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Update changelog with tendon Jacobian changes and memory improvements for tendon Jacobian and actuator moment fields

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PiperOrigin-RevId: 880378857
Change-Id: I761bd209c66f41fc39c9aeaf9832dcb95d7d624c
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Taylor Howell
2026-03-08 03:05:06 -07:00
committed by Copybara-Service
parent 32ace6d303
commit 1370a54007
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doc/changelog.rst
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@@ -8,7 +8,18 @@ Upcoming version (not yet released)
General
^^^^^^^
.. admonition:: Breaking API changes
:class: attention
- The tendon Jacobian ``ten_J`` is now always sparse. The fields ``ten_J_rownnz``, ``ten_J_rowadr``, and
``ten_J_colind`` have been moved from :ref:`mjData` to :ref:`mjModel` and are no longer computed at run time by
``mj_tendon`` but at compile time.
- Flexes now support collisions with SDF geoms.
- Improved memory requirements for ``ten_J`` and ``ten_J_colind`` by reducing the upper bound for the number
of non-zeros ``nJten``.
- Improved memory requirements for ``actuator_moment`` and ``moment_colind`` by reducing the upper bound for the number
of non-zeros ``nJmom``.
MJX
^^^