Attach a camera to Franka robot

Omniverse Isaac Sim
,
1

Would anyone please guide me to attach a camera to the Franka manipulator through python API.

2

Something like this should work.
(code pulled from standalone_examples/api/omni.isaac.robot_engine_bridge/freespace_dnn_data_generator.py)

        from omni.isaac.core.utils import rotations, prims
        from pxr import Gf
        self._camera = prims.create_prim(
            "/Path/To/EndEffector/Camera",
            "Camera",
            translation=(1.0, 1.0, 10.0),
            orientation=rotations.gf_rotation_to_np_array(Gf.Rotation(Gf.Vec3d(1, 0, 0), 90)),
            attributes={
                "focusDistance": FOCUS_DIST,
                "focalLength": FOCAL_LEN,
                "horizontalAperture": HORIZONTAL_APERTURE,
                "verticalAperture": VERTICAL_APERTURE,
            },
        )

        # Activate new camera
        viewport = omni.kit.viewport.get_viewport_interface()
        viewport.get_viewport_window().set_active_camera(str(self._camera.GetPath()))
3

How do we attach the said camera to move along with the robot end effector?