MuJoCo is stricter than expected — and that is a good thing. This update adds clear error prompting so users do not have to debug cryptic solver failures on their own.
The lesson here: every body needs a valid inertia matrix, and the principal inertias must satisfy the triangle inequality (A + B > C). Simplifications that are fine for hand analysis are rejected by MuJoCo, which is built for complex 3D simulation — so ARMOR now flags these issues directly.
Key points
- User-facing diagnostics for invalid models
- Enforces valid inertia matrices (A + B > C)
- Saves time debugging MuJoCo constraints
Learn how mass properties are set in Links and tuned in Settings.