Update CHANGELOG.md

Author: gkjohnson

javascript/CHANGELOG.md

@@ -4,7 +4,7 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/)
 and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
 
-## Unreleased
+## [0.10.4] - 2021-05-18
 ### Fixed
 - Internal URDF material colors are implicitly converted to Linear colors.