{
  "kind": "urdf_admissibility_audit",
  "v": 1,
  "ts": 1785805598.57117,
  "input": {
    "file": "husky.urdf",
    "sha256": "cd6c2e5d2b5282e33993b635f142f8252320efa8b5ca818ada91b8f7f2899314"
  },
  "stats": {
    "links": 11,
    "joints": 10,
    "actuated_joints": 4,
    "declared_mass_kg": 44.003,
    "roots": [
      "base_footprint"
    ]
  },
  "physics": {
    "loads": true,
    "sim_joints": 10,
    "sim_movable_joints": 4,
    "simulated_total_mass_kg": 50.003
  },
  "finding_counts": {
    "FATAL": 1,
    "SILENT": 5,
    "WARN": 4,
    "INFO": 1
  },
  "findings": [
    {
      "severity": "FATAL",
      "code": "F2",
      "defect": "root link massless",
      "detail": "root 'base_footprint' has no mass \u2014 the engine's fake default becomes the whole robot's base body",
      "fix": "give the root real inertia or re-root onto the chassis"
    },
    {
      "severity": "SILENT",
      "code": "S1",
      "defect": "missing <inertial>",
      "detail": "link 'base_footprint' \u2014 engines substitute mass=1 kg, inertia=identity WITHOUT error",
      "fix": "add a physically consistent inertial"
    },
    {
      "severity": "SILENT",
      "code": "S1",
      "defect": "missing <inertial>",
      "detail": "link 'top_plate_link' \u2014 engines substitute mass=1 kg, inertia=identity WITHOUT error",
      "fix": "add a physically consistent inertial"
    },
    {
      "severity": "SILENT",
      "code": "S1",
      "defect": "missing <inertial>",
      "detail": "link 'user_rail_link' \u2014 engines substitute mass=1 kg, inertia=identity WITHOUT error",
      "fix": "add a physically consistent inertial"
    },
    {
      "severity": "SILENT",
      "code": "S1",
      "defect": "missing <inertial>",
      "detail": "link 'front_bumper_link' \u2014 engines substitute mass=1 kg, inertia=identity WITHOUT error",
      "fix": "add a physically consistent inertial"
    },
    {
      "severity": "SILENT",
      "code": "S1",
      "defect": "missing <inertial>",
      "detail": "link 'rear_bumper_link' \u2014 engines substitute mass=1 kg, inertia=identity WITHOUT error",
      "fix": "add a physically consistent inertial"
    },
    {
      "severity": "WARN",
      "code": "W1",
      "defect": "visual without collision",
      "detail": "link 'top_plate_link' is invisible to contact physics",
      "fix": "mirror visual into collision"
    },
    {
      "severity": "WARN",
      "code": "W1",
      "defect": "visual without collision",
      "detail": "link 'user_rail_link' is invisible to contact physics",
      "fix": "mirror visual into collision"
    },
    {
      "severity": "WARN",
      "code": "W1",
      "defect": "visual without collision",
      "detail": "link 'front_bumper_link' is invisible to contact physics",
      "fix": "mirror visual into collision"
    },
    {
      "severity": "WARN",
      "code": "W1",
      "defect": "visual without collision",
      "detail": "link 'rear_bumper_link' is invisible to contact physics",
      "fix": "mirror visual into collision"
    },
    {
      "severity": "INFO",
      "code": "S1",
      "defect": "massless frame link",
      "detail": "'imu_link' is a bare frame (common for sensors) \u2014 most engines substitute mass=1 anyway",
      "fix": "add a tiny inertial (1e-3 kg) to silence engine defaults"
    }
  ],
  "report_sha256": "7e878f0d222ddaa6ba792bc894f19f0d1ccb118b4b07e3e83704b0e7a97a506b",
  "signature": {
    "alg": "ed25519",
    "pubkey": "f33a497413ffd660ce254d73b3653fe31d2d233ad4f54615f8e435959c08c2fe",
    "sig": "c2cff74ed52ba63cf5849bbdfba2848a57254233e18b841c935c84436437106a223afab60047b33ac1a1fbefe91d5524903e68cc18c9dd419278433d1ba80f05",
    "signed_at": 1785805598.6071563
  }
}