SLAM with G1 in Mujoco

[kjyothiswaroop]

Hi,

I plan on using the G1 to do SLAM but I would like to test the pipeline on simulation first. Is there a way I can get the camera and lidar info from mujoco, currently only the joint states are exposed from mujoco.

If anyone has integrated a Realsense camera into mujoco could you please let me know how I can do that.

Thanks!

[7Swaize]

I added a Realsense D435i depth camera to my Go2 simulation using the C++ MuJoCo simulator.

A fixed camera can be defined directly in the MuJoCo XML model. For example:
<camera name="Internal Camera" pos="0.315 0 0.09" euler="0 -1.57 -1.57" mode="fixed" fovy="60" />

Then you can access that camera via functions provided by Mujoco. You can see an example of this here. (You can take or use anything you want from my fork.)

I'm sending captured frames to a Python application via Iceoryx2. This is just a method for IPC. You can ignore that, if it doesn't pertain to your goals.

Apologies if any of the code is messy.