diff --git a/spot_rl_experiments/spot_rl/utils/segmentation_service.py b/spot_rl_experiments/spot_rl/utils/segmentation_service.py
index 58b913a3..ca168435 100644
--- a/spot_rl_experiments/spot_rl/utils/segmentation_service.py
+++ b/spot_rl_experiments/spot_rl/utils/segmentation_service.py
@@ -24,7 +24,7 @@ def load_model(model_name="owlvit", device="cpu"):
             "google/owlv2-base-patch16-ensemble"
         ).to(device)
         processor = Owlv2Processor.from_pretrained("google/owlv2-base-patch16-ensemble")
-        return model, processor
+        # return model, processor
     if model_name == "sam":
         print("Loading SAM")
         # TODO: load sam weights from config
@@ -32,7 +32,10 @@ def load_model(model_name="owlvit", device="cpu"):
         sam = SamPredictor(build_sam(checkpoint=checkpoint_path).to(device))
 
 
-def detect(img, text_queries, score_threshold, device, model=None, processor=None):
+def detect(img, text_queries, score_threshold, device):
+    global model
+    global processor
+
     if model is None or processor is None:
         load_model("owlvit", device)
 
@@ -103,6 +106,12 @@ def connect_socket(port):
     return socket
 
 
+def detect_and_segment_with_socket(rgb_image, port=21001):
+    global socket
+    socket = connect_socket(port) if socket is None else socket
+    socket.send_pyobj(rgb_image)
+    return socket.recv_pyobj()
+
 def segment_with_socket(rgb_image, bbox, port=21001):
     global socket
     socket = connect_socket(port) if socket is None else socket
@@ -121,12 +130,19 @@ def segment_with_socket(rgb_image, bbox, port=21001):
     print(f"Segmentation Server Listening on port {port}")
 
     while True:
-        """A service for running segmentation service, send request using zmq socket"""
-        img, bbox = socket.recv_pyobj()
-        print("Recieved img for Segmentation")
-        masks = segment(img, np.array([bbox]), img.shape[:2], device)
-        mask = masks[0, 0].cpu().numpy()  # hxw, bool
-        socket.send_pyobj(mask)
+        """A service for running detection + segmentation service, send request using zmq socket"""
+        img= socket.recv_pyobj()
+        print("Recieved img for Detection & Segmentation")
+        result_labels = detect(img, "table,chair,bed,couch,bottle,can,cup", 0.25, device)
+
+        masks_list = []
+        for result_label in result_labels:
+            bbox = result_label[0]
+            masks = segment(img, np.array([bbox]), img.shape[:2], device)
+            mask = masks[0, 0].cpu().numpy()  # hxw, bool
+            masks_list.append(mask)
+
+        socket.send_pyobj(masks_list)
 
 # If you want to use detection service, then use the following code to listen to socket
 # def detect_with_socket(img, object_name, thresh=0.01, device="cuda"):