From 5646c905cd4fcf28cba15876431afc5deb9a811d Mon Sep 17 00:00:00 2001
From: Saran Tunyasuvunakool <stunya@google.com>
Date: Thu, 13 Apr 2023 04:23:41 -0700
Subject: [PATCH] Rename a few functions and variables to be a bit more
 Googley.

PiperOrigin-RevId: 523963645
Change-Id: Ife7ed3f44aa83c64dfbdc3ca78ee6de2092b0d63
---
 python/mujoco/simulate.cc |  33 +++---
 python/mujoco/viewer.py   |  24 ++--
 simulate/main.cc          |  36 +++---
 simulate/simulate.cc      | 238 +++++++++++++++++++-------------------
 simulate/simulate.h       |  50 ++++----
 5 files changed, 191 insertions(+), 190 deletions(-)

diff --git a/python/mujoco/simulate.cc b/python/mujoco/simulate.cc
index df7e42e6..728b052b 100644
--- a/python/mujoco/simulate.cc
+++ b/python/mujoco/simulate.cc
@@ -52,19 +52,20 @@ PYBIND11_MODULE(_simulate, pymodule) {
       }))
       .def(
           "renderloop",
-          [](mujoco::Simulate& simulate) { simulate.renderloop(); },
+          [](mujoco::Simulate& simulate) { simulate.RenderLoop(); },
           py::call_guard<py::gil_scoped_release>())
       .def(
           "load",
           [](mujoco::Simulate& simulate, const std::string& path,
              MjModelWrapper& m, MjDataWrapper& d) {
-            simulate.load(path.c_str(), m.get(), d.get());
+            simulate.Load(m.get(), d.get(), path.c_str());
           },
           py::call_guard<py::gil_scoped_release>())
-      .def("applyposepertubations", &mujoco::Simulate::applyposepertubations,
+      .def("apply_pose_perturbations",
+           &mujoco::Simulate::ApplyPosePerturbations,
            py::call_guard<py::gil_scoped_release>())
-      .def("applyforceperturbations",
-           &mujoco::Simulate::applyforceperturbations,
+      .def("apply_force_perturbations",
+           &mujoco::Simulate::ApplyForcePerturbations,
            py::call_guard<py::gil_scoped_release>())
 
       .def(
@@ -74,18 +75,18 @@ PYBIND11_MODULE(_simulate, pymodule) {
           },
           py::call_guard<py::gil_scoped_release>(),
           py::return_value_policy::reference)
-      .def_readonly("ctrlnoisestd", &mujoco::Simulate::ctrlnoisestd,
+      .def_readonly("ctrl_noise_std", &mujoco::Simulate::ctrl_noise_std,
                     py::call_guard<py::gil_scoped_release>())
-      .def_readonly("ctrlnoiserate", &mujoco::Simulate::ctrlnoiserate,
+      .def_readonly("ctrl_noise_rate", &mujoco::Simulate::ctrl_noise_rate,
                     py::call_guard<py::gil_scoped_release>())
 
-      .def_readonly("real_time_index", &mujoco::Simulate::realTimeIndex,
+      .def_readonly("real_time_index", &mujoco::Simulate::real_time_index,
                     py::call_guard<py::gil_scoped_release>())
-      .def_readwrite("speed_changed", &mujoco::Simulate::speedChanged,
+      .def_readwrite("speed_changed", &mujoco::Simulate::speed_changed,
                      py::call_guard<py::gil_scoped_release>())
-      .def_readwrite("measured_slowdown", &mujoco::Simulate::measuredSlowdown,
+      .def_readwrite("measured_slowdown", &mujoco::Simulate::measured_slowdown,
                      py::call_guard<py::gil_scoped_release>())
-      .def_readonly("refresh_rate", &mujoco::Simulate::refreshRate,
+      .def_readonly("refresh_rate", &mujoco::Simulate::refresh_rate,
                     py::call_guard<py::gil_scoped_release>())
 
       .def_readonly("busywait", &mujoco::Simulate::busywait,
@@ -140,15 +141,15 @@ PYBIND11_MODULE(_simulate, pymodule) {
       .def_property(
           "load_error",
           [](mujoco::Simulate& simulate) -> std::string {
-            return simulate.loadError;
+            return simulate.load_error;
           },
           [](mujoco::Simulate& simulate, const std::string& error) {
-            const auto max_length = sizeof_arr(simulate.loadError);
-            std::strncpy(simulate.loadError, error.c_str(), max_length - 1);
-            simulate.loadError[max_length - 1] = '\0';
+            const auto max_length = sizeof_arr(simulate.load_error);
+            std::strncpy(simulate.load_error, error.c_str(), max_length - 1);
+            simulate.load_error[max_length - 1] = '\0';
           });
 
-  pymodule.def("setglfwdlhandle", [](std::uintptr_t dlhandle) {
+  pymodule.def("set_glfw_dlhandle", [](std::uintptr_t dlhandle) {
     mujoco::Glfw(reinterpret_cast<void*>(dlhandle));
   });
 }
diff --git a/python/mujoco/viewer.py b/python/mujoco/viewer.py
index 8511ae10..b5d30642 100644
--- a/python/mujoco/viewer.py
+++ b/python/mujoco/viewer.py
@@ -33,7 +33,7 @@ import numpy as np
 if not glfw._glfw:  # pylint: disable=protected-access
   raise RuntimeError('GLFW dynamic library handle is not available')
 else:
-  _simulate.setglfwdlhandle(glfw._glfw._handle)  # pylint: disable=protected-access
+  _simulate.set_glfw_dlhandle(glfw._glfw._handle)  # pylint: disable=protected-access
 
 # Logarithmically spaced realtime slow-down coefficients (percent).
 PERCENT_REALTIME = (
@@ -100,7 +100,7 @@ def _reload(
     assert m is not None and d is not None
 
     path = load_tuple[2] if len(load_tuple) == 3 else ''
-    simulate.load(path, m, d)
+    simulate.load(m, d, path)
 
     return m, d
 
@@ -109,7 +109,7 @@ def _physics_loop(simulate: Simulate, loader: Optional[_InternalLoaderType]):
   """Physics loop for the GUI, to be run in a separate thread."""
   m: mujoco.MjModel = None
   d: mujoco.MjData = None
-  ctrlnoise = np.array([])
+  ctrl_noise = np.array([])
   reload = True
 
   # CPU-sim synchronization point.
@@ -131,7 +131,7 @@ def _physics_loop(simulate: Simulate, loader: Optional[_InternalLoaderType]):
       result = _reload(simulate, loader)
       if result is not None:
         m, d = result
-        ctrlnoise = np.zeros((m.nu,))
+        ctrl_noise = np.zeros((m.nu,))
 
     reload = False
 
@@ -152,19 +152,19 @@ def _physics_loop(simulate: Simulate, loader: Optional[_InternalLoaderType]):
           elapsedsim = d.time - syncsim
 
           # Inject noise.
-          if simulate.ctrlnoisestd != 0.0:
+          if simulate.ctrl_noise_std != 0.0:
             # Convert rate and scale to discrete time (Ornstein–Uhlenbeck).
             rate = math.exp(-m.opt.timestep /
-                            max(simulate.ctrlnoiserate, mujoco.mjMINVAL))
-            scale = simulate.ctrlnoisestd * math.sqrt(1 - rate * rate)
+                            max(simulate.ctrl_noise_rate, mujoco.mjMINVAL))
+            scale = simulate.ctrl_noise_std * math.sqrt(1 - rate * rate)
 
             for i in range(m.nu):
               # Update noise.
-              ctrlnoise[i] = (
-                  rate * ctrlnoise[i] + scale * mujoco.mju_standardNormal(None))
+              ctrl_noise[i] = (rate * ctrl_noise[i] +
+                               scale * mujoco.mju_standardNormal(None))
 
               # Apply noise.
-              d.ctrl[i] = ctrlnoise[i]
+              d.ctrl[i] = ctrl_noise[i]
 
           # Requested slow-down factor.
           slowdown = 100 / PERCENT_REALTIME[simulate.real_time_index]
@@ -183,8 +183,8 @@ def _physics_loop(simulate: Simulate, loader: Optional[_InternalLoaderType]):
 
             # Clear old perturbations, apply new.
             d.xfrc_applied[:, :] = 0
-            simulate.applyposepertubations(0)  # Move mocap bodies only.
-            simulate.applyforceperturbations()
+            simulate.apply_pose_perturbations(0)  # Move mocap bodies only.
+            simulate.apply_force_perturbations()
 
             # Run single step, let next iteration deal with timing.
             mujoco.mj_step(m, d)
diff --git a/simulate/main.cc b/simulate/main.cc
index 76642774..b02daf9c 100644
--- a/simulate/main.cc
+++ b/simulate/main.cc
@@ -233,7 +233,7 @@ mjModel* LoadModel(const char* file, mj::Simulate& sim) {
     }
   }
 
-  mju::strcpy_arr(sim.loadError, loadError);
+  mju::strcpy_arr(sim.load_error, loadError);
 
   if (!mnew) {
     std::printf("%s\n", loadError);
@@ -265,7 +265,7 @@ void PhysicsLoop(mj::Simulate& sim) {
       mjData* dnew = nullptr;
       if (mnew) dnew = mj_makeData(mnew);
       if (dnew) {
-        sim.load(sim.dropfilename, mnew, dnew);
+        sim.Load(mnew, dnew, sim.dropfilename);
 
         mj_deleteData(d);
         mj_deleteModel(m);
@@ -287,7 +287,7 @@ void PhysicsLoop(mj::Simulate& sim) {
       mjData* dnew = nullptr;
       if (mnew) dnew = mj_makeData(mnew);
       if (dnew) {
-        sim.load(sim.filename, mnew, dnew);
+        sim.Load(mnew, dnew, sim.filename);
 
         mj_deleteData(d);
         mj_deleteModel(m);
@@ -327,10 +327,10 @@ void PhysicsLoop(mj::Simulate& sim) {
           double elapsedSim = d->time - syncSim;
 
           // inject noise
-          if (sim.ctrlnoisestd) {
+          if (sim.ctrl_noise_std) {
             // convert rate and scale to discrete time (Ornstein–Uhlenbeck)
-            mjtNum rate = mju_exp(-m->opt.timestep / mju_max(sim.ctrlnoiserate, mjMINVAL));
-            mjtNum scale = sim.ctrlnoisestd * mju_sqrt(1-rate*rate);
+            mjtNum rate = mju_exp(-m->opt.timestep / mju_max(sim.ctrl_noise_rate, mjMINVAL));
+            mjtNum scale = sim.ctrl_noise_std * mju_sqrt(1-rate*rate);
 
             for (int i=0; i<m->nu; i++) {
               // update noise
@@ -342,7 +342,7 @@ void PhysicsLoop(mj::Simulate& sim) {
           }
 
           // requested slow-down factor
-          double slowdown = 100 / sim.percentRealTime[sim.realTimeIndex];
+          double slowdown = 100 / sim.percentRealTime[sim.real_time_index];
 
           // misalignment condition: distance from target sim time is bigger than syncmisalign
           bool misaligned =
@@ -350,16 +350,16 @@ void PhysicsLoop(mj::Simulate& sim) {
 
           // out-of-sync (for any reason): reset sync times, step
           if (elapsedSim < 0 || elapsedCPU.count() < 0 || syncCPU.time_since_epoch().count() == 0 ||
-              misaligned || sim.speedChanged) {
+              misaligned || sim.speed_changed) {
             // re-sync
             syncCPU = startCPU;
             syncSim = d->time;
-            sim.speedChanged = false;
+            sim.speed_changed = false;
 
             // clear old perturbations, apply new
             mju_zero(d->xfrc_applied, 6*m->nbody);
-            sim.applyposepertubations(0);  // move mocap bodies only
-            sim.applyforceperturbations();
+            sim.ApplyPosePerturbations(0);  // move mocap bodies only
+            sim.ApplyForcePerturbations();
 
             // run single step, let next iteration deal with timing
             mj_step(m, d);
@@ -370,22 +370,22 @@ void PhysicsLoop(mj::Simulate& sim) {
             bool measured = false;
             mjtNum prevSim = d->time;
 
-            double refreshTime = simRefreshFraction/sim.refreshRate;
+            double refreshTime = simRefreshFraction/sim.refresh_rate;
 
             // step while sim lags behind cpu and within refreshTime
             while (Seconds((d->time - syncSim)*slowdown) < mj::Simulate::Clock::now() - syncCPU &&
                    mj::Simulate::Clock::now() - startCPU < Seconds(refreshTime)) {
               // measure slowdown before first step
               if (!measured && elapsedSim) {
-                sim.measuredSlowdown =
+                sim.measured_slowdown =
                     std::chrono::duration<double>(elapsedCPU).count() / elapsedSim;
                 measured = true;
               }
 
               // clear old perturbations, apply new
               mju_zero(d->xfrc_applied, 6*m->nbody);
-              sim.applyposepertubations(0);  // move mocap bodies only
-              sim.applyforceperturbations();
+              sim.ApplyPosePerturbations(0);  // move mocap bodies only
+              sim.ApplyForcePerturbations();
 
               // call mj_step
               mj_step(m, d);
@@ -401,7 +401,7 @@ void PhysicsLoop(mj::Simulate& sim) {
         // paused
         else {
           // apply pose perturbation
-          sim.applyposepertubations(1);  // move mocap and dynamic bodies
+          sim.ApplyPosePerturbations(1);  // move mocap and dynamic bodies
 
           // run mj_forward, to update rendering and joint sliders
           mj_forward(m, d);
@@ -420,7 +420,7 @@ void PhysicsThread(mj::Simulate* sim, const char* filename) {
     m = LoadModel(filename, *sim);
     if (m) d = mj_makeData(m);
     if (d) {
-      sim->load(filename, m, d);
+      sim->Load(m, d, filename);
       mj_forward(m, d);
 
       // allocate ctrlnoise
@@ -481,7 +481,7 @@ int main(int argc, const char** argv) {
   std::thread physicsthreadhandle(&PhysicsThread, sim.get(), filename);
 
   // start simulation UI loop (blocking call)
-  sim->renderloop();
+  sim->RenderLoop();
   physicsthreadhandle.join();
 
   return 0;
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 2aa71524..dc000288 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -138,7 +138,7 @@ const char help_title[] =
 //-------------------------------- profiler, sensor, info, watch -----------------------------------
 
 // init profiler figures
-void profilerinit(mj::Simulate* sim) {
+void InitializeProfiler(mj::Simulate* sim) {
   // set figures to default
   mjv_defaultFigure(&sim->figconstraint);
   mjv_defaultFigure(&sim->figcost);
@@ -231,7 +231,7 @@ void profilerinit(mj::Simulate* sim) {
 }
 
 // update profiler figures
-void profilerupdate(mj::Simulate* sim) {
+void UpdateProfiler(mj::Simulate* sim) {
   // update constraint figure
   sim->figconstraint.linepnt[0] = mjMIN(mjMIN(sim->d->solver_iter, mjNSOLVER), mjMAXLINEPNT);
   for (int i=1; i<5; i++) {
@@ -338,7 +338,7 @@ void profilerupdate(mj::Simulate* sim) {
 }
 
 // show profiler figures
-void profilershow(mj::Simulate* sim, mjrRect rect) {
+void ShowProfiler(mj::Simulate* sim, mjrRect rect) {
   mjrRect viewport = {
     rect.left + rect.width - rect.width/4,
     rect.bottom,
@@ -356,7 +356,7 @@ void profilershow(mj::Simulate* sim, mjrRect rect) {
 
 
 // init sensor figure
-void sensorinit(mj::Simulate* sim) {
+void InitializeSensor(mj::Simulate* sim) {
   mjvFigure& figsensor = sim->figsensor;
 
   // set figure to default
@@ -386,7 +386,7 @@ void sensorinit(mj::Simulate* sim) {
 }
 
 // update sensor figure
-void sensorupdate(mj::Simulate* sim) {
+void UpdateSensor(mj::Simulate* sim) {
   mjModel* m = sim->m;
   mjvFigure& figsensor = sim->figsensor;
   static const int maxline = 10;
@@ -436,7 +436,7 @@ void sensorupdate(mj::Simulate* sim) {
 }
 
 // show sensor figure
-void sensorshow(mj::Simulate* sim, mjrRect rect) {
+void ShowSensor(mj::Simulate* sim, mjrRect rect) {
   // constant width with and without profiler
   int width = sim->profiler ? rect.width/3 : rect.width/4;
 
@@ -451,7 +451,7 @@ void sensorshow(mj::Simulate* sim, mjrRect rect) {
 }
 
 // prepare info text
-void infotext(mj::Simulate* sim,
+void UpdateInfoText(mj::Simulate* sim,
               char (&title)[mj::Simulate::kMaxFilenameLength],
               char (&content)[mj::Simulate::kMaxFilenameLength],
               double interval) {
@@ -507,12 +507,12 @@ void infotext(mj::Simulate* sim,
 }
 
 // sprintf forwarding, to avoid compiler warning in x-macro
-void printfield(char (&str)[mjMAXUINAME], void* ptr) {
+void PrintField(char (&str)[mjMAXUINAME], void* ptr) {
   mju::sprintf_arr(str, "%g", *static_cast<mjtNum*>(ptr));
 }
 
 // update watch
-void watch(mj::Simulate* sim) {
+void UpdateWatch(mj::Simulate* sim) {
   // clear
   sim->ui0.sect[SECT_WATCH].item[2].multi.nelem = 1;
   mju::strcpy_arr(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid field");
@@ -525,7 +525,7 @@ void watch(mj::Simulate* sim) {
     if (!mju::strcmp_arr(#NAME, sim->field) &&                                                   \
         !mju::strcmp_arr(#TYPE, "mjtNum")) {                                                     \
       if (sim->index >= 0 && sim->index < sim->m->NR * NC) {                                     \
-        printfield(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], sim->d->NAME + sim->index);  \
+        PrintField(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], sim->d->NAME + sim->index);  \
       } else {                                                                                   \
         mju::strcpy_arr(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid index");       \
       }                                                                                          \
@@ -540,7 +540,7 @@ void watch(mj::Simulate* sim) {
 //---------------------------------- UI construction -----------------------------------------------
 
 // make physics section of UI
-void makephysics(mj::Simulate* sim, int oldstate) {
+void MakePhysicsSection(mj::Simulate* sim, int oldstate) {
   mjOption& opt = sim->m->opt;
 
   mjuiDef defPhysics[] = {
@@ -608,7 +608,7 @@ void makephysics(mj::Simulate* sim, int oldstate) {
 
 
 // make rendering section of UI
-void makerendering(mj::Simulate* sim, int oldstate) {
+void MakeRenderingSection(mj::Simulate* sim, int oldstate) {
   mjuiDef defRendering[] = {
     {
       mjITEM_SECTION,
@@ -628,7 +628,7 @@ void makerendering(mj::Simulate* sim, int oldstate) {
       mjITEM_SELECT,
       "Label",
       2,
-      &(sim->vopt.label),
+      &(sim->opt.label),
       "None\nBody\nJoint\nGeom\nSite\nCamera\nLight\nTendon\n"
       "Actuator\nConstraint\nSkin\nSelection\nSel Pnt\nContact\nForce"
     },
@@ -636,7 +636,7 @@ void makerendering(mj::Simulate* sim, int oldstate) {
       mjITEM_SELECT,
       "Frame",
       2,
-      &(sim->vopt.frame),
+      &(sim->opt.frame),
       "None\nBody\nGeom\nSite\nCamera\nLight\nContact\nWorld"
     },
     {
@@ -703,7 +703,7 @@ void makerendering(mj::Simulate* sim, int oldstate) {
     } else {
       mju::sprintf_arr(defFlag[0].other, "");
     }
-    defFlag[0].pdata = sim->vopt.flags + i;
+    defFlag[0].pdata = sim->opt.flags + i;
     mjui_add(&sim->ui0, defFlag);
   }
 
@@ -729,8 +729,8 @@ void makerendering(mj::Simulate* sim, int oldstate) {
 
 
 // make group section of UI
-void makegroup(mj::Simulate* sim, int oldstate) {
-  mjvOption& vopt = sim->vopt;
+void MakeGroupSection(mj::Simulate* sim, int oldstate) {
+  mjvOption& vopt = sim->opt;
   mjuiDef defGroup[] = {
     {mjITEM_SECTION,    "Group enable",     oldstate, nullptr,          "AG"},
     {mjITEM_SEPARATOR,  "Geom groups",  1},
@@ -783,7 +783,7 @@ void makegroup(mj::Simulate* sim, int oldstate) {
 }
 
 // make joint section of UI
-void makejoint(mj::Simulate* sim, int oldstate) {
+void MakeJointSection(mj::Simulate* sim, int oldstate) {
 
   mjuiDef defJoint[] = {
     {mjITEM_SECTION, "Joint", oldstate, nullptr, "AJ"},
@@ -803,7 +803,7 @@ void makejoint(mj::Simulate* sim, int oldstate) {
   for (int i=0; i<sim->m->njnt && itemcnt<mjMAXUIITEM; i++)
     if ((sim->m->jnt_type[i]==mjJNT_HINGE || sim->m->jnt_type[i]==mjJNT_SLIDE)) {
       // skip if joint group is disabled
-      if (!sim->vopt.jointgroup[mjMAX(0, mjMIN(mjNGROUP-1, sim->m->jnt_group[i]))]) {
+      if (!sim->opt.jointgroup[mjMAX(0, mjMIN(mjNGROUP-1, sim->m->jnt_group[i]))]) {
         continue;
       }
 
@@ -832,7 +832,7 @@ void makejoint(mj::Simulate* sim, int oldstate) {
 }
 
 // make control section of UI
-void makecontrol(mj::Simulate* sim, int oldstate) {
+void MakeControlSection(mj::Simulate* sim, int oldstate) {
   mjuiDef defControl[] = {
     {mjITEM_SECTION, "Control", oldstate, nullptr, "AC"},
     {mjITEM_BUTTON,  "Clear all", 2},
@@ -851,7 +851,7 @@ void makecontrol(mj::Simulate* sim, int oldstate) {
   int itemcnt = 1;
   for (int i=0; i<sim->m->nu && itemcnt<mjMAXUIITEM; i++) {
     // skip if actuator group is disabled
-    if (!sim->vopt.actuatorgroup[mjMAX(0, mjMIN(mjNGROUP-1, sim->m->actuator_group[i]))]) {
+    if (!sim->opt.actuatorgroup[mjMAX(0, mjMIN(mjNGROUP-1, sim->m->actuator_group[i]))]) {
       continue;
     }
 
@@ -878,7 +878,7 @@ void makecontrol(mj::Simulate* sim, int oldstate) {
 }
 
 // make model-dependent UI sections
-void makesections(mj::Simulate* sim) {
+void MakeUiSections(mj::Simulate* sim) {
   // get section open-close state, UI 0
   int oldstate0[NSECT0];
   for (int i=0; i<NSECT0; i++) {
@@ -902,24 +902,24 @@ void makesections(mj::Simulate* sim) {
   sim->ui1.nsect = 0;
 
   // make
-  makephysics(sim, oldstate0[SECT_PHYSICS]);
-  makerendering(sim, oldstate0[SECT_RENDERING]);
-  makegroup(sim, oldstate0[SECT_GROUP]);
-  makejoint(sim, oldstate1[SECT_JOINT]);
-  makecontrol(sim, oldstate1[SECT_CONTROL]);
+  MakePhysicsSection(sim, oldstate0[SECT_PHYSICS]);
+  MakeRenderingSection(sim, oldstate0[SECT_RENDERING]);
+  MakeGroupSection(sim, oldstate0[SECT_GROUP]);
+  MakeJointSection(sim, oldstate1[SECT_JOINT]);
+  MakeControlSection(sim, oldstate1[SECT_CONTROL]);
 }
 
 //---------------------------------- utility functions ---------------------------------------------
 
 // align and scale view
-void alignscale(mj::Simulate* sim) {
+void AlignAndScaleView(mj::Simulate* sim) {
   // use default free camera parameters
   mjv_defaultFreeCamera(sim->m, &sim->cam);
 }
 
 
 // copy qpos to clipboard as key
-void copykey(mj::Simulate* sim) {
+void CopyKey(mj::Simulate* sim) {
   char clipboard[5000] = "<key qpos='";
   char buf[200];
 
@@ -935,12 +935,12 @@ void copykey(mj::Simulate* sim) {
 }
 
 // millisecond timer, for MuJoCo built-in profiler
-mjtNum timer() {
+mjtNum Timer() {
   return Milliseconds(mj::Simulate::Clock::now().time_since_epoch()).count();
 }
 
 // clear all times
-void cleartimers(mjData* d) {
+void ClearTimeres(mjData* d) {
   for (int i=0; i<mjNTIMER; i++) {
     d->timer[i].duration = 0;
     d->timer[i].number = 0;
@@ -948,7 +948,7 @@ void cleartimers(mjData* d) {
 }
 
 // copy current camera to clipboard as MJCF specification
-void copycamera(mj::Simulate* sim) {
+void CopyCamera(mj::Simulate* sim) {
   mjvGLCamera* camera = sim->scn.camera;
 
   char clipboard[500];
@@ -975,7 +975,7 @@ void copycamera(mj::Simulate* sim) {
 }
 
 // update UI 0 when MuJoCo structures change (except for joint sliders)
-void updatesettings(mj::Simulate* sim) {
+void UpdateSettings(mj::Simulate* sim) {
   // physics flags
   for (int i=0; i<mjNDISABLE; i++) {
     sim->disable[i] = ((sim->m->opt.disableflags & (1<<i)) !=0);
@@ -1026,7 +1026,7 @@ int ComputeFontScale(const mj::PlatformUIAdapter& platform_ui) {
 //---------------------------------- UI handlers ---------------------------------------------------
 
 // determine enable/disable item state given category
-int uiPredicate(int category, void* userdata) {
+int UiPredicate(int category, void* userdata) {
   mj::Simulate* sim = static_cast<mj::Simulate*>(userdata);
 
   switch (category) {
@@ -1045,7 +1045,7 @@ int uiPredicate(int category, void* userdata) {
 }
 
 // set window layout
-void uiLayout(mjuiState* state) {
+void UiLayout(mjuiState* state) {
   mj::Simulate* sim = static_cast<mj::Simulate*>(state->userdata);
   mjrRect* rect = state->rect;
 
@@ -1071,15 +1071,15 @@ void uiLayout(mjuiState* state) {
   rect[3].height = rect[0].height;
 }
 
-void uiModify(mjUI* ui, mjuiState* state, mjrContext* con) {
+void UiModify(mjUI* ui, mjuiState* state, mjrContext* con) {
   mjui_resize(ui, con);
   mjr_addAux(ui->auxid, ui->width, ui->maxheight, ui->spacing.samples, con);
-  uiLayout(state);
+  UiLayout(state);
   mjui_update(-1, -1, ui, state, con);
 }
 
 // handle UI event
-void uiEvent(mjuiState* state) {
+void UiEvent(mjuiState* state) {
   mj::Simulate* sim = static_cast<mj::Simulate*>(state->userdata);
   mjModel* m = sim->m;
   mjData* d = sim->d;
@@ -1158,8 +1158,8 @@ void uiEvent(mjuiState* state) {
       }
 
       // modify UI
-      uiModify(&sim->ui0, state, &sim->platform_ui->mjr_context());
-      uiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
+      UiModify(&sim->ui0, state, &sim->platform_ui->mjr_context());
+      UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
     }
 
     // simulation section
@@ -1169,9 +1169,9 @@ void uiEvent(mjuiState* state) {
         if (m) {
           mj_resetData(m, d);
           mj_forward(m, d);
-          profilerupdate(sim);
-          sensorupdate(sim);
-          updatesettings(sim);
+          UpdateProfiler(sim);
+          UpdateSensor(sim);
+          UpdateSettings(sim);
         }
         break;
 
@@ -1180,12 +1180,12 @@ void uiEvent(mjuiState* state) {
         break;
 
       case 3:             // Align
-        alignscale(sim);
-        updatesettings(sim);
+        AlignAndScaleView(sim);
+        UpdateSettings(sim);
         break;
 
       case 4:             // Copy pose
-        copykey(sim);
+        CopyKey(sim);
         break;
 
       case 5:             // Adjust key
@@ -1201,9 +1201,9 @@ void uiEvent(mjuiState* state) {
                  4 * m->nmocap);
         mju_copy(d->ctrl, m->key_ctrl + i * m->nu, m->nu);
         mj_forward(m, d);
-        profilerupdate(sim);
-        sensorupdate(sim);
-        updatesettings(sim);
+        UpdateProfiler(sim);
+        UpdateSensor(sim);
+        UpdateSettings(sim);
       } break;
 
       case 7:             // Save key
@@ -1259,7 +1259,7 @@ void uiEvent(mjuiState* state) {
       }
       // copy camera spec to clipboard (as MJCF element)
       if (it->itemid == 3) {
-        copycamera(sim);
+        CopyCamera(sim);
       }
     }
 
@@ -1268,17 +1268,17 @@ void uiEvent(mjuiState* state) {
       // remake joint section if joint group changed
       if (it->name[0]=='J' && it->name[1]=='o') {
         sim->ui1.nsect = SECT_JOINT;
-        makejoint(sim, sim->ui1.sect[SECT_JOINT].state);
+        MakeJointSection(sim, sim->ui1.sect[SECT_JOINT].state);
         sim->ui1.nsect = NSECT1;
-        uiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
+        UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
       }
 
       // remake control section if actuator group changed
       if (it->name[0]=='A' && it->name[1]=='c') {
         sim->ui1.nsect = SECT_CONTROL;
-        makecontrol(sim, sim->ui1.sect[SECT_CONTROL].state);
+        MakeControlSection(sim, sim->ui1.sect[SECT_CONTROL].state);
         sim->ui1.nsect = NSECT1;
-        uiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
+        UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
       }
     }
 
@@ -1323,11 +1323,11 @@ void uiEvent(mjuiState* state) {
 
     case mjKEY_RIGHT:           // step forward
       if (m && !sim->run) {
-        cleartimers(d);
+        ClearTimeres(d);
         mj_step(m, d);
-        profilerupdate(sim);
-        sensorupdate(sim);
-        updatesettings(sim);
+        UpdateProfiler(sim);
+        UpdateSensor(sim);
+        UpdateSettings(sim);
       }
       break;
 
@@ -1374,14 +1374,14 @@ void uiEvent(mjuiState* state) {
 
     case mjKEY_F6:                   // cycle frame visualisation
       if (m) {
-        sim->vopt.frame = (sim->vopt.frame + 1) % mjNFRAME;
+        sim->opt.frame = (sim->opt.frame + 1) % mjNFRAME;
         mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
       }
       break;
 
     case mjKEY_F7:                   // cycle label visualisation
       if (m) {
-        sim->vopt.label = (sim->vopt.label + 1) % mjNLABEL;
+        sim->opt.label = (sim->opt.label + 1) % mjNLABEL;
         mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
       }
       break;
@@ -1395,17 +1395,17 @@ void uiEvent(mjuiState* state) {
     case '-':                   // slow down
       {
         int numclicks = sizeof(sim->percentRealTime) / sizeof(sim->percentRealTime[0]);
-        if (sim->realTimeIndex < numclicks-1 && !state->shift) {
-          sim->realTimeIndex++;
-          sim->speedChanged = true;
+        if (sim->real_time_index < numclicks-1 && !state->shift) {
+          sim->real_time_index++;
+          sim->speed_changed = true;
         }
       }
       break;
 
     case '=':                   // speed up
-      if (sim->realTimeIndex > 0 && !state->shift) {
-        sim->realTimeIndex--;
-        sim->speedChanged = true;
+      if (sim->real_time_index > 0 && !state->shift) {
+        sim->real_time_index--;
+        sim->speed_changed = true;
       }
       break;
     }
@@ -1456,7 +1456,7 @@ void uiEvent(mjuiState* state) {
       mjrRect r = state->rect[3];
       mjtNum selpnt[3];
       int selgeom, selskin;
-      int selbody = mjv_select(m, d, &sim->vopt,
+      int selbody = mjv_select(m, d, &sim->opt,
                                static_cast<mjtNum>(r.width)/r.height,
                                (state->x - r.left)/r.width,
                                (state->y - r.bottom)/r.height,
@@ -1549,7 +1549,7 @@ void uiEvent(mjuiState* state) {
 
   // Redraw
   if (state->type == mjEVENT_REDRAW) {
-    sim->render();
+    sim->Render();
     return;
   }
 }
@@ -1563,26 +1563,26 @@ Simulate::Simulate(std::unique_ptr<PlatformUIAdapter> platform_ui)
       uistate(this->platform_ui->state()) {}
 
 //------------------------------------ apply pose perturbations ------------------------------------
-void Simulate::applyposepertubations(int flg_paused) {
+void Simulate::ApplyPosePerturbations(int flg_paused) {
   if (this->m != nullptr) {
     mjv_applyPerturbPose(this->m, this->d, &this->pert, flg_paused);  // move mocap bodies only
   }
 }
 
 //----------------------------------- apply force perturbations ------------------------------------
-void Simulate::applyforceperturbations() {
+void Simulate::ApplyForcePerturbations() {
   if (this->m != nullptr) {
     mjv_applyPerturbForce(this->m, this->d, &this->pert);
   }
 }
 
 //------------------------- Tell the render thread to load a file and wait -------------------------
-void Simulate::load(const char* file,
-                    mjModel* mnew,
-                    mjData* dnew) {
-  this->mnew = mnew;
-  this->dnew = dnew;
-  mju::strcpy_arr(this->filename, file);
+void Simulate::Load(mjModel* m,
+                                mjData* d,
+                                const char* displayed_filename) {
+  this->mnew = m;
+  this->dnew = d;
+  mju::strcpy_arr(this->filename, displayed_filename);
 
   {
     std::unique_lock<std::mutex> lock(mtx);
@@ -1596,7 +1596,7 @@ void Simulate::load(const char* file,
 }
 
 //------------------------------------- load mjb or xml model --------------------------------------
-void Simulate::loadmodel() {
+void Simulate::LoadOnRenderThread() {
   this->m = this->mnew;
   this->d = this->dnew;
 
@@ -1617,12 +1617,12 @@ void Simulate::loadmodel() {
   // align and scale view unless reloading the same file
   if (this->filename[0] &&
       mju::strcmp_arr(this->filename, this->previous_filename)) {
-    alignscale(this);
+    AlignAndScaleView(this);
     mju::strcpy_arr(this->previous_filename, this->filename);
   }
 
   // update scene
-  mjv_updateScene(this->m, this->d, &this->vopt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
+  mjv_updateScene(this->m, this->d, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
 
   // set window title to model name
   if (this->m->names) {
@@ -1637,12 +1637,12 @@ void Simulate::loadmodel() {
   this->ui0.sect[SECT_SIMULATION].item[5].slider.divisions = mjMAX(1, this->m->nkey - 1);
 
   // rebuild UI sections
-  makesections(this);
+  MakeUiSections(this);
 
   // full ui update
-  uiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
-  uiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
-  updatesettings(this);
+  UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
+  UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
+  UpdateSettings(this);
 
   // clear request
   this->loadrequest = 0;
@@ -1656,7 +1656,7 @@ void Simulate::loadmodel() {
     float error = mju_abs(mju_log(this->percentRealTime[click]) - desired);
     if (error < min_error) {
       min_error = error;
-      this->realTimeIndex = click;
+      this->real_time_index = click;
     }
   }
 }
@@ -1666,7 +1666,7 @@ void Simulate::loadmodel() {
 
 
 // prepare to render
-void Simulate::prepare() {
+void Simulate::PrepareScene() {
   // data for FPS calculation
   static std::chrono::time_point<Clock> lastupdatetm;
 
@@ -1682,11 +1682,11 @@ void Simulate::prepare() {
   }
 
   // update scene
-  mjv_updateScene(this->m, this->d, &this->vopt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
+  mjv_updateScene(this->m, this->d, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
 
   // update watch
   if (this->ui0_enable && this->ui0.sect[SECT_WATCH].state) {
-    watch(this);
+    UpdateWatch(this);
     mjui_update(SECT_WATCH, -1, &this->ui0, &this->uistate, &this->platform_ui->mjr_context());
   }
 
@@ -1697,7 +1697,7 @@ void Simulate::prepare() {
 
   // update info text
   if (this->info) {
-    infotext(this, this->info_title, this->info_content, interval);
+    UpdateInfoText(this, this->info_title, this->info_content, interval);
   }
 
   // update control
@@ -1707,23 +1707,23 @@ void Simulate::prepare() {
 
   // update profiler
   if (this->profiler && this->run) {
-    profilerupdate(this);
+    UpdateProfiler(this);
   }
 
   // update sensor
   if (this->sensor && this->run) {
-    sensorupdate(this);
+    UpdateSensor(this);
   }
 
   // clear timers once profiler info has been copied
-  cleartimers(this->d);
+  ClearTimeres(this->d);
 }
 
 // render the ui to the window
-void Simulate::render() {
+void Simulate::Render() {
   if (this->platform_ui->RefreshMjrContext(this->m, 50*(this->font+1))) {
-    uiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
-    uiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
+    UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
+    UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
   }
 
   // get 3D rectangle and reduced for profiler
@@ -1751,8 +1751,8 @@ void Simulate::render() {
     }
 
     // show last loading error
-    if (this->loadError[0]) {
-      mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->loadError, 0,
+    if (this->load_error[0]) {
+      mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->load_error, 0,
                   &this->platform_ui->mjr_context());
     }
 
@@ -1774,8 +1774,8 @@ void Simulate::render() {
   mjr_render(rect, &this->scn, &this->platform_ui->mjr_context());
 
   // show last loading error
-  if (this->loadError[0]) {
-    mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->loadError, 0,
+  if (this->load_error[0]) {
+    mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->load_error, 0,
                 &this->platform_ui->mjr_context());
   }
 
@@ -1786,8 +1786,8 @@ void Simulate::render() {
   }
 
   // get desired and actual percent-of-real-time
-  float desiredRealtime = this->percentRealTime[this->realTimeIndex];
-  float actualRealtime = 100 / this->measuredSlowdown;
+  float desiredRealtime = this->percentRealTime[this->real_time_index];
+  float actualRealtime = 100 / this->measured_slowdown;
 
   // if running, check for misalignment of more than 10%
   float realtime_offset = mju_abs(actualRealtime - desiredRealtime);
@@ -1840,12 +1840,12 @@ void Simulate::render() {
 
   // show profiler
   if (this->profiler) {
-    profilershow(this, rect);
+    ShowProfiler(this, rect);
   }
 
   // show sensor
   if (this->sensor) {
-    sensorshow(this, smallrect);
+    ShowSensor(this, smallrect);
   }
 
   // take screenshot, save to file
@@ -1886,15 +1886,15 @@ void Simulate::render() {
 
 
 
-void Simulate::renderloop() {
+void Simulate::RenderLoop() {
   // Set timer callback (milliseconds)
-  mjcb_time = timer;
+  mjcb_time = Timer;
 
   // init abstract visualization
   mjv_defaultCamera(&this->cam);
-  mjv_defaultOption(&this->vopt);
-  profilerinit(this);
-  sensorinit(this);
+  mjv_defaultOption(&this->opt);
+  InitializeProfiler(this);
+  InitializeSensor(this);
 
   // make empty scene
   mjv_defaultScene(&this->scn);
@@ -1923,30 +1923,30 @@ void Simulate::renderloop() {
 
   this->ui0.spacing = mjui_themeSpacing(this->spacing);
   this->ui0.color = mjui_themeColor(this->color);
-  this->ui0.predicate = uiPredicate;
+  this->ui0.predicate = UiPredicate;
   this->ui0.rectid = 1;
   this->ui0.auxid = 0;
 
   this->ui1.spacing = mjui_themeSpacing(this->spacing);
   this->ui1.color = mjui_themeColor(this->color);
-  this->ui1.predicate = uiPredicate;
+  this->ui1.predicate = UiPredicate;
   this->ui1.rectid = 2;
   this->ui1.auxid = 1;
 
   // set GUI adapter callbacks
   this->uistate.userdata = this;
-  this->platform_ui->SetEventCallback(uiEvent);
-  this->platform_ui->SetLayoutCallback(uiLayout);
+  this->platform_ui->SetEventCallback(UiEvent);
+  this->platform_ui->SetLayoutCallback(UiLayout);
 
   // populate uis with standard sections
   this->ui0.userdata = this;
   this->ui1.userdata = this;
   mjui_add(&this->ui0, defFile);
-  mjui_add(&this->ui0, this->defOption);
-  mjui_add(&this->ui0, this->defSimulation);
-  mjui_add(&this->ui0, this->defWatch);
-  uiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
-  uiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
+  mjui_add(&this->ui0, this->def_option);
+  mjui_add(&this->ui0, this->def_simulation);
+  mjui_add(&this->ui0, this->def_watch);
+  UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
+  UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
 
   // set VSync to initial value
   this->platform_ui->SetVSync(this->vsync);
@@ -1958,7 +1958,7 @@ void Simulate::renderloop() {
 
       // load model (not on first pass, to show "loading" label)
       if (this->loadrequest==1) {
-        this->loadmodel();
+        this->LoadOnRenderThread();
       } else if (this->loadrequest>1) {
         this->loadrequest = 1;
       }
@@ -1967,11 +1967,11 @@ void Simulate::renderloop() {
       this->platform_ui->PollEvents();
 
       // prepare to render
-      this->prepare();
+      this->PrepareScene();
     }  // std::lock_guard<std::mutex> (unblocks simulation thread)
 
     // render while simulation is running
-    this->render();
+    this->Render();
   }
 
   this->exitrequest.store(true);
diff --git a/simulate/simulate.h b/simulate/simulate.h
index 8f44b3be..f0cfc7ec 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -40,27 +40,27 @@ class Simulate {
   Simulate(std::unique_ptr<PlatformUIAdapter> platform_ui_adapter);
 
   // Apply UI pose perturbations to model and data
-  void applyposepertubations(int flg_paused);
+  void ApplyPosePerturbations(int flg_paused);
 
   // Apply UI force perturbations to model and data
-  void applyforceperturbations();
+  void ApplyForcePerturbations();
 
   // Request that the Simulate UI thread render a new model
   // optionally delete the old model and data when done
-  void load(const char* file, mjModel* m, mjData* d);
+  void Load(mjModel* m, mjData* d, const char* displayed_filename);
 
   // functions below are used by the renderthread
   // load mjb or xml model that has been requested by load()
-  void loadmodel();
+  void LoadOnRenderThread();
 
   // prepare to render
-  void prepare();
+  void PrepareScene();
 
   // render the ui to the window
-  void render();
+  void Render();
 
   // loop to render the UI (must be called from main thread because of MacOS)
-  void renderloop();
+  void RenderLoop();
 
   // constants
   static constexpr int kMaxFilenameLength = 1000;
@@ -95,9 +95,9 @@ class Simulate {
   int run = 1;
 
   // atomics for cross-thread messages
-  std::atomic_int exitrequest = false;
-  std::atomic_int droploadrequest = false;
-  std::atomic_int screenshotrequest = false;
+  std::atomic_int exitrequest = 0;
+  std::atomic_int droploadrequest = 0;
+  std::atomic_int screenshotrequest = 0;
   std::atomic_int uiloadrequest = 0;
 
   // loadrequest
@@ -107,15 +107,15 @@ class Simulate {
   int loadrequest = 0;
 
   // strings
-  char loadError[kMaxFilenameLength] = "";
+  char load_error[kMaxFilenameLength] = "";
   char dropfilename[kMaxFilenameLength] = "";
   char filename[kMaxFilenameLength] = "";
   char previous_filename[kMaxFilenameLength] = "";
 
   // time synchronization
-  int realTimeIndex;
-  bool speedChanged = true;
-  float measuredSlowdown = 1.0;
+  int real_time_index;
+  bool speed_changed = true;
+  float measured_slowdown = 1.0;
   // logarithmically spaced realtime slow-down coefficients (percent)
   static constexpr float percentRealTime[] = {
       100, 80, 66,  50,  40, 33,  25,  20, 16,  13,
@@ -125,8 +125,8 @@ class Simulate {
   };
 
   // control noise
-  double ctrlnoisestd = 0.0;
-  double ctrlnoiserate = 0.0;
+  double ctrl_noise_std = 0.0;
+  double ctrl_noise_rate = 0.0;
 
   // watch
   char field[mjMAXUITEXT] = "qpos";
@@ -142,7 +142,7 @@ class Simulate {
   // abstract visualization
   mjvScene scn = {};
   mjvCamera cam = {};
-  mjvOption vopt = {};
+  mjvOption opt = {};
   mjvPerturb pert = {};
   mjvFigure figconstraint = {};
   mjvFigure figcost = {};
@@ -151,9 +151,9 @@ class Simulate {
   mjvFigure figsensor = {};
 
   // OpenGL rendering and UI
-  int refreshRate = 60;
-  int windowpos[2] = {0};
-  int windowsize[2] = {0};
+  int refresh_rate = 60;
+  int window_pos[2] = {0};
+  int window_size[2] = {0};
   std::unique_ptr<PlatformUIAdapter> platform_ui;
   mjuiState& uistate;
   mjUI ui0 = {};
@@ -161,7 +161,7 @@ class Simulate {
 
   // Constant arrays needed for the option section of UI and the UI interface
   // TODO setting the size here is not ideal
-  const mjuiDef defOption[14] = {
+  const mjuiDef def_option[14] = {
     {mjITEM_SECTION,  "Option",        1, nullptr,           "AO"},
     {mjITEM_SELECT,   "Spacing",       1, &this->spacing,    "Tight\nWide"},
     {mjITEM_SELECT,   "Color",         1, &this->color,      "Default\nOrange\nWhite\nBlack"},
@@ -184,7 +184,7 @@ class Simulate {
 
 
   // simulation section of UI
-  const mjuiDef defSimulation[12] = {
+  const mjuiDef def_simulation[12] = {
     {mjITEM_SECTION,   "Simulation",    1, nullptr,              "AS"},
     {mjITEM_RADIO,     "",              2, &this->run,           "Pause\nRun"},
     {mjITEM_BUTTON,    "Reset",         2, nullptr,              " #259"},
@@ -194,14 +194,14 @@ class Simulate {
     {mjITEM_SLIDERINT, "Key",           3, &this->key,           "0 0"},
     {mjITEM_BUTTON,    "Load key",      3},
     {mjITEM_BUTTON,    "Save key",      3},
-    {mjITEM_SLIDERNUM, "Noise scale",   2, &this->ctrlnoisestd,  "0 2"},
-    {mjITEM_SLIDERNUM, "Noise rate",    2, &this->ctrlnoiserate, "0 2"},
+    {mjITEM_SLIDERNUM, "Noise scale",   2, &this->ctrl_noise_std,  "0 2"},
+    {mjITEM_SLIDERNUM, "Noise rate",    2, &this->ctrl_noise_rate, "0 2"},
     {mjITEM_END}
   };
 
 
   // watch section of UI
-  const mjuiDef defWatch[5] = {
+  const mjuiDef def_watch[5] = {
     {mjITEM_SECTION,   "Watch",         0, nullptr,              "AW"},
     {mjITEM_EDITTXT,   "Field",         2, this->field,          "qpos"},
     {mjITEM_EDITINT,   "Index",         2, &this->index,         "1"},