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Realsense D435i Description (MJCF)

Requires MuJoCo 2.2.2 or later.

Overview

This package contains a simplified robot description (MJCF) of the Realsense D435i camera developed by Intel. It is derived from the publicly available URDF description with modifications by Binit Shah to include colors.

URDF → MJCF derivation steps

  1. Imported the camera mesh from the URDF description into Blender and assigned colors.
  2. Exported the mesh as a composite OBJ file.
  3. Processed .obj files with obj2mjcf.

License

This model is released under an Apache-2.0 License.