RCareWorld supports both visual and haptics rendering. Caregiving robots need to have a visual perception of their surroundings and a haptic perception to perform contact-rich tasks. For visual, RCareWorld supports near-photorealistic rendering of RGB images, depth, optical flow, and masks, for instance, segmentation, surface normal, and domain randomization. For haptics, it allows users to access forces and torques on joints and end-effectors on robots. Also, it supports whole-arm tactile sensing, enabling users to get the forces on the entire arm.