From 48cfab04315bcf243af3f78d1abacfa5e5bceb85 Mon Sep 17 00:00:00 2001 From: Masaki Murooka Date: Sat, 21 Dec 2024 22:11:00 +0900 Subject: [PATCH] [envs] Rename: get_sim_time -> get_time. --- robo_manip_baselines/common/DataManager.py | 4 ++-- robo_manip_baselines/envs/isaac/IsaacUR5eEnvBase.py | 2 +- robo_manip_baselines/envs/mujoco/MujocoEnvBase.py | 2 +- robo_manip_baselines/envs/real/RealEnvBase.py | 4 ++-- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/robo_manip_baselines/common/DataManager.py b/robo_manip_baselines/common/DataManager.py index 720b45e2..288e5f3f 100644 --- 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 index 23dcc6f9..b325bfd9 100644 --- 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 index 5f885acc..12d8eb04 100644 --- 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 index e5385076..3a1f0590 100644 --- 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