Fixes for things that go wrong when running (#15)

Caption that doesn't get updated if non-default is used and check that
was only checking if something was None instead of also if it was False.
Also fix mypy pre-commit issue.

vlfm/policy/base_objectnav_policy.py

@@ -350,7 +350,7 @@ def _update_object_map(
 
             # If we are using vqa, then use the BLIP2 model to visually confirm whether
             # the contours are actually correct.
-            if self._use_vqa is not None:
+            if (self._use_vqa is not None) and self._use_vqa:
                 contours, _ = cv2.findContours(
                     object_mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE
                 )

vlfm/vlm/grounding_dino.py

@@ -39,9 +39,7 @@ def __init__(
         self.box_threshold = box_threshold
         self.text_threshold = text_threshold
 
-    def predict(
-        self, image: np.ndarray, caption: Optional[str] = ""
-    ) -> ObjectDetections:
+    def predict(self, image: np.ndarray, caption: str = "") -> ObjectDetections:
         """
         This function makes predictions on an input image tensor or numpy array using a
         pretrained model.
@@ -62,6 +60,8 @@ def predict(
         )
         if caption == "":
             caption_to_use = self.caption
+        else:
+            caption_to_use = caption
         print("Caption:", caption_to_use)
         with torch.inference_mode():
             boxes, logits, phrases = predict(