Proper way to randomize over body masses and inertias

[JeyRunner]

Hi, I really enjoy using brax doing RL.
Currently I am trying to include masses and inertias into domain randomization with the mjx backend (change sys.body_inertia and sys.body_mass).
As I saw here google-deepmind/mujoco#764 (comment) just changing these two values is not suffocation as other dependent values as actuator_acc0, dof_invweight0, dof_M0, body_invweight0, body_subtreemass need to changed as well.

Is there any way to calculate these values to keep the simulation parameters valid?
I guess these dependent values will not be updated automatically.