Here’s an example of how to have access to the data. Notice: this is not the actual code.

env = RCareWorld()
skin = env.create_skin(<SKIN_ID>)
while 1:
	env._step()
	print(skin.getInfo())

# You can also get the sensory information by the IDs of the single taxels
# This method returns a dict with force, position, and id
data = skin.getInfoByID(<Taxel_ID>)

To interact with the code and example scene,

In Python, run pyrcareworld/Examples/example_robot_skin.py .

$ python example_robot_skin.py
pybullet build time: May 20 2022 19:44:17
Side channel id in use:
534c891e-810f-11ea-a9d0-822485860400
d587efc8-9eb7-11ec-802a-18c04d443e7d
09bfcf57-9120-43dc-99f8-abeeec59df0f
02ac5776-6a7c-54e4-011d-b4c4723831c9

In Unity, open Assets/RCareWorld/Scenes/Massage/Interactive by double clicking it in the Unity Editor. Then click the Play button to run it.

There’s a human lying down, modeled with soft tisue. You can drag the white ball in the Scene window to move the robot around.

In python console, it prints out the information about the contact on the entire skin.

Check pyrcareworld/Examples/example_robot_skin.py for more details.