diff --git a/listener.py b/listener.py
index 4eed4ef..3c30d07 100644
--- a/listener.py
+++ b/listener.py
@@ -10,7 +10,7 @@ if __name__ == '__main__':
 	rate = rospy.Rate(10.0)
 	while not rospy.is_shutdown():
 		try:
-			(trans,rot) = listener.lookupTransform('left_gripper', 'base', rospy.Time(0))
+			(trans,rot) = listener.lookupTransform('c1', 'base', rospy.Time(0))
 		except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
 			continue