From 69e6acf00b0d30f495f2e5311cc83a2b637c2b38 Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Tue, 17 Aug 2021 09:32:59 +0200
Subject: [PATCH] Fix wrong transform

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

diff --git a/active_grasp/nbv.py b/active_grasp/nbv.py
index 07146fa..67d5d97 100644
--- a/active_grasp/nbv.py
+++ b/active_grasp/nbv.py
@@ -46,7 +46,7 @@ class NextBestView(BasePolicy):
             self.best_grasp = self.compute_best_grasp()
             self.done = True
         else:
-            return nbv
+            return nbv.inv()  # the controller expects T_cam_base
 
     def generate_viewpoints(self):
         r, h = 0.14, 0.2