Fix timing issue

scripts/run.py

@@ -27,7 +27,7 @@ def main():
     seed_simulation(args.seed)
     rospy.sleep(1.0)  # Prevents a rare race condiion
 
-    for _ in tqdm(range(args.runs)):
+    for _ in tqdm(range(args.runs), disable=args.wait_for_input):
         if args.wait_for_input:
             controller.gripper.move(0.08)
             controller.switch_to_joint_trajectory_control()

src/active_grasp/controller.py

@@ -107,6 +107,7 @@ class GraspController:
             r.sleep()
         rospy.sleep(0.1)  # Wait for a zero command to be sent to the robot.
         timer.shutdown()
+        self.policy.deactivate()
         return self.policy.best_grasp
 
     def get_state(self):

src/active_grasp/nbv.py

@@ -104,9 +104,6 @@ class NextBestView(MultiViewPolicy):
             if gain < self.min_gain and len(self.views) > self.T:
                 self.done = True
 
-            if self.done:
-                self.vis.clear_ig_views()
-
             self.x_d = nbv
 
     def best_grasp_prediction_is_stable(self):

src/active_grasp/policy.py

@@ -96,6 +96,9 @@ class Policy:
                     filtered_qualities.append(quality)
         return filtered_grasps, filtered_qualities
 
+    def deactivate(self):
+        self.vis.clear_ig_views()
+
 
 def select_best_grasp(grasps, qualities):
     i = np.argmax(qualities)