diff --git a/bt_sim_node.py b/bt_sim_node.py
index 0742e2a..c8fee84 100755
--- a/bt_sim_node.py
+++ b/bt_sim_node.py
@@ -47,7 +47,7 @@ class BtSimNode:
         self.step_cnt = 0
         self.reset_requested = False
         self.move_server.start()
-        T_base_task = Transform(Rotation.identity(), np.r_[0.2, -0.1, 0.1])
+        T_base_task = Transform(Rotation.identity(), np.r_[0.2, -0.15, 0.1])
         self.tf_tree.broadcast_static(T_base_task, "panda_link0", "task")
 
     def reset(self, req):
@@ -97,6 +97,7 @@ class BtSimNode:
     def publish_cam_imgs(self):
         _, depth = self.sim.camera.update()
         depth_msg = self.cv_bridge.cv2_to_imgmsg(depth)
+        depth_msg.header.stamp = rospy.Time.now()
         self.depth_pub.publish(depth_msg)
 
     def move(self, goal):
diff --git a/simulation.py b/simulation.py
index c09b657..d63eb7b 100644
--- a/simulation.py
+++ b/simulation.py
@@ -7,6 +7,8 @@ from robot_utils.spatial import Rotation, Transform
 class BtPandaEnv(BtBaseEnv):
     def __init__(self, gui=True, sleep=True):
         super().__init__(gui, sleep)
+        p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
+        p.resetDebugVisualizerCamera(1.4, 50, -35, [0.0, 0.0, 0.6])
         self.arm = BtPandaArm()
         self.gripper = BtPandaGripper(self.arm)
         self.camera = BtCamera(