Implementation:Google deepmind Mujoco API References Header

Knowledge Sources	Google_deepmind_Mujoco
Domains	C API, Documentation, Auto-generated Code, Enumerations
Last Updated	2026-02-15 04:00 GMT

Overview

Auto-generated C header file containing the comprehensive set of MuJoCo API enumeration definitions used for documentation reference, including state elements, constraint types, warning types, and timer identifiers.

Description

references.h is an automatically generated header that consolidates all MuJoCo enumeration types for documentation purposes. It defines mjtState (14 state element bitflags including TIME, QPOS, QVEL, ACT, HISTORY, WARMSTART, CTRL, and convenience combinations like PHYSICS, FULLPHYSICS, USER, INTEGRATION), mjtConstraint (8 constraint types from EQUALITY through CONTACT_ELLIPTIC), mjtConstraintState (SATISFIED, QUADRATIC, LINEARNEG, LINEARPOS, CONE), mjtWarning (8 warning types for singular inertia, full contact lists, bad state values), and mjtTimer (internal timing categories for step, forward, inverse, and sub-computations).

Usage

This file is used by the MuJoCo documentation build system to generate API reference pages. It serves as the single source of truth for all enumeration definitions that appear in the documentation. It is not typically included directly by user code.

Code Reference

Source Location

Repository: Google_deepmind_Mujoco
File: doc/includes/references.h
Lines: 1-3743

Key Functions

typedef enum mjtState_ {
  mjSTATE_TIME        = 1<<0,
  mjSTATE_QPOS        = 1<<1,
  mjSTATE_QVEL        = 1<<2,
  mjSTATE_ACT         = 1<<3,
  ...
  mjSTATE_PHYSICS     = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT | mjSTATE_HISTORY,
  mjSTATE_FULLPHYSICS = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
  mjSTATE_INTEGRATION = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
} mjtState;

typedef enum mjtConstraint_ {
  mjCNSTR_EQUALITY = 0,
  mjCNSTR_FRICTION_DOF,
  mjCNSTR_CONTACT_FRICTIONLESS,
  mjCNSTR_CONTACT_PYRAMIDAL,
  mjCNSTR_CONTACT_ELLIPTIC
} mjtConstraint;

typedef enum mjtWarning_ {
  mjWARN_INERTIA = 0,
  mjWARN_CONTACTFULL,
  mjWARN_CNSTRFULL,
  ...
} mjtWarning;

typedef enum mjtTimer_ {
  mjTIMER_STEP = 0,
  mjTIMER_FORWARD,
  mjTIMER_INVERSE,
  ...
} mjtTimer;

Import

// Auto-generated for documentation; not typically #included directly
// Enumerations are defined in mjmodel.h for runtime use
#include "doc/includes/references.h"

I/O Contract

Inputs

Name	Type	Required	Description
(auto-generated definitions)	N/A	N/A	No runtime inputs; provides enumeration definitions for documentation

Outputs

Name	Type	Description
mjtState	enum	14 state element bitflags with convenience combinations (PHYSICS, FULLPHYSICS, USER, INTEGRATION)
mjtConstraint	enum	8 constraint types (equality, friction, limit, contact variants)
mjtConstraintState	enum	5 constraint state values for solver cost functions
mjtWarning	enum	8 runtime warning types for numerical issues and resource limits
mjtTimer	enum	Internal timing identifiers for profiling simulation substeps

Related Pages

Google_deepmind_Mujoco_MjModel_Header - Runtime header where these enumerations are also defined
Google_deepmind_Mujoco_MjSpec_Header - Model specification header with related type definitions

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Implementation

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