Release v0.4.0 (#213)

Post release v0.4.0 to main

Signed-off-by: Mingxin Zheng <[email protected]>

Author: mingxin-zheng

.github/markdown-link-check.json

@@ -18,5 +18,5 @@
     "retryOn429": true,
     "retryCount": 3,
     "fallbackRetryDelay": "30s",
-    "aliveStatusCodes": [200, 202, 403, 429]
+    "aliveStatusCodes": [0, 200, 202, 403, 429]
 }

.github/workflows/blossom-ci.yml

@@ -34,7 +34,20 @@ jobs:
 
     # This job only runs for pull request comments
     if: |
-         github.event.comment.body == '/build' && (github.actor == 'mingxin-zheng' || github.actor == 'KumoLiu' || github.actor == 'Nic-Ma' || github.actor == 'yiheng-wang-nv' || github.actor == 'NigelNelson' || github.actor == 'jjomier' || github.actor == 'wendell-hom' || github.actor == 'masoudmoghani' || github.actor == 'maximilianofir' || github.actor == 'mahdiazizian')
+         github.event.comment.body == '/build' &&
+         (
+           github.actor == 'mingxin-zheng' ||
+           github.actor == 'KumoLiu' ||
+           github.actor == 'Nic-Ma' ||
+           github.actor == 'yiheng-wang-nv' ||
+           github.actor == 'NigelNelson' ||
+           github.actor == 'jjomier' ||
+           github.actor == 'wendell-hom' ||
+           github.actor == 'masoudmoghani' ||
+           github.actor == 'maximilianofir' ||
+           github.actor == 'mahdiazizian' ||
+           github.actor == 'mimiliaogo'
+         )
 
     steps:
       - name: Check if comment is issued by authorized person

.gitignore

@@ -237,3 +237,7 @@ cmake
 
 # Dev container
 .devcontainer/
+
+# License file
+*.lic
+*.dat

README.md

@@ -5,9 +5,9 @@
   <img src="./docs/source/ultrasound.jpg" alt="Robotic Ultrasound" style="width: 45%; height: auto; aspect-ratio: 16/9; object-fit: cover;" />
 </p>
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.5.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/4.5.0/index.html)
-[![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html)
-[![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/22.04/)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-5.0.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html)
+[![Python](https://img.shields.io/badge/python-3.11-blue.svg)](https://docs.python.org/3/whatsnew/3.11.html)
+[![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/24.04/)
 [![License](https://img.shields.io/badge/license-Apache--2.0-yellow.svg)](https://opensource.org/license/apache-2-0)
 [![Documentation](https://img.shields.io/badge/docs-latest-brightgreen.svg)](https://github.com/isaac-for-healthcare/i4h-workflows/tree/main/docs)
 [![Contributing](https://img.shields.io/badge/contributions-welcome-brightgreen.svg)](./CONTRIBUTING.md)
@@ -42,7 +42,7 @@ This repository currently includes four main workflows:
 
 Each workflow provides complete simulation environments, training datasets, pre-trained models, and deployment tools to accelerate your healthcare robotics development.
 
-Please see [What's New](./docs/source/whatsnew_0_3_0.md) for details on our milestone releases.
+Please see [What's New](./docs/source/whatsnew_0_4_0.md) for details on our milestone releases.
 
 ### Tutorials
 

docs/source/whatsnew.rst

@@ -6,6 +6,7 @@ What's New
 .. toctree::
    :maxdepth: 1
 
+   whatsnew_0_4_0.md
    whatsnew_0_3_0.md
    whatsnew_0_2_0.md
    whatsnew_0_1_0.md

docs/source/whatsnew_0_4_0.md

@@ -0,0 +1,25 @@
+# What's New in Isaac for Healthcare Workflows v0.4.0 🎉🎉
+
+- **SO-ARM Starter Expansions**: Added DGX platform and Jetson Thor/Orin support, plus Holoscan integration for real-time streaming.
+- **Workflow Updates**: Updates for IsaacSim 5.x and IsaacLab 2.2/2.3 across ultrasound, telesurgery, and surgery workflows, plus migration to Python 3.11 across all workflows.
+
+## SO-ARM Starter Expansions
+
+![SO-ARM Starter Workflow](../source/so_arm_starter_workflow.jpg)
+
+Major expansions improve deployment flexibility and performance.
+
+*   **Jetson Orin and Thor Support:** Deploy to edge with Jetson Orin and Thor for on-device inference.
+*   **DGX Support:** Simulation and deployment on DGX Spark (IsaacSim 5.1) for accelerated development.
+*   **Holoscan Integration:** Enable low-latency streaming and processing in the SO-ARM workflow.
+*   **Documentation Enhancements:** Expanded SO-ARM Starter docs and guidance.
+
+Learn more in the [SO-ARM Starter Workflow README](../../workflows/so_arm_starter/README.md).
+
+## Workflow Updates
+
+All workflows now support IsaacSim 5.x and IsaacLab 2.2/2.3 with Python 3.11.
+
+*   **Robotic Ultrasound Workflow:** Consolidated on IsaacSim 5.0 and IsaacLab 2.3; updated SE(3) teleoperation for latest IsaacLab API changes; improved documentation for Cosmos-Transfer1; pip-based installation of the ultrasound raytracing package to avoid manual CMake steps.
+*   **Telesurgery Workflow:** Consolidated on IsaacSim 5.0 and IsaacLab 2.3.
+*   **Robotic Surgery Workflow:** Consolidated on IsaacSim 5.0 and IsaacLab 2.3.

pyproject.toml

@@ -5,13 +5,13 @@ include_trailing_comma = true
 force_grid_wrap = 0
 use_parentheses = true
 line_length = 120
-py_version = 310
+py_version = 311
 group_by_package = true
 known_third_party = ["openpi", "i4h_asset_helper"]
 
 [tool.ruff]
 line-length = 120
-target-version = "py310"
+target-version = "py311"
 exclude = [
   "workflows/telesurgery/cmake/pybind11/"
 ]

tools/env_setup/install_holoscan_3.5.0.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+# http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -e
+
+# install holoscan
+pip install holoscan==3.5.0
+
+# install holoscan cli
+pip install holoscan-cli==3.5.0
+
+echo "Holoscan installed successfully!"

tools/env_setup/install_isaacsim5.0_isaaclab2.3.sh

@@ -0,0 +1,62 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+# http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -e
+
+# Get the parent directory of the current script
+PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && cd ../.. && pwd)"
+
+# Source utility functions
+source "$PROJECT_ROOT/tools/env_setup/bash_utils.sh"
+
+# Check if running in a conda environment
+check_conda_env
+
+# Ensure the parent third_party directory exists
+mkdir -p "$PROJECT_ROOT/third_party"
+
+# ---- Install IsaacSim ----
+echo "Installing IsaacSim..."
+pip install "isaacsim[all,extscache]==5.0.0" \
+    git+https://github.com/isaac-for-healthcare/[email protected] \
+    --extra-index-url https://pypi.nvidia.com
+
+ISAACLAB_DIR="$PROJECT_ROOT/third_party/IsaacLab"
+
+if [ -d "$ISAACLAB_DIR" ]; then
+    echo "IsaacLab directory already exists at $ISAACLAB_DIR. Skipping clone. Will use existing."
+else
+    echo "Cloning IsaacLab repository into $ISAACLAB_DIR..."
+    git clone -b release/2.3.0 https://github.com/isaac-sim/IsaacLab.git "$ISAACLAB_DIR"
+fi
+
+
+
+pushd "$ISAACLAB_DIR"
+echo "Installing IsaacLab ..."
+yes Yes | ./isaaclab.sh --install
+popd
+
+# Remove top-level import of omni.log
+sed -i '/^[[:space:]]*import omni\.log[[:space:]]*$/d' "$ISAACLAB_DIR/source/isaaclab/isaaclab/utils/math.py"
+
+# Insert an indented local import immediately before each usage of omni.log.warn(
+# This preserves the leading whitespace so the inserted import lives inside the function body
+sed -i -E 's/^([[:space:]]*)omni\.log\.warn\(/\1import omni.log\
+\1omni.log.warn(/g' "$ISAACLAB_DIR/source/isaaclab/isaaclab/utils/math.py"
+
+echo "IsaacSim and dependencies installed successfully!"

tools/env_setup/install_isaacsim5.1_isaaclab2.3.sh

@@ -0,0 +1,54 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+# http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -e
+
+# Get the parent directory of the current script
+PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && cd ../.. && pwd)"
+
+# Source utility functions
+source "$PROJECT_ROOT/tools/env_setup/bash_utils.sh"
+
+# Check if running in a conda environment
+check_conda_env
+
+# Ensure the parent third_party directory exists
+mkdir -p "$PROJECT_ROOT/third_party"
+
+# ---- Install IsaacSim ----
+echo "Installing IsaacSim..."
+pip install "isaacsim[all,extscache]==5.1.0" \
+    git+https://github.com/isaac-for-healthcare/[email protected] \
+    --extra-index-url https://pypi.nvidia.com
+
+ISAACLAB_DIR="$PROJECT_ROOT/third_party/IsaacLab"
+
+if [ -d "$ISAACLAB_DIR" ]; then
+    echo "IsaacLab directory already exists at $ISAACLAB_DIR. Skipping clone. Will use existing."
+else
+    echo "Cloning IsaacLab repository into $ISAACLAB_DIR..."
+    git clone -b release/2.3.0 https://github.com/isaac-sim/IsaacLab.git "$ISAACLAB_DIR"
+fi
+
+
+pushd "$ISAACLAB_DIR"
+echo "Installing IsaacLab ..."
+yes Yes | ./isaaclab.sh --install
+popd
+
+
+echo "IsaacSim and dependencies installed successfully!"