Added camera configuration for the intel realsense D455 config

[allenabraham106]

Added Intel RealSense D455 simulation config for Isaac Lab

• Configure PinholeCameraCfg with D455 specs (focal length, aperture, clipping range)
• Output RGB and depth streams at 1280x800
• Integrates with InteractiveScene for multi-env simulation

[wilsonchenghy]

@claude review

[wilsonchenghy]

@copilot is realsense in right setting in isaaclab

[Copilot]

@copilot is realsense in right setting in isaaclab

Yes—these values are set in Isaac Lab’s camera units (mm) and are consistent with D455 at 1280x800. With focal_length=1.93, horizontal_aperture=3.663, and vertical_aperture=2.1396, the implied intrinsics are ~fx=674, fy=722 px (about 86°x58° FOV), which matches D455 specs closely. If you want exact per-device calibration, I can switch this to use a measured intrinsics matrix instead.

[wilsonchenghy]

@copilot pinhole cfg is correct one?