The English Wikipedia says that Heliocentrism was "official" in Judaism only by the 20th century:
In later periods there were no explicit attacks on heliocentrism, although some Rabbis were not sure about the point.
In the 20th century R. M.M. Schneerson suggested that the theory of relativity makes the question obsolete, as he writes, "based on the understanding of science at this point".
What I mean by "acknowledgement" is that it became common knowledge such that for example Poskim could use that information to resolve various issues.*
* One (not-so-good) example for an "issue" is the relatively high inaccuracy of the Jewish calendar, i.e. requiring Adar Bet.