I4H Simulation for Robotic Ultrasound#
This folder contains the scripts to run the simulation in the IsaacSim environment.
- IsaacLab Task Setting
- PI0 Policy Evaluation in IsaacSim
- Simulation with Data Distribution Service (DDS)
- Data Recording and Replaying with State Machine
- Teleoperation
- Ultrasound Raytracing Simulation
- Trajectory Evaluation