diff --git a/sbp_env/planners/birrtPlanner.py b/sbp_env/planners/birrtPlanner.py
index b036dbd..51956e6 100644
--- a/sbp_env/planners/birrtPlanner.py
+++ b/sbp_env/planners/birrtPlanner.py
@@ -80,7 +80,7 @@ def run_once(self):
                     other_poses = self.poses
                     other_nodes = self.nodes
                 distances = np.linalg.norm(
-                    other_poses[: len(self.nodes)] - newpos, axis=1
+                    other_poses[: len(other_nodes)] - newpos, axis=1
                 )
                 if min(distances) < self.args.epsilon:
                     idx = np.argmin(distances)