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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/computation/index.rst
+7 -7
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@@ -1621,17 +1621,17 @@ will generate up to 1 contact or with ``multiccd`` up to 4 contacts.
| **1**
* - HField
- | HFieldCCD
| :ref:`mjMAXCONPAIR <glNumeric>`
| :ref:`mjMAXCONPAIR <glNumericEngine>`
- | HFieldCCD
| :ref:`mjMAXCONPAIR <glNumeric>`
| :ref:`mjMAXCONPAIR <glNumericEngine>`
- | HFieldCCD
| :ref:`mjMAXCONPAIR <glNumeric>`
| :ref:`mjMAXCONPAIR <glNumericEngine>`
- | HFieldCCD
| :ref:`mjMAXCONPAIR <glNumeric>`
| :ref:`mjMAXCONPAIR <glNumericEngine>`
- | HFieldCCD
| :ref:`mjMAXCONPAIR <glNumeric>`
| :ref:`mjMAXCONPAIR <glNumericEngine>`
- | HFieldCCD
| :ref:`mjMAXCONPAIR <glNumeric>`
| :ref:`mjMAXCONPAIR <glNumericEngine>`
- | HFieldSDF
| :ref:`sdf_initpoints <option-sdf_initpoints>`
* - Sphere
@@ -1762,7 +1762,7 @@ sleeping mechanism is provided in the :ref:`Simulation chapter<siSleep>` but her
Sleeping can occur in one of two ways:
- **Automatic:** A tree whose maximum velocity in absolute value is less than the
:ref:`tolerance <option-sleep_tolerance>` for :ref:`mjMINAWAKE <glNumeric>` time steps is marked as "ready to sleep".
:ref:`tolerance <option-sleep_tolerance>` for :ref:`mjMINAWAKE <glNumericEngine>` time steps is marked as "ready to sleep".
If all trees in an island are ready to sleep, they are put to sleep during state advancement.
- **Initialized asleep:** By setting the :ref:`body/sleep<body-sleep>` attribute of a tree root to "init", it is
marked as "initialized-asleep" and put to sleep during :ref:`mjData` initialization.