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Repository: https://github.com/isaac-for-healthcare/i4h-digital-twin

Simulation-ready healthcare assets from the digital twin toolkit

Isaac for Healthcare - Sim-Ready Assets#

The Isaac for Healthcare (i4h) Sim-Ready Assets is a collection of assets that are used to create the i4h simulation environment.

Asset Categories#

This asset catalog contains several categories of assets that are essential for creating realistic healthcare simulations:

Simulation-Ready Robots#

  • Surgical Robots: Detailed 3D models of surgical robotic systems with accurate kinematics and dynamics
  • Medical Assist Robots: Models of robots used for patient assistance and care
  • Lab Automation Robots: Models of robots used in laboratory settings

Anatomical Models#

  • Standard Anatomy: High-fidelity 3D models of human anatomy for general simulation
  • Pathological Models: Models representing various disease states and conditions
  • BYO (Bring Your Own) Anatomy: Support for importing custom anatomical models with proper documentation and validation guidelines

Visual Assets#

  • Medical Equipment: 3D models of medical devices and equipment
  • Hospital Environment: Models of hospital rooms, operating theaters, and medical facilities

  • Materials and Textures: High-quality textures and materials for realistic rendering

  • Lightwheel SimReady Assets: Simulation-ready deformable medical and surgical props powered by Lightwheel AI, including instruments, devices, carts, trays, and scene layouts

Note: The Lightwheel SimReady assets included in this catalog are provided for non-commercial, research and development use only. These assets are not licensed for commercial usage. Please refer to the LICENSE.txt files included with each Lightwheel asset for full terms.

Configuration Files#

  • Simulation Parameters: Configuration files for physics, rendering, and simulation settings
  • Workflow Templates: Pre-configured workflow templates for common medical procedures
  • Environment Setups: Configuration files for different simulation environments

Asset Helper Tool#

The i4h_asset_helper package allows to get the download links for the assets. Install it with uv sync from this directory. For more details, please refer to I4H Assets Catalog Helper.