Isaac Sim Version
- 4.5.0
- 4.2.0
- 4.1.0
- 4.0.0
- 2023.1.1
- 2023.1.0-hotfix.1
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Operating System
- Ubuntu 22.04
- Ubuntu 20.04
- Windows 11
- Windows 10
- Other (please specify):
Attaching RealSense D455 Camera to Go1 via Python
Hello all,
I’m currently working on attaching an Intel RealSense D455 camera to a Go1 robot using Python in Isaac Sim.
I followed these steps below and the camera seems to be working. However, I’m not sure if I’m doing this the correct way, and I have a few questions:
- Is it enough to simply add the camera USD to the world and parent it to the correct prim under the robot?
- The Go1 USD I’m using already includes joints for the camera. So if I place the camera under
/trunk/camera_face, do I still need to manually set its transform (position/orientation)? Or does Isaac Sim automatically treat it as attached to the joint? - Is modifying the transform from Python recommended when the camera is already “linked” through USD structure?
Here’s a cleaned version of my code for review:
Python Code
from isaacsim import SimulationApp
simulation_app = SimulationApp({"headless": False})
import numpy as np
import matplotlib.pyplot as plt
from isaacsim.core.api import World
from isaacsim.core.prims import Articulation
from isaacsim.core.utils.stage import add_reference_to_stage, get_stage_units
from pxr import UsdPhysics, Sdf
from isaacsim.sensors.camera import Camera
import isaacsim.core.utils.numpy.rotations as rot_utils
from omni.isaac.dynamic_control import _dynamic_control
import omni
my_world = World(stage_units_in_meters=1.0)
my_world.scene.add_default_ground_plane()
add_reference_to_stage("/home/marwah/isaacsim/standalone_examples/tutorials/go1.usd", "/World/go1")
go1_robot = Articulation("/World/go1")
go1_robot.set_world_poses(positions=np.array([[0.0, 0, 0.5]]) / get_stage_units())
my_world.reset()
add_reference_to_stage("/home/marwah/isaacsim/standalone_examples/tutorials/stairs.usd", "/World/Stairs")
my_world.reset()
go1_robot = my_world.scene.add(Articulation("/World/go1"))
stage = omni.usd.get_context().get_stage()
realsense_usd_path = "/home/marwah/isaacsim/standalone_examples/tutorials/IntelCam2ndTry.usd"
realsense_prim_path = "/World/go1/trunk/camera_face"
add_reference_to_stage(realsense_usd_path, realsense_prim_path)
my_world.reset()
joint_target_positions = np.deg2rad([
0.0, 0.0, 0.0, 0.0,
45.0, 45.0, 45.0, 45.0,
-95.0, -95.0, -95.0, -95.0
])
go1_robot.set_joint_positions(joint_target_positions)
color_camera_path = f"{realsense_prim_path}/rsd455/RSD455/Camera_OmniVision_OV9782_Color"
left_ir_camera_path = f"{realsense_prim_path}/rsd455/RSD455/Camera_OmniVision_OV9782_Left"
right_ir_camera_path = f"{realsense_prim_path}/rsd455/RSD455/Camera_OmniVision_OV9782_Right"
depth_camera_path = f"{realsense_prim_path}/rsd455/RSD455/Camera_Pseudo_Depth"
print("Color camera path:", color_camera_path)
print("Depth camera path:", depth_camera_path)
print("Left IR camera path:", left_ir_camera_path)
print("Right IR camera path:", right_ir_camera_path)
print("Color camera exists:", stage.GetPrimAtPath(color_camera_path).IsValid())
print("Depth camera exists:", stage.GetPrimAtPath(depth_camera_path).IsValid())
print("Left IR camera exists:", stage.GetPrimAtPath(left_ir_camera_path).IsValid())
print("Right IR camera exists:", stage.GetPrimAtPath(right_ir_camera_path).IsValid())
rgb_camera = None
depth_camera = None
left_ir_camera = None
right_ir_camera = None
cameras_initialized = False
def initialize_cameras():
global rgb_camera, depth_camera, left_ir_camera, right_ir_camera, cameras_initialized
try:
rgb_camera = Camera(color_camera_path, [0.0, 0.0, 0.0], rot_utils.euler_angles_to_quats([0, 0, 0], degrees=True), 30, (1280, 720))
depth_camera = Camera(depth_camera_path, [0.0, 0.0, 0.0], rot_utils.euler_angles_to_quats([0, 0, 0], degrees=True), 30, (1280, 720))
left_ir_camera = Camera(left_ir_camera_path, [0.0, 0.0, 0.0], rot_utils.euler_angles_to_quats([0, 0, 0], degrees=True), 30, (1280, 720))
right_ir_camera = Camera(right_ir_camera_path, [0.0, 0.0, 0.0], rot_utils.euler_angles_to_quats([0, 0, 0], degrees=True), 30, (1280, 720))
for cam in [rgb_camera, depth_camera, left_ir_camera, right_ir_camera]:
cam.initialize()
cam.add_motion_vectors_to_frame()
cameras_initialized = True
print("All cameras initialized successfully")
return True
except Exception as e:
cameras_initialized = False
print("Camera init error:", e)
return False
for prim in stage.TraverseAll():
prim_type = prim.GetTypeName()
if prim_type == "PhysicsRevoluteJoint":
drive = UsdPhysics.DriveAPI.Get(prim, "angular")
dc = _dynamic_control.acquire_dynamic_control_interface()
articulation = dc.get_articulation("/World/go1")
dc.wake_up_articulation(articulation)
drive.GetStiffnessAttr().Set(80)
drive.GetDampingAttr().Set(20)
initialize_cameras()
for _ in range(500):
my_world.step(render=True)
simulation_app.close()
Console Output
Color camera path: /World/go1/trunk/camera_face/rsd455/RSD455/Camera_OmniVision_OV9782_Color
Depth camera path: /World/go1/trunk/camera_face/rsd455/RSD455/Camera_Pseudo_Depth
Left IR camera path: /World/go1/trunk/camera_face/rsd455/RSD455/Camera_OmniVision_OV9782_Left
Right IR camera path: /World/go1/trunk/camera_face/rsd455/RSD455/Camera_OmniVision_OV9782_Right
Color camera exists: True
Depth camera exists: True
Left IR camera exists: True
Right IR camera exists: True
All cameras initialized successfully
Any suggestions or confirmation would be really appreciated!
Thanks 🙏