Here we demonstrate how to set up a typical scene in RCareWorld. There are three ways to load a scene

• From configuration file
  • This allows you to configure the scene with a readable file
• From executable file
  • This allows you to run some example environments, and manipulate the objects inside.
  • You can not modify the environment or add new objects
• From Unity Editor
  • This allows you to have full access to all the functionalities, including adding new objects and setting up new environments

From JSON files

Load a scene from a JSON file

• Python side: Run example_scene_setup.py in rcareworld_workspace/rcare_py/pyrcareworld/Examples . Then, click ‘run’ in Unity. You will see a square box in the scene.

<aside> 💡 JSON files should be placed under Assets/StreamingAssets/SceneData by default. Do not try to move these files.

</aside>

<aside> 💡 You might need to do pip install open3d to proceed.

</aside>

from pyrcareworld.envs import RCareWorld

# Specify the name of the scene configuration file
env = RCareWorld(scene_file='my_new_scene.json')
print(env.instance_channel.data)
while True:
    env._step()

• Unity side: Open the Empty scene and click Run .

Export scene to a JSON file

Click ExportSceneToJson , it will create a json file under Assets/StreamingAssets/SceneData with the same name as your scene. This json file will record the position and properties of all the objects with XXXAttr .

From Executable files

Run an environment with an executable file

Run example_tongue.py , you might need to modify the path of the executable file.

from pyrcareworld.envs import RCareWorld

# Specify the path of the exectuable file
env = RCareWorld(executable_file=<path_to_executable>)
while True:
    env._step()

It will load the scene which is the same in Unity. The viewpoint will be the same from the main camera.