUN      ] Pose1_9.IncludeQuatXYZWPoseIn
+95: [       OK ] SDFParser.UrdfGazeboExtensionURDFTest (481 ms)
+95: [----------] 1 test from SDFParser (481 ms total)
+95: 
+95: [----------] Global test environment tear-down
 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
-89: [       OK ] SDFDomConversion.Joints (1278 ms)
-89: [----------] 3 tests from SDFDomConversion (3633 ms total)
-89: 
-89: [----------] Global test environment tear-down
-89: [==========] 3 tests from 1 test suite ran. (3633 ms total)
-89: [  PASSED  ] 3 tests.
-95: [       OK ] SDFParser.UrdfGazeboExtensionURDFTest (853 ms)
-95: [----------] 1 test from SDFParser (854 ms total)
-95: 
-95: [----------] Global test environment tear-down
- 90/221 Test  #89: INTEGRATION_sdf_dom_conversion .........................   Passed    4.10 sec
+95: [==========] 1 test from 1 test suite ran. (481 ms total)
+95: [  PASSED  ] 1 test.
+ 90/221 Test  #95: INTEGRATION_urdf_gazebo_extensions .....................   Passed    0.70 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-aarch64-linux-gnu/test_results/INTEGRATION_urdf_joint_parameters.xml"
 98: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 98: Test timeout computed to be: 10000000
-95: [==========] 1 test from 1 test suite ran. (860 ms total)
-95: [  PASSED  ] 1 test.
- 91/221 Test  #95: INTEGRATION_urdf_gazebo_extensions .....................   Passed    1.23 sec
+89: [       OK ] SDFDomConversion.Lights (961 ms)
+89: [ RUN      ] SDFDomConversion.Joints
+98: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_urdf_joint_parameters.xml
+98: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_urdf_joint_parameters.xml
+ 91/221 Test  #98: check_INTEGRATION_urdf_joint_parameters ................   Passed    0.17 sec
 test 99
         Start  99: INTEGRATION_visual_dom
 
@@ -34650,25 +34692,23 @@
 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
-93: [       OK ] Unknown.CopyUnknownElement (1044 ms)
-93: [----------] 1 test from Unknown (1044 ms total)
-93: 
-93: [----------] 3 tests from UnrecognizedElements
-93: [ RUN      ] UnrecognizedElements.UnrecognizedElementsWithWarningsPolicies
-98: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_urdf_joint_parameters.xml
-98: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_urdf_joint_parameters.xml
- 92/221 Test  #98: check_INTEGRATION_urdf_joint_parameters ................   Passed    0.16 sec
+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.
+97: [       OK ] SDFParser.JointAxisParameters (421 ms)
+97: [----------] 1 test from SDFParser (422 ms total)
+97: 
+97: [----------] Global test environment tear-down
+97: [==========] 1 test from 1 test suite ran. (422 ms total)
+97: [  PASSED  ] 1 test.
+ 92/221 Test  #97: INTEGRATION_urdf_joint_parameters ......................   Passed    0.73 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-aarch64-linux-gnu/test_results/INTEGRATION_visual_dom.xml"
 100: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 100: Test timeout computed to be: 10000000
-77: [       OK ] Pose1_9.IncludeQuatXYZWPoseIn (511 ms)
-77: [ RUN      ] Pose1_9.IncludePoseInWorld
 100: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_visual_dom.xml
 100: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_visual_dom.xml
- 93/221 Test #100: check_INTEGRATION_visual_dom ...........................   Passed    0.16 sec
+ 93/221 Test #100: check_INTEGRATION_visual_dom ...........................   Passed    0.06 sec
 test 101
         Start 101: INTEGRATION_whitespace
 
@@ -34677,19 +34717,6 @@
 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
-97: [       OK ] SDFParser.JointAxisParameters (618 ms)
-97: [----------] 1 test from SDFParser (618 ms total)
-97: 
-97: [----------] Global test environment tear-down
-97: [==========] 1 test from 1 test suite ran. (619 ms total)
-97: [  PASSED  ] 1 test.
- 94/221 Test  #97: INTEGRATION_urdf_joint_parameters ......................   Passed    0.93 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-aarch64-linux-gnu/test_results/INTEGRATION_whitespace.xml"
-102: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
-102: 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.
@@ -34701,15 +34728,33 @@
 99: Error [Element.cc:979] Missing element description for [geometry]
 99: [       OK ] DOMVisual.NoName (0 ms)
 99: [ RUN      ] DOMVisual.DoublePendulum
-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.
 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
+77: [       OK ] Pose1_9.IncludeEulerRPYPoseInModelString (1079 ms)
+77: [ RUN      ] Pose1_9.IncludeQuatXYZWPoseIn
+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].
+89: [       OK ] SDFDomConversion.Joints (941 ms)
+89: [----------] 3 tests from SDFDomConversion (3413 ms total)
+89: 
+89: [----------] Global test environment tear-down
+89: [==========] 3 tests from 1 test suite ran. (3413 ms total)
+89: [  PASSED  ] 3 tests.
+ 94/221 Test  #89: INTEGRATION_sdf_dom_conversion .........................   Passed    3.72 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-aarch64-linux-gnu/test_results/INTEGRATION_whitespace.xml"
+102: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
+102: Test timeout computed to be: 10000000
 102: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_whitespace.xml
 102: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_whitespace.xml
- 95/221 Test #102: check_INTEGRATION_whitespace ...........................   Passed    0.32 sec
+ 95/221 Test #102: check_INTEGRATION_whitespace ...........................   Passed    0.10 sec
 test 103
         Start 103: INTEGRATION_world_dom
 
@@ -34718,54 +34763,38 @@
 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
-31: Error:   Could not find the 'robot' element in the xml file
-31:          at line 109 in ./urdf_parser/src/model.cpp
-99: [       OK ] DOMVisual.DoublePendulum (615 ms)
-99: [ RUN      ] DOMVisual.Material
-31: [       OK ] IncludesTest.InvalidMergeInclude (6169 ms)
-31: [----------] 8 tests from IncludesTest (22646 ms total)
-31: 
-31: [----------] Global test environment tear-down
-31: [==========] 8 tests from 1 test suite ran. (22646 ms total)
-31: [  PASSED  ] 8 tests.
-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
-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.
- 96/221 Test  #31: INTEGRATION_includes ...................................   Passed   23.26 sec
+63: [       OK ] ParamPassingTest.NestedInclude (4147 ms)
+63: [----------] 2 tests from ParamPassingTest (12081 ms total)
+63: 
+63: [----------] Global test environment tear-down
+63: [==========] 2 tests from 1 test suite ran. (12081 ms total)
+63: [  PASSED  ] 2 tests.
+ 96/221 Test  #63: INTEGRATION_param_passing ..............................   Passed   12.65 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-aarch64-linux-gnu/test_results/INTEGRATION_world_dom.xml"
 104: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 104: Test timeout computed to be: 10000000
-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].
-77: [       OK ] Pose1_9.IncludePoseInWorld (1278 ms)
-77: [----------] 26 tests from Pose1_9 (8888 ms total)
-77: 
-77: [----------] Global test environment tear-down
-77: [==========] 26 tests from 1 test suite ran. (8889 ms total)
-77: [  PASSED  ] 26 tests.
- 97/221 Test  #77: INTEGRATION_pose_1_9_sdf ...............................   Passed    9.37 sec
+99: [       OK ] DOMVisual.DoublePendulum (889 ms)
+99: [ RUN      ] DOMVisual.Material
+104: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_world_dom.xml
+104: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_world_dom.xml
+ 97/221 Test #104: check_INTEGRATION_world_dom ............................   Passed    0.23 sec
 test 105
         Start 105: INTEGRATION_versioned_symbols
 
 105: Test command: /usr/bin/bash "/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration/all_symbols_have_version.bash" "/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/libsdformat12.so"
 105: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test/integration
 105: Test timeout computed to be: 10000000
-104: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_world_dom.xml
-104: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/INTEGRATION_world_dom.xml
-67: [       OK ] ParserConfig.ParseWithNonGlobalConfig (11218 ms)
-67: [----------] 3 tests from ParserConfig (11218 ms total)
-67: 
-67: [----------] Global test environment tear-down
-67: [==========] 3 tests from 1 test suite ran. (11218 ms total)
-67: [  PASSED  ] 3 tests.
- 98/221 Test #104: check_INTEGRATION_world_dom ............................   Passed    0.18 sec
+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
+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.
+105: No unversioned symbols found (num versioned symbols:2728)
+ 98/221 Test #105: INTEGRATION_versioned_symbols ..........................   Passed    0.26 sec
 test 106
         Start 106: PERFORMANCE_parser_urdf
 
@@ -34774,7 +34803,24 @@
 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
- 99/221 Test  #67: INTEGRATION_parser_config ..............................   Passed   11.57 sec
+93: [       OK ] UnrecognizedElements.UnrecognizedElementsWithWarningsPolicies (2124 ms)
+93: [ RUN      ] UnrecognizedElements.UnrecognizedElementsWithNamespaces
+77: [       OK ] Pose1_9.IncludeQuatXYZWPoseIn (1106 ms)
+77: [ RUN      ] Pose1_9.IncludePoseInWorld
+99: [       OK ] DOMVisual.Material (555 ms)
+99: [ RUN      ] DOMVisual.MaterialScriptNoUri
+101: [       OK ] WhitespaceTest.Whitespace (1388 ms)
+101: [----------] 1 test from WhitespaceTest (1388 ms total)
+101: 
+101: [----------] Global test environment tear-down
+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
+101: [==========] 1 test from 1 test suite ran. (1388 ms total)
+101: [  PASSED  ] 1 test.
+ 99/221 Test #101: INTEGRATION_whitespace .................................   Passed    1.76 sec
 test 107
         Start 107: check_PERFORMANCE_parser_urdf
 
@@ -34783,7 +34829,13 @@
 107: Test timeout computed to be: 10000000
 107: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/PERFORMANCE_parser_urdf.xml
 107: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/PERFORMANCE_parser_urdf.xml
-100/221 Test #107: check_PERFORMANCE_parser_urdf ..........................   Passed    0.08 sec
+67: [       OK ] ParserConfig.ParseWithNonGlobalConfig (11819 ms)
+67: [----------] 3 tests from ParserConfig (11819 ms total)
+67: 
+67: [----------] Global test environment tear-down
+67: [==========] 3 tests from 1 test suite ran. (11819 ms total)
+67: [  PASSED  ] 3 tests.
+100/221 Test #107: check_PERFORMANCE_parser_urdf ..........................   Passed    0.16 sec
 test 108
         Start 108: UNIT_Actor_TEST
 
@@ -34792,19 +34844,28 @@
 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
-105: No unversioned symbols found (num versioned symbols:2728)
-101/221 Test #105: INTEGRATION_versioned_symbols ..........................   Passed    0.19 sec
+101/221 Test  #67: INTEGRATION_parser_config ..............................   Passed   12.34 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-aarch64-linux-gnu/test_results/UNIT_Actor_TEST.xml"
 109: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 109: Test timeout computed to be: 10000000
-99: [       OK ] DOMVisual.Material (626 ms)
-99: [ RUN      ] DOMVisual.MaterialScriptNoUri
+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.
+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
+103: Error:   Could not find the 'robot' element in the xml file
+103:          at line 109 in ./urdf_parser/src/model.cpp
+93: [       OK ] UnrecognizedElements.UnrecognizedElementsWithNamespaces (682 ms)
+93: [ RUN      ] UnrecognizedElements.OldElementsInNewSchemas
+99: [       OK ] DOMVisual.MaterialScriptNoUri (546 ms)
+99: [ RUN      ] DOMVisual.MaterialScriptNormalMapMissing
+103: [       OK ] DOMWorld.NoName (943 ms)
+103: [ RUN      ] DOMWorld.Duplicate
 109: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Actor_TEST.xml
 109: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Actor_TEST.xml
-102/221 Test #109: check_UNIT_Actor_TEST ..................................   Passed    0.16 sec
+102/221 Test #109: check_UNIT_Actor_TEST ..................................   Passed    0.15 sec
 test 110
         Start 110: UNIT_AirPressure_TEST
 
@@ -34879,29 +34940,46 @@
 108: [----------] 6 tests from DOMTrajectory (0 ms total)
 108: 
 108: [----------] Global test environment tear-down
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
 108: [==========] 25 tests from 4 test suites ran. (0 ms total)
 108: [  PASSED  ] 25 tests.
-103/221 Test #108: UNIT_Actor_TEST ........................................   Passed    0.31 sec
+103/221 Test #108: UNIT_Actor_TEST ........................................   Passed    0.36 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-aarch64-linux-gnu/test_results/UNIT_AirPressure_TEST.xml"
 111: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 111: Test timeout computed to be: 10000000
-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
-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
 111: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_AirPressure_TEST.xml
 111: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_AirPressure_TEST.xml
-99: [       OK ] DOMVisual.MaterialScriptNoUri (373 ms)
-99: [ RUN      ] DOMVisual.MaterialScriptNormalMapMissing
-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.
-104/221 Test #111: check_UNIT_AirPressure_TEST ............................   Passed    0.20 sec
+104/221 Test #111: check_UNIT_AirPressure_TEST ............................   Passed    0.12 sec
 test 112
         Start 112: UNIT_Altimeter_TEST
 
@@ -34921,24 +34999,25 @@
 110: [ RUN      ] DOMAirPressure.Load
 110: [       OK ] DOMAirPressure.Load (0 ms)
 110: [ RUN      ] DOMAirPressure.ToElement
-110: [       OK ] DOMAirPressure.ToElement (13 ms)
-110: [----------] 4 tests from DOMAirPressure (13 ms total)
+110: [       OK ] DOMAirPressure.ToElement (12 ms)
+110: [----------] 4 tests from DOMAirPressure (12 ms total)
 110: 
 110: [----------] Global test environment tear-down
-110: [==========] 4 tests from 1 test suite ran. (13 ms total)
+110: [==========] 4 tests from 1 test suite ran. (12 ms total)
 110: [  PASSED  ] 4 tests.
-105/221 Test #110: UNIT_AirPressure_TEST ..................................   Passed    0.35 sec
+105/221 Test #110: UNIT_AirPressure_TEST ..................................   Passed    0.45 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-aarch64-linux-gnu/test_results/UNIT_Altimeter_TEST.xml"
 113: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 113: Test timeout computed to be: 10000000
-93: [       OK ] UnrecognizedElements.UnrecognizedElementsWithWarningsPolicies (2149 ms)
-93: [ RUN      ] UnrecognizedElements.UnrecognizedElementsWithNamespaces
+99: A normal map shader type has been specified, but a normal_map has not.
+99: [       OK ] DOMVisual.MaterialScriptNormalMapMissing (578 ms)
+99: [ RUN      ] DOMVisual.Transparency
 113: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Altimeter_TEST.xml
 113: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Altimeter_TEST.xml
-106/221 Test #113: check_UNIT_Altimeter_TEST ..............................   Passed    0.07 sec
+106/221 Test #113: check_UNIT_Altimeter_TEST ..............................   Passed    0.15 sec
 test 114
         Start 114: UNIT_Atmosphere_TEST
 
@@ -34947,8 +35026,43 @@
 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
-103: Error:   Could not find the 'robot' element in the xml file
-103:          at line 109 in ./urdf_parser/src/model.cpp
+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.
+112: [----------] 4 tests from DOMAltimeter
+112: [ RUN      ] DOMAltimeter.Construction
+112: [       OK ] DOMAltimeter.Construction (0 ms)
+112: [ RUN      ] DOMAltimeter.Set
+112: [       OK ] DOMAltimeter.Set (0 ms)
+112: [ RUN      ] DOMAltimeter.Load
+112: [       OK ] DOMAltimeter.Load (0 ms)
+112: [ RUN      ] DOMAltimeter.ToElement
+112: [       OK ] DOMAltimeter.ToElement (14 ms)
+112: [----------] 4 tests from DOMAltimeter (14 ms total)
+112: 
+112: [----------] Global test environment tear-down
+112: [==========] 4 tests from 1 test suite ran. (14 ms total)
+112: [  PASSED  ] 4 tests.
+107/221 Test #112: UNIT_Altimeter_TEST ....................................   Passed    0.38 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-aarch64-linux-gnu/test_results/UNIT_Atmosphere_TEST.xml"
+115: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+115: Test timeout computed to be: 10000000
+115: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Atmosphere_TEST.xml
+115: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Atmosphere_TEST.xml
+108/221 Test #115: check_UNIT_Atmosphere_TEST .............................   Passed    0.10 sec
+test 116
+        Start 116: UNIT_Box_TEST
+
+116: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Box_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Box_TEST.xml"
+116: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+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
+103: [       OK ] DOMWorld.Duplicate (868 ms)
+103: [ RUN      ] DOMWorld.LoadIncorrectElement
 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.
@@ -34972,83 +35086,24 @@
 114: [----------] Global test environment tear-down
 114: [==========] 7 tests from 1 test suite ran. (0 ms total)
 114: [  PASSED  ] 7 tests.
-107/221 Test #114: UNIT_Atmosphere_TEST ...................................   Passed    0.20 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-aarch64-linux-gnu/test_results/UNIT_Atmosphere_TEST.xml"
-115: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-115: Test timeout computed to be: 10000000
-103: [       OK ] DOMWorld.NoName (1155 ms)
-103: [ RUN      ] DOMWorld.Duplicate
-115: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Atmosphere_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.
-108/221 Test #115: check_UNIT_Atmosphere_TEST .............................   Passed    0.06 sec
-test 116
-        Start 116: UNIT_Box_TEST
-
-116: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Box_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Box_TEST.xml"
-116: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-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
-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.
-112: [----------] 4 tests from DOMAltimeter
-112: [ RUN      ] DOMAltimeter.Construction
-112: [       OK ] DOMAltimeter.Construction (0 ms)
-112: [ RUN      ] DOMAltimeter.Set
-112: [       OK ] DOMAltimeter.Set (0 ms)
-112: [ RUN      ] DOMAltimeter.Load
-112: [       OK ] DOMAltimeter.Load (0 ms)
-112: [ RUN      ] DOMAltimeter.ToElement
-112: [       OK ] DOMAltimeter.ToElement (26 ms)
-112: [----------] 4 tests from DOMAltimeter (26 ms total)
-112: 
-112: [----------] Global test environment tear-down
-112: [==========] 4 tests from 1 test suite ran. (26 ms total)
-112: [  PASSED  ] 4 tests.
-109/221 Test #112: UNIT_Altimeter_TEST ....................................   Passed    0.43 sec
+109/221 Test #114: UNIT_Atmosphere_TEST ...................................   Passed    0.47 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-aarch64-linux-gnu/test_results/UNIT_Box_TEST.xml"
 117: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 117: Test timeout computed to be: 10000000
-99: A normal map shader type has been specified, but a normal_map has not.
-99: [       OK ] DOMVisual.MaterialScriptNormalMapMissing (541 ms)
-99: [ RUN      ] DOMVisual.Transparency
+93: [       OK ] UnrecognizedElements.OldElementsInNewSchemas (1156 ms)
+93: [----------] 3 tests from UnrecognizedElements (3964 ms total)
+93: 
+93: [----------] Global test environment tear-down
+99: [       OK ] DOMVisual.Transparency (602 ms)
+99: [ RUN      ] DOMVisual.LaserRetro
+93: [==========] 4 tests from 2 test suites ran. (4667 ms total)
+93: [  PASSED  ] 4 tests.
 117: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Box_TEST.xml
 117: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Box_TEST.xml
-110/221 Test #117: check_UNIT_Box_TEST ....................................   Passed    0.16 sec
+110/221 Test  #93: INTEGRATION_unknown ....................................   Passed    5.07 sec
 test 118
         Start 118: UNIT_Camera_TEST
 
@@ -35057,7 +35112,6 @@
 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
-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.
 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.
@@ -35083,18 +35137,14 @@
 116: [----------] Global test environment tear-down
 116: [==========] 8 tests from 1 test suite ran. (0 ms total)
 116: [  PASSED  ] 8 tests.
-111/221 Test #116: UNIT_Box_TEST ..........................................   Passed    0.34 sec
+111/221 Test #116: UNIT_Box_TEST ..........................................   Passed    0.43 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-aarch64-linux-gnu/test_results/UNIT_Camera_TEST.xml"
 119: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 119: Test timeout computed to be: 10000000
-93: [       OK ] UnrecognizedElements.UnrecognizedElementsWithNamespaces (676 ms)
-93: [ RUN      ] UnrecognizedElements.OldElementsInNewSchemas
-119: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Camera_TEST.xml
-119: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Camera_TEST.xml
-112/221 Test #119: check_UNIT_Camera_TEST .................................   Passed    0.12 sec
+112/221 Test #117: check_UNIT_Box_TEST ....................................   Passed    0.12 sec
 test 120
         Start 120: UNIT_Capsule_TEST
 
@@ -35103,20 +35153,9 @@
 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
-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
-118: [       OK ] DOMCamera.ToElement (14 ms)
-118: [----------] 2 tests from DOMCamera (14 ms total)
-118: 
-118: [----------] Global test environment tear-down
-118: [==========] 2 tests from 1 test suite ran. (14 ms total)
-118: [  PASSED  ] 2 tests.
-113/221 Test #118: UNIT_Camera_TEST .......................................   Passed    0.44 sec
+119: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Camera_TEST.xml
+119: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Camera_TEST.xml
+113/221 Test #119: check_UNIT_Camera_TEST .................................   Passed    0.19 sec
 test 121
         Start 121: check_UNIT_Capsule_TEST
 
@@ -35125,7 +35164,7 @@
 121: Test timeout computed to be: 10000000
 121: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Capsule_TEST.xml
 121: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Capsule_TEST.xml
-114/221 Test #121: check_UNIT_Capsule_TEST ................................   Passed    0.12 sec
+114/221 Test #121: check_UNIT_Capsule_TEST ................................   Passed    0.26 sec
 test 122
         Start 122: UNIT_Collision_TEST
 
@@ -35134,6 +35173,26 @@
 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
+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
+118: [       OK ] DOMCamera.ToElement (22 ms)
+118: [----------] 2 tests from DOMCamera (22 ms total)
+118: 
+118: [----------] Global test environment tear-down
+118: [==========] 2 tests from 1 test suite ran. (23 ms total)
+118: [  PASSED  ] 2 tests.
+115/221 Test #118: UNIT_Camera_TEST .......................................   Passed    0.51 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-aarch64-linux-gnu/test_results/UNIT_Collision_TEST.xml"
+123: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+123: Test timeout computed to be: 10000000
 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.
@@ -35159,16 +35218,7 @@
 120: [----------] Global test environment tear-down
 120: [==========] 8 tests from 1 test suite ran. (0 ms total)
 120: [  PASSED  ] 8 tests.
-115/221 Test #120: UNIT_Capsule_TEST ......................................   Passed    0.39 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-aarch64-linux-gnu/test_results/UNIT_Collision_TEST.xml"
-123: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-123: Test timeout computed to be: 10000000
-123: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Collision_TEST.xml
-123: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Collision_TEST.xml
-116/221 Test #123: check_UNIT_Collision_TEST ..............................   Passed    0.11 sec
+116/221 Test #120: UNIT_Capsule_TEST ......................................   Passed    0.54 sec
 test 124
         Start 124: UNIT_Console_TEST
 
@@ -35177,35 +35227,13 @@
 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
-99: [       OK ] DOMVisual.Transparency (892 ms)
-99: [ RUN      ] DOMVisual.LaserRetro
-124: [==========] Running 5 tests from 1 test suite.
-124: [----------] Global test environment set-up.
-124: [----------] 5 tests from Console
-124: [ RUN      ] Console.nohome
-124: No HOME defined in the environment. Will not log.
-124: Error [Console_TEST.cc:62] Error.
-124: [       OK ] Console.nohome (0 ms)
-124: [ RUN      ] Console.logdir_is_file
-124: /tmp/qGVtHE/.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
-124: Error [Console_TEST.cc:94] Error.
-124: [       OK ] Console.logdir_doesnt_exist (0 ms)
-124: [ RUN      ] Console.Messages
-124: Error [Console_TEST.cc:103] Error.
-124: Warning [Console_TEST.cc:104] Warning.
-124: Msg [Console_TEST.cc:105] Message.
-124: [       OK ] Console.Messages (0 ms)
-124: [ RUN      ] Console.quiet
-124: [       OK ] Console.quiet (0 ms)
-124: [----------] 5 tests from Console (0 ms total)
-124: 
-124: [----------] Global test environment tear-down
-124: [==========] 5 tests from 1 test suite ran. (0 ms total)
-124: [  PASSED  ] 5 tests.
-117/221 Test #124: UNIT_Console_TEST ......................................   Passed    0.19 sec
+99: [       OK ] DOMVisual.LaserRetro (680 ms)
+99: [ RUN      ] DOMVisual.LoadModelFramesRelativeToJoint
+123: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Collision_TEST.xml
+123: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Collision_TEST.xml
+103: [       OK ] DOMWorld.LoadIncorrectElement (1032 ms)
+103: [ RUN      ] DOMWorld.Load
+117/221 Test #123: check_UNIT_Collision_TEST ..............................   Passed    0.21 sec
 test 125
         Start 125: check_UNIT_Console_TEST
 
@@ -35213,7 +35241,8 @@
 125: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 125: Test timeout computed to be: 10000000
 125: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Console_TEST.xml
-118/221 Test #125: check_UNIT_Console_TEST ................................   Passed    0.06 sec
+125: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Console_TEST.xml
+118/221 Test #125: check_UNIT_Console_TEST ................................   Passed    0.13 sec
 test 126
         Start 126: UNIT_Cylinder_TEST
 
@@ -35222,8 +35251,12 @@
 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
-103: [       OK ] DOMWorld.Duplicate (1303 ms)
-103: [ RUN      ] DOMWorld.LoadIncorrectElement
+77: [       OK ] Pose1_9.IncludePoseInWorld (2846 ms)
+77: [----------] 26 tests from Pose1_9 (10987 ms total)
+77: 
+77: [----------] Global test environment tear-down
+77: [==========] 26 tests from 1 test suite ran. (10987 ms total)
+77: [  PASSED  ] 26 tests.
 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.
@@ -35250,22 +35283,16 @@
 122: [----------] 5 tests from DOMCollision (0 ms total)
 122: 
 122: [----------] Global test environment tear-down
-122: [==========] 8 tests from 2 test suites ran. (0 ms total)
+122: [==========] 8 tests from 2 test suites ran. (5 ms total)
 122: [  PASSED  ] 8 tests.
-93: [       OK ] UnrecognizedElements.OldElementsInNewSchemas (937 ms)
-93: [----------] 3 tests from UnrecognizedElements (3764 ms total)
-93: 
-93: [----------] Global test environment tear-down
-119/221 Test #122: UNIT_Collision_TEST ....................................   Passed    0.52 sec
+119/221 Test #122: UNIT_Collision_TEST ....................................   Passed    0.56 sec
 test 127
         Start 127: check_UNIT_Cylinder_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-aarch64-linux-gnu/test_results/UNIT_Cylinder_TEST.xml"
 127: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 127: Test timeout computed to be: 10000000
-93: [==========] 4 tests from 2 test suites ran. (4809 ms total)
-93: [  PASSED  ] 4 tests.
-120/221 Test  #93: INTEGRATION_unknown ....................................   Passed    5.34 sec
+120/221 Test  #77: INTEGRATION_pose_1_9_sdf ...............................   Passed   11.43 sec
 test 128
         Start 128: UNIT_Element_TEST
 
@@ -35274,18 +35301,42 @@
 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-aarch64-linux-gnu/test_results/UNIT_Cylinder_TEST.xml
-127: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Cylinder_TEST.xml
-121/221 Test #127: check_UNIT_Cylinder_TEST ...............................   Passed    0.12 sec
+124: [==========] Running 5 tests from 1 test suite.
+124: [----------] Global test environment set-up.
+124: [----------] 5 tests from Console
+124: [ RUN      ] Console.nohome
+124: No HOME defined in the environment. Will not log.
+124: Error [Console_TEST.cc:62] Error.
+124: [       OK ] Console.nohome (0 ms)
+124: [ RUN      ] Console.logdir_is_file
+124: /tmp/l1YQki/.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
+124: Error [Console_TEST.cc:94] Error.
+124: [       OK ] Console.logdir_doesnt_exist (0 ms)
+124: [ RUN      ] Console.Messages
+124: Error [Console_TEST.cc:103] Error.
+124: Warning [Console_TEST.cc:104] Warning.
+124: Msg [Console_TEST.cc:105] Message.
+124: [       OK ] Console.Messages (0 ms)
+124: [ RUN      ] Console.quiet
+124: [       OK ] Console.quiet (0 ms)
+124: [----------] 5 tests from Console (0 ms total)
+124: 
+124: [----------] Global test environment tear-down
+124: [==========] 5 tests from 1 test suite ran. (0 ms total)
+124: [  PASSED  ] 5 tests.
+121/221 Test #124: UNIT_Console_TEST ......................................   Passed    0.50 sec
 test 129
         Start 129: check_UNIT_Element_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-aarch64-linux-gnu/test_results/UNIT_Element_TEST.xml"
 129: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 129: Test timeout computed to be: 10000000
-129: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Element_TEST.xml
-129: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Element_TEST.xml
-122/221 Test #129: check_UNIT_Element_TEST ................................   Passed    0.11 sec
+127: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Cylinder_TEST.xml
+127: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Cylinder_TEST.xml
+122/221 Test #127: check_UNIT_Cylinder_TEST ...............................   Passed    0.08 sec
 test 130
         Start 130: UNIT_Ellipsoid_TEST
 
@@ -35294,10 +35345,15 @@
 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
-59: [       OK ] PlacementFrame.WorldInclude (5287 ms)
-59: [ RUN      ] PlacementFrame.ModelInclude
-99: [       OK ] DOMVisual.LaserRetro (574 ms)
-99: [ RUN      ] DOMVisual.LoadModelFramesRelativeToJoint
+129: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Element_TEST.xml
+129: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Element_TEST.xml
+123/221 Test #129: check_UNIT_Element_TEST ................................   Passed    0.12 sec
+test 131
+        Start 131: check_UNIT_Ellipsoid_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-aarch64-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml"
+131: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+131: 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.
@@ -35323,39 +35379,7 @@
 126: [----------] Global test environment tear-down
 126: [==========] 8 tests from 1 test suite ran. (0 ms total)
 126: [  PASSED  ] 8 tests.
-123/221 Test #126: UNIT_Cylinder_TEST .....................................   Passed    0.62 sec
-test 131
-        Start 131: check_UNIT_Ellipsoid_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-aarch64-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml"
-131: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-131: Test timeout computed to be: 10000000
-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.
-130: [----------] 8 tests from DOMEllipsoid
-130: [ RUN      ] DOMEllipsoid.Construction
-130: [       OK ] DOMEllipsoid.Construction (0 ms)
-130: [ RUN      ] DOMEllipsoid.MoveConstructor
-130: [       OK ] DOMEllipsoid.MoveConstructor (0 ms)
-130: [ RUN      ] DOMEllipsoid.CopyConstructor
-130: [       OK ] DOMEllipsoid.CopyConstructor (0 ms)
-130: [ RUN      ] DOMEllipsoid.CopyAssignmentOperator
-130: [       OK ] DOMEllipsoid.CopyAssignmentOperator (0 ms)
-130: [ RUN      ] DOMEllipsoid.MoveAssignmentConstructor
-130: [       OK ] DOMEllipsoid.MoveAssignmentConstructor (0 ms)
-130: [ RUN      ] DOMEllipsoid.CopyAssignmentAfterMove
-130: [       OK ] DOMEllipsoid.CopyAssignmentAfterMove (0 ms)
-130: [ RUN      ] DOMEllipsoid.Load
-130: [       OK ] DOMEllipsoid.Load (0 ms)
-130: [ RUN      ] DOMEllipsoid.Shape
-130: [       OK ] DOMEllipsoid.Shape (0 ms)
-130: [----------] 8 tests from DOMEllipsoid (0 ms total)
-130: 
-130: [----------] Global test environment tear-down
-130: [==========] 8 tests from 1 test suite ran. (0 ms total)
-130: [  PASSED  ] 8 tests.
-124/221 Test #130: UNIT_Ellipsoid_TEST ....................................   Passed    0.31 sec
+124/221 Test #126: UNIT_Cylinder_TEST .....................................   Passed    0.42 sec
 test 132
         Start 132: UNIT_Error_TEST
 
@@ -35364,6 +35388,17 @@
 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-aarch64-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml
+131: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml
+125/221 Test #131: check_UNIT_Ellipsoid_TEST ..............................   Passed    0.16 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-aarch64-linux-gnu/test_results/UNIT_Error_TEST.xml"
+133: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+133: Test timeout computed to be: 10000000
+99: [       OK ] DOMVisual.LoadModelFramesRelativeToJoint (722 ms)
+99: [ RUN      ] DOMVisual.VisibilityFlags
 128: [==========] Running 37 tests from 1 test suite.
 128: [----------] Global test environment set-up.
 128: [----------] 37 tests from Element
@@ -35442,22 +35477,14 @@
 128: [       OK ] Element.CountNamedElements (0 ms)
 128: [ RUN      ] Element.FindElement
 128: [       OK ] Element.FindElement (0 ms)
-128: [----------] 37 tests from Element (9 ms total)
+128: [----------] 37 tests from Element (10 ms total)
 128: 
 128: [----------] Global test environment tear-down
-128: [==========] 37 tests from 1 test suite ran. (9 ms total)
+128: [==========] 37 tests from 1 test suite ran. (10 ms total)
 128: [  PASSED  ] 37 tests.
-99: [       OK ] DOMVisual.LoadModelFramesRelativeToJoint (334 ms)
-99: [ RUN      ] DOMVisual.VisibilityFlags
-125/221 Test #128: UNIT_Element_TEST ......................................   Passed    0.59 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-aarch64-linux-gnu/test_results/UNIT_Error_TEST.xml"
-133: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-133: Test timeout computed to be: 10000000
-131: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml
-126/221 Test #131: check_UNIT_Ellipsoid_TEST ..............................   Passed    0.18 sec
+133: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Error_TEST.xml
+133: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Error_TEST.xml
+126/221 Test #128: UNIT_Element_TEST ......................................   Passed    0.44 sec
 test 134
         Start 134: UNIT_Exception_TEST
 
@@ -35466,9 +35493,7 @@
 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-aarch64-linux-gnu/test_results/UNIT_Error_TEST.xml
-133: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Error_TEST.xml
-127/221 Test #133: check_UNIT_Error_TEST ..................................   Passed    0.12 sec
+127/221 Test #133: check_UNIT_Error_TEST ..................................   Passed    0.15 sec
 test 135
         Start 135: check_UNIT_Exception_TEST
 
@@ -35477,7 +35502,32 @@
 135: Test timeout computed to be: 10000000
 135: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Exception_TEST.xml
 135: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Exception_TEST.xml
-128/221 Test #135: check_UNIT_Exception_TEST ..............................   Passed    0.11 sec
+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.
+130: [----------] 8 tests from DOMEllipsoid
+130: [ RUN      ] DOMEllipsoid.Construction
+130: [       OK ] DOMEllipsoid.Construction (0 ms)
+130: [ RUN      ] DOMEllipsoid.MoveConstructor
+130: [       OK ] DOMEllipsoid.MoveConstructor (0 ms)
+130: [ RUN      ] DOMEllipsoid.CopyConstructor
+130: [       OK ] DOMEllipsoid.CopyConstructor (0 ms)
+130: [ RUN      ] DOMEllipsoid.CopyAssignmentOperator
+130: [       OK ] DOMEllipsoid.CopyAssignmentOperator (0 ms)
+130: [ RUN      ] DOMEllipsoid.MoveAssignmentConstructor
+130: [       OK ] DOMEllipsoid.MoveAssignmentConstructor (0 ms)
+130: [ RUN      ] DOMEllipsoid.CopyAssignmentAfterMove
+130: [       OK ] DOMEllipsoid.CopyAssignmentAfterMove (0 ms)
+130: [ RUN      ] DOMEllipsoid.Load
+130: [       OK ] DOMEllipsoid.Load (0 ms)
+130: [ RUN      ] DOMEllipsoid.Shape
+130: [       OK ] DOMEllipsoid.Shape (0 ms)
+130: [----------] 8 tests from DOMEllipsoid (0 ms total)
+130: 
+130: [----------] Global test environment tear-down
+130: [==========] 8 tests from 1 test suite ran. (0 ms total)
+130: [  PASSED  ] 8 tests.
+128/221 Test #130: UNIT_Ellipsoid_TEST ....................................   Passed    0.49 sec
 test 136
         Start 136: UNIT_Frame_TEST
 
@@ -35486,6 +35536,13 @@
 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
+129/221 Test #135: check_UNIT_Exception_TEST ..............................   Passed    0.10 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-aarch64-linux-gnu/test_results/UNIT_Frame_TEST.xml"
+137: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+137: Test timeout computed to be: 10000000
 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.
@@ -35505,22 +35562,7 @@
 132: [----------] Global test environment tear-down
 132: [==========] 5 tests from 1 test suite ran. (0 ms total)
 132: [  PASSED  ] 5 tests.
-129/221 Test #132: UNIT_Error_TEST ........................................   Passed    0.38 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-aarch64-linux-gnu/test_results/UNIT_Frame_TEST.xml"
-137: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-137: Test timeout computed to be: 10000000
-99: [       OK ] DOMVisual.VisibilityFlags (352 ms)
-99: [----------] 10 tests from DOMVisual (4311 ms total)
-99: 
-99: [----------] Global test environment tear-down
-137: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Frame_TEST.xml
-137: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Frame_TEST.xml
-99: [==========] 10 tests from 1 test suite ran. (4312 ms total)
-99: [  PASSED  ] 10 tests.
-130/221 Test #137: check_UNIT_Frame_TEST ..................................   Passed    0.10 sec
+130/221 Test #132: UNIT_Error_TEST ........................................   Passed    0.38 sec
 test 138
         Start 138: UNIT_Filesystem_TEST
 
@@ -35529,7 +35571,11 @@
 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
-131/221 Test  #99: INTEGRATION_visual_dom .................................   Passed    4.88 sec
+137: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Frame_TEST.xml
+137: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Frame_TEST.xml
+103: [       OK ] DOMWorld.Load (1081 ms)
+103: [ RUN      ] DOMWorld.LoadModelFrameSameName
+131/221 Test #137: check_UNIT_Frame_TEST ..................................   Passed    0.19 sec
 test 139
         Start 139: check_UNIT_Filesystem_TEST
 
@@ -35554,13 +35600,13 @@
 134: Exception [Exception_TEST.cc:25] throw message
 134: Exception [Exception_TEST.cc:26] throw message
 134: Exception [Exception_TEST.cc:31] testmsg
-134: [       OK ] Exception.Throwing (3 ms)
-134: [----------] 1 test from Exception (4 ms total)
+134: [       OK ] Exception.Throwing (0 ms)
+134: [----------] 1 test from Exception (0 ms total)
 134: 
 134: [----------] Global test environment tear-down
-134: [==========] 1 test from 1 test suite ran. (4 ms total)
+134: [==========] 1 test from 1 test suite ran. (12 ms total)
 134: [  PASSED  ] 1 test.
-133/221 Test #134: UNIT_Exception_TEST ....................................   Passed    0.54 sec
+133/221 Test #134: UNIT_Exception_TEST ....................................   Passed    0.47 sec
 test 141
         Start 141: check_UNIT_ForceTorque_TEST
 
@@ -35569,6 +35615,33 @@
 141: Test timeout computed to be: 10000000
 141: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_ForceTorque_TEST.xml
 141: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_ForceTorque_TEST.xml
+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.
+134/221 Test #136: UNIT_Frame_TEST ........................................   Passed    0.51 sec
+test 142
+        Start 142: UNIT_Geometry_TEST
+
+142: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Geometry_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Geometry_TEST.xml"
+142: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+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
+135/221 Test #141: check_UNIT_ForceTorque_TEST ............................   Passed    0.16 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-aarch64-linux-gnu/test_results/UNIT_Geometry_TEST.xml"
+143: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
@@ -35589,44 +35662,9 @@
 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: [==========] 7 tests from 1 test suite ran. (1 ms total)
 138: [  PASSED  ] 7 tests.
-101: [       OK ] WhitespaceTest.Whitespace (4510 ms)
-101: [----------] 1 test from WhitespaceTest (4510 ms total)
-101: 
-101: [----------] Global test environment tear-down
-134/221 Test #138: UNIT_Filesystem_TEST ...................................   Passed    0.33 sec
-test 142
-        Start 142: UNIT_Geometry_TEST
-
-142: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Geometry_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Geometry_TEST.xml"
-142: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-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
-103: [       OK ] DOMWorld.LoadIncorrectElement (1427 ms)
-103: [ RUN      ] DOMWorld.Load
-135/221 Test #141: check_UNIT_ForceTorque_TEST ............................   Passed    0.14 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-aarch64-linux-gnu/test_results/UNIT_Geometry_TEST.xml"
-143: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-143: Test timeout computed to be: 10000000
-143: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Geometry_TEST.xml
-143: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Geometry_TEST.xml
-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.
-136/221 Test #136: UNIT_Frame_TEST ........................................   Passed    0.61 sec
+136/221 Test #138: UNIT_Filesystem_TEST ...................................   Passed    0.51 sec
 test 144
         Start 144: UNIT_Gui_TEST
 
@@ -35635,15 +35673,21 @@
 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
-101: [==========] 1 test from 1 test suite ran. (4510 ms total)
-101: [  PASSED  ] 1 test.
-137/221 Test #143: check_UNIT_Geometry_TEST ...............................   Passed    0.13 sec
+99: [       OK ] DOMVisual.VisibilityFlags (804 ms)
+99: [----------] 10 tests from DOMVisual (5378 ms total)
+99: 
+99: [----------] Global test environment tear-down
+99: [==========] 10 tests from 1 test suite ran. (5378 ms total)
+99: [  PASSED  ] 10 tests.
+137/221 Test  #99: INTEGRATION_visual_dom .................................   Passed    5.81 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-aarch64-linux-gnu/test_results/UNIT_Gui_TEST.xml"
 145: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 145: Test timeout computed to be: 10000000
+143: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Geometry_TEST.xml
+143: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Geometry_TEST.xml
 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.
@@ -35653,15 +35697,7 @@
 140: [ RUN      ] DOMForceTorque.Load
 140: [       OK ] DOMForceTorque.Load (0 ms)
 140: [ RUN      ] DOMForceTorque.ToElement
-140: [       OK ] DOMForceTorque.ToElement (55 ms)
-140: [----------] 3 tests from DOMForceTorque (55 ms total)
-140: 
-140: [----------] Global test environment tear-down
-140: [==========] 3 tests from 1 test suite ran. (55 ms total)
-140: [  PASSED  ] 3 tests.
-145: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Gui_TEST.xml
-145: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Gui_TEST.xml
-138/221 Test #140: UNIT_ForceTorque_TEST ..................................   Passed    0.42 sec
+138/221 Test #143: check_UNIT_Geometry_TEST ...............................   Passed    0.21 sec
 test 146
         Start 146: UNIT_Heightmap_TEST
 
@@ -35670,14 +35706,50 @@
 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
-139/221 Test #101: INTEGRATION_whitespace .................................   Passed    5.19 sec
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+145: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Gui_TEST.xml
+145: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Gui_TEST.xml
+140: [       OK ] DOMForceTorque.ToElement (48 ms)
+140: [----------] 3 tests from DOMForceTorque (48 ms total)
+140: 
+140: [----------] Global test environment tear-down
+140: [==========] 3 tests from 1 test suite ran. (48 ms total)
+140: [  PASSED  ] 3 tests.
+139/221 Test #145: check_UNIT_Gui_TEST ....................................   Passed    0.14 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-aarch64-linux-gnu/test_results/UNIT_Heightmap_TEST.xml"
 147: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 147: Test timeout computed to be: 10000000
-140/221 Test #145: check_UNIT_Gui_TEST ....................................   Passed    0.12 sec
+140/221 Test #140: UNIT_ForceTorque_TEST ..................................   Passed    0.48 sec
 test 148
         Start 148: UNIT_Imu_TEST
 
@@ -35686,6 +35758,22 @@
 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
+147: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Heightmap_TEST.xml
+147: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Heightmap_TEST.xml
+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].
+141/221 Test #147: check_UNIT_Heightmap_TEST ..............................   Passed    0.12 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-aarch64-linux-gnu/test_results/UNIT_Imu_TEST.xml"
+149: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+149: Test timeout computed to be: 10000000
+103: [       OK ] DOMWorld.LoadModelFrameSameName (757 ms)
+103: [ RUN      ] DOMWorld.NestedModels
+149: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Imu_TEST.xml
+149: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Imu_TEST.xml
 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.
@@ -35723,16 +35811,9 @@
 142: [----------] Global test environment tear-down
 142: [==========] 14 tests from 1 test suite ran. (0 ms total)
 142: [  PASSED  ] 14 tests.
-141/221 Test #142: UNIT_Geometry_TEST .....................................   Passed    0.31 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-aarch64-linux-gnu/test_results/UNIT_Imu_TEST.xml"
-149: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-149: Test timeout computed to be: 10000000
-147: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Heightmap_TEST.xml
-147: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Heightmap_TEST.xml
-142/221 Test #147: check_UNIT_Heightmap_TEST ..............................   Passed    0.10 sec
+59: [       OK ] PlacementFrame.WorldInclude (7163 ms)
+59: [ RUN      ] PlacementFrame.ModelInclude
+142/221 Test #142: UNIT_Geometry_TEST .....................................   Passed    0.49 sec
 test 150
         Start 150: UNIT_InterfaceElements_TEST
 
@@ -35741,8 +35822,6 @@
 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
-149: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Imu_TEST.xml
-149: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Imu_TEST.xml
 143/221 Test #149: check_UNIT_Imu_TEST ....................................   Passed    0.11 sec
 test 151
         Start 151: check_UNIT_InterfaceElements_TEST
@@ -35775,7 +35854,7 @@
 144: [----------] Global test environment tear-down
 144: [==========] 8 tests from 1 test suite ran. (0 ms total)
 144: [  PASSED  ] 8 tests.
-144/221 Test #144: UNIT_Gui_TEST ..........................................   Passed    0.34 sec
+144/221 Test #144: UNIT_Gui_TEST ..........................................   Passed    0.53 sec
 test 152
         Start 152: UNIT_Joint_TEST
 
@@ -35786,7 +35865,7 @@
 152: Test timeout computed to be: 240
 151: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml
 151: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml
-145/221 Test #151: check_UNIT_InterfaceElements_TEST ......................   Passed    0.18 sec
+145/221 Test #151: check_UNIT_InterfaceElements_TEST ......................   Passed    0.11 sec
 test 153
         Start 153: check_UNIT_Joint_TEST
 
@@ -35818,7 +35897,7 @@
 146: [----------] Global test environment tear-down
 146: [==========] 8 tests from 1 test suite ran. (0 ms total)
 146: [  PASSED  ] 8 tests.
-146/221 Test #146: UNIT_Heightmap_TEST ....................................   Passed    0.40 sec
+146/221 Test #146: UNIT_Heightmap_TEST ....................................   Passed    0.46 sec
 test 154
         Start 154: UNIT_JointAxis_TEST
 
@@ -35829,32 +35908,6 @@
 154: Test timeout computed to be: 240
 153: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Joint_TEST.xml
 153: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Joint_TEST.xml
-147/221 Test #153: check_UNIT_Joint_TEST ..................................   Passed    0.15 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-aarch64-linux-gnu/test_results/UNIT_JointAxis_TEST.xml"
-155: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-155: Test timeout computed to be: 10000000
-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.
-152: [----------] 7 tests from DOMJoint
-152: [ RUN      ] DOMJoint.Construction
-152: [       OK ] DOMJoint.Construction (0 ms)
-152: [ RUN      ] DOMJoint.MoveConstructor
-152: [       OK ] DOMJoint.MoveConstructor (0 ms)
-152: [ RUN      ] DOMJoint.CopyConstructor
-152: [       OK ] DOMJoint.CopyConstructor (0 ms)
-152: [ RUN      ] DOMJoint.MoveAssignment
-152: [       OK ] DOMJoint.MoveAssignment (0 ms)
-152: [ RUN      ] DOMJoint.CopyAssignment
-152: [       OK ] DOMJoint.CopyAssignment (0 ms)
-152: [ RUN      ] DOMJoint.CopyAssignmentAfterMove
-152: [       OK ] DOMJoint.CopyAssignmentAfterMove (0 ms)
-152: [ RUN      ] DOMJoint.ToElement
-155: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_JointAxis_TEST.xml
-155: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_JointAxis_TEST.xml
 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.
@@ -35862,7 +35915,22 @@
 148: [ RUN      ] DOMImu.Construction
 148: [       OK ] DOMImu.Construction (0 ms)
 148: [ RUN      ] DOMImu.Load
-148/221 Test #155: check_UNIT_JointAxis_TEST ..............................   Passed    0.10 sec
+148: [       OK ] DOMImu.Load (0 ms)
+148: [ RUN      ] DOMImu.ToElement
+147/221 Test #153: check_UNIT_Joint_TEST ..................................   Passed    0.15 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-aarch64-linux-gnu/test_results/UNIT_JointAxis_TEST.xml"
+155: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+155: Test timeout computed to be: 10000000
+148: [       OK ] DOMImu.ToElement (41 ms)
+148: [----------] 3 tests from DOMImu (41 ms total)
+148: 
+148: [----------] Global test environment tear-down
+148: [==========] 3 tests from 1 test suite ran. (41 ms total)
+148: [  PASSED  ] 3 tests.
+148/221 Test #148: UNIT_Imu_TEST ..........................................   Passed    0.50 sec
 test 156
         Start 156: UNIT_Lidar_TEST
 
@@ -35871,54 +35939,27 @@
 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
-148: [       OK ] DOMImu.Load (0 ms)
-148: [ RUN      ] DOMImu.ToElement
+155: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_JointAxis_TEST.xml
+155: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_JointAxis_TEST.xml
 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 (1 ms)
-150: [----------] 1 test from InterfaceElements (1 ms total)
+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. (1 ms total)
+150: [==========] 1 test from 1 test suite ran. (0 ms total)
 150: [  PASSED  ] 1 test.
-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.
-154: [----------] 7 tests from DOMJointAxis
-154: [ RUN      ] DOMJointAxis.Construction
-154: [       OK ] DOMJointAxis.Construction (0 ms)
-154: [ RUN      ] DOMJointAxis.CopyConstructor
-154: [       OK ] DOMJointAxis.CopyConstructor (0 ms)
-154: [ RUN      ] DOMJointAxis.AssignmentOperator
-154: [       OK ] DOMJointAxis.AssignmentOperator (0 ms)
-154: [ RUN      ] DOMJointAxis.MoveConstructor
-154: [       OK ] DOMJointAxis.MoveConstructor (0 ms)
-154: [ RUN      ] DOMJointAxis.MoveAssignmentOperator
-154: [       OK ] DOMJointAxis.MoveAssignmentOperator (0 ms)
-154: [ RUN      ] DOMJointAxis.CopyAssignmentAfterMove
-154: [       OK ] DOMJointAxis.CopyAssignmentAfterMove (0 ms)
-154: [ RUN      ] DOMJointAxis.ZeroNormVectorReturnsError
-154: [       OK ] DOMJointAxis.ZeroNormVectorReturnsError (0 ms)
-154: [----------] 7 tests from DOMJointAxis (0 ms total)
-154: 
-154: [----------] Global test environment tear-down
-154: [==========] 7 tests from 1 test suite ran. (0 ms total)
-154: [  PASSED  ] 7 tests.
-148: [       OK ] DOMImu.ToElement (54 ms)
-148: [----------] 3 tests from DOMImu (54 ms total)
-148: 
-148: [----------] Global test environment tear-down
-149/221 Test #154: UNIT_JointAxis_TEST ....................................   Passed    0.27 sec
+149/221 Test #150: UNIT_InterfaceElements_TEST ............................   Passed    0.37 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-aarch64-linux-gnu/test_results/UNIT_Lidar_TEST.xml"
 157: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 157: Test timeout computed to be: 10000000
-150/221 Test #150: UNIT_InterfaceElements_TEST ............................   Passed    0.55 sec
+150/221 Test #155: check_UNIT_JointAxis_TEST ..............................   Passed    0.12 sec
 test 158
         Start 158: UNIT_Light_TEST
 
@@ -35927,18 +35968,39 @@
 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
-148: [==========] 3 tests from 1 test suite ran. (54 ms total)
-148: [  PASSED  ] 3 tests.
-151/221 Test #148: UNIT_Imu_TEST ..........................................   Passed    0.67 sec
+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.
+152: [----------] 7 tests from DOMJoint
+152: [ RUN      ] DOMJoint.Construction
+152: [       OK ] DOMJoint.Construction (0 ms)
+152: [ RUN      ] DOMJoint.MoveConstructor
+152: [       OK ] DOMJoint.MoveConstructor (0 ms)
+152: [ RUN      ] DOMJoint.CopyConstructor
+152: [       OK ] DOMJoint.CopyConstructor (0 ms)
+152: [ RUN      ] DOMJoint.MoveAssignment
+152: [       OK ] DOMJoint.MoveAssignment (0 ms)
+152: [ RUN      ] DOMJoint.CopyAssignment
+152: [       OK ] DOMJoint.CopyAssignment (0 ms)
+152: [ RUN      ] DOMJoint.CopyAssignmentAfterMove
+152: [       OK ] DOMJoint.CopyAssignmentAfterMove (0 ms)
+152: [ RUN      ] DOMJoint.ToElement
+157: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Lidar_TEST.xml
+157: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Lidar_TEST.xml
+152: [       OK ] DOMJoint.ToElement (78 ms)
+152: [----------] 7 tests from DOMJoint (79 ms total)
+152: 
+152: [----------] Global test environment tear-down
+152: [==========] 7 tests from 1 test suite ran. (79 ms total)
+152: [  PASSED  ] 7 tests.
+151/221 Test #152: UNIT_Joint_TEST ........................................   Passed    0.40 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-aarch64-linux-gnu/test_results/UNIT_Light_TEST.xml"
 159: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 159: Test timeout computed to be: 10000000
-157: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Lidar_TEST.xml
-157: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Lidar_TEST.xml
-152/221 Test #157: check_UNIT_Lidar_TEST ..................................   Passed    0.07 sec
+152/221 Test #157: check_UNIT_Lidar_TEST ..................................   Passed    0.12 sec
 test 160
         Start 160: UNIT_Link_TEST
 
@@ -35947,50 +36009,18 @@
 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
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-152: [       OK ] DOMJoint.ToElement (247 ms)
-152: [----------] 7 tests from DOMJoint (247 ms total)
-152: 
-152: [----------] Global test environment tear-down
-152: [==========] 7 tests from 1 test suite ran. (248 ms total)
-152: [  PASSED  ] 7 tests.
-153/221 Test #152: UNIT_Joint_TEST ........................................   Passed    0.58 sec
+159: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Light_TEST.xml
+159: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Light_TEST.xml
+153/221 Test #159: check_UNIT_Light_TEST ..................................   Passed    0.05 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-aarch64-linux-gnu/test_results/UNIT_Link_TEST.xml"
 161: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 161: Test timeout computed to be: 10000000
-159: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Light_TEST.xml
-159: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Light_TEST.xml
-154/221 Test #159: check_UNIT_Light_TEST ..................................   Passed    0.19 sec
+161: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Link_TEST.xml
+161: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Link_TEST.xml
+154/221 Test #161: check_UNIT_Link_TEST ...................................   Passed    0.04 sec
 test 162
         Start 162: UNIT_Magnetometer_TEST
 
@@ -35999,6 +36029,36 @@
 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
+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.
+154: [----------] 7 tests from DOMJointAxis
+154: [ RUN      ] DOMJointAxis.Construction
+154: [       OK ] DOMJointAxis.Construction (0 ms)
+154: [ RUN      ] DOMJointAxis.CopyConstructor
+154: [       OK ] DOMJointAxis.CopyConstructor (0 ms)
+154: [ RUN      ] DOMJointAxis.AssignmentOperator
+154: [       OK ] DOMJointAxis.AssignmentOperator (0 ms)
+154: [ RUN      ] DOMJointAxis.MoveConstructor
+154: [       OK ] DOMJointAxis.MoveConstructor (0 ms)
+154: [ RUN      ] DOMJointAxis.MoveAssignmentOperator
+154: [       OK ] DOMJointAxis.MoveAssignmentOperator (0 ms)
+154: [ RUN      ] DOMJointAxis.CopyAssignmentAfterMove
+154: [       OK ] DOMJointAxis.CopyAssignmentAfterMove (0 ms)
+154: [ RUN      ] DOMJointAxis.ZeroNormVectorReturnsError
+154: [       OK ] DOMJointAxis.ZeroNormVectorReturnsError (0 ms)
+154: [----------] 7 tests from DOMJointAxis (0 ms total)
+154: 
+154: [----------] Global test environment tear-down
+154: [==========] 7 tests from 1 test suite ran. (0 ms total)
+154: [  PASSED  ] 7 tests.
+155/221 Test #154: UNIT_JointAxis_TEST ....................................   Passed    0.46 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-aarch64-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml"
+163: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+163: Test timeout computed to be: 10000000
 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.
@@ -36011,20 +36071,31 @@
 156: [       OK ] DOMLidar.Load (0 ms)
 156: [ RUN      ] DOMLidar.ToElement
 156: [       OK ] DOMLidar.ToElement (12 ms)
-156: [----------] 4 tests from DOMLidar (13 ms total)
+156: [----------] 4 tests from DOMLidar (12 ms total)
 156: 
 156: [----------] Global test environment tear-down
-156: [==========] 4 tests from 1 test suite ran. (13 ms total)
+156: [==========] 4 tests from 1 test suite ran. (12 ms total)
 156: [  PASSED  ] 4 tests.
-155/221 Test #156: UNIT_Lidar_TEST ........................................   Passed    0.34 sec
-test 163
-        Start 163: check_UNIT_Magnetometer_TEST
+156/221 Test #156: UNIT_Lidar_TEST ........................................   Passed    0.42 sec
+test 164
+        Start 164: UNIT_Material_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-aarch64-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml"
-163: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-163: Test timeout computed to be: 10000000
-161: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Link_TEST.xml
-161: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Link_TEST.xml
+164: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Material_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Material_TEST.xml"
+164: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
+163: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml
+163: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml
+157/221 Test #163: check_UNIT_Magnetometer_TEST ...........................   Passed    0.11 sec
+test 165
+        Start 165: check_UNIT_Material_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-aarch64-linux-gnu/test_results/UNIT_Material_TEST.xml"
+165: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+165: Test timeout computed to be: 10000000
+165: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Material_TEST.xml
+165: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Material_TEST.xml
 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.
@@ -36046,31 +36117,13 @@
 158: [ RUN      ] DOMLight.AttenuationClamp
 158: [       OK ] DOMLight.AttenuationClamp (0 ms)
 158: [ RUN      ] DOMLight.ToElement
-156/221 Test #161: check_UNIT_Link_TEST ...................................   Passed    0.18 sec
-test 164
-        Start 164: UNIT_Material_TEST
-
-164: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Material_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Material_TEST.xml"
-164: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
-158: [       OK ] DOMLight.ToElement (8 ms)
-158: [----------] 9 tests from DOMLight (9 ms total)
+158: [       OK ] DOMLight.ToElement (5 ms)
+158: [----------] 9 tests from DOMLight (5 ms total)
 158: 
 158: [----------] Global test environment tear-down
-158: [==========] 9 tests from 1 test suite ran. (9 ms total)
+158: [==========] 9 tests from 1 test suite ran. (5 ms total)
 158: [  PASSED  ] 9 tests.
-163: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml
-163: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml
-157/221 Test #158: UNIT_Light_TEST ........................................   Passed    0.34 sec
-test 165
-        Start 165: check_UNIT_Material_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-aarch64-linux-gnu/test_results/UNIT_Material_TEST.xml"
-165: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-165: Test timeout computed to be: 10000000
-158/221 Test #163: check_UNIT_Magnetometer_TEST ...........................   Passed    0.08 sec
+158/221 Test #158: UNIT_Light_TEST ........................................   Passed    0.50 sec
 test 166
         Start 166: UNIT_Mesh_TEST
 
@@ -36079,6 +36132,13 @@
 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
+159/221 Test #165: check_UNIT_Material_TEST ...............................   Passed    0.13 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-aarch64-linux-gnu/test_results/UNIT_Mesh_TEST.xml"
+167: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+167: Test timeout computed to be: 10000000
 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.
@@ -36110,18 +36170,7 @@
 160: [----------] Global test environment tear-down
 160: [==========] 11 tests from 1 test suite ran. (0 ms total)
 160: [  PASSED  ] 11 tests.
-159/221 Test #160: UNIT_Link_TEST .........................................   Passed    0.30 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-aarch64-linux-gnu/test_results/UNIT_Mesh_TEST.xml"
-167: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-167: Test timeout computed to be: 10000000
-103: [       OK ] DOMWorld.Load (1265 ms)
-103: [ RUN      ] DOMWorld.LoadModelFrameSameName
-165: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Material_TEST.xml
-165: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Material_TEST.xml
-160/221 Test #165: check_UNIT_Material_TEST ...............................   Passed    0.09 sec
+160/221 Test #160: UNIT_Link_TEST .........................................   Passed    0.42 sec
 test 168
         Start 168: UNIT_Model_TEST
 
@@ -36132,7 +36181,7 @@
 168: Test timeout computed to be: 240
 167: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Mesh_TEST.xml
 167: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Mesh_TEST.xml
-161/221 Test #167: check_UNIT_Mesh_TEST ...................................   Passed    0.11 sec
+161/221 Test #167: check_UNIT_Mesh_TEST ...................................   Passed    0.12 sec
 test 169
         Start 169: check_UNIT_Model_TEST
 
@@ -36141,7 +36190,35 @@
 169: Test timeout computed to be: 10000000
 169: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Model_TEST.xml
 169: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Model_TEST.xml
-162/221 Test #169: check_UNIT_Model_TEST ..................................   Passed    0.11 sec
+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.
+164: [----------] 7 tests from DOMMaterial
+164: [ RUN      ] DOMMaterial.Construction
+164: [       OK ] DOMMaterial.Construction (0 ms)
+164: [ RUN      ] DOMMaterial.MoveConstructor
+164: [       OK ] DOMMaterial.MoveConstructor (0 ms)
+164: [ RUN      ] DOMMaterial.CopyConstructor
+164: [       OK ] DOMMaterial.CopyConstructor (0 ms)
+164: [ RUN      ] DOMMaterial.AssignmentOperator
+164: [       OK ] DOMMaterial.AssignmentOperator (0 ms)
+164: [ RUN      ] DOMMaterial.MoveAssignmentOperator
+164: [       OK ] DOMMaterial.MoveAssignmentOperator (0 ms)
+164: [ RUN      ] DOMMaterial.Set
+164: [       OK ] DOMMaterial.Set (0 ms)
+164: [ RUN      ] DOMMaterial.InvalidSdf
+164: [       OK ] DOMMaterial.InvalidSdf (0 ms)
+164: [----------] 7 tests from DOMMaterial (0 ms total)
+164: 
+164: [----------] 1 test from DOMAtmosphere
+164: [ RUN      ] DOMAtmosphere.CopyAssignmentAfterMove
+164: [       OK ] DOMAtmosphere.CopyAssignmentAfterMove (0 ms)
+164: [----------] 1 test from DOMAtmosphere (0 ms total)
+164: 
+164: [----------] Global test environment tear-down
+164: [==========] 8 tests from 2 test suites ran. (0 ms total)
+164: [  PASSED  ] 8 tests.
+162/221 Test #169: check_UNIT_Model_TEST ..................................   Passed    0.10 sec
 test 170
         Start 170: UNIT_NavSat_TEST
 
@@ -36150,34 +36227,7 @@
 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
-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.
-168: [----------] 9 tests from DOMModel
-168: [ RUN      ] DOMModel.Construction
-168: [       OK ] DOMModel.Construction (0 ms)
-168: [ RUN      ] DOMModel.CopyConstructor
-168: [       OK ] DOMModel.CopyConstructor (0 ms)
-168: [ RUN      ] DOMModel.CopyAssignmentOperator
-168: [       OK ] DOMModel.CopyAssignmentOperator (0 ms)
-168: [ RUN      ] DOMModel.MoveConstructor
-168: [       OK ] DOMModel.MoveConstructor (0 ms)
-168: [ RUN      ] DOMModel.MoveAssignmentOperator
-168: [       OK ] DOMModel.MoveAssignmentOperator (0 ms)
-168: [ RUN      ] DOMModel.CopyAssignmentAfterMove
-168: [       OK ] DOMModel.CopyAssignmentAfterMove (0 ms)
-168: [ RUN      ] DOMModel.AddLink
-168: [       OK ] DOMModel.AddLink (0 ms)
-168: [ RUN      ] DOMModel.AddJoint
-168: [       OK ] DOMModel.AddJoint (0 ms)
-168: [ RUN      ] DOMModel.AddModel
-168: [       OK ] DOMModel.AddModel (0 ms)
-168: [----------] 9 tests from DOMModel (0 ms total)
-168: 
-168: [----------] Global test environment tear-down
-168: [==========] 9 tests from 1 test suite ran. (0 ms total)
-168: [  PASSED  ] 9 tests.
-163/221 Test #168: UNIT_Model_TEST ........................................   Passed    0.27 sec
+163/221 Test #164: UNIT_Material_TEST .....................................   Passed    0.40 sec
 test 171
         Start 171: check_UNIT_NavSat_TEST
 
@@ -36195,6 +36245,30 @@
 162: [ RUN      ] DOMMagnetometer.Load
 162: [       OK ] DOMMagnetometer.Load (0 ms)
 162: [ RUN      ] DOMMagnetometer.ToElement
+162: [       OK ] DOMMagnetometer.ToElement (33 ms)
+162: [----------] 4 tests from DOMMagnetometer (33 ms total)
+162: 
+162: [----------] Global test environment tear-down
+162: [==========] 4 tests from 1 test suite ran. (33 ms total)
+162: [  PASSED  ] 4 tests.
+164/221 Test #162: UNIT_Magnetometer_TEST .................................   Passed    0.64 sec
+test 172
+        Start 172: UNIT_Noise_TEST
+
+172: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Noise_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Noise_TEST.xml"
+172: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/test_results/UNIT_NavSat_TEST.xml
+171: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_NavSat_TEST.xml
+165/221 Test #171: check_UNIT_NavSat_TEST .................................   Passed    0.15 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-aarch64-linux-gnu/test_results/UNIT_Noise_TEST.xml"
+173: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+173: Test timeout computed to be: 10000000
 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.
@@ -36220,31 +36294,7 @@
 166: [----------] Global test environment tear-down
 166: [==========] 8 tests from 1 test suite ran. (0 ms total)
 166: [  PASSED  ] 8 tests.
-162: [       OK ] DOMMagnetometer.ToElement (19 ms)
-162: [----------] 4 tests from DOMMagnetometer (19 ms total)
-162: 
-162: [----------] Global test environment tear-down
-162: [==========] 4 tests from 1 test suite ran. (19 ms total)
-162: [  PASSED  ] 4 tests.
-164/221 Test #166: UNIT_Mesh_TEST .........................................   Passed    0.37 sec
-test 172
-        Start 172: UNIT_Noise_TEST
-
-172: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Noise_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Noise_TEST.xml"
-172: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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-aarch64-linux-gnu/test_results/UNIT_NavSat_TEST.xml
-171: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_NavSat_TEST.xml
-165/221 Test #162: UNIT_Magnetometer_TEST .................................   Passed    0.54 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-aarch64-linux-gnu/test_results/UNIT_Noise_TEST.xml"
-173: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-173: Test timeout computed to be: 10000000
-166/221 Test #171: check_UNIT_NavSat_TEST .................................   Passed    0.07 sec
+166/221 Test #166: UNIT_Mesh_TEST .........................................   Passed    0.45 sec
 test 174
         Start 174: UNIT_Param_TEST
 
@@ -36253,44 +36303,45 @@
 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
-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.
-164: [----------] 7 tests from DOMMaterial
-164: [ RUN      ] DOMMaterial.Construction
-164: [       OK ] DOMMaterial.Construction (0 ms)
-164: [ RUN      ] DOMMaterial.MoveConstructor
-164: [       OK ] DOMMaterial.MoveConstructor (0 ms)
-164: [ RUN      ] DOMMaterial.CopyConstructor
-164: [       OK ] DOMMaterial.CopyConstructor (0 ms)
-164: [ RUN      ] DOMMaterial.AssignmentOperator
-164: [       OK ] DOMMaterial.AssignmentOperator (0 ms)
-164: [ RUN      ] DOMMaterial.MoveAssignmentOperator
-164: [       OK ] DOMMaterial.MoveAssignmentOperator (0 ms)
-164: [ RUN      ] DOMMaterial.Set
-164: [       OK ] DOMMaterial.Set (0 ms)
-164: [ RUN      ] DOMMaterial.InvalidSdf
-164: [       OK ] DOMMaterial.InvalidSdf (0 ms)
-164: [----------] 7 tests from DOMMaterial (0 ms total)
-164: 
-164: [----------] 1 test from DOMAtmosphere
-164: [ RUN      ] DOMAtmosphere.CopyAssignmentAfterMove
-164: [       OK ] DOMAtmosphere.CopyAssignmentAfterMove (0 ms)
-164: [----------] 1 test from DOMAtmosphere (0 ms total)
-164: 
-164: [----------] Global test environment tear-down
-164: [==========] 8 tests from 2 test suites ran. (0 ms total)
-164: [  PASSED  ] 8 tests.
-167/221 Test #164: UNIT_Material_TEST .....................................   Passed    0.50 sec
+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.
+168: [----------] 9 tests from DOMModel
+168: [ RUN      ] DOMModel.Construction
+168: [       OK ] DOMModel.Construction (0 ms)
+168: [ RUN      ] DOMModel.CopyConstructor
+168: [       OK ] DOMModel.CopyConstructor (0 ms)
+168: [ RUN      ] DOMModel.CopyAssignmentOperator
+168: [       OK ] DOMModel.CopyAssignmentOperator (0 ms)
+168: [ RUN      ] DOMModel.MoveConstructor
+168: [       OK ] DOMModel.MoveConstructor (0 ms)
+168: [ RUN      ] DOMModel.MoveAssignmentOperator
+168: [       OK ] DOMModel.MoveAssignmentOperator (0 ms)
+168: [ RUN      ] DOMModel.CopyAssignmentAfterMove
+168: [       OK ] DOMModel.CopyAssignmentAfterMove (0 ms)
+168: [ RUN      ] DOMModel.AddLink
+168: [       OK ] DOMModel.AddLink (0 ms)
+168: [ RUN      ] DOMModel.AddJoint
+168: [       OK ] DOMModel.AddJoint (0 ms)
+168: [ RUN      ] DOMModel.AddModel
+168: [       OK ] DOMModel.AddModel (0 ms)
+168: [----------] 9 tests from DOMModel (0 ms total)
+168: 
+168: [----------] Global test environment tear-down
+168: [==========] 9 tests from 1 test suite ran. (0 ms total)
+168: [  PASSED  ] 9 tests.
+167/221 Test #168: UNIT_Model_TEST ........................................   Passed    0.44 sec
 test 175
         Start 175: check_UNIT_Param_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-aarch64-linux-gnu/test_results/UNIT_Param_TEST.xml"
 175: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 175: Test timeout computed to be: 10000000
+103: [       OK ] DOMWorld.NestedModels (1425 ms)
+103: [ RUN      ] DOMWorld.NestedFrames
 173: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Noise_TEST.xml
 173: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Noise_TEST.xml
-168/221 Test #173: check_UNIT_Noise_TEST ..................................   Passed    0.12 sec
+168/221 Test #173: check_UNIT_Noise_TEST ..................................   Passed    0.17 sec
 test 176
         Start 176: UNIT_parser_TEST
 
@@ -36299,15 +36350,6 @@
 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
-175: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Param_TEST.xml
-175: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Param_TEST.xml
-169/221 Test #175: check_UNIT_Param_TEST ..................................   Passed    0.14 sec
-test 177
-        Start 177: check_UNIT_parser_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-aarch64-linux-gnu/test_results/UNIT_parser_TEST.xml"
-177: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-177: Test timeout computed to be: 10000000
 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.
@@ -36323,10 +36365,18 @@
 170: [----------] Global test environment tear-down
 170: [==========] 3 tests from 1 test suite ran. (0 ms total)
 170: [  PASSED  ] 3 tests.
-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].
-170/221 Test #170: UNIT_NavSat_TEST .......................................   Passed    0.39 sec
+169/221 Test #170: UNIT_NavSat_TEST .......................................   Passed    0.36 sec
+test 177
+        Start 177: check_UNIT_parser_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-aarch64-linux-gnu/test_results/UNIT_parser_TEST.xml"
+177: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+177: Test timeout computed to be: 10000000
+175: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Param_TEST.xml
+175: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Param_TEST.xml
+177: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_parser_TEST.xml
+177: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_parser_TEST.xml
+170/221 Test #177: check_UNIT_parser_TEST .................................   Passed    0.10 sec
 test 178
         Start 178: UNIT_ParserConfig_TEST
 
@@ -36335,11 +36385,7 @@
 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
-103: [       OK ] DOMWorld.LoadModelFrameSameName (637 ms)
-103: [ RUN      ] DOMWorld.NestedModels
-177: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_parser_TEST.xml
-177: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_parser_TEST.xml
-171/221 Test #177: check_UNIT_parser_TEST .................................   Passed    0.12 sec
+171/221 Test #175: check_UNIT_Param_TEST ..................................   Passed    0.25 sec
 test 179
         Start 179: check_UNIT_ParserConfig_TEST
 
@@ -36394,8 +36440,6 @@
 174: Error [Param.cc:925] Empty string used when setting a required parameter. Key[key]
 174: [       OK ] Param.EmptyRequiredSetFromString (0 ms)
 174: [ RUN      ] Param.EmptySetFromString
-179: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml
-179: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml
 174: [       OK ] Param.EmptySetFromString (0 ms)
 174: [ RUN      ] Param.InvalidBool
 174: Error [Param.cc:673] Invalid boolean value
@@ -36434,16 +36478,18 @@
 174: [ RUN      ] Param.IgnoresParentElementAttribute
 174: [       OK ] Param.IgnoresParentElementAttribute (0 ms)
 174: [ RUN      ] Param.WithoutParentElementSetParentElementFail
+179: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml
+179: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml
 174: Error [Param.cc:598] The value for //pose[@rotation_format='quat_xyzw'] must have 7 values, but 6 were found instead in '2 3 4 0.5 0.6 0.7'.
 174: Error [Param.cc:1015] Failed to set value '2 3 4 0.5 0.6 0.7' to key [] for new parent element of name 'pose', reverting to previous value '2 3 4 0.5 0.6 0.7'.
-174: [       OK ] Param.WithoutParentElementSetParentElementFail (0 ms)
+174: [       OK ] Param.WithoutParentElementSetParentElementFail (12 ms)
 174: [ RUN      ] Param.ChangeParentElementFail
 174: 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'.
 174: 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'.
 174: [       OK ] Param.ChangeParentElementFail (0 ms)
 174: [ RUN      ] Param.PoseWithDefaultValue
 174: [       OK ] Param.PoseWithDefaultValue (0 ms)
-174: [----------] 32 tests from Param (12 ms total)
+174: [----------] 32 tests from Param (16 ms total)
 174: 
 174: [----------] 3 tests from SetFromString
 174: [ RUN      ] SetFromString.Decimals
@@ -36455,9 +36501,9 @@
 174: [----------] 3 tests from SetFromString (0 ms total)
 174: 
 174: [----------] Global test environment tear-down
-174: [==========] 35 tests from 2 test suites ran. (13 ms total)
+174: [==========] 35 tests from 2 test suites ran. (16 ms total)
 174: [  PASSED  ] 35 tests.
-172/221 Test #174: UNIT_Param_TEST ........................................   Passed    0.46 sec
+172/221 Test #174: UNIT_Param_TEST ........................................   Passed    0.35 sec
 test 180
         Start 180: UNIT_ParticleEmitter_TEST
 
@@ -36466,13 +36512,6 @@
 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
-173/221 Test #179: check_UNIT_ParserConfig_TEST ...........................   Passed    0.17 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-aarch64-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml"
-181: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-181: Test timeout computed to be: 10000000
 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.
@@ -36482,13 +36521,20 @@
 172: [ RUN      ] DOMNoise.Load
 172: [       OK ] DOMNoise.Load (0 ms)
 172: [ RUN      ] DOMNoise.ToElement
-172: [       OK ] DOMNoise.ToElement (3 ms)
-172: [----------] 3 tests from DOMNoise (27 ms total)
+172: [       OK ] DOMNoise.ToElement (15 ms)
+172: [----------] 3 tests from DOMNoise (15 ms total)
 172: 
 172: [----------] Global test environment tear-down
-172: [==========] 3 tests from 1 test suite ran. (27 ms total)
+172: [==========] 3 tests from 1 test suite ran. (15 ms total)
 172: [  PASSED  ] 3 tests.
-174/221 Test #172: UNIT_Noise_TEST ........................................   Passed    0.55 sec
+173/221 Test #172: UNIT_Noise_TEST ........................................   Passed    0.52 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-aarch64-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml"
+181: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+181: Test timeout computed to be: 10000000
+174/221 Test #179: check_UNIT_ParserConfig_TEST ...........................   Passed    0.15 sec
 test 182
         Start 182: UNIT_Pbr_TEST
 
@@ -36497,34 +36543,6 @@
 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
-181: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml
-181: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml
-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 (1 ms)
-176: [ RUN      ] Parser.CustomUnknownElements
-175/221 Test #181: check_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-aarch64-linux-gnu/test_results/UNIT_Pbr_TEST.xml"
-183: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-183: Test timeout computed to be: 10000000
-183: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Pbr_TEST.xml
-183: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Pbr_TEST.xml
-176/221 Test #183: check_UNIT_Pbr_TEST ....................................   Passed    0.16 sec
-test 184
-        Start 184: UNIT_Physics_TEST
-
-184: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Physics_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Physics_TEST.xml"
-184: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
-103: [       OK ] DOMWorld.NestedModels (536 ms)
-103: [ RUN      ] DOMWorld.NestedFrames
 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.
@@ -36546,13 +36564,24 @@
 178: [----------] Global test environment tear-down
 178: [==========] 6 tests from 1 test suite ran. (0 ms total)
 178: [  PASSED  ] 6 tests.
-177/221 Test #178: UNIT_ParserConfig_TEST .................................   Passed    0.62 sec
-test 185
-        Start 185: check_UNIT_Physics_TEST
+175/221 Test #178: UNIT_ParserConfig_TEST .................................   Passed    0.25 sec
+test 183
+        Start 183: check_UNIT_Pbr_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-aarch64-linux-gnu/test_results/UNIT_Physics_TEST.xml"
-185: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-185: Test timeout computed to be: 10000000
+183: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Pbr_TEST.xml"
+183: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+183: Test timeout computed to be: 10000000
+181: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml
+181: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml
+176/221 Test #181: check_UNIT_ParticleEmitter_TEST ........................   Passed    0.16 sec
+test 184
+        Start 184: UNIT_Physics_TEST
+
+184: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Physics_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Physics_TEST.xml"
+184: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
 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.
@@ -36564,7 +36593,18 @@
 180: [----------] Global test environment tear-down
 180: [==========] 1 test from 1 test suite ran. (0 ms total)
 180: [  PASSED  ] 1 test.
-178/221 Test #180: UNIT_ParticleEmitter_TEST ..............................   Passed    0.43 sec
+177/221 Test #180: UNIT_ParticleEmitter_TEST ..............................   Passed    0.21 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-aarch64-linux-gnu/test_results/UNIT_Physics_TEST.xml"
+185: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+185: Test timeout computed to be: 10000000
+183: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Pbr_TEST.xml
+183: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Pbr_TEST.xml
+185: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Physics_TEST.xml
+185: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Physics_TEST.xml
+178/221 Test #185: check_UNIT_Physics_TEST ................................   Passed    0.09 sec
 test 186
         Start 186: UNIT_Plane_TEST
 
@@ -36573,15 +36613,49 @@
 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-aarch64-linux-gnu/test_results/UNIT_Physics_TEST.xml
-185: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Physics_TEST.xml
-179/221 Test #185: check_UNIT_Physics_TEST ................................   Passed    0.22 sec
+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
+179/221 Test #183: check_UNIT_Pbr_TEST ....................................   Passed    0.18 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-aarch64-linux-gnu/test_results/UNIT_Plane_TEST.xml"
 187: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 187: 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.
+184: [----------] 6 tests from DOMPhysics
+184: [ RUN      ] DOMPhysics.DefaultConstruction
+184: [       OK ] DOMPhysics.DefaultConstruction (0 ms)
+184: [ RUN      ] DOMPhysics.CopyConstructor
+184: [       OK ] DOMPhysics.CopyConstructor (0 ms)
+184: [ RUN      ] DOMPhysics.CopyAssignmentOperator
+184: [       OK ] DOMPhysics.CopyAssignmentOperator (0 ms)
+184: [ RUN      ] DOMPhysics.MoveConstructor
+184: [       OK ] DOMPhysics.MoveConstructor (0 ms)
+184: [ RUN      ] DOMPhysics.MoveAssignmentOperator
+184: [       OK ] DOMPhysics.MoveAssignmentOperator (0 ms)
+184: [ RUN      ] DOMPhysics.CopyAssignmentAfterMove
+184: [       OK ] DOMPhysics.CopyAssignmentAfterMove (0 ms)
+184: [----------] 6 tests from DOMPhysics (0 ms total)
+184: 
+184: [----------] Global test environment tear-down
+184: [==========] 6 tests from 1 test suite ran. (0 ms total)
+184: [  PASSED  ] 6 tests.
+180/221 Test #184: UNIT_Physics_TEST ......................................   Passed    0.19 sec
+test 188
+        Start 188: UNIT_Root_TEST
+
+188: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Root_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Root_TEST.xml"
+188: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
 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.
@@ -36607,70 +36681,16 @@
 182: [----------] Global test environment tear-down
 182: [==========] 8 tests from 1 test suite ran. (0 ms total)
 182: [  PASSED  ] 8 tests.
-180/221 Test #182: UNIT_Pbr_TEST ..........................................   Passed    0.57 sec
-test 188
-        Start 188: UNIT_Root_TEST
-
-188: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Root_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Root_TEST.xml"
-188: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
-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.
-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.
-184: [----------] 6 tests from DOMPhysics
-184: [ RUN      ] DOMPhysics.DefaultConstruction
-184: [       OK ] DOMPhysics.DefaultConstruction (0 ms)
-184: [ RUN      ] DOMPhysics.CopyConstructor
-184: [       OK ] DOMPhysics.CopyConstructor (0 ms)
-184: [ RUN      ] DOMPhysics.CopyAssignmentOperator
-184: [       OK ] DOMPhysics.CopyAssignmentOperator (0 ms)
-184: [ RUN      ] DOMPhysics.MoveConstructor
-184: [       OK ] DOMPhysics.MoveConstructor (0 ms)
-184: [ RUN      ] DOMPhysics.MoveAssignmentOperator
-184: [       OK ] DOMPhysics.MoveAssignmentOperator (0 ms)
-184: [ RUN      ] DOMPhysics.CopyAssignmentAfterMove
-184: [       OK ] DOMPhysics.CopyAssignmentAfterMove (0 ms)
-184: [----------] 6 tests from DOMPhysics (0 ms total)
-184: 
-184: [----------] Global test environment tear-down
-184: [==========] 6 tests from 1 test suite ran. (0 ms total)
-184: [  PASSED  ] 6 tests.
-187: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Plane_TEST.xml
-181/221 Test #186: UNIT_Plane_TEST ........................................   Passed    0.30 sec
+181/221 Test #182: UNIT_Pbr_TEST ..........................................   Passed    0.40 sec
 test 189
         Start 189: check_UNIT_Root_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-aarch64-linux-gnu/test_results/UNIT_Root_TEST.xml"
 189: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 189: Test timeout computed to be: 10000000
-182/221 Test #184: UNIT_Physics_TEST ......................................   Passed    0.42 sec
+187: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Plane_TEST.xml
+187: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Plane_TEST.xml
+182/221 Test #187: check_UNIT_Plane_TEST ..................................   Passed    0.22 sec
 test 190
         Start 190: UNIT_Scene_TEST
 
@@ -36679,20 +36699,31 @@
 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
-183/221 Test #187: check_UNIT_Plane_TEST ..................................   Passed    0.21 sec
+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.
+188: [----------] 8 tests from DOMRoot
+188: [ RUN      ] DOMRoot.Construction
+188: [       OK ] DOMRoot.Construction (0 ms)
+188: [ RUN      ] DOMRoot.MoveConstructor
+188: [       OK ] DOMRoot.MoveConstructor (0 ms)
+188: [ RUN      ] DOMRoot.MoveAssignmentOperator
+188: [       OK ] DOMRoot.MoveAssignmentOperator (0 ms)
+188: [ RUN      ] DOMRoot.StringModelSdfParse
+189: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Root_TEST.xml
+189: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Root_TEST.xml
+183/221 Test #189: check_UNIT_Root_TEST ...................................   Passed    0.12 sec
 test 191
         Start 191: check_UNIT_Scene_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-aarch64-linux-gnu/test_results/UNIT_Scene_TEST.xml"
 191: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 191: Test timeout computed to be: 10000000
-189: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Root_TEST.xml
-189: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Root_TEST.xml
-176: [       OK ] Parser.CustomUnknownElements (711 ms)
-176: [ RUN      ] Parser.ReusedSDFVersion
-103: [       OK ] DOMWorld.NestedFrames (540 ms)
-103: [ RUN      ] DOMWorld.LoadWorldWithDuplicateChildNames
-184/221 Test #189: check_UNIT_Root_TEST ...................................   Passed    0.14 sec
+191: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Scene_TEST.xml
+191: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Scene_TEST.xml
+188: [       OK ] DOMRoot.StringModelSdfParse (239 ms)
+188: [ RUN      ] DOMRoot.StringLightSdfParse
+184/221 Test #191: check_UNIT_Scene_TEST ..................................   Passed    0.22 sec
 test 192
         Start 192: UNIT_SemanticPose_TEST
 
@@ -36701,37 +36732,40 @@
 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
-191: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Scene_TEST.xml
-191: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Scene_TEST.xml
-185/221 Test #191: check_UNIT_Scene_TEST ..................................   Passed    0.14 sec
+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.
+185/221 Test #186: UNIT_Plane_TEST ........................................   Passed    0.52 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-aarch64-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml"
 193: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 193: Test timeout computed to be: 10000000
-193: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml
-193: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml
-186/221 Test #193: check_UNIT_SemanticPose_TEST ...........................   Passed    0.11 sec
-test 194
-        Start 194: UNIT_SDF_TEST
-
-194: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_SDF_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_SDF_TEST.xml"
-194: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
-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.
-188: [----------] 8 tests from DOMRoot
-188: [ RUN      ] DOMRoot.Construction
-188: [       OK ] DOMRoot.Construction (0 ms)
-188: [ RUN      ] DOMRoot.MoveConstructor
-188: [       OK ] DOMRoot.MoveConstructor (0 ms)
-188: [ RUN      ] DOMRoot.MoveAssignmentOperator
-188: [       OK ] DOMRoot.MoveAssignmentOperator (0 ms)
-188: [ RUN      ] DOMRoot.StringModelSdfParse
+103: [       OK ] DOMWorld.NestedFrames (1240 ms)
+103: [ RUN      ] DOMWorld.LoadWorldWithDuplicateChildNames
 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.
@@ -36753,17 +36787,28 @@
 190: [----------] 7 tests from DOMScene (0 ms total)
 190: 
 190: [----------] Global test environment tear-down
-190: [==========] 7 tests from 1 test suite ran. (0 ms total)
+190: [==========] 7 tests from 1 test suite ran. (8 ms total)
 190: [  PASSED  ] 7 tests.
-187/221 Test #190: UNIT_Scene_TEST ........................................   Passed    0.47 sec
+186/221 Test #190: UNIT_Scene_TEST ........................................   Passed    0.40 sec
+test 194
+        Start 194: UNIT_SDF_TEST
+
+194: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_SDF_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_SDF_TEST.xml"
+194: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
+193: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml
+193: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml
+187/221 Test #193: check_UNIT_SemanticPose_TEST ...........................   Passed    0.15 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-aarch64-linux-gnu/test_results/UNIT_SDF_TEST.xml"
 195: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 195: Test timeout computed to be: 10000000
-59: [       OK ] PlacementFrame.ModelInclude (4586 ms)
-59: [ RUN      ] PlacementFrame.ModelPlacementFrameAttribute
+176: [       OK ] Parser.CustomUnknownElements (701 ms)
+176: [ RUN      ] Parser.ReusedSDFVersion
 195: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_SDF_TEST.xml
 195: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_SDF_TEST.xml
 192: Running main() from /usr/src/gtest/src/gtest_main.cc
@@ -36787,7 +36832,7 @@
 192: [----------] Global test environment tear-down
 192: [==========] 6 tests from 1 test suite ran. (0 ms total)
 192: [  PASSED  ] 6 tests.
-188/221 Test #192: UNIT_SemanticPose_TEST .................................   Passed    0.50 sec
+188/221 Test #192: UNIT_SemanticPose_TEST .................................   Passed    0.35 sec
 test 196
         Start 196: UNIT_Sensor_TEST
 
@@ -36803,13 +36848,13 @@
 197: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Sensor_TEST.xml"
 197: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 197: Test timeout computed to be: 10000000
-197: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Sensor_TEST.xml
-197: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Sensor_TEST.xml
 194: [==========] Running 14 tests from 1 test suite.
 194: [----------] Global test environment set-up.
 194: [----------] 14 tests from SDF
 194: [ RUN      ] SDF.UpdateAttribute
-190/221 Test #197: check_UNIT_Sensor_TEST .................................   Passed    0.14 sec
+197: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Sensor_TEST.xml
+197: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Sensor_TEST.xml
+190/221 Test #197: check_UNIT_Sensor_TEST .................................   Passed    0.16 sec
 test 198
         Start 198: UNIT_Sky_TEST
 
@@ -36818,6 +36863,57 @@
 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
+188: [       OK ] DOMRoot.StringLightSdfParse (576 ms)
+188: [ RUN      ] DOMRoot.StringActorSdfParse
+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
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
 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.
@@ -36841,7 +36937,7 @@
 198: [----------] Global test environment tear-down
 198: [==========] 7 tests from 1 test suite ran. (0 ms total)
 198: [  PASSED  ] 7 tests.
-191/221 Test #198: UNIT_Sky_TEST ..........................................   Passed    0.22 sec
+191/221 Test #198: UNIT_Sky_TEST ..........................................   Passed    0.32 sec
 test 199
         Start 199: check_UNIT_Sky_TEST
 
@@ -36849,7 +36945,7 @@
 199: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 199: Test timeout computed to be: 10000000
 199: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Sky_TEST.xml
-192/221 Test #199: check_UNIT_Sky_TEST ....................................   Passed    0.06 sec
+192/221 Test #199: check_UNIT_Sky_TEST ....................................   Passed    0.04 sec
 test 200
         Start 200: UNIT_Sphere_TEST
 
@@ -36858,31 +36954,12 @@
 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
-188: [       OK ] DOMRoot.StringModelSdfParse (695 ms)
-188: [ RUN      ] DOMRoot.StringLightSdfParse
-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
-176: [       OK ] Parser.ReusedSDFVersion (1245 ms)
-176: [ RUN      ] Parser.readFileConversions
+194: [       OK ] SDF.UpdateAttribute (656 ms)
+194: [ RUN      ] SDF.UpdateElement
+188: [       OK ] DOMRoot.StringActorSdfParse (616 ms)
+188: [ RUN      ] DOMRoot.Set
+188: [       OK ] DOMRoot.Set (0 ms)
+188: [ RUN      ] DOMRoot.FrameSemanticsOnMove
 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.
@@ -36908,45 +36985,19 @@
 200: [----------] Global test environment tear-down
 200: [==========] 8 tests from 1 test suite ran. (0 ms total)
 200: [  PASSED  ] 8 tests.
-194: [       OK ] SDF.UpdateAttribute (729 ms)
-194: [ RUN      ] SDF.UpdateElement
-193/221 Test #200: UNIT_Sphere_TEST .......................................   Passed    0.45 sec
+193/221 Test #200: UNIT_Sphere_TEST .......................................   Passed    0.33 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-aarch64-linux-gnu/test_results/UNIT_Sphere_TEST.xml"
 201: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 201: 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.
+196: [       OK ] DOMSensor.EnableMetrics (642 ms)
+196: [ RUN      ] DOMSensor.MutableSensors
+196: [       OK ] DOMSensor.MutableSensors (0 ms)
+196: [ RUN      ] DOMSensor.ToElement
 201: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Sphere_TEST.xml
-194/221 Test #201: check_UNIT_Sphere_TEST .................................   Passed    0.17 sec
+194/221 Test #201: check_UNIT_Sphere_TEST .................................   Passed    0.14 sec
 test 202
         Start 202: UNIT_Surface_TEST
 
@@ -36955,34 +37006,30 @@
 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
-188: [       OK ] DOMRoot.StringLightSdfParse (653 ms)
-188: [ RUN      ] DOMRoot.StringActorSdfParse
-196: [       OK ] DOMSensor.EnableMetrics (704 ms)
-196: [ RUN      ] DOMSensor.MutableSensors
-196: [       OK ] DOMSensor.MutableSensors (0 ms)
-196: [ RUN      ] DOMSensor.ToElement
+176: [       OK ] Parser.ReusedSDFVersion (1136 ms)
+176: [ RUN      ] Parser.readFileConversions
 196: [       OK ] DOMSensor.ToElement (118 ms)
-196: [----------] 11 tests from DOMSensor (822 ms total)
+196: [----------] 11 tests from DOMSensor (761 ms total)
 196: 
 196: [----------] Global test environment tear-down
-196: [==========] 11 tests from 1 test suite ran. (822 ms total)
+196: [==========] 11 tests from 1 test suite ran. (761 ms total)
 196: [  PASSED  ] 11 tests.
-195/221 Test #196: UNIT_Sensor_TEST .......................................   Passed    1.30 sec
+195/221 Test #196: UNIT_Sensor_TEST .......................................   Passed    1.03 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-aarch64-linux-gnu/test_results/UNIT_Surface_TEST.xml"
 203: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 203: Test timeout computed to be: 10000000
-103: [       OK ] DOMWorld.LoadWorldWithDuplicateChildNames (1886 ms)
-103: [----------] 8 tests from DOMWorld (8753 ms total)
-103: 
-103: [----------] Global test environment tear-down
 203: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Surface_TEST.xml
 203: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Surface_TEST.xml
-103: [==========] 8 tests from 1 test suite ran. (8753 ms total)
-103: [  PASSED  ] 8 tests.
-196/221 Test #203: check_UNIT_Surface_TEST ................................   Passed    0.15 sec
+194: [       OK ] SDF.UpdateElement (564 ms)
+194: [ RUN      ] SDF.ElementRemoveFromParent
+103: [       OK ] DOMWorld.LoadWorldWithDuplicateChildNames (1587 ms)
+103: [----------] 8 tests from DOMWorld (8937 ms total)
+103: 
+103: [----------] Global test environment tear-down
+196/221 Test #203: check_UNIT_Surface_TEST ................................   Passed    0.34 sec
 test 204
         Start 204: UNIT_Types_TEST
 
@@ -36991,7 +37038,9 @@
 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
-197/221 Test #103: INTEGRATION_world_dom ..................................   Passed    9.44 sec
+103: [==========] 8 tests from 1 test suite ran. (8937 ms total)
+103: [  PASSED  ] 8 tests.
+197/221 Test #103: INTEGRATION_world_dom ..................................   Passed    9.47 sec
 test 205
         Start 205: check_UNIT_Types_TEST
 
@@ -37000,7 +37049,7 @@
 205: Test timeout computed to be: 10000000
 205: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Types_TEST.xml
 205: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Types_TEST.xml
-198/221 Test #205: check_UNIT_Types_TEST ..................................   Passed    0.11 sec
+198/221 Test #205: check_UNIT_Types_TEST ..................................   Passed    0.12 sec
 test 206
         Start 206: UNIT_Visual_TEST
 
@@ -37039,17 +37088,24 @@
 202: [----------] Global test environment tear-down
 202: [==========] 9 tests from 2 test suites ran. (0 ms total)
 202: [  PASSED  ] 9 tests.
-199/221 Test #202: UNIT_Surface_TEST ......................................   Passed    0.58 sec
+199/221 Test #202: UNIT_Surface_TEST ......................................   Passed    0.55 sec
 test 207
         Start 207: check_UNIT_Visual_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-aarch64-linux-gnu/test_results/UNIT_Visual_TEST.xml"
 207: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 207: Test timeout computed to be: 10000000
-194: [       OK ] SDF.UpdateElement (769 ms)
-194: [ RUN      ] SDF.ElementRemoveFromParent
 207: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Visual_TEST.xml
 207: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Visual_TEST.xml
+200/221 Test #207: check_UNIT_Visual_TEST .................................   Passed    0.13 sec
+test 208
+        Start 208: UNIT_World_TEST
+
+208: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_World_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_World_TEST.xml"
+208: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
 204: [==========] Running 10 tests from 1 test suite.
 204: [----------] Global test environment set-up.
 204: [----------] 10 tests from Types
@@ -37076,39 +37132,15 @@
 204: [----------] 10 tests from Types (0 ms total)
 204: 
 204: [----------] Global test environment tear-down
-200/221 Test #207: check_UNIT_Visual_TEST .................................   Passed    0.15 sec
-test 208
-        Start 208: UNIT_World_TEST
-
-208: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_World_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_World_TEST.xml"
-208: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
-204: [==========] 10 tests from 1 test suite ran. (0 ms total)
+204: [==========] 10 tests from 1 test suite ran. (13 ms total)
 204: [  PASSED  ] 10 tests.
-201/221 Test #204: UNIT_Types_TEST ........................................   Passed    0.36 sec
+201/221 Test #204: UNIT_Types_TEST ........................................   Passed    0.43 sec
 test 209
         Start 209: check_UNIT_World_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-aarch64-linux-gnu/test_results/UNIT_World_TEST.xml"
 209: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 209: Test timeout computed to be: 10000000
-188: [       OK ] DOMRoot.StringActorSdfParse (741 ms)
-188: [ RUN      ] DOMRoot.Set
-188: [       OK ] DOMRoot.Set (0 ms)
-188: [ RUN      ] DOMRoot.FrameSemanticsOnMove
-209: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_World_TEST.xml
-209: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_World_TEST.xml
-202/221 Test #209: check_UNIT_World_TEST ..................................   Passed    0.16 sec
-test 210
-        Start 210: UNIT_Utils_TEST
-
-210: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Utils_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Utils_TEST.xml"
-210: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
 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.
@@ -37136,7 +37168,18 @@
 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    0.40 sec
+209: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_World_TEST.xml
+209: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_World_TEST.xml
+202/221 Test #206: UNIT_Visual_TEST .......................................   Passed    0.37 sec
+test 210
+        Start 210: UNIT_Utils_TEST
+
+210: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Utils_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Utils_TEST.xml"
+210: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
+203/221 Test #209: check_UNIT_World_TEST ..................................   Passed    0.12 sec
 test 211
         Start 211: check_UNIT_Utils_TEST
 
@@ -37145,6 +37188,17 @@
 211: Test timeout computed to be: 10000000
 211: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Utils_TEST.xml
 211: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Utils_TEST.xml
+194: [       OK ] SDF.ElementRemoveFromParent (654 ms)
+194: [ RUN      ] SDF.ElementRemoveChild
+204/221 Test #211: check_UNIT_Utils_TEST ..................................   Passed    0.05 sec
+test 212
+        Start 212: UNIT_XmlUtils_TEST
+
+212: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_XmlUtils_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml"
+212: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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.
@@ -37173,30 +37227,49 @@
 208: [       OK ] DOMWorld.AddActor (0 ms)
 208: [ RUN      ] DOMWorld.AddLight
 208: [       OK ] DOMWorld.AddLight (0 ms)
-208: [----------] 12 tests from DOMWorld (1 ms total)
+208: [----------] 12 tests from DOMWorld (0 ms total)
 208: 
 208: [----------] Global test environment tear-down
-208: [==========] 12 tests from 1 test suite ran. (1 ms total)
+208: [==========] 12 tests from 1 test suite ran. (0 ms total)
 208: [  PASSED  ] 12 tests.
-204/221 Test #211: check_UNIT_Utils_TEST ..................................   Passed    0.11 sec
-test 212
-        Start 212: UNIT_XmlUtils_TEST
-
-212: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_XmlUtils_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml"
-212: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
-205/221 Test #208: UNIT_World_TEST ........................................   Passed    0.32 sec
+205/221 Test #208: UNIT_World_TEST ........................................   Passed    0.48 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-aarch64-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml"
 213: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 213: 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.
 213: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml
 213: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml
-206/221 Test #213: check_UNIT_XmlUtils_TEST ...............................   Passed    0.11 sec
+206/221 Test #213: check_UNIT_XmlUtils_TEST ...............................   Passed    0.12 sec
 test 214
         Start 214: UNIT_FrameSemantics_TEST
 
@@ -37214,28 +37287,6 @@
 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.
-207/221 Test #212: UNIT_XmlUtils_TEST .....................................   Passed    0.21 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-aarch64-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml"
-215: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
-215: Test timeout computed to be: 10000000
-194: [       OK ] SDF.ElementRemoveFromParent (689 ms)
-194: [ RUN      ] SDF.ElementRemoveChild
-215: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml
-215: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml
-208/221 Test #215: check_UNIT_FrameSemantics_TEST .........................   Passed    0.08 sec
-test 216
-        Start 216: UNIT_Converter_TEST
-
-216: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Converter_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Converter_TEST.xml"
-216: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
 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.
@@ -37262,21 +37313,40 @@
 210: [----------] Global test environment tear-down
 210: [==========] 7 tests from 2 test suites ran. (0 ms total)
 210: [  PASSED  ] 7 tests.
-209/221 Test #210: UNIT_Utils_TEST ........................................   Passed    0.50 sec
+207/221 Test #210: UNIT_Utils_TEST ........................................   Passed    0.41 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-aarch64-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml"
+215: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
+215: Test timeout computed to be: 10000000
+212: [==========] 1 test from 1 test suite ran. (0 ms total)
+212: [  PASSED  ] 1 test.
+208/221 Test #212: UNIT_XmlUtils_TEST .....................................   Passed    0.36 sec
+test 216
+        Start 216: UNIT_Converter_TEST
+
+216: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_Converter_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Converter_TEST.xml"
+216: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
+215: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml
+215: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml
+209/221 Test #215: check_UNIT_FrameSemantics_TEST .........................   Passed    0.17 sec
 test 217
         Start 217: check_UNIT_Converter_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-aarch64-linux-gnu/test_results/UNIT_Converter_TEST.xml"
 217: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 217: Test timeout computed to be: 10000000
-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.ElementRemoveChild (549 ms)
+194: [ RUN      ] SDF.EmptyValues
+194: [       OK ] SDF.EmptyValues (0 ms)
+194: [ RUN      ] SDF.GetAny
 217: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Converter_TEST.xml
 217: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_Converter_TEST.xml
-210/221 Test #217: check_UNIT_Converter_TEST ..............................   Passed    0.15 sec
+210/221 Test #217: check_UNIT_Converter_TEST ..............................   Passed    0.13 sec
 test 218
         Start 218: UNIT_parser_urdf_TEST
 
@@ -37285,13 +37355,16 @@
 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.readFileConversions (2046 ms)
-176: [ RUN      ] Parser.NameUniqueness
+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
 216: [==========] Running 47 tests from 1 test suite.
 216: [----------] Global test environment set-up.
 216: [----------] 47 tests from Converter
 216: [ RUN      ] Converter.MoveElemElem
-216: [       OK ] Converter.MoveElemElem (5 ms)
+216: [       OK ] Converter.MoveElemElem (0 ms)
 216: [ RUN      ] Converter.MoveElemAttr
 216: [       OK ] Converter.MoveElemAttr (0 ms)
 216: [ RUN      ] Converter.MoveAttrAttr
@@ -37310,7 +37383,7 @@
 216: [       OK ] Converter.Add (0 ms)
 216: [ RUN      ] Converter.AddNoElem
 216: Error [Converter.cc:615] Exactly one 'element' or 'attribute' must be specified in <add>
-216: [       OK ] Converter.AddNoElem (10 ms)
+216: [       OK ] Converter.AddNoElem (0 ms)
 216: [ RUN      ] Converter.AddNoValue
 216: Error [Converter.cc:628] No 'value' specified in <add>
 216: [       OK ] Converter.AddNoValue (0 ms)
@@ -37358,7 +37431,7 @@
 216: Error [Converter.cc:743] Map: to value must not be empty.
 216: Error [Converter.cc:756] Map: from value must not be empty.
 216: Error [Converter.cc:761] Map: to value must not be empty.
-216: [       OK ] Converter.MapInvalid (0 ms)
+216: [       OK ] Converter.MapInvalid (8 ms)
 216: [ RUN      ] Converter.MapElemElem
 216: [       OK ] Converter.MapElemElem (0 ms)
 216: [ RUN      ] Converter.MapElemAttr
@@ -37407,7 +37480,7 @@
 216: [ RUN      ] Converter.SameVersion
 216: [       OK ] Converter.SameVersion (0 ms)
 216: [ RUN      ] Converter.NewerVersion
-216: [       OK ] Converter.NewerVersion (8 ms)
+216: [       OK ] Converter.NewerVersion (11 ms)
 216: [ RUN      ] Converter.MuchNewerVersion
 216: [       OK ] Converter.MuchNewerVersion (0 ms)
 216: [ RUN      ] Converter.IMU_15_to_16
@@ -37418,22 +37491,29 @@
 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 (29 ms total)
+216: [----------] 47 tests from Converter (25 ms total)
 216: 
 216: [----------] Global test environment tear-down
-216: [==========] 47 tests from 1 test suite ran. (29 ms total)
+216: [==========] 47 tests from 1 test suite ran. (25 ms total)
 216: [  PASSED  ] 47 tests.
-211/221 Test #216: UNIT_Converter_TEST ....................................   Passed    0.54 sec
+211/221 Test #216: UNIT_Converter_TEST ....................................   Passed    0.46 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-aarch64-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml"
 219: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 219: Test timeout computed to be: 10000000
-194: [       OK ] SDF.ElementRemoveChild (637 ms)
-194: [ RUN      ] SDF.EmptyValues
-194: [       OK ] SDF.EmptyValues (0 ms)
-194: [ RUN      ] SDF.GetAny
+219: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml
+219: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml
+212/221 Test #219: check_UNIT_parser_urdf_TEST ............................   Passed    0.14 sec
+test 220
+        Start 220: UNIT_ParamPassing_TEST
+
+220: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_ParamPassing_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml"
+220: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
 218: [==========] Running 19 tests from 1 test suite.
 218: [----------] Global test environment set-up.
 218: [----------] 19 tests from URDFParser
@@ -37478,30 +37558,36 @@
 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 (7 ms)
+218: [       OK ] URDFParser.ParseGazeboJointElements (10 ms)
 218: [ RUN      ] URDFParser.CheckFixedJointOptions_NoOption
-219: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml
-219: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml
-212/221 Test #219: check_UNIT_parser_urdf_TEST ............................   Passed    0.17 sec
-test 220
-        Start 220: UNIT_ParamPassing_TEST
-
-220: Test command: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src/UNIT_ParamPassing_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml"
-220: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-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
+176: [       OK ] Parser.readFileConversions (2043 ms)
+176: [ RUN      ] Parser.NameUniqueness
 214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
-214: [       OK ] FrameSemantics.buildFrameAttachedToGraph_Model (607 ms)
+214: [       OK ] FrameSemantics.buildFrameAttachedToGraph_Model (613 ms)
 214: [ RUN      ] FrameSemantics.buildFrameAttachedToGraph_World
 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
-218: [       OK ] URDFParser.CheckFixedJointOptions_NoOption (654 ms)
+194: [       OK ] SDF.GetAny (886 ms)
+194: [ RUN      ] SDF.Version
+194: [       OK ] SDF.Version (0 ms)
+194: [ RUN      ] SDF.FilePath
+194: [       OK ] SDF.FilePath (0 ms)
+194: [ RUN      ] SDF.OriginalVersion
+194: [       OK ] SDF.OriginalVersion (0 ms)
+194: [ RUN      ] SDF.PrintDoc
+194: [       OK ] SDF.PrintDoc (42 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
+218: [       OK ] URDFParser.CheckFixedJointOptions_NoOption (544 ms)
 218: [ RUN      ] URDFParser.CheckFixedJointOptions_disableJointLumping
-214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
+59: [       OK ] PlacementFrame.ModelInclude (6620 ms)
+59: [ RUN      ] PlacementFrame.ModelPlacementFrameAttribute
 176: Error: Non-unique names detected in type world in
 176: <sdf version='1.9'>
 176:   <world name='default'>
@@ -37536,74 +37622,33 @@
 176:   </world>
 176: </sdf>
 176: 
-214: [       OK ] FrameSemantics.buildFrameAttachedToGraph_World (738 ms)
+214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
+214: [       OK ] FrameSemantics.buildFrameAttachedToGraph_World (776 ms)
 214: [ RUN      ] FrameSemantics.buildPoseRelativeToGraph
-194: [       OK ] SDF.GetAny (1025 ms)
-194: [ RUN      ] SDF.Version
-194: [       OK ] SDF.Version (0 ms)
-194: [ RUN      ] SDF.FilePath
-194: [       OK ] SDF.FilePath (0 ms)
-194: [ RUN      ] SDF.OriginalVersion
-194: [       OK ] SDF.OriginalVersion (0 ms)
-194: [ RUN      ] SDF.PrintDoc
-194: [       OK ] SDF.PrintDoc (60 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
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-220: [       OK ] ParamPassing.GetElement (699 ms)
-220: [----------] 1 test from ParamPassing (699 ms total)
+220: [       OK ] ParamPassing.GetElement (801 ms)
+220: [----------] 1 test from ParamPassing (801 ms total)
 220: 
 220: [----------] Global test environment tear-down
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-220: [==========] 1 test from 1 test suite ran. (699 ms total)
+220: [==========] 1 test from 1 test suite ran. (801 ms total)
 220: [  PASSED  ] 1 test.
-213/221 Test #220: UNIT_ParamPassing_TEST .................................   Passed    1.22 sec
+188: [       OK ] DOMRoot.FrameSemanticsOnMove (3357 ms)
+188: [----------] 8 tests from DOMRoot (4790 ms total)
+188: 
+188: [----------] Global test environment tear-down
+213/221 Test #220: UNIT_ParamPassing_TEST .................................   Passed    1.27 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-aarch64-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml"
 221: Working Directory: /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/src
 221: Test timeout computed to be: 10000000
-218: [       OK ] URDFParser.CheckFixedJointOptions_disableJointLumping (746 ms)
-218: [ RUN      ] URDFParser.CheckFixedJointOptions_preserveFixedJoint
 221: Checking for test results in /build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml
-214/221 Test #221: check_UNIT_ParamPassing_TEST ...........................   Passed    0.13 sec
-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 (612 ms)
-214: [----------] 3 tests from FrameSemantics (1958 ms total)
-214: 
-214: [----------] 4 tests from NestedFrameSemantics
-214: [ RUN      ] NestedFrameSemantics.buildFrameAttachedToGraph_Model
+214/221 Test #221: check_UNIT_ParamPassing_TEST ...........................   Passed    0.08 sec
+188: [==========] 8 tests from 1 test suite ran. (4790 ms total)
+188: [  PASSED  ] 8 tests.
+218: [       OK ] URDFParser.CheckFixedJointOptions_disableJointLumping (753 ms)
+218: [ RUN      ] URDFParser.CheckFixedJointOptions_preserveFixedJoint
+215/221 Test #188: UNIT_Root_TEST .........................................   Passed    5.08 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>
@@ -37632,13 +37677,25 @@
 176:   </scene>
 176: </world>
 176: 
-214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
-214: [       OK ] NestedFrameSemantics.buildFrameAttachedToGraph_Model (465 ms)
-214: [ RUN      ] NestedFrameSemantics.buildFrameAttachedToGraph_World
-218: [       OK ] URDFParser.CheckFixedJointOptions_preserveFixedJoint (700 ms)
-218: [ RUN      ] URDFParser.CheckFixedJointOptions_preserveFixedJoint_and_disableJointLumping
-194: [       OK ] SDF.ToStringAndParse (1215 ms)
+194: [       OK ] SDF.ToStringAndParse (1200 ms)
 194: [ RUN      ] SDF.WriteURIPath
+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 (36 ms)
+194: [----------] 14 tests from SDF (4592 ms total)
+194: 
+194: [----------] Global test environment tear-down
+194: [==========] 14 tests from 1 test suite ran. (4592 ms total)
+194: [  PASSED  ] 14 tests.
+216/221 Test #194: UNIT_SDF_TEST ..........................................   Passed    4.90 sec
+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 (645 ms)
+214: [----------] 3 tests from FrameSemantics (2037 ms total)
+214: 
+214: [----------] 4 tests from NestedFrameSemantics
+214: [ RUN      ] NestedFrameSemantics.buildFrameAttachedToGraph_Model
+218: [       OK ] URDFParser.CheckFixedJointOptions_preserveFixedJoint (546 ms)
+218: [ RUN      ] URDFParser.CheckFixedJointOptions_preserveFixedJoint_and_disableJointLumping
 176: Error: Non-unique names detected in type link in
 176: <model name='duplicate_links'>
 176:   <link name='link'>
@@ -37649,26 +37706,39 @@
 176:   </link>
 176: </model>
 176: 
-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 (80 ms)
-194: [----------] 14 tests from SDF (5208 ms total)
-194: 
-194: [----------] Global test environment tear-down
-194: [==========] 14 tests from 1 test suite ran. (5208 ms total)
-194: [  PASSED  ] 14 tests.
-215/221 Test #194: UNIT_SDF_TEST ..........................................   Passed    5.73 sec
-214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
-214: [       OK ] NestedFrameSemantics.buildFrameAttachedToGraph_World (467 ms)
-214: [ RUN      ] NestedFrameSemantics.ModelWithoutLinksWithNestedStaticModel
-188: [       OK ] DOMRoot.FrameSemanticsOnMove (3959 ms)
-188: [----------] 8 tests from DOMRoot (6051 ms total)
-188: 
-188: [----------] Global test environment tear-down
-218: [       OK ] URDFParser.CheckFixedJointOptions_preserveFixedJoint_and_disableJointLumping (754 ms)
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+218: [       OK ] URDFParser.CheckFixedJointOptions_preserveFixedJoint_and_disableJointLumping (391 ms)
 218: [ RUN      ] URDFParser.CheckFixedJointOptions_NoOption_Repeated
-188: [==========] 8 tests from 1 test suite ran. (6051 ms total)
-188: [  PASSED  ] 8 tests.
-216/221 Test #188: UNIT_Root_TEST .........................................   Passed    6.68 sec
+214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
+214: [       OK ] NestedFrameSemantics.buildFrameAttachedToGraph_Model (582 ms)
+214: [ RUN      ] NestedFrameSemantics.buildFrameAttachedToGraph_World
 176: Error: Non-unique names detected in type joint in
 176: <model name='duplicate_joints'>
 176:   <link name='link1'/>
@@ -37684,13 +37754,19 @@
 176:   </joint>
 176: </model>
 176: 
-214: [       OK ] NestedFrameSemantics.ModelWithoutLinksWithNestedStaticModel (531 ms)
-214: [ RUN      ] NestedFrameSemantics.InvalidAttachedToScope
-59: [       OK ] PlacementFrame.ModelPlacementFrameAttribute (6248 ms)
-59: [----------] 3 tests from PlacementFrame (16122 ms total)
-59: 
-59: [----------] 4 tests from NestedReference
-59: [ RUN      ] NestedReference.PoseRelativeTo
+218: [       OK ] URDFParser.CheckFixedJointOptions_NoOption_Repeated (196 ms)
+218: [ RUN      ] URDFParser.CheckJointTransform
+218: [       OK ] URDFParser.CheckJointTransform (9 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 (2468 ms total)
+218: 
+218: [----------] Global test environment tear-down
+218: [==========] 19 tests from 1 test suite ran. (2468 ms total)
+218: [  PASSED  ] 19 tests.
+217/221 Test #218: UNIT_parser_urdf_TEST ..................................   Passed    2.82 sec
 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>
@@ -37705,58 +37781,16 @@
 176:   </joint>
 176: </model>
 176: 
-218: [       OK ] URDFParser.CheckFixedJointOptions_NoOption_Repeated (442 ms)
-218: [ RUN      ] URDFParser.CheckJointTransform
-218: [       OK ] URDFParser.CheckJointTransform (15 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 (3329 ms total)
-218: 
-218: [----------] Global test environment tear-down
-218: [==========] 19 tests from 1 test suite ran. (3339 ms total)
-218: [  PASSED  ] 19 tests.
-217/221 Test #218: UNIT_parser_urdf_TEST ..................................   Passed    3.71 sec
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: Warning [parser_urdf.cc:1480] Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-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 (609 ms)
-214: [----------] 4 tests from NestedFrameSemantics (2074 ms total)
-214: 
-214: [----------] Global test environment tear-down
-214: [==========] 7 tests from 2 test suites ran. (4033 ms total)
-214: [  PASSED  ] 7 tests.
-218/221 Test #214: UNIT_FrameSemantics_TEST ...............................   Passed    4.38 sec
+106: [       OK ] URDFParser.AtlasURDF_5runs_performance (12933 ms)
+106: [----------] 1 test from URDFParser (12934 ms total)
+106: 
+106: [----------] Global test environment tear-down
+214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
+214: [       OK ] NestedFrameSemantics.buildFrameAttachedToGraph_World (575 ms)
+214: [ RUN      ] NestedFrameSemantics.ModelWithoutLinksWithNestedStaticModel
+106: [==========] 1 test from 1 test suite ran. (12934 ms total)
+106: [  PASSED  ] 1 test.
+218/221 Test #106: PERFORMANCE_parser_urdf ................................   Passed   13.33 sec
 176: Error: Non-unique names detected in type collision in
 176: <link name='link'>
 176:   <collision name='collision'>
@@ -37767,6 +37801,8 @@
 176:   </collision>
 176: </link>
 176: 
+214: [       OK ] NestedFrameSemantics.ModelWithoutLinksWithNestedStaticModel (409 ms)
+214: [ RUN      ] NestedFrameSemantics.InvalidAttachedToScope
 176: Error: Non-unique names detected in <link name='link'>
 176:   <visual name='visual'>
 176:     <geometry/>
@@ -37776,37 +37812,39 @@
 176:   </visual>
 176: </link>
 176: 
-59: [       OK ] NestedReference.PoseRelativeTo (944 ms)
-59: [ RUN      ] NestedReference.PoseRelativeToInWorld
-106: [       OK ] URDFParser.AtlasURDF_5runs_performance (14230 ms)
-106: [----------] 1 test from URDFParser (14230 ms total)
-106: 
-106: [----------] Global test environment tear-down
-106: [==========] 1 test from 1 test suite ran. (14230 ms total)
-106: [  PASSED  ] 1 test.
-219/221 Test #106: PERFORMANCE_parser_urdf ................................   Passed   14.78 sec
-59: [       OK ] NestedReference.PoseRelativeToInWorld (485 ms)
-59: [ RUN      ] NestedReference.PlacementFrameAttribute
-176: [       OK ] Parser.NameUniqueness (4921 ms)
+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 (297 ms)
+214: [----------] 4 tests from NestedFrameSemantics (1866 ms total)
+214: 
+214: [----------] Global test environment tear-down
+214: [==========] 7 tests from 2 test suites ran. (3903 ms total)
+214: [  PASSED  ] 7 tests.
+219/221 Test #214: UNIT_FrameSemantics_TEST ...............................   Passed    4.37 sec
+176: [       OK ] Parser.NameUniqueness (3687 ms)
 176: [ RUN      ] Parser.SyntaxErrorInValues
-59: [       OK ] NestedReference.PlacementFrameAttribute (326 ms)
-59: [ RUN      ] NestedReference.PlacementFrameElement
-176: [       OK ] Parser.SyntaxErrorInValues (1220 ms)
+59: [       OK ] PlacementFrame.ModelPlacementFrameAttribute (3436 ms)
+59: [----------] 3 tests from PlacementFrame (17220 ms total)
+59: 
+59: [----------] 4 tests from NestedReference
+59: [ RUN      ] NestedReference.PoseRelativeTo
+176: [       OK ] Parser.SyntaxErrorInValues (674 ms)
 176: [ RUN      ] Parser.MissingRequiredAttributesErrors
-176: [       OK ] Parser.MissingRequiredAttributesErrors (499 ms)
+176: [       OK ] Parser.MissingRequiredAttributesErrors (263 ms)
 176: [ RUN      ] Parser.IncludesErrors
-59: [       OK ] NestedReference.PlacementFrameElement (1638 ms)
-59: [----------] 4 tests from NestedReference (3395 ms total)
-59: 
-59: [----------] Global test environment tear-down
-59: [==========] 17 tests from 3 test suites ran. (32590 ms total)
-59: [  PASSED  ] 17 tests.
-220/221 Test  #59: INTEGRATION_nested_model ...............................   Passed   33.07 sec
-176: [       OK ] Parser.IncludesErrors (1791 ms)
+59: [       OK ] NestedReference.PoseRelativeTo (728 ms)
+59: [ RUN      ] NestedReference.PoseRelativeToInWorld
+59: [       OK ] NestedReference.PoseRelativeToInWorld (330 ms)
+59: [ RUN      ] NestedReference.PlacementFrameAttribute
+59: [       OK ] NestedReference.PlacementFrameAttribute (267 ms)
+59: [ RUN      ] NestedReference.PlacementFrameElement
+176: [       OK ] Parser.IncludesErrors (1131 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 (773 ms)
+176: [       OK ] Parser.PlacementFrameMissingPose (432 ms)
 176: [ RUN      ] Parser.DoubleColonNameAttrError
 176: Error: Detected delimiter '::' in element name in
 176: <link name='A::B'/>
@@ -37815,47 +37853,54 @@
 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 (640 ms)
+176: [       OK ] Parser.DoubleColonNameAttrError (358 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 (325 ms)
+176: [       OK ] Parser.ReadSingleLineStringError (190 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 (248 ms)
+176: [       OK ] Parser.ReadMultiLineStringError (187 ms)
 176: [ RUN      ] Parser.ElementFilePath
-176: [       OK ] Parser.ElementFilePath (398 ms)
+59: [       OK ] NestedReference.PlacementFrameElement (1558 ms)
+59: [----------] 4 tests from NestedReference (2885 ms total)
+59: 
+59: [----------] Global test environment tear-down
+59: [==========] 17 tests from 3 test suites ran. (31960 ms total)
+59: [  PASSED  ] 17 tests.
+220/221 Test  #59: INTEGRATION_nested_model ...............................   Passed   32.36 sec
+176: [       OK ] Parser.ElementFilePath (373 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 (297 ms)
+176: [       OK ] Parser.MissingRequiredElement (271 ms)
 176: [ RUN      ] Parser.ElementRemovedAfterDeprecation
-176: [       OK ] Parser.ElementRemovedAfterDeprecation (227 ms)
-176: [----------] 15 tests from Parser (15350 ms total)
+176: [       OK ] Parser.ElementRemovedAfterDeprecation (215 ms)
+176: [----------] 15 tests from Parser (11666 ms total)
 176: 
 176: [----------] 1 test from ValueConstraintsFixture
 176: [ RUN      ] ValueConstraintsFixture.ElementMinMaxValues
-176: [       OK ] ValueConstraintsFixture.ElementMinMaxValues (526 ms)
-176: [----------] 1 test from ValueConstraintsFixture (526 ms total)
+176: [       OK ] ValueConstraintsFixture.ElementMinMaxValues (536 ms)
+176: [----------] 1 test from ValueConstraintsFixture (536 ms total)
 176: 
 176: [----------] Global test environment tear-down
-176: [==========] 16 tests from 2 test suites ran. (15877 ms total)
+176: [==========] 16 tests from 2 test suites ran. (12202 ms total)
 176: [  PASSED  ] 16 tests.
-221/221 Test #176: UNIT_parser_TEST .......................................   Passed   16.39 sec
+221/221 Test #176: UNIT_parser_TEST .......................................   Passed   12.80 sec
 
 100% tests passed, 0 tests failed out of 221
 
-Total Test time (real) =  48.56 sec
+Total Test time (real) =  44.92 sec
 make[2]: Leaving directory '/build/sdformat-12.3.0+ds/obj-aarch64-linux-gnu'
 make[1]: Leaving directory '/build/sdformat-12.3.0+ds'
    create-stamp debian/debhelper-build-stamp
@@ -38676,10 +38721,10 @@
    dh_gencontrol
    dh_md5sums
    dh_builddeb
-dpkg-deb: building package 'libsdformat12-12' in '../libsdformat12-12_12.3.0+ds-2_arm64.deb'.
-dpkg-deb: building package 'libsdformat-dev' in '../libsdformat-dev_12.3.0+ds-2_arm64.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_arm64.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_arm64.deb'.
 dpkg-deb: building package 'sdformat-doc' in '../sdformat-doc_12.3.0+ds-2_all.deb'.
 dpkg-deb: building package 'libsdformat12-12-dbgsym' in '../libsdformat12-12-dbgsym_12.3.0+ds-2_arm64.deb'.
  dpkg-genbuildinfo --build=binary -O../sdformat_12.3.0+ds-2_arm64.buildinfo
@@ -38689,12 +38734,14 @@
 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/22017/tmp/hooks/B01_cleanup starting
+I: user script /srv/workspace/pbuilder/22017/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/11390 and its subdirectories
-I: Current time: Fri May 24 00:21:53 -12 2024
-I: pbuilder-time-stamp: 1716553313
+I: removing directory /srv/workspace/pbuilder/22017 and its subdirectories
+I: Current time: Sat Apr 22 21:11:42 +14 2023
+I: pbuilder-time-stamp: 1682147502