change naming

Author: Abhiram824

robosuite/models/tasks/task.py

@@ -63,9 +63,9 @@ def __init__(
         mujoco_robots,
         mujoco_objects=None,
         enable_multiccd=False,
-        enable_sleeping=False,
+        enable_sleeping_islands=False,
     ):
-        super().__init__(enable_multiccd=enable_multiccd, enable_sleeping=enable_sleeping)
+        super().__init__(enable_multiccd=enable_multiccd, enable_sleeping_islands=enable_sleeping_islands)
 
         # Store references to all models
         self.mujoco_arena = mujoco_arena

robosuite/models/world.py

@@ -8,18 +8,18 @@
 class MujocoWorldBase(MujocoXML):
     """Base class to inherit all mujoco worlds from."""
 
-    def __init__(self, enable_multiccd=False, enable_sleeping=False):
+    def __init__(self, enable_multiccd=False, enable_sleeping_islands=False):
         super().__init__(xml_path_completion("base.xml"))
         # Modify the simulation timestep to be the requested value
         options = find_elements(root=self.root, tags="option", attribs=None, return_first=True)
         options.set("timestep", convert_to_string(macros.SIMULATION_TIMESTEP))
         self.enable_multiccd = enable_multiccd
-        self.enable_sleeping = enable_sleeping
+        self.enable_sleeping_islands = enable_sleeping_islands
         if self.enable_multiccd:
             multiccd_elem = ET.fromstring("""<option> <flag multiccd="enable"/> </option>""")
             mujoco_elem = find_elements(self.root, "mujoco")
             mujoco_elem.insert(0, multiccd_elem)
-        if self.enable_sleeping:
+        if self.enable_sleeping_islands:
             sleeping_elem = ET.fromstring("""<option> <flag sleep="enable"/> </option>""")
             mujoco_elem = find_elements(self.root, "mujoco")
             mujoco_elem.insert(0, sleeping_elem)