Fix camera optical frame link index

2021-04-28 17:03:49 +02:00 · 2021-04-28 17:03:49 +02:00 · 404a2cadc6
commit 404a2cadc6
parent 507a6b7f07
1 changed files with 3 additions and 1 deletions
--- 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()