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Rename a few functions and variables to be a bit more Googley.

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PiperOrigin-RevId: 523963645
Change-Id: Ife7ed3f44aa83c64dfbdc3ca78ee6de2092b0d63
This commit is contained in:
Saran Tunyasuvunakool
2023-04-13 04:23:41 -07:00
committed by Copybara-Service
parent 2e23594fe8
commit 5646c905cd
5 changed files with 191 additions and 190 deletions
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python/mujoco/simulate.cc
+17 -16
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@@ -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));
});
}