[envs] Rename: get_sim_time -> get_time.

isri-aist · Dec 21, 2024 · 48cfab0 · 48cfab0
1 parent afcdc3f
commit 48cfab0
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Showing 4 changed files with 6 additions and 6 deletions.
diff --git a/robo_manip_baselines/common/DataManager.py b/robo_manip_baselines/common/DataManager.py
@@ -263,9 +263,9 @@ def status(self, new_status):
         if self.env is None:
             self.status_start_time = 0.0
         else:
-            self.status_start_time = self.env.unwrapped.get_sim_time()
+            self.status_start_time = self.env.unwrapped.get_time()
 
     @property
     def status_elapsed_duration(self):
         """Get the elapsed duration of the current status."""
-        return self.env.unwrapped.get_sim_time() - self.status_start_time
+        return self.env.unwrapped.get_time() - self.status_start_time
diff --git a/robo_manip_baselines/envs/isaac/IsaacUR5eEnvBase.py b/robo_manip_baselines/envs/isaac/IsaacUR5eEnvBase.py
@@ -475,7 +475,7 @@ def get_eef_wrench_from_obs(self, obs):
         """Get end-effector wrench (fx, fy, fz, nx, ny, nz) from observation."""
         return obs["wrench"]
 
-    def get_sim_time(self):
+    def get_time(self):
         """Get simulation time. [s]"""
         return self.gym.get_sim_time(self.sim)
 

diff --git a/robo_manip_baselines/envs/mujoco/MujocoEnvBase.py b/robo_manip_baselines/envs/mujoco/MujocoEnvBase.py
@@ -141,7 +141,7 @@ def get_eef_wrench_from_obs(self, obs):
         """Get end-effector wrench (fx, fy, fz, nx, ny, nz) from observation."""
         return obs["wrench"]
 
-    def get_sim_time(self):
+    def get_time(self):
         """Get simulation time. [s]"""
         return self.data.time
 

diff --git a/robo_manip_baselines/envs/real/RealEnvBase.py b/robo_manip_baselines/envs/real/RealEnvBase.py
@@ -133,8 +133,8 @@ def get_eef_wrench_from_obs(self, obs):
         """Get end-effector wrench (fx, fy, fz, nx, ny, nz) from observation."""
         return obs["wrench"]
 
-    def get_sim_time(self):
-        """Get simulation time. [s]"""
+    def get_time(self):
+        """Get real-world time. [s]"""
         return time.time() - self.init_time
 
     @property