reverted

predicators/behavior_utils/motion_planner_fns.py

@@ -127,7 +127,8 @@ def sample_fn(env: "BehaviorEnv",
     if CFG.behavior_option_model_rrt:
         obstacles = get_relevant_scene_body_ids(env)
         if env.robots[0].parts["right_hand"].object_in_hand is not None:
-            obstacles.remove(env.robots[0].parts["right_hand"].object_in_hand)
+            if env.robots[0].parts["right_hand"].object_in_hand in obstacles:
+                obstacles.remove(env.robots[0].parts["right_hand"].object_in_hand)
         plan = plan_base_motion_br(
             robot=env.robots[0],
             end_conf=end_conf,
@@ -430,7 +431,8 @@ def make_place_plan(
     maxz = max(z, hand_z) + 0.5
 
     obstacles = get_relevant_scene_body_ids(env, include_self=False)
-    obstacles.remove(env.robots[0].parts["right_hand"].object_in_hand)
+    if env.robots[0].parts["right_hand"].object_in_hand in obstacles:
+        obstacles.remove(env.robots[0].parts["right_hand"].object_in_hand)
     end_conf = [
         x,
         y,

scripts/configs/behavior_20_evaluation.yaml

@@ -153,10 +153,8 @@ FLAGS:  # general flags
   timeout: 1000.0
   horizon: 1000
   behavior_override_learned_samplers: True
-  behavior_ignore_discover_failures: True
-  create_training_dataset: True
-  num_train_tasks: 5
+  num_train_tasks: 0
   num_test_tasks: 5
-START_SEED: 465
-NUM_SEEDS: 10
+START_SEED: 0
+NUM_SEEDS: 1
 USE_GPU: False