Point cloud utility functions for mujoco [Draft]

[Wenxuan-Zhou]

Ongoing

[vikashplus]

@Wenxuan-Zhou we received a request for point cloud support in RoboHive. It will be great to develop and get this feature integrated.
#116

[Wenxuan-Zhou]

Will work on this as soon as possible!

[Wenxuan-Zhou]

I have updated the code and provided an example in the colab.
I noticed that the depth image is upside-down compared to rgb. Is there any reason for that? @vikashplus

[vikashplus]

IIRC it was upside down in MuJoCo_py. So it might be a stale rationale that needs an update for new official wrappers. This is the line where it happens. Feel free to test and add the fix to your PR.

[Wenxuan-Zhou]

I have commented out the line you mentioned and verified the output. It should be ready to merge!

[shivakanthsujit]

Hello,

I am using these files and they work out of the box with the current robohive version. Could this PR be merged into main?

[vikashplus]

@shivakanthsujit -- mered into dev. It will go out with the next release.