StanfordVL/BEHAVIOR-1K

Improve removing_objects context

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#2,030 opened on Mar 20, 2026

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good first issue

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Description

It should not need to know what objects are being removed (it should just detect them itself), and it should be safe to open multiple of these within one another (where only the outermost one will do anything). That'll remove the need to have the batched_call parameter on og sim remove.

A similar context can be used when adding objects to do things at once.

Contributor guide

Research direction
Investigate how the current removing objects context works, understand how it detects objects being removed, and design a nested context that automatically detects objects and only performs removal in the outermost context. Consider using a stack or class level variable to track nesting depth.
Tech stack
python
Domain
backendapi
Issue type
Refactor
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Half day
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Mostly clear
Prerequisites
Python
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
50