Error: mass and inertia of moving bodies must be larger than mjMINVAL when running example.sh on example_obj #5
Description
When I run bash script/example.sh to process example_obj, the pipeline stops at the 1-get_tabletop_pose step with the following error:
[2025-08-13 16:57:19,237][root][INFO] - Failure! Task: 1-get_tabletop_pose, obj: xQKC0DJCr2xMitDjfqrKVG4uqEA.glb
Traceback (most recent call last):
File "/home/ubuntu/Projects/MeshProcess/src/func/process.py", line 29, in process_single_obj
eval(real_task_name)(
File "/home/ubuntu/Projects/MeshProcess/src/util/util_file.py", line 48, in wrapper
output = func(cfg)
File "/home/ubuntu/Projects/MeshProcess/src/util/proc/tabletop_pose.py", line 86, in get_tabletop_pose
model = spec.compile()
ValueError: Error: mass and inertia of moving bodies must be larger than mjMINVAL
Element name 'objectworld', id 1
What I observed
-
The generated
coacd.urdfonly contains:<robot name="root"/>
-
The generated
coacd.xmlonly contains:<mujoco model="MuJoCo Model"> <compiler angle="radian" meshdir="."/> <worldbody/> </mujoco>
I have installed CoACD and ACVD exactly as described in the README.md, and I've tried
#3, but it still failed.