Implementation:Google deepmind Mujoco mj deleteData mj deleteModel

Knowledge Sources	MuJoCo MuJoCo API Reference
Domains	Memory_Management, Physics_Simulation
Last Updated	2026-02-15 06:00 GMT

Overview

Concrete tools for deallocating MuJoCo simulation data and model structures provided by the MuJoCo C API.

Description

mj_deleteData frees all memory associated with an mjData structure (arena, plugin instances, data buffer). mj_deleteModel frees all memory associated with an mjModel structure. Both functions safely handle NULL pointers.

Usage

Call mj_deleteData first, then mj_deleteModel when shutting down a simulation. These must be called for every corresponding allocation to avoid memory leaks.

Code Reference

Source Location

• Repository: mujoco
• File: src/engine/engine_io.c
• Lines (mj_deleteData): 1571-1576
• Lines (mj_deleteModel): 666-671

Signature

void mj_deleteData(mjData* d);
void mj_deleteModel(mjModel* m);

Import

#include <mujoco/mujoco.h>

I/O Contract

Inputs

Name	Type	Required	Description
d	mjData*	No	Simulation data to free (NULL safe)
m	mjModel*	No	Model to free (NULL safe)

Outputs

Name	Type	Description
(none)	void	All associated memory is freed

Usage Examples

#include <mujoco/mujoco.h>

mjModel* m = mj_loadXML("model.xml", NULL, error, 1000);
mjData* d = mj_makeData(m);

// ... simulation ...

// Cleanup in reverse order of allocation
mj_deleteData(d);
mj_deleteModel(m);

Related Pages

Implements Principle

• Principle:Google_deepmind_Mujoco_Resource_Cleanup