diff --git a/README.md b/README.md
index 6adb0b6..2544281 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,4 @@
 # Roadmap
-* Change the lookat point to teh pointcloud average xyz instead of bbox center
 * Debug with model output pose
 * Change simulation scenes
 * Interface with GS-Net
diff --git a/src/active_grasp/active_perception_policy.py b/src/active_grasp/active_perception_policy.py
index 44ffa5c..b124b63 100644
--- a/src/active_grasp/active_perception_policy.py
+++ b/src/active_grasp/active_perception_policy.py
@@ -209,7 +209,11 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy):
 
             current_cam_pose = torch.from_numpy(x.as_matrix()).float().to("cuda:0")
             est_delta_rot_mat = self.rotation_6d_to_matrix_tensor_batch(delta_rot_6d)[0]
-            look_at_center = torch.from_numpy(self.bbox.center).float().to("cuda:0")
+
+            target_points_np = target_points.cpu().numpy()[0,:,:]
+            central_point_of_target = np.mean(target_points_np, axis=0)
+
+            look_at_center = torch.from_numpy(central_point_of_target).float().to("cuda:0")
             nbv_tensor = self.get_transformed_mat(current_cam_pose, 
                                                     est_delta_rot_mat, 
                                                     look_at_center)