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bdaiinstitute · Jul 17, 2023 · f991a9b · f991a9b
1 parent 18c45d0
commit f991a9b
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Showing 2 changed files with 2 additions and 3 deletions.
diff --git a/predicators/envs/spot_env.py b/predicators/envs/spot_env.py
@@ -324,8 +324,8 @@ def _build_observation(self,
             object_names_in_view_by_camera_apriltag)
         # Additionally, if we're using SAM, then update using that.
         if CFG.spot_grasp_use_sam:
-            object_names_in_view_by_camera_sam = self._spot_interface.get_objects_in_view_by_camera(
-                from_apriltag=True)
+            object_names_in_view_by_camera_sam = self._spot_interface.\
+                get_objects_in_view_by_camera(from_apriltag=True)
             # Combine these together to get all objects in view.
             for k, v in object_names_in_view_by_camera.items():
                 v.update(object_names_in_view_by_camera_sam[k])

diff --git a/predicators/spot_utils/spot_utils.py b/predicators/spot_utils/spot_utils.py
@@ -273,7 +273,6 @@ def get_camera_images(self) -> Dict[str, Image]:
         """Get all camera images."""
         camera_images: Dict[str, Image] = {}
         for source_name in CAMERA_NAMES:
-            # TODO: convert to RGB - should be correct
             img, _ = self.get_single_camera_image(source_name, to_rgb=True)
             camera_images[source_name] = img
         return camera_images