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Improve wording of changelog item.

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PiperOrigin-RevId: 675176166
Change-Id: I3b902efcc618e5121fea33f9a746df57a3979710
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Yuval Tassa
2024-09-16 09:21:19 -07:00
committed by Copybara-Service
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doc/changelog.rst
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@@ -40,7 +40,7 @@ General
(simple free-floating bodies): automatically aligning the body frame with the inertial frame. This feature can be (simple free-floating bodies): automatically aligning the body frame with the inertial frame. This feature can be
toggled individually using the :ref:`freejoint/align<body-freejoint-align>` attribute or globally using the compiler toggled individually using the :ref:`freejoint/align<body-freejoint-align>` attribute or globally using the compiler
:ref:`alignfree<compiler-alignfree>` attribute. The alignment diagonalizes the related 6x6 inertia sub-matrix, :ref:`alignfree<compiler-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. 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<keyframe>`) will Therefore, ``qpos`` and ``qvel`` values saved in older versions (for example, in :ref:`keyframes<keyframe>`) will