diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..500bc70
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,3 @@
+{
+    "python.linting.pylintEnabled": true
+}
\ No newline at end of file
diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index eb652fc..4a9a4ef 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -293,9 +293,9 @@ async def dock_with_cube(self,
         if approach_angle is not None:
             dock_request.use_approach_angle = True
             dock_request.use_pre_dock_pose = True
-            dock_request.approach_angle = approach_angle.radians
+            dock_request.approach_angle_rad = approach_angle.radians
         if distance_from_marker is not None:
-            dock_request.distance_from_marker = distance_from_marker.distance_mm
+            dock_request.distance_from_marker_mm = distance_from_marker.distance_mm
 
         return await self.grpc_interface.DockWithCube(dock_request)
 
diff --git a/anki_vector/opengl/opengl_vector.py b/anki_vector/opengl/opengl_vector.py
index 138fab4..8f8e22b 100644
--- a/anki_vector/opengl/opengl_vector.py
+++ b/anki_vector/opengl/opengl_vector.py
@@ -550,9 +550,14 @@ def __init__(self, custom_object, is_fixed: bool):
             super().__init__(custom_object)
 
         self.is_fixed = is_fixed
-        self.x_size_mm = custom_object.archetype.x_size_mm
-        self.y_size_mm = custom_object.archetype.y_size_mm
-        self.z_size_mm = custom_object.archetype.z_size_mm
+        if is_fixed:
+            self.x_size_mm = custom_object.x_size_mm
+            self.y_size_mm = custom_object.y_size_mm
+            self.z_size_mm = custom_object.z_size_mm
+        else:
+            self.x_size_mm = custom_object.archetype.x_size_mm
+            self.y_size_mm = custom_object.archetype.y_size_mm
+            self.z_size_mm = custom_object.archetype.z_size_mm
 
 
 class RobotRenderFrame():  # pylint: disable=too-few-public-methods
diff --git a/examples/apps/3d_viewer/3d_viewer.py b/examples/apps/3d_viewer/3d_viewer.py
index 125158b..ca2061b 100755
--- a/examples/apps/3d_viewer/3d_viewer.py
+++ b/examples/apps/3d_viewer/3d_viewer.py
@@ -33,7 +33,8 @@ def main():
                            show_3d_viewer=True,
                            enable_face_detection=True,
                            enable_custom_object_detection=True,
-                           enable_nav_map_feed=True):
+                           enable_nav_map_feed=True,
+                           ):
         print("Starting 3D Viewer. Use Ctrl+C to quit.")
         try:
             while True: