From ebcffaf121bbac26c8c7d2283dbb47a767aa62f9 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Mon, 16 Sep 2024 09:21:19 -0700 Subject: [PATCH] Improve wording of changelog item. PiperOrigin-RevId: 675176166 Change-Id: I3b902efcc618e5121fea33f9a746df57a3979710 --- doc/changelog.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index f77c3195..bad83464 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -40,7 +40,7 @@ General (simple free-floating bodies): automatically aligning the body frame with the inertial frame. This feature can be toggled individually using the :ref:`freejoint/align` attribute or globally using the compiler :ref:`alignfree` attribute. The alignment diagonalizes the related 6x6 inertia sub-matrix, - leading to both faster simulation and more stable simulation of free bodies. + leading to both faster and more stable simulation of free bodies. While this optimization is a strict improvement, it changes the semantics of the joint's degrees-of-freedom. Therefore, ``qpos`` and ``qvel`` values saved in older versions (for example, in :ref:`keyframes`) will