Add robot configuration to the state

active_grasp/baselines.py

@@ -4,9 +4,9 @@ from .policy import SingleViewPolicy, MultiViewPolicy, compute_error
 
 
 class InitialView(SingleViewPolicy):
-    def update(self, img, pose):
-        self.x_d = pose
-        super().update(img, pose)
+    def update(self, img, x, q):
+        self.x_d = x
+        super().update(img, x, q)
 
 
 class TopView(SingleViewPolicy):
@@ -22,8 +22,8 @@ class TopTrajectory(MultiViewPolicy):
         self.x_d = self.view_sphere.get_view(0.0, 0.0)
         self.done = False if self.is_feasible(self.x_d) else True
 
-    def update(self, img, x):
-        self.integrate(img, x)
+    def update(self, img, x, q):
+        self.integrate(img, x, q)
         linear, _ = compute_error(self.x_d, x)
         if np.linalg.norm(linear) < 0.02:
             self.done = True