Rename variables

Jimmy Wu · Jimmy Wu · commit 743a80b8407d · 2020-10-13T11:42:00.000-07:00
diff --git a/environment.py b/environment.py
@@ -321,7 +321,7 @@ def _step(self, action, dry_run=False):
         ratio = min(ratio_x, ratio_y)
         robot_target_end_effector_position = (np.asarray(robot_initial_position) + ratio * diff).tolist()
         if dry_run:
-            # Used in physical environment
+            # Used in real environment
             return robot_target_end_effector_position
 
         # Compute waypoint positions
diff --git a/utils.py b/utils.py
@@ -75,7 +75,7 @@ def select_run():
 
     return selected_config_path
 
-def get_env_from_cfg(cfg, physical_env=False, **kwargs):
+def get_env_from_cfg(cfg, real_env=False, **kwargs):
     kwarg_list = [
         'room_length', 'room_width', 'num_cubes', 'obstacle_config',
         'use_distance_to_receptacle_channel', 'distance_to_receptacle_channel_scale',
@@ -89,7 +89,7 @@ def get_env_from_cfg(cfg, physical_env=False, **kwargs):
     for kwarg_name in kwarg_list:
         original_kwargs[kwarg_name] = cfg[kwarg_name]
     original_kwargs.update(kwargs)
-    if physical_env:
+    if real_env:
         return environment.RealEnvironment(**original_kwargs)
     return environment.Environment(**original_kwargs)
 
diff --git a/vector_click_agent.py b/vector_click_agent.py
@@ -64,7 +64,7 @@ def main(args):
         print('Could not connect to aruco server for pose estimates')
         return
 
-    # Create action executor for the physical robot
+    # Create action executor for the real robot
     action_executor = vector_action_executor.VectorActionExecutor(args.robot_index)
 
     # Create pybullet environment to mirror real-world
diff --git a/vector_enjoy.py b/vector_enjoy.py
@@ -15,7 +15,7 @@ def main(args):
         print('Could not connect to aruco server for pose estimates')
         return
 
-    # Create action executor for the physical robot
+    # Create action executor for the real robot
     action_executor = vector_action_executor.VectorActionExecutor(args.robot_index)
 
     # Create env
@@ -30,7 +30,7 @@ def main(args):
     if args.debug:
         kwargs['use_gui'] = True
     cube_indices = list(range(args.num_cubes))
-    env = utils.get_env_from_cfg(cfg, physical_env=True, robot_index=action_executor.robot_index, cube_indices=cube_indices, **kwargs)
+    env = utils.get_env_from_cfg(cfg, real_env=True, robot_index=action_executor.robot_index, cube_indices=cube_indices, **kwargs)
     env.reset()
 
     # Create policy
