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

SO-ARM Starter Extension - Technical Documentation#

Environment Registration: Isaac-SOARM101-v0
Scene Configuration: Complete surgical workspace setup
Action Space: 6-DOF robot control
Observation Space: Joint states + RGB images

This extension provides environments for SO-ARM Starter simulation using the SO-ARM101 robotic arm configuration.

Installation#

bash tools/env_setup/install_so_arm_starter_extensions.sh

import gymnasium as gym
import so_arm_starter_ext

# Create environment
env = gym.make("Isaac-SOARM101-v0", num_envs=1).unwrapped

Component	Type	Description
`robot`	`SOARM101Cfg`	6-DOF robotic arm
`scissors`	`RigidObjectCfg`	Surgical scissors
`tray`	`RigidObjectCfg`	Surgical tray (placement target)
`table`	`RigidObjectCfg`	Work surface
`room_camera`	`TiledCameraCfg`	Fixed overhead camera
`wrist_camera`	`TiledCameraCfg`	Robot-mounted camera