Update changelog fragments for the Shadow Hand tendon work

Author: hujc7

source/isaaclab_assets/changelog.d/codex-shadow-hand-unified-asset.minor.rst

@@ -6,6 +6,9 @@ Changed
   named differently. Both engines now spawn the hand at the same orientation; the previous assets
   needed two, because one baked a root orientation that the other did not.
 
+* Changed ``SHADOW_HAND_CFG`` to spawn the asset with its default ``Physics`` variant. Use
+  ``SHADOW_HAND_PHYSX_CFG`` or ``SHADOW_HAND_NEWTON_CFG`` to select an engine explicitly.
+
 Added
 ^^^^^
 
@@ -18,11 +21,11 @@ Added
 Removed
 ^^^^^^^
 
-* Removed ``SHADOW_ACTUATED_JOINT_NAMES``, ``SHADOW_TENDON_JOINT_NAMES`` and
-  ``SHADOW_PHYSX_TENDON_GEARING``. Use ``JOINT_NAMES`` and
-  ``TENDON_NAMES`` instead. Note that ``SHADOW_ACTUATED_JOINT_NAMES`` listed all
-  twenty motors, so code that fed it to ``find_joints`` was asking for four joints that do not
-  exist; ``JOINT_NAMES`` lists only the sixteen that drive a joint.
+* Removed ``SHADOW_ACTUATED_JOINT_NAMES``; use ``JOINT_NAMES`` for the sixteen joint-driving
+  motors and ``TENDON_NAMES`` for the four tendon-driving ones. The removed list named all twenty
+  motors, so code that fed it to ``find_joints`` was asking for four joints that do not exist.
+
+* Removed ``SHADOW_FINGERTIP_BODY_NAMES``; use ``FINGERTIP_NAMES``.
 
 Fixed
 ^^^^^

source/isaaclab_newton/changelog.d/codex-shadow-hand-unified-asset.minor.rst

@@ -2,28 +2,12 @@ Added
 ^^^^^
 
 * Added a view over MuJoCo's native fixed-tendon position actuators, so a tendon imported from a
-  MuJoCo-authored asset can be commanded directly instead of through the joints it spans.
+  MuJoCo-authored asset can be commanded directly instead of through the joints it spans. Actuators
+  are paired with tendons by their target; a tendon without an actuator is named in a start-up
+  warning and commands to it have no effect.
 
 Fixed
 ^^^^^
 
-* Fixed MuJoCo-authored USD assets losing every ``mjc:*`` attribute on import. The attributes are
-  read only when the MuJoCo solver's custom attributes are registered on the model builder before
-  the stage is traversed, so joint armature, joint friction and actuator definitions silently fell
-  back to their schema defaults.
-
 * Fixed :attr:`~isaaclab.assets.articulation.BaseArticulationData.fixed_tendon_pos_limits` raising
-  ``AttributeError`` instead of reporting the tendons' position limits.
-
-* Fixed articulation start-up scanning every actuator in the scene once per tendon, which cost
-  minutes before the first training step at high environment counts.
-
-* Fixed :meth:`~isaaclab.assets.articulation.BaseArticulation.set_fixed_tendon_position_target_index`
-  ignoring ``env_ids`` on Newton. A command for a subset of environments was sized against every
-  instance and raised, where PhysX applied it to the environments given.
-
-* Fixed Newton tendon commands interpreting fixed-tendon IDs as IDs in a filtered list of direct
-  MuJoCo actuators, so a tendon ID addressed a different tendon than the one
-  :meth:`~isaaclab.assets.articulation.BaseArticulation.find_fixed_tendons` named. Commands now use
-  the articulation's fixed-tendon index space, and any tendon without a direct position actuator is
-  named in a warning at start-up; commanding one has no effect.
+  ``AttributeError`` on Newton. It is now bound to ``mujoco.tendon_range``.

source/isaaclab_physx/changelog.d/codex-shadow-hand-unified-asset.rst

@@ -1,3 +1,11 @@
+Changed
+^^^^^^^
+
+* Changed fixed tendons to be named after their ``PhysxTendonAxisRootAPI`` instance rather than the
+  joint prim carrying it, matching OVPhysX and Newton. Code that looked a tendon up by its joint
+  name, through ``find_fixed_tendons`` or ``SceneEntityCfg.fixed_tendon_names``, must use the
+  instance name.
+
 Fixed
 ^^^^^