From 34d93385872d52fe03788e71aa0b1480068a7dca Mon Sep 17 00:00:00 2001
From: Allen Abraham <allenabraham106@gmail.com>
Date: Thu, 11 Jun 2026 13:43:02 -0400
Subject: [PATCH] Added camera configuration for the intel realsense D455
 config

---
 camera/realsense_d455.py | 86 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 86 insertions(+)
 create mode 100644 camera/realsense_d455.py

diff --git a/camera/realsense_d455.py b/camera/realsense_d455.py
new file mode 100644
index 00000000..0a1ad73a
--- /dev/null
+++ b/camera/realsense_d455.py
@@ -0,0 +1,86 @@
+import argparse
+
+from isaaclab.app import AppLauncher
+
+parser = argparse.ArgumentParser(description="RealSense D455 camera simulation.")
+parser.add_argument(
+    "--num_envs", type=int, default=1, help="Number of environments to spawn."
+)
+parser.add_argument(
+    "--disable_fabric",
+    action="store_true",
+    help="Disable Fabric API and use USD instead.",
+)
+AppLauncher.add_app_launcher_args(parser)
+args_cli = parser.parse_args()
+
+
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
+
+
+import os
+import torch
+
+
+import isaaclab.sim as sim_utils
+from isaaclab.assets import AssetBaseCfg
+from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
+from isaaclab.sensors import CameraCfg
+from isaaclab.utils import configclass
+
+
+@configclass
+class SensorsSceneCfg(InteractiveSceneCfg):
+    ground = AssetBaseCfg(prim_path="/World/ground", spawn=sim_utils.GroundPlaneCfg())
+    dome_light = AssetBaseCfg(
+        prim_path="/World/Light",
+        spawn=sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75)),
+    )
+    camera = CameraCfg(
+        prim_path="/World/Camera",
+        update_period=0.1,
+        height=800,
+        width=1280,
+        data_types=["rgb", "distance_to_image_plane"],
+        spawn=sim_utils.PinholeCameraCfg(
+            focal_length=1.93,
+            focus_distance=400.0,
+            horizontal_aperture=3.6630,
+            vertical_aperture=2.1396,
+            clipping_range=(0.4, 20),
+        ),
+    )
+
+
+def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
+    sim_dt = sim.get_physics_dt()
+    sim_time = 0.0
+    count = 0
+    while simulation_app.is_running():
+        sim.step()
+        sim_time += sim_dt
+        count += 1
+        scene.update(sim_dt)
+        print("RGB shape:", scene["camera"].data.output["rgb"].shape)
+        print(
+            "Depth shape:", scene["camera"].data.output["distance_to_image_plane"].shape
+        )
+
+
+def main():
+    sim_cfg = sim_utils.SimulationCfg(
+        dt=0.005, device=args_cli.device, use_fabric=not args_cli.disable_fabric
+    )
+    sim = sim_utils.SimulationContext(sim_cfg)
+    sim.set_camera_view(eye=[3.5, 3.5, 3.5], target=[0.0, 0.0, 0.0])
+    scene_cfg = SensorsSceneCfg(num_envs=args_cli.num_envs, env_spacing=2.0)
+    scene = InteractiveScene(scene_cfg)
+    sim.reset()
+    print("[INFO]: Setup complete...")
+    run_simulator(sim, scene)
+
+
+if __name__ == "__main__":
+    main()
+    simulation_app.close()
\ No newline at end of file