Add inverse dynamics to MJX.

PiperOrigin-RevId: 745998273
Change-Id: I203af89332ace5d7a60fff3ec6ff4cc88c02340d

doc/changelog.rst

@@ -1,6 +1,14 @@
 =========
 Changelog
 =========
+
+Upcoming version (not yet release)
+----------------------------------
+
+MJX
+^^^
+- Added inverse dynamics.
+
 Version 3.3.1 (Apr 9, 2025)
 ----------------------------
 

doc/mjx.rst

@@ -235,6 +235,8 @@ The following features are **fully supported** in MJX:
      - 1, 3, 4, 6 (1 is not supported with ``ELLIPTIC``)
    * - :ref:`Solver <mjtSolver>`
      - ``CG``, ``NEWTON``
+   * - Dynamics
+     - :ref:`Inverse <mj_inverse>`
    * - Fluid Model
      - :ref:`flInertia`
    * - :ref:`Tendons <tendon>`
@@ -262,8 +264,6 @@ The following features are **in development** and coming soon:
        (``BOX``, ``MESH``, ``HFIELD``) and ``ELLIPSOID``.
    * - :ref:`Integrator <mjtIntegrator>`
      - ``IMPLICIT``
-   * - Dynamics
-     - :ref:`Inverse <mj_inverse>`
    * - Fluid Model
      - :ref:`flEllipsoid`
    * - :ref:`Sensors <mjtSensor>`