Principle:Google deepmind Mujoco Model Validation
| Knowledge Sources | |
|---|---|
| Domains | Validation, Model_IO, Physics_Simulation |
| Last Updated | 2026-02-15 06:00 GMT |
Overview
Process of verifying that a compiled physics model has valid internal references and consistent data structures.
Description
Model Validation checks that all internal cross-references in a compiled mjModel are consistent: body parent pointers form a valid tree, joint and geom references point to valid bodies, actuator transmission targets exist, sensor objects are valid, and array indices are within bounds. This catches corruption from manual model modification or binary deserialization errors.
Usage
Use this principle after loading a binary model or after programmatic model modification. The validation is called automatically during binary model loading (mj_loadModel) but can also be called explicitly.
Theoretical Basis
Validation checks include:
- Range checks: All integer IDs are within valid array bounds
- Tree consistency: Body parent pointers form a valid tree rooted at world body
- Reference integrity: Joints, geoms, sites reference existing bodies
- Actuator validity: Transmission targets exist and have correct types
- Sensor validity: Sensor objects and reference frames exist
Related Pages
Implemented By
Page Connections
Double-click a node to navigate. Hold to expand connections.
Principle
Implementation
Heuristic
Environment