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

Reference Workflow: Franka Ultrasound

Complete, copy-paste-ready code for the Franka ultrasound workflow. Use this alongside the tutorial docs to build your own workflow.

What to do with each file

File in this folder	Action	Destination in isaaclab_arena/
assets/asset_paths.py	Copy the file, update URLs	assets/asset_paths.py (new file)
assets/background_library.py	Add the class shown	assets/background_library.py
assets/object_library.py	Add the two classes shown	assets/object_library.py
embodiments/__init__.py	Add the one import line	embodiments/__init__.py
embodiments/franka_ultrasound/	Copy the whole folder	embodiments/franka_ultrasound/
tasks/ultrasound_approach_phantom_task.py	Copy the file	tasks/
examples/ultrasound_environment.py	Copy the file	examples/example_environments/
examples/cli_addition.py	Add the two lines shown	examples/example_environments/cli.py

For files marked Add, only paste the shown code — do not replace the whole file. For files marked Copy, place the file directly in the destination folder.