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| .. _API: | |
| ========= | |
| Functions | |
| ========= | |
| 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:`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:`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:`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 | |