Update Pi0 and GR00TN1 model weights and Readme (#184)

Fixes #ISSUE_NUMBER

### Description
Update Pi0 and GR00TN1 model weights and Readme

---------

Signed-off-by: YunLiu <55491388+KumoLiu@users.noreply.github.com>
Signed-off-by: Mingxin Zheng <mingxinz@nvidia.com>
Co-authored-by: Mingxin Zheng <mingxinz@nvidia.com>

Author: KumoLiu

holoscan_i4h/operators/clarius_solum/CMakeLists.txt

@@ -32,10 +32,34 @@ execute_process(
 
 # Download Clarius library and header files
 if(NOT EXISTS "${LIB_DIR}/clarius_solum/libsolum.so")
+    set(SOLUM_URL "https://github.com/clariusdev/solum/releases/download/v12.0.2/solum-12.0.2-linux.x86_64-gcc_ubuntu_${UBUNTU_VERSION}.zip")
+    set(SOLUM_ZIP_PATH "${LIB_DIR}/clarius_solum/solum.zip")
+
+    message(STATUS "Downloading Clarius Solum library from: ${SOLUM_URL}")
+
+    # Download the zip file with error checking
     file(DOWNLOAD
-        "https://github.com/clariusdev/solum/releases/download/v12.0.2/solum-12.0.2-linux.x86_64-gcc_ubuntu_${UBUNTU_VERSION}.zip"
-         "${LIB_DIR}/clarius_solum/solum.zip"
-         )
+        "${SOLUM_URL}"
+        "${SOLUM_ZIP_PATH}"
+        STATUS DOWNLOAD_STATUS
+        TIMEOUT 600
+        SHOW_PROGRESS
+    )
+
+    # Check download status
+    list(GET DOWNLOAD_STATUS 0 DOWNLOAD_ERROR_CODE)
+    list(GET DOWNLOAD_STATUS 1 DOWNLOAD_ERROR_MESSAGE)
+
+    if(NOT DOWNLOAD_ERROR_CODE EQUAL 0)
+        message(FATAL_ERROR "Failed to download Clarius Solum library: ${DOWNLOAD_ERROR_MESSAGE}")
+    endif()
+
+    # Verify the downloaded file exists and has reasonable size
+    if(NOT EXISTS "${SOLUM_ZIP_PATH}")
+        message(FATAL_ERROR "Downloaded file does not exist: ${SOLUM_ZIP_PATH}")
+    endif()
+
+    message(STATUS "Successfully downloaded Clarius Solum library to ${SOLUM_ZIP_PATH}")
     # Unzip the file
     execute_process(
         COMMAND unzip solum.zip

tools/env_setup/bash_utils.sh

@@ -20,7 +20,19 @@
 check_conda_env() {
     if [ -z "$CONDA_DEFAULT_ENV" ]; then
         echo "Error: No active conda environment detected"
-        echo "Please activate a conda environment before running this script"
+        echo ""
+        echo "To resolve this, you can either:"
+        echo "1. Install miniconda if you don't have it:"
+        echo "   - Download from: https://docs.conda.io/en/latest/miniconda.html"
+        echo "   - Or run: wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh && bash Miniconda3-latest-Linux-x86_64.sh"
+        echo ""
+        echo "2. If conda is already installed, initialize it:"
+        echo "   - Run: conda init"
+        echo ""
+        echo "3. Create and activate a conda environment:"
+        echo "   - Run: conda create -n i4h python=3.10"
+        echo "   - Then: conda activate i4h"
+        echo ""
         exit 1
     fi
     echo "Using conda environment: $CONDA_DEFAULT_ENV"

tools/env_setup/install_clarius.sh

@@ -22,5 +22,5 @@ HOLOSCAN_I4H_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && cd ../../holoscan_i4
 (
   cd $HOLOSCAN_I4H_ROOT
   cmake . -B build && cmake --build build && cmake --install build
-  echo "Successfully built Clarius libs"
+  echo "Successfully built Clarius libs!"
 )

tools/env_setup/install_isaac.sh

@@ -35,7 +35,7 @@ mkdir -p "$PROJECT_ROOT/third_party"
 # ---- Install IsaacSim ----
 echo "Installing IsaacSim..."
 pip install 'isaacsim[all,extscache]==4.5.0' \
-    git+ssh://git@github.com/isaac-for-healthcare/i4h-asset-catalog.git@v0.2.0rc2 \
+    git+ssh://git@github.com/isaac-for-healthcare/i4h-asset-catalog.git@main \
     --extra-index-url https://pypi.nvidia.com
 
 ISAACLAB_DIR="$PROJECT_ROOT/third_party/IsaacLab"

workflows/robotic_surgery/README.md

@@ -89,7 +89,7 @@ Download the required assets using:
 i4h-asset-retrieve
 ```
 
-This will download assets to `~/.cache/i4h-assets/<sha256>`. For more details, refer to the [Asset Container Helper](https://github.com/isaac-for-healthcare/i4h-asset-catalog/blob/v0.2.0rc2/docs/catalog_helper.md).
+This will download assets to `~/.cache/i4h-assets/<sha256>`. For more details, refer to the [Asset Container Helper](https://github.com/isaac-for-healthcare/i4h-asset-catalog/blob/main/docs/catalog_helper.md).
 
 ### Environment Variables
 

workflows/robotic_ultrasound/scripts/simulation/evaluation/README.md

@@ -69,24 +69,24 @@ The script expects predicted trajectory files to be found at `data_root/file_pat
 
 ## Downloading Model Weights
 
-The four policy models discussed in the evaluation (Pi0-400, Pi0-800 w/ cosmos, GR00T-N1-400, and GR00T-N1-800 w/ cosmos) can be obtained using the `i4h_asset_helper` utility. This utility helps manage and download versioned assets.
+We provide the two best-performing relative action space model weights that use Cosmos augmentation: **Pi0-800-rel (w/ cosmos)** and **GR00T-N1-800-rel (w/ cosmos)**. These can be obtained using the `i4h_asset_helper` utility for asset management and download.
+
+If you require access to other model weights (such as absolute action space or non-cosmos variants), please create a ticket or contact us directly.
 
 To integrate these models into your workflow, you would typically define an `Assets` class that inherits from `BaseI4HAssets`, specifying the asset identifiers. Below is an example demonstrating how these might be structured.
 
 ```python
 from i4h_asset_helper import BaseI4HAssets
 
 class Assets(BaseI4HAssets):
-    Pi0_400 = "Policies/LiverScan/Pi0"
-    Pi0_800 = "Policies/LiverScan/Pi0_Cosmos"
-    GR00TN1_400 = "Policies/LiverScan/GR00TN1"
-    GR00TN1_800 = "Policies/LiverScan/GR00TN1_Cosmos"
+    Pi0_800 = "Policies/LiverScan/Pi0_Cosmos_Rel"
+    GR00TN1_800 = "Policies/LiverScan/GR00TN1_Cosmos_Rel"
 
 my_assets = Assets()
 ```
 
 You can then use these definitions in your scripts to get the local path to the downloaded model files, for example:
-`pi0_400_model = my_assets.Pi0_400`
+`pi0_800_model = my_assets.Pi0_800`
 `gr00t_800_model = my_assets.GR00TN1_800`
 
 ## Understanding the Outputs & Experiment Results Comparison

workflows/robotic_ultrasound/scripts/simulation/utils/assets.py

@@ -23,7 +23,7 @@ class Assets(BaseI4HAssets):
     panda = "Robots/Franka/Collected_panda_assembly/panda_assembly.usda"
     phantom = "Props/ABDPhantom/phantom.usda"
     table_with_cover = "Props/VentionTableWithBlackCover/table_with_cover.usd"
-    policy_ckpt = "Policies/LiverScan/Pi0"
+    policy_ckpt = "Policies/LiverScan/Pi0_Cosmos_Rel"
     organs = "Props/ABDPhantom/Organs"