Rename 'kinematics-only' to 'base-sim-only' in docs and test names

Terminology cleanup to match how skip_process_dynamics is described
elsewhere; the env wraps the full base sim, not just kinematics.

Author: yichao-liang

predicators/code_sim_learning/training.py

@@ -371,7 +371,7 @@ def fit_params(
 
     Args:
         simulator_fn: Simulator(state, action, params_dict) -> updates.
-            Should run kinematics internally if needed.
+            Should run the base sim internally if needed.
         transitions: List of (s_t, action, s_{t+1}_obs) triples.
         param_specs: Parameter specifications (name, init_value).
         process_features: {type_name: [feat_names]} to fit.

tests/approaches/test_agent_sim_learning_approach.py

@@ -81,11 +81,11 @@ def _build_kinematics_only_oracle(env):
 
 
 def _build_combined_model(env):
-    """Build a combined model: kinematics-only env + GT step-level dynamics.
+    """Build a combined model: base-sim-only env + GT step-level dynamics.
 
     Mirrors AgentSimLearningApproach: wraps GT rules in a
-    LearnedSimulator via apply_rules and composes with a kinematics-only
-    base env.
+    LearnedSimulator via apply_rules and composes with a base-sim-only
+    env.
     """
     base_env = create_new_env("pybullet_boil",
                               do_cache=False,