From ad0dc0de5e10a075a2c65be629e9a8d557d383a6 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 15 Jul 2025 02:34:21 -0700
Subject: [PATCH] Document change in inertia calculation.

PiperOrigin-RevId: 783249303
Change-Id: I93b24d6601c46073df2a18fbc24c52f8f7dfb915
---
 doc/changelog.rst | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 271496d2..4785c652 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -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
 ^^^^^^^^^