From 1d00ed0f0272ba9c54dc8401188c8d9ca1b7656e Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Sat, 4 Sep 2021 17:17:29 +0200
Subject: [PATCH] Fix initial view baseline

---
 active_grasp/baselines.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/active_grasp/baselines.py b/active_grasp/baselines.py
index d16e828..94a9abb 100644
--- a/active_grasp/baselines.py
+++ b/active_grasp/baselines.py
@@ -9,7 +9,8 @@ from vgn.utils import look_at
 class InitialView(SingleViewPolicy):
     def update(self, img, pose):
         self.x_d = pose
-        super().update(img, pose)
+        cmd = super().update(img, pose)
+        return cmd
 
 
 class TopView(SingleViewPolicy):
@@ -40,9 +41,9 @@ class TopTrajectory(MultiViewPolicy):
 class CircularTrajectory(MultiViewPolicy):
     def __init__(self, rate):
         super().__init__(rate)
-        self.r = 0.1
+        self.r = 0.12
         self.h = self.min_z_dist
-        self.duration = 2.0 * np.pi * self.r / self.linear_vel + 2.0
+        self.duration = 2.0 * np.pi * self.r / self.linear_vel
         self.m = scipy.interpolate.interp1d([0.0, self.duration], [np.pi, 3.0 * np.pi])
 
     def activate(self, bbox):