Rendering

RCareWorld supports both visual and haptics rendering. For haptics, it allows user to have access to forces and torques on joints and end-effectors on robots. For visual, it supports near-photorealistic rendering of rgb images, depth, optical flow, masks for instance segmentation, surface normal, and domain randonmization.

Haptics rendering

We demonstrate the force on end-effector of a Franka robot arm when it is opening a box here.

Franka in simulation

Franka in simulation

Real Franka

Real Franka

Force on the end effector in simulation vs realworld

Force on the end effector in simulation vs realworld

Visual rendering

Near-photorealisti RGB rendering

Near-photorealisti RGB rendering

Depth

Depth

Optical flow

Optical flow

Masks for instance segmentation

Masks for instance segmentation

Surface normal

Surface normal

Domain randonmization

Domain randonmization

Try setting up your robot in RCareWorld!

Github