Fix get_inertia_matrix for MuJoCo >= 3.3.4. (#102)

Author: kevinzakka

CHANGELOG.md

@@ -8,6 +8,10 @@ All notable changes to this project will be documented in this file.
 
 - `solve_ik` now raises a new exception, `NoSolutionFound`, when the QP solver fails to find a solution.
 
+### Bugfix
+
+- Fix `Configuration.get_inertia_matrix` for MuJoCo versions >= 3.3.4.
+
 ## [0.0.11] - 2025-05-22
 
 ### Added

mink/configuration.py

@@ -250,7 +250,10 @@ def get_inertia_matrix(self) -> np.ndarray:
         """
         # Run the composite rigid body inertia (CRB) algorithm to populate the joint
         # space inertia matrix data.qM.
-        mujoco.mj_crb(self.model, self.data)
+        if mujoco.mj_version() >= 334:
+            mujoco.mj_makeM(self.model, self.data)
+        else:
+            mujoco.mj_crb(self.model, self.data)
         # data.qM is stored in a custom sparse format and can be converted to dense
         # format using mujoco.mj_fullM.
         M = np.empty((self.nv, self.nv), dtype=np.float64)