diff --git a/art_pr2_interface/src/art_pr2_interface/art_pr2_interface.py b/art_pr2_interface/src/art_pr2_interface/art_pr2_interface.py
index 77bc7e4..89ac42e 100644
--- a/art_pr2_interface/src/art_pr2_interface/art_pr2_interface.py
+++ b/art_pr2_interface/src/art_pr2_interface/art_pr2_interface.py
@@ -116,6 +116,9 @@ def select_arm_for_drill(self, obj_to_drill, objects_frame_id, tf_listener):
         else:
             return self.LEFT_ARM
 
+    def select_arm_for_visual_inspection(self):
+        return self.RIGHT_ARM
+
     def select_free_arm(self):
         left_arm = self.get_arm_by_id(self.LEFT_ARM) if self.gripper_usage in [self.BOTH_ARM,
                                                                                self.LEFT_ARM] else None  # type: ArtGripper