use this mel script :
proc removeFromSet()
{
string $objectSets[] = `ls -sl -type objectSet`;
string $selection[] = `ls -sl`;
$selection = stringArrayRemove( $objectSets, $selection );
for ( $set in $objectSets )
{
for ( $sel in $selection )
{
if ( `sets -im $set $sel` )
{
sets -rm $set $sel;
}
}
}
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