novaphy.UrdfAssetAuditReport

Aggregate URDF asset audit returned by SceneBuilderEngine.audit_urdf. Use this before scene build to catch missing meshes / textures, unsupported joints, mimic metadata, xacro limitations, and mesh-collision fallbacks.

Attributes

Attribute	Description
robot_name	URDF robot name.
link_count, joint_count	Parsed model size.
visual_count, collision_count	Number of visual and collision elements.
mesh_count, visual_mesh_count, collision_mesh_count	Mesh usage counts.
missing_mesh_count	Count of unresolved mesh resources.
material_count, texture_count, missing_texture_count	Material / texture audit counts.
mimic_joint_count	Count of parsed mimic joints.
transmission_count	Count of parsed transmissions.
gazebo_extension_count	Count of parsed Gazebo extension blocks.
unsupported_joint_count	Count of unsupported joint types.
can_build_model	Whether the audited URDF can be built under the selected options.
has_runtime_mimic_constraints	Whether runtime mimic constraints are available.
uses_mesh_collision_fallback	Whether collision mesh fallback is expected.
warnings	Human-readable warnings collected during audit.
issues	List of UrdfAssetIssue entries.

See Also

• UrdfAssetIssue
• UrdfImportOptions
• SceneBuilderEngine