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Add entry to Migration guide about the updated auto-inertia behavior -> sdf14 #1530

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Jan 16, 2025
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Add entry to Migration guide about the updated auto-inertia behavior -> sdf14 #1530

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13 changes: 13 additions & 0 deletions Migration.md
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Expand Up @@ -12,6 +12,19 @@ forward programmatically.
This document aims to contain similar information to those files
but with improved human-readability..

## libsdformat 14.6.0 to 14.7.0

1. Inertial parameters can now be automatically calculated with a specified
mass. Previously when the `//inertial/@auto` attribute is set to true, the
`//inertial/mass` value is ignored and the mass, center of mass location, and
inertia matrix are computed based on the collision geometries and densities.
The new behavior is that if `//inertial/mass` is specified, the inertial values
will be computed to preserve the specified mass. This is done by first
calculating inertial parameters from all collisions using density as usual,
calculating the ratio between user-specified mass and the auto-computed mass,
and rescaling the computed mass and moment of inertia by that mass ratio so
that the resulting mass matches the specified mass.

## libsdformat 13.x to 14.x

### Additions
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