diff --git a/src/active_grasp/nbv.py b/src/active_grasp/nbv.py
index 183dc8c..3ee0f47 100644
--- a/src/active_grasp/nbv.py
+++ b/src/active_grasp/nbv.py
@@ -70,7 +70,7 @@ class NextBestView(MultiViewPolicy):
             with Timer("state_update"):
                 self.integrate(img, x, q)
             with Timer("view_generation"):
-                views = self.generate_views()
+                views = self.generate_views(q)
             with Timer("ig_computation"):
                 gains = [self.ig_fn(v, 10) for v in views]
             with Timer("cost_computation"):
@@ -98,13 +98,13 @@ class NextBestView(MultiViewPolicy):
                 return True
         return False
 
-    def generate_views(self):
+    def generate_views(self, q):
         thetas = np.deg2rad([15, 30, 45])
         phis = np.arange(6) * np.deg2rad(60)
         view_candidates = []
         for theta, phi in itertools.product(thetas, phis):
             view = self.view_sphere.get_view(theta, phi)
-            if self.is_feasible(view):
+            if self.is_feasible(view, q):
                 view_candidates.append(view)
         return view_candidates
 
diff --git a/src/active_grasp/policy.py b/src/active_grasp/policy.py
index 7f7a966..add82ca 100644
--- a/src/active_grasp/policy.py
+++ b/src/active_grasp/policy.py
@@ -36,7 +36,8 @@ class Policy:
         self.vis = Visualizer()
 
     def is_feasible(self, view, q_init=None):
-        q_init = q_init if q_init else [0.0, -0.79, 0.0, -2.356, 0.0, 1.57, 0.79]
+        if q_init is None:
+            q_init = [0.0, -0.79, 0.0, -2.356, 0.0, 1.57, 0.79]
         return self.model.ik(q_init, view) is not None
 
     def activate(self, bbox, view_sphere):