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Duplicate question from #1007 |
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Hey there,
now I use Isaac SIm 4.1.0, and I am trying to add a RGB-D sensor to the wirst of my manipulation robot. I found there is already Realsense 455 intergrated in the software, so I tried to add this directly follwed the instruction in https://behavior.stanford.edu/omnigibson/tutorials/custom_robot_import.html. However, there is an error about the "missing reference found" after I added it in the software. And I also cannot find the corresponding usd file mentioned in https://docs.omniverse.nvidia.com/isaacsim/latest/features/environment_setup/assets/usd_assets_sensors.html. Could you tell me how to solve this problem?
Moreover, it's better for me to add Realsense D435i sensor into the simulator, because there is already one available in the labor. Then, I import the urdf file of Realsense D435i in the Isaac Sim successfully, but there is only proprio value returned from get_obs() function. It seems that there are more steps that I do not know. Could you help me to complete that?
Finally, I found that I can directly add a Camera for the robot, and it can also return the rgb and depth value when I use get_obs() function. However, I am worried about the intrinsic parameters would be different from D435i camera. I notice there are some editable parameters in Isaac Sim for the camera, but can that cover all the relevant parameters of Realsense D435i?
Thanks a lot for your help in advance!
Best regards,
Yunfeng
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