fix: on real robot with no sim, if bilevel_plan_without_sim, don't ca… #2282

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Job	Run time
isort (3.8)	11s
docformatter (3.8)	19s
lint (3.8)	7m 17s
static-type-checking (3.8)	9m 23s
yapf (3.8)	51s
unit-tests (3.8)	7m 30s
	25m 31s