Implementation:Google deepmind Mujoco mjv freeScene mjr freeContext

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

Overview

Concrete tools for freeing visualization scene and GPU rendering context resources provided by the MuJoCo API.

Description

mjv_freeScene frees all CPU-side scene buffers (geom arrays, flex data, skin data) and resets the scene struct to defaults. mjr_freeContext frees all GPU resources (OpenGL textures, shaders, framebuffer objects, font bitmaps) and resets the context struct.

Usage

Call before application shutdown. Free scene before context. The OpenGL context must still be active when calling mjr_freeContext.

Code Reference

Source Location

• Repository: mujoco
• File (mjv_freeScene): src/engine/engine_vis_init.c
• Lines: 280-305
• File (mjr_freeContext): src/render/render_context.c
• Lines: 1813-1870

Signature

void mjv_freeScene(mjvScene* scn);
void mjr_freeContext(mjrContext* con);

Import

#include <mujoco/mujoco.h>

I/O Contract

Inputs

Name	Type	Required	Description
scn	mjvScene*	Yes	Scene to free
con	mjrContext*	Yes	Context to free (requires active OpenGL)

Outputs

Name	Type	Description
(none)	void	All buffers/GPU resources freed, structs zeroed

Usage Examples

// Application shutdown
mjv_freeScene(&scn);
mjr_freeContext(&con);
mj_deleteData(d);
mj_deleteModel(m);
glfwTerminate();

Related Pages

Implements Principle

• Principle:Google_deepmind_Mujoco_Rendering_Resource_Cleanup