Behron
60aaea751f
More merge conflicts. Taking main changes then will integrate mine.
27 lines
1023 B
Markdown
27 lines
1023 B
Markdown
# Realsense D435i Description (MJCF)
|
|
|
|
Requires MuJoCo 2.2.2 or later.
|
|
|
|
## Overview
|
|
|
|
This package contains a simplified robot description (MJCF) of the [Realsense
|
|
D435i](https://www.intelrealsense.com/depth-camera-d435i/) camera developed by
|
|
Intel. It is derived from the [publicly
|
|
available](https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/realsense2_description/urdf/_d435i.urdf.xacro)
|
|
URDF description with modifications by [Binit
|
|
Shah](https://www.linkedin.com/in/binit-shah) to include colors.
|
|
|
|
<p float="left">
|
|
<img src="d435i.png" width="400">
|
|
</p>
|
|
|
|
## URDF → MJCF derivation steps
|
|
|
|
1. Imported the camera mesh from the [URDF description](https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/realsense2_description/meshes/d435.dae) into Blender and assigned colors.
|
|
2. Exported the mesh as a composite OBJ file.
|
|
3. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
|
|
|
|
## License
|
|
|
|
This model is released under an [Apache-2.0 License](LICENSE).
|