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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/programming/index.rst
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@@ -200,7 +200,7 @@ The situation is more subtle if existing code was developed with a certain versi
compiled and linked with a different version. If the definitions of the API functions used in that code have changed,
either the compiler or the linker will generate errors. But even if the function definitions have not changed, it may
still be a good idea to assert that the software version is the same. To this end, the main header (mujoco.h) defines
the symbol :ref:`mjVERSION_HEADER <glNumeric>` and the library provides the function
the symbol :ref:`mjVERSION_HEADER <glNumericVersion>` and the library provides the function
:ref:`mj_version`. Thus the header and library versions can be compared with:
.. code-block:: C
doc/programming/simulation.rst
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@@ -1098,7 +1098,7 @@ implementation details.
The high level sleep state of :ref:`trees<ElemTree>` is described by ``mjData.tree_asleep`` (though see caveat below). A
negative value means a tree is awake, non-negative means asleep. Maximally awake trees are given the value - |-| (1 |-|
+ |-| :ref:`mjMINAWAKE<glNumeric>`), and for every timestep where their velocity falls below the sleep :ref:`tolerance
+ |-| :ref:`mjMINAWAKE<glNumericEngine>`), and for every timestep where their velocity falls below the sleep :ref:`tolerance
<option-sleep_tolerance>`, this integer is incremented, up to -1, which means "ready to sleep". If all trees in an
island are ready to sleep, they are put to sleep during state advancement and their associated values in ``tree_asleep``
are set to a (non-negative) index cycle: the "sleeping island". If any tree in the island is woken, all are woken.
@@ -1213,7 +1213,7 @@ Notes
**Provisional choices**
Some implementation choices are provisional and subject to change.
A concrete example is the decision to hard-code the value of :ref:`mjMINAWAKE<glNumeric>` instead of exposing it to
A concrete example is the decision to hard-code the value of :ref:`mjMINAWAKE<glNumericEngine>` instead of exposing it to
the user as a runtime option. This was done for two reasons. First, in our experiments, we've found that changing this
value is equivalent to changing the :ref:`sleep_tolerance<option-sleep_tolerance>`, which is the more useful knob.
Second, one could argue for a time-to-sleep semantic that is in units of time rather than an integer number of