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.. _API:

========= Functions

.. tip:: Clicking on a function name below will take you to the source implementation in the GitHub repository.

The main header mujoco.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mujoco.h>_ exposes a large number of functions. However the functions that most users are likely to need are a small fraction.

API function can be classified as:

• Main entry points

  • :ref:Parse and compile<Parseandcompile> an :ref:mjModel from XML files and assets.
  • :ref:Main simulation<Mainsimulation> entry points, including :ref:mj_step.

• Support functions

  • :ref:Support<Support> functions requiring :ref:mjModel and :ref:mjData.
  • Pipeline :ref:components<Components>, called from :ref:mj_step, :ref:mj_forward and :ref:mj_inverse.
  • :ref:Sub components<Subcomponents> of the simulation pipeline.
  • :ref:Ray casting<Raycollisions>.
  • :ref:Printing<Printing> of various quantities.
  • :ref:Virtual file system<Virtualfilesystem>, used to load assets from memory.
  • :ref:Asset cache<Assetcache>, used to speed up model compilation.
  • :ref:Resources<Resources>, interfacing with resource providers to load assets.
  • :ref:Initialization<Initialization> of data structures.
  • :ref:Error and memory<Errorandmemory>.
  • :ref:Miscellaneous<Miscellaneous> functions.

• Visualization, Rendering, UI

  • :ref:Abstract interaction<Interaction>: mouse control of cameras and perturbations.
  • :ref:Abstract Visualization<Visualization-api>.
  • :ref:OpenGL rendering<OpenGLrendering>.
  • :ref:UI framework<UIframework>.

• Threads, Plugins, Derivatives

  • :ref:Derivatives<Derivatives-api>.
  • :ref:Signed Distance Functions<Signeddistancefunction>.
  • :ref:Thread<Thread> |-| -related functions.
  • :ref:Plugin<Plugins-api> |-| -related functions.

• Math

  • Aliases for C :ref:standard math<Standardmath> functions.
  • :ref:Vector math<Vectormath>.
  • :ref:Sparse math<Sparsemath>.
  • :ref:Quaternions<Quaternions>.
  • :ref:Pose transformations<Poses>.
  • :ref:Matrix decompositions and solvers<Decompositions>.

• Model editing

  • :ref:Attachment<Attachment>.
  • :ref:Tree elements<AddTreeElements>.
  • :ref:Non-tree elements<AddNonTreeElements>.
  • :ref:Set actuator parameters<Setactuatorparameters>.
  • :ref:Assets<AddAssets>.
  • :ref:Find and get utilities<FindAndGetUtilities>.
  • :ref:Attribute setters<AttributeSetters>.
  • :ref:Attribute getters<AttributeGetters>.
  • :ref:Spec utilities<SpecUtilities>.
  • :ref:Element initialization<ElementInitialization>.
  • :ref:Element casting<ElementCasting>.

.. include:: functions.rst