Add sleep related data structures

PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53

doc/APIreference/APIglobals.rst

@@ -414,6 +414,12 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
      - 50
      - The maximum depth of each body and mesh bounding volume hierarchy. If this large limit is exceeded, a warning
        is raised and ray casting may not be possible. For a balanced hierarchy, this implies 1E15 bounding volumes.
+   * - ``mjMAXFLEXNODES``
+     - 27
+     - Some number by Alessio that needs documentation. I guess it's related to trilinear flexes?
+   * - ``mjMINAWAKE``
+     - 10
+     - The minimum number of timesteps that must pass after a tree is awoken, before it is allowed to go back to sleep.
    * - ``mjNEQDATA``
      - 11
      - The maximal number of real-valued parameters used to define each equality constraint. Determines the size of

doc/APIreference/APItypes.rst

@@ -380,6 +380,17 @@ last argument to :ref:`mj_local2global`.
 .. mujoco-include:: mjtSameFrame
 
 
+.. _mjtSleepPolicy:
+
+mjtSleepPolicy
+~~~~~~~~~~~~~~
+
+Sleep policy associated with a tree. The compiler automatically chooses between ``NEVER`` and ``ALLOWED``, but the user
+can override this choice. Only the user can set the ``INIT`` policy (initialized as asleep).
+
+.. mujoco-include:: mjtSleepPolicy
+
+
 .. _mjtFlexSelf:
 
 mjtFlexSelf
@@ -463,6 +474,15 @@ Timer types. The number of timer types is given by ``mjNTIMER`` which is also th
 .. mujoco-include:: mjtTimer
 
 
+.. _mjtSleepState:
+
+mjtSleepState
+~~~~~~~~~~~~~
+
+Sleep state of an object.
+
+.. mujoco-include:: mjtSleepState
+
 
 .. _tyVisEnums: