Add docker build for robotic ultrasound

[mingxin-zheng]

This PR adds Docker support for the robotic ultrasound simulation, cleans up an unused ONNX utility, and refactors environment setup scripts for consistency in conda and docker env.

[mingxin-zheng]

/build

[mingxin-zheng]

/build

[mingxin-zheng]

/build

[mingxin-zheng]

/build

[Nic-Ma]

Can we use the built docker image to run CI in blossom? In that case, we can automatically test this Dockerfile.

Thanks.

[mingxin-zheng]

Hi @Nic-Ma , we will first need help from @wendell-hom to set up the docker build pipeline in nightly. Then we can discuss if we can move some tests using this docker build. Thanks!

[mingxin-zheng]

/build

[Copilot]

Pull Request Overview

This PR adds Docker support for the robotic ultrasound simulation, cleans up an unused ONNX utility, and refactors environment setup scripts for consistency.

• Remove unused ONNX import and loader function from state machine utilities
• Introduce Dockerfile and README for building/running the ultrasound simulation container
• Refactor and centralize dependency installation scripts under tools/env_setup

Reviewed Changes

Copilot reviewed 10 out of 10 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
workflows/robotic_ultrasound/scripts/simulation/environments/state_machine/utils.py	Removed onnxruntime import and load_onnx_model function to clean up unused code
workflows/robotic_ultrasound/docker/README.md	Added step-by-step guide for building the Docker image and streaming simulation output
workflows/robotic_ultrasound/docker/Dockerfile	New Dockerfile defining the runtime environment and dependencies for ultrasound simulation
workflows/robotic_surgery/docker/README.md	Cleaned up legacy asset-prep section and updated simulation run example
workflows/robotic_surgery/docker/Dockerfile	Updated asset-catalog pip target to use @main branch
tools/env_setup_robot_us.sh	Replaced inline lerobot install with call to new install_lerobot.sh
tools/env_setup/install_robotic_us_ext.sh	Added PYTHON_EXECUTABLE override and tightened pip flags for extension install
tools/env_setup/install_pi0.sh	Switched OpenPI clone to HTTPS and unified pip install with PYTHON_EXECUTABLE
tools/env_setup/install_lerobot.sh	New standalone script for cloning and installing lerobot
tools/env_setup/install_cosmos_transfer1.sh	Moved cuDNN install out and added --no-build-isolation to transformer-engine install

Comments suppressed due to low confidence (3)

workflows/robotic_ultrasound/scripts/simulation/environments/state_machine/utils.py:274

• The load_onnx_model function and its ONNX Runtime import were removed, but any existing calls to this loader will now break; ensure all references are updated or removed.

def load_onnx_model(model_path):

tools/env_setup/install_cosmos_transfer1.sh:27

• The default COSMOS_TRANSFER_DIR uses $$PROJECT_ROOT, which expands incorrectly to the PID; it should be ${1:-$PROJECT_ROOT/third_party/cosmos-transfer1}.

COSMOS_TRANSFER_DIR=${1:-$$PROJECT_ROOT/third_party/cosmos-transfer1}

tools/env_setup/install_pi0.sh:31

• [nitpick] Exiting with status 1 when the OpenPI directory already exists flags an error; to make the setup idempotent, consider using exit 0 or simply skipping the clone step.

exit 1

[mingxin-zheng]

/build