Update Pi0 and GR00TN1 model weights and Readme

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://[email protected]/isaac-for-healthcare/i4h-asset-catalog.git@v0.2.0rc2 \
+    git+ssh://[email protected]/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/README.md

@@ -154,7 +154,7 @@ 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).
 
 **Note**: During asset download, you may see warnings about blocking functions. This is expected behavior and the download will complete successfully despite these warnings.
 

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"