diff --git a/predicators/planning.py b/predicators/planning.py index a9b3d3e8f0..02f6e535d4 100644 --- a/predicators/planning.py +++ b/predicators/planning.py @@ -688,7 +688,6 @@ def _run_plan_with_option_model( lambda s, m, o, p: True).ground(option.objects, option.params) action_option.memory = option.memory actions[idx].set_option(action_option) - time.sleep(2) # Since we're not checking the expected_atoms, we need to # explicitly check if the goal is achieved. if task.goal_holds(traj[-1]): diff --git a/predicators/utils.py b/predicators/utils.py index df57f3208f..e62855b853 100644 --- a/predicators/utils.py +++ b/predicators/utils.py @@ -2542,10 +2542,7 @@ class VideoMonitor(Monitor): def observe(self, state: State, action: Optional[Action]) -> None: del state # unused - render_state = self._render_fn(action, None) - self._video.extend(render_state) - self._video.extend(render_state) - self._video.extend(render_state) + self._video.extend(self._render_fn(action, None)) def get_video(self) -> Video: """Return the video.""" @@ -2622,7 +2619,7 @@ def save_video(outfile: str, video: Video) -> None: """Save the video to video_dir/outfile.""" outdir = CFG.video_dir os.makedirs(outdir, exist_ok=True) - outpath = os.path.join(outdir, str(CFG.seed) + "_" + outfile) + outpath = os.path.join(outdir, outfile) imageio.mimwrite(outpath, video, fps=CFG.video_fps) # type: ignore logging.info(f"Wrote out to {outpath}")