Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

PiperOrigin-RevId: 919020039
Change-Id: I441295c0baa0b7456f78239fbd5478d32ffc07c1

doc/APIreference/APIglobals.rst

@@ -415,7 +415,7 @@ indicated otherwise.
      - 1E-15
      - The minimal value allowed in any denominator, and in general any mathematical operation where 0 is not allowed.
        In almost all cases, MuJoCo silently clamps smaller values to mjMINVAL.
-       Defined in `mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`_.
+       Defined in `mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>`_.
    * - ``mjPI``
      - :math:`\pi`
      - The value of :math:`\pi`. This is used in various trigonometric functions, and also for conversion from degrees

doc/APIreference/APItypes.rst

@@ -46,7 +46,7 @@ MuJoCo defines a large number of types:
 Primitive types
 ---------------
 
-The two types below are defined in `mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__.
+The three types below are defined in `mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>`__.
 
 
 .. _mjtNum:
@@ -63,7 +63,7 @@ double-precision version will always be available. Thus it is safe to write user
 However, our preference is to write code that works with either single or double precision. To this end we provide math
 utility functions that are always defined with the correct floating-point type.
 
-Note that changing ``mjUSESINGLE`` in ``mjtnum.h`` will not change how the library was compiled, and instead will
+Note that changing ``mjUSESINGLE`` in ``mjtype.h`` will not change how the library was compiled, and instead will
 result in numerous link errors. In general, the header files distributed with precompiled MuJoCo should never be
 changed by the user.