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Restructure numeric constants table in API docs

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Break the monolithic numeric constants table into 6 sub-grouped tables:
Version, Engine constants, Array sizes, Visualization, Rendering, UI constants.

Fix stale values: mjMAXUITEXT (500->300), mjMAXUIMULTI (20->35),
mjMAXUIEDIT (5->7), mjMAXUIRECT (15->25).

Add missing constants: mjMAXLIGHT, mjMAXMATERIAL.

Fix placeholder description for mjMAXFLEXNODES.

PiperOrigin-RevId: 875010581
Change-Id: Id47846de4d98b62cb96087b72ecd28358d5db9c7
This commit is contained in:
Yuval Tassa
2026-02-25 00:53:38 -08:00
committed by Copybara-Service
parent a83fa7299d
commit 40e0007849
10 changed files with 140 additions and 58 deletions
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doc/APIreference/APIglobals.rst
+120 -38
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@@ -368,10 +368,41 @@ Numeric constants
^^^^^^^^^^^^^^^^^
Many integer constants were already documented in the primitive types above. In addition, the header files define
several other constants documented here. Unless indicated otherwise, each entry in the table below is defined in
`mjmodel.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`_. Note that some extended key
codes are defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_ which are not
shown in the table below. Their names are in the format ``mjKEY_XXX``. They correspond to GLFW key codes.
several other constants documented here. Note that some extended key codes are defined in
`mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_ which are not shown below. Their
names are in the format ``mjKEY_XXX``. They correspond to GLFW key codes.
.. _glNumericVersion:
Version
~~~~~~~
Defined in `mujoco.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`_.
.. list-table::
:widths: 2 1 8
:header-rows: 1
* - symbol
- value
- description
* - ``mjVERSION_HEADER``
- 3005001
- The version of the MuJoCo headers. This is an integer calculated from the version string "S.M.P"
using the formula ``(S * 1e6) + (M * 1e3) + P``. For example, version 4.2.1 is represented as 4002001.
The API function :ref:`mj_version` returns a number with the same meaning
but for the compiled library. See
`VERSIONING.md <https://github.com/google-deepmind/mujoco/blob/main/VERSIONING.md>`__ for details.
.. _glNumericEngine:
Engine constants
~~~~~~~~~~~~~~~~
Defined in `mjmodel.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`_ unless
indicated otherwise.
.. list-table::
:widths: 2 1 8
@@ -384,6 +415,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
- 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>`_.
* - ``mjPI``
- :math:`\pi`
- The value of :math:`\pi`. This is used in various trigonometric functions, and also for conversion from degrees
@@ -416,17 +448,38 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
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?
- The maximum number of nodes in a trilinear flex element.
* - ``mjMINAWAKE``
- 10
- The minimum number of timesteps that must pass after a tree is awoken, before it is allowed to go back to sleep.
* - ``mjMAXTHREAD``
- 128
- Maximum number of OS threads that can be used in a thread pool.
Defined in `mjthread.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjthread.h>`_.
.. _glNumericSizes:
Array sizes
~~~~~~~~~~~
Defined in `mjmodel.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`_. These constants
correspond to array sizes which we have not fully settled. There may be reasons to increase them in the future, so as to
accommodate extra parameters needed for more elaborate computations. This is why we maintain them as symbolic constants
that can be easily changed, as opposed to the array size for representing quaternions for example -- which has no reason
to change.
.. list-table::
:widths: 2 1 8
:header-rows: 1
* - symbol
- value
- description
* - ``mjNEQDATA``
- 11
- The maximal number of real-valued parameters used to define each equality constraint. Determines the size of
``mjModel.eq_data``. This and the next five constants correspond to array sizes which we have not fully settled.
There may be reasons to increase them in the future, so as to accommodate extra parameters needed for more
elaborate computations. This is why we maintain them as symbolic constants that can be easily changed, as opposed
to the array size for representing quaternions for example -- which has no reason to change.
``mjModel.eq_data``.
* - ``mjNDYN``
- 10
- The maximal number of real-valued parameters used to define the activation dynamics of each actuator.
@@ -464,75 +517,104 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
- The number of islands for which solver statistics can be stored in ``mjData.solver``. This array is
used to store diagnostic information about each iteration of the constraint solver.
The actual number of islands for which the solver was run is given by ``mjData.nsolver_island``.
.. _glNumericVisualization:
Visualization
~~~~~~~~~~~~~
Defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
.. list-table::
:widths: 2 1 8
:header-rows: 1
* - symbol
- value
- description
* - ``mjNGROUP``
- 6
- The number of geom, site, joint, tendon and actuator groups whose rendering can be enabled and disabled via
:ref:`mjvOption`.
Defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
* - ``mjMAXLIGHT``
- 100
- The maximum number of lights in a scene.
* - ``mjMAXOVERLAY``
- 500
- The maximal number of characters in overlay text for rendering.
Defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
* - ``mjMAXLINE``
- 100
- The maximal number of lines per 2D figure (:ref:`mjvFigure`).
Defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
* - ``mjMAXLINEPNT``
- 1001
- The maximal number of points in each line in a 2D figure. Note that the buffer ``mjvFigure.linepnt`` has length
``2*mjMAXLINEPNT`` because each point has X and Y coordinates.
Defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
* - ``mjMAXPLANEGRID``
- 200
- The maximal number of grid lines in each dimension for rendering planes.
Defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
.. _glNumericRendering:
Rendering
~~~~~~~~~
Defined in `mjrender.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`_.
.. list-table::
:widths: 2 1 8
:header-rows: 1
* - symbol
- value
- description
* - ``mjNAUX``
- 10
- Number of auxiliary buffers that can be allocated in mjrContext.
Defined in `mjrender.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`_.
* - ``mjMAXTEXTURE``
- 1000
- Maximum number of textures allowed.
Defined in `mjrender.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`_.
* - ``mjMAXTHREAD``
- 128
- Maximum number OS threads that can be used in a thread pool.
Defined in `mjthread.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjthread.h>`_.
* - ``mjMAXMATERIAL``
- 1000
- Maximum number of materials with textures.
.. _glNumericUI:
UI constants
~~~~~~~~~~~~
Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
.. list-table::
:widths: 2 1 8
:header-rows: 1
* - symbol
- value
- description
* - ``mjMAXUISECT``
- 10
- Maximum number of UI sections.
Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
* - ``mjMAXUIITEM``
- 200
- Maximum number of items per UI section.
Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
* - ``mjMAXUITEXT``
- 500
- 300
- Maximum number of characters in UI fields 'edittext' and 'other'.
Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
* - ``mjMAXUINAME``
- 40
- Maximum number of characters in any UI name.
Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
* - ``mjMAXUIMULTI``
- 20
- 35
- Maximum number of radio and select items in UI group.
Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
* - ``mjMAXUIEDIT``
- 5
- 7
- Maximum number of elements in UI edit list.
Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
* - ``mjMAXUIRECT``
- 15
- 25
- Maximum number of UI rectangles.
Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
* - ``mjVERSION_HEADER``
- 3005001
- The version of the MuJoCo headers. This is an integer calculated from the version string "S.M.P"
using the formula ``(S * 1e6) + (M * 1e3) + P``. For example, version 4.2.1 is represented as 4002001.
Defined in mujoco.h. The API function :ref:`mj_version` returns a number with the same meaning
but for the compiled library. See
`VERSIONING.md <https://github.com/google-deepmind/mujoco/blob/main/VERSIONING.md>`__ for details.
.. _Macros:
doc/APIreference/functions.rst
+2 -2
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@@ -1252,7 +1252,7 @@ Intersect ray ``pnt+x*vec, x >= 0`` with geoms.
- If ``normal`` is not NULL, write the surface normal at the intersection point. The normal always points **out of the
geometry**, regardless of the ray's direction (i.e., including rays hitting the surface from the inside).
- Exclude geoms in body with id ``bodyexclude``, use -1 to include all bodies.
- ``geomgroup`` is an array of length :ref:`mjNGROUP<glNumeric>`, where 1 means the group should be included. Pass
- ``geomgroup`` is an array of length :ref:`mjNGROUP<glNumericVisualization>`, where 1 means the group should be included. Pass
NULL to skip geom group exclusion.
- If ``flg_static`` is 0, static geoms will be excluded.
@@ -2911,7 +2911,7 @@ each corresponding to one item. The last (unused) item has its type set to -1, t
after the end of the last used section. There is also another version of this function
(:ref:`mjui_addToSection<mjui_addToSection>`) which adds items to a specified section instead of adding them at the end
of the UI. Keep in mind that there is a maximum preallocated number of sections and items per section, given by
:ref:`mjMAXUISECT<glNumeric>` and :ref:`mjMAXUIITEM<glNumeric>`. Exceeding these maxima results in low-level errors.
:ref:`mjMAXUISECT<glNumericUI>` and :ref:`mjMAXUIITEM<glNumericUI>`. Exceeding these maxima results in low-level errors.
.. _mjui_addToSection:
doc/APIreference/functions_override.rst
+2 -2
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@@ -403,7 +403,7 @@ Intersect ray ``pnt+x*vec, x >= 0`` with geoms.
- If ``normal`` is not NULL, write the surface normal at the intersection point. The normal always points **out of the
geometry**, regardless of the ray's direction (i.e., including rays hitting the surface from the inside).
- Exclude geoms in body with id ``bodyexclude``, use -1 to include all bodies.
- ``geomgroup`` is an array of length :ref:`mjNGROUP<glNumeric>`, where 1 means the group should be included. Pass
- ``geomgroup`` is an array of length :ref:`mjNGROUP<glNumericVisualization>`, where 1 means the group should be included. Pass
NULL to skip geom group exclusion.
- If ``flg_static`` is 0, static geoms will be excluded.
@@ -444,7 +444,7 @@ each corresponding to one item. The last (unused) item has its type set to -1, t
after the end of the last used section. There is also another version of this function
(:ref:`mjui_addToSection<mjui_addToSection>`) which adds items to a specified section instead of adding them at the end
of the UI. Keep in mind that there is a maximum preallocated number of sections and items per section, given by
:ref:`mjMAXUISECT<glNumeric>` and :ref:`mjMAXUIITEM<glNumeric>`. Exceeding these maxima results in low-level errors.
:ref:`mjMAXUISECT<glNumericUI>` and :ref:`mjMAXUIITEM<glNumericUI>`. Exceeding these maxima results in low-level errors.
.. _mjui_update: