Error: `mass and inertia of moving bodies must be larger than mjMINVAL` when running `example.sh` on `example_obj`

[GitHofee]

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.urdf only contains:

  <robot name="root"/>

• The generated coacd.xml only 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.

[JYChen18]

Unfortunately, I couldn’t reproduce the error on my end, but I’m keen to understand the root cause. Could you try the following steps to help with debugging?

1. Are you using the latest commit? Also, is your system Ubuntu?

2. Please set quiet: false in the configuration file to see if any errors are reported during the CoACD execution.

   MeshProcess/src/config/task/official.yaml

   Line 18 in 638d777

   quiet: True

3. If no errors are reported, could you print the path to save before this line?

Let me know if this helps, and I’ll be happy to assist further.

[GitHofee]

Hi, thanks for the quick reply!
I can confirm:

• I’m using the latest commit from the main branch.
• My system is Ubuntu 22.04.

After setting quiet: false, I found that no errors occurred before the 1-get_tabletop_pose step.

Here is the output result of the path to save after adding std::cout << "==++==++==++==++" << (foldername + "/" + filename + "_" + idx + ".obj") <<std::endl;

==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_000.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_001.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_002.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_003.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_004.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_005.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_006.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_007.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_008.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_009.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_010.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_011.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_012.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_013.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_014.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_015.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_016.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_017.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_018.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_019.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_020.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_021.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_022.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_023.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_024.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_025.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_026.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_027.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_028.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_029.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_030.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_031.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_032.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_033.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_034.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_035.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_036.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_037.obj
==++==++==++==++/home/ubuntu/Projects/MeshProcess/assets/object/example_obj/processed_data/xQKC0DJCr2xMitDjfqrKVG4uqEA.glb/urdf/meshes/convex_piece_038.obj

Here is the full output log:
output_detail_2.log

Thanks again for your help!

[JYChen18]

Hi,

I reinstalled the repository on a new Ubuntu 22.04 machine, and the example still works fine for me. The log you provided also looks good.

To help further debug the issue, could you try the following?

1. What version of CMake are you using to compile CoACD? I’m using version 3.26.

2. Try debugging around this line.

• For example, replace ofstream with std::ofstream. This could be a potential difference between the SaveOBJ function at line 47 and SaveOBJs at line 70. SaveOBJ is used to save coacd.obj, while SaveOBJs is used to save the convex pieces. Since SaveOBJ works fine but SaveOBJs doesn’t, this might help pinpoint the issue.

• Another thing to try is printing something between lines 77 and 90 to check if those lines are being executed.

Let me know what you find!

[willi19]

I think you should chage readme file in https://github.com/JYChen18/CoACD.git.
git clone --recurse-submodules https://github.com/SarahWeiii/CoACD.git

Because there are no -pf argument in SarahWeiii repository.

[CumulusAlpha]

Seems like if you have some empty xml(like i just dont have the right env, so i generate something empty), and run the example.sh again, this will happen. It will be fixed if you remove the generated empty xml.