From 3c39453aa8186049b77e820fee482e43a751661a Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Wed, 10 Nov 2021 16:46:34 +0100
Subject: [PATCH] Relax stopping criterion

---
 src/active_grasp/nbv.py | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/src/active_grasp/nbv.py b/src/active_grasp/nbv.py
index 817f271..2bd4763 100644
--- a/src/active_grasp/nbv.py
+++ b/src/active_grasp/nbv.py
@@ -90,11 +90,7 @@ class NextBestView(MultiViewPolicy):
             t = (self.T_task_base * self.best_grasp.pose).translation
             i, j, k = (t / self.tsdf.voxel_size).astype(int)
             qs = self.qual_hist[:, i, j, k]
-            if (
-                np.count_nonzero(qs) == self.T
-                and np.mean(qs) > 0.9
-                and np.std(qs) < 0.05
-            ):
+            if np.count_nonzero(qs) == self.T and np.mean(qs) > 0.9:
                 return True
         return False