RCareWorld provides interfaces for users to control human joints by name.

Names of Human Joints

The joints in the human body are listed as the following. We follow the naming convention of the SMPL-X human body model. To check where each joint is, you can open one of the human prefabs and see the tree structure in the hierarchy window on the left.

['Pelvis', 'Spine1', 'Spine2', 'Spine3', 'LeftShoulder', 'LeftUpperArm', 'LeftLowerArm', 'LeftHand',
'RightShoulder', 'RightUpperArm', 'RightLowerArm', 'RightHand', 'LeftUpperLeg', 'LeftLowerLeg',
'LeftFoot', 'LeftToes', 'RightUpperLeg', 'RightLowerLeg', 'RightFoot', 'RightToes', 'Neck', 'Head',
'LeftEye', 'RightEye', 'Jaw', 'LeftThumb1', 'LeftThumb2', 'LeftThumb3', 'LeftIndex1', 'LeftIndex2',
'LeftIndex3', 'LeftMiddle1', 'LeftMiddle2', 'LeftMiddle3', 'LeftRing1', 'LeftRing2', 'LeftRing3',
 'LeftPinky1', 'LeftPinky2', 'LeftPinky3', 'RightThumb1', 'RightThumb2', 'RightThumb3',
'RightIndex1', 'RightIndex2', 'RightIndex3', 'RightMiddle1', 'RightMiddle2', 'RightMiddle3',
'RightRing1', 'RightRing2', 'RightRing3', 'RightPinky1', 'RightPinky2', 'RightPinky3']

Control Joints

We support position control for human joints. The two APIs for controlling human joint positions are:

setJointRotationByName

setJointRotationByNameDirectly .

Example: See Examples/example_human_joint.py

import os
from pyrcareworld.envs import RCareWorld

# Create environment
env = RCareWorld(executable_file='@Editor', assets=['HumanArticulation'])

# Create human
human = env.create_human(id=123456, name='HumanArticulation', is_in_scene=False)
# Load human
human.load()

# Set human base position
human.setBasePosition([0, 2, 0])

# Get human joint state by name
human.getJointStateByName('Spine1')
env._step()

# Set human joint position by name
human.setJointPoisitionByNameDirectly('Neck', [20,20,20])
human.setJointPoisitionByNameDirectly('Spine2', [20,0,0])
env._step()

# Get human joint state by name
human.getJointStateByName('Spine1')

while 100:
    env._step()