Fix mass/inertia checking for moving bodies with nested children.

Previously, we only checked immediate children of moving bodies.

PiperOrigin-RevId: 726999705
Change-Id: I133a557daf86223b8751c6d46e25809781e168a1

src/user/user_model.h

@@ -414,6 +414,13 @@ class mjCModel : public mjCModel_, private mjSpec {
   // compute qpos0
   void ComputeReference();
 
+  // return true if all bodies have valid mass and inertia
+  bool CheckBodiesMassInertia(std::vector<mjCBody*> bodies);
+
+  // return true if body has valid mass and inertia
+  bool CheckBodyMassInertia(mjCBody* body);
+
+
   mjListKeyMap ids;   // map from object names to ids
   mjCError errInfo;   // last error info
   std::vector<mjKeyInfo> key_pending_;  // attached keyframes