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

Robotic US Extension

Environments

Isaac-Lab scripts usually receive a --task <task_name> argument. This argument is used to select the environment/task to be run. These tasks are detected by the gym.register function in the robotic_us_ext/__init__.py.

These registered tasks are then further defined in the environment configuration file.

Available tasks:

• Isaac-Teleop-Torso-FrankaUsRs-IK-RL-Rel-v0: FrankaUsRs with relative actions
• Isaac-Reach-Torso-FrankaUsRs-IK-RL-Abs-v0 : FrankaUsRs with absolute actions

Currently there are these robot configurations that can be used in various tasks

Robot name	task	applications
FRANKA_PANDA_REALSENSE_ULTRASOUND_CFG	*-FrankaUsRs-*	Reach, Teleop