From 64730721cde5290cc32c9061bd884fe62b911b5a Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Thu, 11 Nov 2021 15:19:49 +0100
Subject: [PATCH] Update min IG stopping criterion

---
 src/active_grasp/nbv.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/active_grasp/nbv.py b/src/active_grasp/nbv.py
index 2bd4763..f897093 100644
--- a/src/active_grasp/nbv.py
+++ b/src/active_grasp/nbv.py
@@ -80,7 +80,7 @@ class NextBestView(MultiViewPolicy):
             i = np.argmax(utilities)
             nbv, gain = views[i], gains[i]
 
-            if gain < self.min_gain:
+            if gain < self.min_gain and len(self.views) > self.T:
                 self.done = True
 
             self.x_d = nbv