diff --git a/policies.py b/policies.py
index 1e7445b..a1982b0 100644
--- a/policies.py
+++ b/policies.py
@@ -57,15 +57,64 @@ class Policy:
         self.H_B_T = self.tf.lookup(self.base_frame_id, self.frame_id, rospy.Time.now())
         rospy.Subscriber(depth_topic, Image, self.sensor_cb, queue_size=1)
 
+        vis.draw_workspace(0.3)
+
     def sensor_cb(self, msg):
         self.last_depth_img = self.cv_bridge.imgmsg_to_cv2(msg).astype(np.float32)
         self.last_extrinsic = self.tf.lookup(
             self.cam_frame_id, self.frame_id, msg.header.stamp, rospy.Duration(0.1)
         )
 
+    def get_tsdf_grid(self):
+        map_cloud = self.tsdf.get_map_cloud()
+        points = np.asarray(map_cloud.points)
+        distances = np.asarray(map_cloud.colors)[:, 0]
+        return create_grid_from_map_cloud(points, distances, self.tsdf.voxel_size)
+
+    def plan_best_grasp(self):
+        tsdf_grid = self.get_tsdf_grid()
+        out = self.vgn.predict(tsdf_grid)
+        grasps = compute_grasps(out, voxel_size=self.tsdf.voxel_size)
+
+        vis.draw_tsdf(tsdf_grid, self.tsdf.voxel_size)
+        vis.draw_grasps(grasps, 0.05)
+
+        # Ensure that the camera is pointing forward.
+        grasp = grasps[0]
+        rot = grasp.pose.rotation
+        axis = rot.as_matrix()[:, 0]
+        if axis[0] < 0:
+            grasp.pose.rotation = rot * Rotation.from_euler("z", np.pi)
+
+        # Compute target pose of the EE
+        H_T_G = grasp.pose
+        H_B_EE = self.H_B_T * H_T_G * self.H_EE_G.inv()
+        return H_B_EE
+
 
 class SingleViewBaseline(Policy):
-    pass
+    def __init__(sel):
+        super().__init__()
+
+    def start(self):
+        self.done = False
+
+    def update(self):
+        # Integrate image
+        self.tsdf.integrate(
+            self.last_depth_img,
+            self.intrinsic,
+            self.last_extrinsic,
+        )
+
+        # Visualize reconstruction
+        cloud = self.tsdf.get_scene_cloud()
+        vis.draw_points(np.asarray(cloud.points))
+
+        # Plan grasp
+        self.best_grasp = self.plan_best_grasp()
+        self.done = True
+        return
 
 
 class FixedTrajectoryBaseline(Policy):
@@ -74,7 +123,6 @@ class FixedTrajectoryBaseline(Policy):
         self.duration = 4.0
         self.radius = 0.1
         self.m = scipy.interpolate.interp1d([0, self.duration], [np.pi, 3.0 * np.pi])
-        vis.draw_workspace(0.3)
 
     def start(self):
         self.tic = rospy.Time.now()
@@ -99,31 +147,7 @@ class FixedTrajectoryBaseline(Policy):
         vis.draw_points(np.asarray(cloud.points))
 
         if elapsed_time > self.duration:
-            # Plan grasps
-            map_cloud = self.tsdf.get_map_cloud()
-            points = np.asarray(map_cloud.points)
-            distances = np.asarray(map_cloud.colors)[:, 0]
-            tsdf_grid = create_grid_from_map_cloud(
-                points, distances, self.tsdf.voxel_size
-            )
-            out = self.vgn.predict(tsdf_grid)
-            grasps = compute_grasps(out, voxel_size=self.tsdf.voxel_size)
-
-            # Visualize
-            vis.draw_tsdf(tsdf_grid, self.tsdf.voxel_size)
-            vis.draw_grasps(grasps, 0.05)
-
-            # Ensure that the camera is pointing forward.
-            grasp = grasps[0]
-            rot = grasp.pose.rotation
-            axis = rot.as_matrix()[:, 0]
-            if axis[0] < 0:
-                grasp.pose.rotation = rot * Rotation.from_euler("z", np.pi)
-
-            # Compute target pose of the EE
-            H_T_G = grasp.pose
-            H_B_EE = self.H_B_T * H_T_G * self.H_EE_G.inv()
-            self.best_grasp = H_B_EE
+            self.best_grasp = self.plan_best_grasp()
             self.done = True
             return