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Document change in inertia calculation.

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PiperOrigin-RevId: 783249303
Change-Id: I93b24d6601c46073df2a18fbc24c52f8f7dfb915
This commit is contained in:
Yuval Tassa
2025-07-15 02:34:21 -07:00
committed by Copybara-Service
parent 576a34bcf2
commit ad0dc0de5e
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doc/changelog.rst
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@@ -14,6 +14,11 @@ General
as input to learning-based agents and in environment logic. 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 - Removed the SdfLib plugin and the dependency on `SdfLib <https://github.com/UPC-ViRVIG/SdfLib>`__. SDFs are now
supported natively in mjModel. 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 Bug fixes
^^^^^^^^^ ^^^^^^^^^