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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/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