How to implement a depth camera in OmniIsaacGymEnvs?

[quantingxie]

Hi,

I didn't see in the document of how to implement a depth camera, I wanted to simulate a real-sense depth camera on Go1 but not sure how to do it. Can you provide an example? Thanks!

[kellyguo11]

Hi there, we are still working on a vectorized API for depth cameras. For now, please reference the replicator examples for collecting depth information: https://docs.omniverse.nvidia.com/isaacsim/latest/replicator_tutorials/tutorial_replicator_composer.html and https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/annotators_details.html#distance-to-camera