mujoco

// Copyright 2025 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef MUJOCO_SRC_ENGINE_ENGINE_INIT_H_
#define MUJOCO_SRC_ENGINE_ENGINE_INIT_H_

#include <mujoco/mujoco.h>

// set default options for length range computation
void mj_defaultLROpt(mjLROpt* opt);

// set model options to default values
void mj_defaultOption(mjOption* opt);

// set visual options to default values
void mj_defaultVisual(mjVisual* vis);

// set statistics to default values
void mj_defaultStatistic(mjStatistic* stat);

// set solver parameters to default values
void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);

#endif  // MUJOCO_SRC_ENGINE_ENGINE_INIT_H_