The error chain.inertia-gap

user: the script can change it: the error says what happened in the experiment’s names, and what to write instead.

Where MIME gives it, with what its message says happened and what its action says to do ({…} is filled in from the experiment):

• in mime/dynamics/apparatus/_arm.py:

  • what happened: {…}'s moving bodies with geometry and no <inertial> ({…}) have no mass the dynamic arm can move: URDF reads them as massless, and MIME infers no mass from geometry

  • what to do: add an <inertial> to each, from CAD or a measurement, use the kinematic rung, Arm.Kinematic(...), or ask for inference from geometry at {…}

Reading an error and reaching its full traceback: reading an error. Every code: the index.