BaseObject

The basic object class in RCareWorld is RCareWorldBaseObject. All of the objects in RCareWorld inherant from this basic class, which means they will have the properties owned by RCareWorldBaseObject.

Setup an object as BaseObject

In Unity, select an object

BaseObject Properties

• name : (str) The name of the object.
• position : (list) [x, y, z] position in the world frame of the left hand coordinate system of Unity
• rotation: (list) [x, y, z] rotation in the world frame of the left hand coordinate system of Unity
• quaternion: (list) [x, y, z, w] quaternion in the world frame of the left hand coordinate system of Unity
• local_to_world_matrix : (list) local to world matrix in the world frame of the left hand coordinate system of Unity
• local_position local_rotation local_quaternion : (list) the corresponding value in the frames
• What is a local frame?
• I want to convert from left-hand system to right-hand system.

Load Object

In general, to get control of an object, you need to first initialize an object by doing

my_obj = env.create_object(id = 12345, name = 'object_name', is_in_scene=Bool)

Object in the scene