From 404a2cadc6b74557b50abac730d01ee1149da531 Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Wed, 28 Apr 2021 17:03:49 +0200
Subject: [PATCH] Fix camera optical frame link index

---
 simulation.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/simulation.py b/simulation.py
index 25e598f..c09b657 100644
--- a/simulation.py
+++ b/simulation.py
@@ -9,7 +9,9 @@ class BtPandaEnv(BtBaseEnv):
         super().__init__(gui, sleep)
         self.arm = BtPandaArm()
         self.gripper = BtPandaGripper(self.arm)
-        self.camera = BtCamera(self.arm, 9, 320, 240, 1.047, 0.1, 1.0)
+        self.camera = BtCamera(
+            self.arm, 11, 320, 240, 1.047, 0.1, 1.0
+        )  # link 11 corresponds to cam_optical_frame
         self.T_W_B = Transform(Rotation.identity(), np.r_[-0.6, 0.0, 0.4])
         self.load_table()
         self.load_robot()