Robot is the class for articulated robot arms in RCareWorld. The backend physics computation is handled by PhysX, which is the native physics backend of Unity.

If you want to use Python to load a robot, make sure the robot is supported by RCareWorld. Currently, we support these robots.

Assume you have already created an environment by doing env = RCareWorld(assets=[<asset_name>]).

To create a kinova_gen3_7dof_robotiq85 robot, add a line of code

robot = env.create_robot(315894, [3158940], 'kinova_gen3_7dof')

Here 315894 is the id of the robot, and 3158940 is the id of the gripper. By default, gripper id is robot_id * 10.

# if the robot is not in the scene, you need to load it
robot.load()

You should be able to see the robot in the scene after doing these steps. Check example_robot_move.py for more details.