google-deepmind/mujoco_menagerie

realsense_d435i simulation - Does the simulation mimic the reality when it comes to the output of the intel realsense

gautam1858 opened this issue · 4 comments

gautam1858 commented

Hi,

I want to know whether the output of the intel realsense camera d435i in the mujoco simulation mimics the output of the actual intel realsense camera d435i ?

jonzamora commented

From looking at the XML file, it seems like the camera is just for looks and does not provide RGBD sensor readings. I think you will have to get RGBD readings from MuJoCo itself, like they cover in their introductory tutorial found here -> https://github.com/google-deepmind/mujoco

It would be cool though if this RealSense camera model did provide RGBD observations.

Maybe someone could take that task upon themselves 👀

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jonzamora commented

Something which could be useful:

If you look at the ALOHA model, they state "The intrinsic parameters of the simulated cameras are matched with an Intel RealSense D405."

The lines of code you can reference are here:

This could at least give you similar RGB readings for a D405 camera.

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yuvaltassa commented

Note these were fixed recently in 441860e

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maheshreddy24 commented

How do I calibrate the camera in this camera in simulation?