From 1370a540074803f3b2ab8b17b98ad8b497d688a4 Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Sun, 8 Mar 2026 03:05:06 -0700 Subject: [PATCH] Update changelog with tendon Jacobian changes and memory improvements for tendon Jacobian and actuator moment fields PiperOrigin-RevId: 880378857 Change-Id: I761bd209c66f41fc39c9aeaf9832dcb95d7d624c --- doc/changelog.rst | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/doc/changelog.rst b/doc/changelog.rst index 20f297ed..5dcdcedd 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -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 ^^^