diff --git a/active_grasp/policy.py b/active_grasp/policy.py
index 63ba005..e257321 100644
--- a/active_grasp/policy.py
+++ b/active_grasp/policy.py
@@ -147,6 +147,8 @@ class MultiViewPolicy(Policy):
             grasps = select_grid(voxel_size, out, threshold=self.qual_threshold)
             grasps, scores = self.sort_grasps(grasps, q)
 
+        self.vis.clear_grasps()
+
         if len(grasps) > 0:
             smin, smax = np.min(scores), np.max(scores)
             self.best_grasp = grasps[0]
@@ -154,7 +156,6 @@ class MultiViewPolicy(Policy):
             self.vis.best_grasp(self.base_frame, grasps[0], scores[0], smin, smax)
         else:
             self.best_grasp = None
-            # TODO clear grasp markers
 
 
 def compute_error(x_d, x):
diff --git a/active_grasp/simulation.py b/active_grasp/simulation.py
index 59eef06..8537d5c 100644
--- a/active_grasp/simulation.py
+++ b/active_grasp/simulation.py
@@ -126,7 +126,7 @@ def find_urdfs(root):
 class RandomScene(Scene):
     def __init__(self):
         super().__init__()
-        self.center = np.r_[0.6, 0.0, 0.1]
+        self.center = np.r_[0.5, 0.0, 0.1]
         self.length = 0.3
         self.origin = self.center - np.r_[0.5 * self.length, 0.5 * self.length, 0.0]
         self.object_urdfs = find_urdfs(self.vgn_urdfs_dir / "packed" / "test")
diff --git a/active_grasp/visualization.py b/active_grasp/visualization.py
index ce429d6..f9599d7 100644
--- a/active_grasp/visualization.py
+++ b/active_grasp/visualization.py
@@ -30,6 +30,8 @@ class Visualizer:
         self.pose_pub = rospy.Publisher("pose", PoseStamped, queue_size=1)
         self.quality_pub = rospy.Publisher("quality", PointCloud2, queue_size=1)
 
+        self.grasp_marker_count = 0
+
     def clear(self):
         self.clear_markers()
         msg = to_cloud_msg("panda_link0", np.array([]))
@@ -41,10 +43,6 @@ class Visualizer:
     def clear_markers(self):
         self.draw([Marker(action=Marker.DELETEALL)])
 
-    def clear_views(self, n):
-        markers = [Marker(action=Marker.DELETE, ns="views", id=i) for i in range(n)]
-        self.draw(markers)
-
     def draw(self, markers):
         self.marker_pub.publish(MarkerArray(markers=markers))
 
@@ -82,8 +80,21 @@ class Visualizer:
             color = cmap((score - smin) / (smax - smin))
             color = [color[0], color[1], color[2], alpha]
             markers += create_grasp_markers(frame, grasp, color, "grasps", 4 * i)
+        self.grasp_marker_count = len(markers)
         self.draw(markers)
 
+    def clear_grasps(self):
+        if self.grasp_marker_count > 0:
+            markers = [
+                Marker(action=Marker.DELETE, ns="grasps", id=i)
+                for i in range(self.grasp_marker_count)
+            ]
+            markers += [
+                Marker(action=Marker.DELETE, ns="best_grasp", id=i) for i in range(4)
+            ]
+            self.draw(markers)
+            self.grasp_marker_count = 0
+
     def rays(self, frame, origin, directions, t_max=1.0):
         lines = [[origin, origin + t_max * direction] for direction in directions]
         marker = create_line_list_marker(