Implementation:Google deepmind Mujoco mj validateReferences

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

Overview

Concrete tool for validating internal reference integrity of a compiled MuJoCo model provided by the MuJoCo C API.

Description

The mj_validateReferences function checks all internal cross-references in an mjModel using the X-macro expansion system to iterate over all pointer arrays. It validates that every integer reference (body ID, joint ID, geom ID, etc.) falls within the valid range for its target array.

Usage

Called automatically during binary model loading. Can be called explicitly after programmatic model modification to catch reference errors.

Code Reference

Source Location

• Repository: mujoco
• File: src/engine/engine_io.c
• Lines: 1721-2111

Signature

const char* mj_validateReferences(const mjModel* m);

Import

#include <mujoco/mujoco.h>

I/O Contract

Inputs

Name	Type	Required	Description
m	const mjModel*	Yes	Compiled model to validate

Outputs

Name	Type	Description
return	const char*	NULL if valid; error message string if invalid

Usage Examples

#include <mujoco/mujoco.h>

mjModel* m = mj_loadModel("robot.mjb", NULL);
if (m) {
    const char* err = mj_validateReferences(m);
    if (err) {
        printf("Validation error: %s\n", err);
        mj_deleteModel(m);
        return 1;
    }
}

Related Pages

Implements Principle

• Principle:Google_deepmind_Mujoco_Model_Validation