diff --git a/.gitignore b/.gitignore
index c0c4e1d33d..a0f8ab8193 100644
--- a/.gitignore
+++ b/.gitignore
@@ -27,5 +27,6 @@ tests/_fake_trajs
 tests/_fake_results
 saved_dataset_behavior
 dataset_backup
+video_frames
 # Jetbrains IDEs
 .idea/
diff --git a/predicators/behavior_utils/behavior_utils.py b/predicators/behavior_utils/behavior_utils.py
index 585c4634d8..994a15e403 100644
--- a/predicators/behavior_utils/behavior_utils.py
+++ b/predicators/behavior_utils/behavior_utils.py
@@ -898,7 +898,7 @@ def get_relevant_scene_body_ids(
     return ids
 
 
-def detect_collision(bodyA: int, object_in_hand: Optional[int] = None) -> bool:
+def detect_collision(bodyA: int, ignore_objects: Optional[int] = None) -> bool:
     """Detects collisions between bodyA in the scene (except for the object in
     the robot's hand)"""
     if not isinstance(ignore_objects, list):
diff --git a/predicators/behavior_utils/motion_planner_fns.py b/predicators/behavior_utils/motion_planner_fns.py
index 02ef4901df..e8c85279b6 100644
--- a/predicators/behavior_utils/motion_planner_fns.py
+++ b/predicators/behavior_utils/motion_planner_fns.py
@@ -245,17 +245,10 @@ def make_grasp_plan(
         points = p.getClosestPoints(env.robots[0].get_body_id(), obj.get_body_id(), distance=10)#, linkIndexA=env.robots[0].grasp_point_joint_id)
         closest_point = min(points, key=lambda x:x[8])
         obj_pos = closest_point[6]
+
     x = obj_pos[0] + grasp_offset[0]
     y = obj_pos[1] + grasp_offset[1]
     z = obj_pos[2] + grasp_offset[2]
-    hand_x, hand_y, hand_z = env.robots[0].parts["right_hand"].get_position()
-    minx = min(x, hand_x) - 0.5
-    miny = min(y, hand_y) - 0.5
-    minz = min(z, hand_z) - 0.5
-    maxx = max(x, hand_x) + 0.5
-    maxy = max(y, hand_y) + 0.5
-    maxz = max(z, hand_z) + 0.5
-
 
     if isinstance(env.robots[0], BehaviorRobot):
         # compute the angle the hand must be in such that it can
@@ -267,6 +260,15 @@ def make_grasp_plan(
         # https://math.stackexchange.com/questions/180418/
         # calculate-rotation-matrix-to-align-vector-a-to-vector
         # -b-in-3d
+
+        hand_x, hand_y, hand_z = env.robots[0].parts["right_hand"].get_position()
+        minx = min(x, hand_x) - 0.5
+        miny = min(y, hand_y) - 0.5
+        minz = min(z, hand_z) - 0.5
+        maxx = max(x, hand_x) + 0.5
+        maxy = max(y, hand_y) + 0.5
+        maxz = max(z, hand_z) + 0.5
+
         hand_to_obj_vector = np.array(grasp_offset[:3])
         hand_to_obj_unit_vector = hand_to_obj_vector / \
             np.linalg.norm(
diff --git a/predicators/planning.py b/predicators/planning.py
index bd776e8295..2e70186cc6 100644
--- a/predicators/planning.py
+++ b/predicators/planning.py
@@ -524,7 +524,7 @@ def run_low_level_search(
         nsrt = skeleton[cur_idx]
         # Ground the NSRT's ParameterizedOption into an _Option.
         # This invokes the NSRT's sampler.
-        option = nsrt.sample_option(state, task.goal, rng_sampler)
+        option = nsrt.sample_option(state, task.goal, skeleton, rng_sampler)
         plan[cur_idx] = option
         # Increment num_samples metric by 1
         metrics["num_samples"] += 1