diff --git a/active_grasp/policy.py b/active_grasp/policy.py
index e257321..f621eb6 100644
--- a/active_grasp/policy.py
+++ b/active_grasp/policy.py
@@ -138,7 +138,7 @@ class MultiViewPolicy(Policy):
         with Timer("grasp_prediction"):
             tsdf_grid, voxel_size = self.tsdf.get_grid(), self.tsdf.voxel_size
             out = self.vgn.predict(tsdf_grid)
-        self.vis.quality(self.task_frame, self.tsdf.voxel_size, out.qual, 0.5)
+        self.vis.quality(self.task_frame, self.tsdf.voxel_size, out.qual, 0.8)
 
         t = (len(self.views) - 1) % self.T
         self.qual_hist[t, ...] = out.qual
@@ -150,10 +150,9 @@ class MultiViewPolicy(Policy):
         self.vis.clear_grasps()
 
         if len(grasps) > 0:
-            smin, smax = np.min(scores), np.max(scores)
             self.best_grasp = grasps[0]
-            self.vis.grasps(self.base_frame, grasps, scores, smin, smax)
-            self.vis.best_grasp(self.base_frame, grasps[0], scores[0], smin, smax)
+            self.vis.grasps(self.base_frame, grasps)
+            self.vis.best_grasp(self.base_frame, self.best_grasp)
         else:
             self.best_grasp = None
 
diff --git a/active_grasp/visualization.py b/active_grasp/visualization.py
index f9599d7..3e7a7b0 100644
--- a/active_grasp/visualization.py
+++ b/active_grasp/visualization.py
@@ -69,15 +69,14 @@ class Visualizer:
         marker = create_line_list_marker(frame, pose, scale, color, lines, ns="bbox")
         self.draw([marker])
 
-    def best_grasp(self, frame, grasp, score, smin=0.9, smax=1.0, alpha=1.0):
-        color = cmap((score - smin) / (smax - smin))
-        color = [color[0], color[1], color[2], alpha]
+    def best_grasp(self, frame, grasp, qmin=0.5, qmax=1.0):
+        color = cmap((grasp.quality - qmin) / (qmax - qmin))
         self.draw(create_grasp_markers(frame, grasp, color, "best_grasp", radius=0.006))
 
-    def grasps(self, frame, grasps, scores, smin=0.9, smax=1.0, alpha=0.8):
+    def grasps(self, frame, grasps, qmin=0.5, qmax=1.0, alpha=0.8):
         markers = []
-        for i, (grasp, score) in enumerate(zip(grasps, scores)):
-            color = cmap((score - smin) / (smax - smin))
+        for i, grasp in enumerate(grasps):
+            color = cmap((grasp.quality - qmin) / (qmax - qmin))
             color = [color[0], color[1], color[2], alpha]
             markers += create_grasp_markers(frame, grasp, color, "grasps", 4 * i)
         self.grasp_marker_count = len(markers)