Add spatial tendons with site wrapping to MJX.

PiperOrigin-RevId: 673783473
Change-Id: I09b13787e3e0914c8de21d81db0347c4638b2f1d

doc/changelog.rst

@@ -19,6 +19,7 @@ General
      for any object type.
    - The experimental use of 2D/3D elasticity plugins with :ref:`composite<body-composite>` has been removed. Users
      should instead use :ref:`flexcomp<body-flexcomp>`, which provides the correct collision behavior.
+
 - Added the :ref:`nativeccd<option-flag-nativeccd>` flag. When this flag is enabled, general convex collision
   detection is handled natively, as opposed to using `libccd <https://github.com/danfis/libccd>`__. This feature is in
   early stages of testing.
@@ -63,6 +64,7 @@ MJX
 - Fixed a bug where ``qLDiagInv`` had the wrong size for sparse mass matrices.
 - Added support for joint and tendon :ref:`frictionloss <coFriction>`.
 - Added support for :ref:`connect<equality-connect>` equality constraints using two sites.
+- Added support for :ref:`spatial tendons <tendon-spatial>` with site wrapping.
 
 Bug fixes
 ^^^^^^^^^
@@ -73,7 +75,7 @@ Bug fixes
 - Fixed a bug in tendon wrapping around spheres. Before this fix, tendons that wrapped around spheres with an
   externally-placed :ref:`sidesite<spatial-geom-sidesite>` could jump inside the sphere instead of wrapping around it.
 - Fixed a bug that caused :at:`meshdir` and :at:`texturedir` to be overwritten during model
-  :ref:`attachment<meAttachment>.
+  :ref:`attachment<meAttachment>`.
 
 Python bindings
 ^^^^^^^^^^^^^^^

doc/mjx.rst

@@ -195,6 +195,8 @@ The following features are **fully supported** in MJX:
      - ``FIXED``, ``AFFINE``
    * - :ref:`Actuator Bias <mjtBias>`
      - ``NONE``, ``AFFINE``
+   * - :ref:`Tendon Wrapping <mjtWrap>`
+     - ``JOINT``, ``SITE``
    * - :ref:`Geom <mjtGeom>`
      - ``PLANE``, ``HFIELD``, ``SPHERE``, ``CAPSULE``, ``BOX``, ``MESH`` are fully implemented. ``ELLIPSOID`` and
        ``CYLINDER`` are implemented but only collide with other primitives, note that ``BOX`` is implemented as a mesh.
@@ -244,7 +246,7 @@ The following features are **in development** and coming soon:
    * - :ref:`Actuator Bias <mjtBias>`
      - ``MUSCLE``
    * - :ref:`Tendon Wrapping <mjtWrap>`
-     - ``NONE``, ``JOINT``, ``PULLEY``, ``SITE``, ``SPHERE``, ``CYLINDER``
+     - ``PULLEY``, ``SPHERE``, ``CYLINDER``
    * - Fluid Model
      - :ref:`flEllipsoid`
    * - :ref:`Tendons <tendon>`