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bdaiinstitute · May 10, 2024 · 86ef996 · 86ef996
1 parent 51bf569
commit 86ef996
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Showing 2 changed files with 4 additions and 6 deletions.
diff --git a/predicators/spot_utils/perception/object_perception.py b/predicators/spot_utils/perception/object_perception.py
@@ -197,13 +197,11 @@ def vlm_predicate_batch_classify(
 
     # Update the atoms with the results
     if get_dict:
+        # Return all ground atoms with True/False/None
         return {atom: result for atom, result in zip(atoms, results)}
     else:
-        hold_atoms = set()
-        for atom, result in zip(atoms, results):
-            if result:
-                hold_atoms.add(atom)
-        return hold_atoms
+        # Only return True ground atoms
+        return {atom for atom, result in zip(atoms, results) if result}
 
 
 def get_vlm_atom_combinations(objects: Sequence[Object],

diff --git a/predicators/spot_utils/skills/spot_find_objects.py b/predicators/spot_utils/skills/spot_find_objects.py
@@ -90,7 +90,7 @@ def _find_objects_with_choreographed_moves(
             for atom, result in vlm_atom_dict.items():
                 if all_vlm_atom_dict[atom] is None and result is not None:
                     all_vlm_atom_dict[atom] = result
-            print(f"Calculated VLM atoms: {all_vlm_atom_dict}")
+            print(f"Calculated VLM atoms: {dict(all_vlm_atom_dict)}")
         else:
             # No VLM predicates or no objects found yet
             pass