Document change in inertia calculation.

PiperOrigin-RevId: 783249303 Change-Id: I93b24d6601c46073df2a18fbc24c52f8f7dfb915
2025-07-15 02:34:21 -07:00
parent 576a34bcf2
commit ad0dc0de5e
1 changed files with 5 additions and 0 deletions
@@ -14,6 +14,11 @@ General
  as input to learning-based agents and in environment logic.
 - Removed the SdfLib plugin and the dependency on `SdfLib <https://github.com/UPC-ViRVIG/SdfLib>`__. SDFs are now
  supported natively in mjModel.
+- Inertia computation in MuJoCo C is now performed by a new :ref:`pipeline<piStages>` function :ref:`mj_makeM`, which
+  combines the Composite Rigid Body algorithm in :ref:`mj_crb` and additional terms related to
+  :ref:`tendon armature<tendon-spatial-armature>`. Code that uses :ref:`mj_crb` to compute the inertia should now use
+  :ref:`mj_makeM` instead.
+

 Bug fixes
 ^^^^^^^^^