diff --git a/workflows/robotic_surgery/README.md b/workflows/robotic_surgery/README.md index a72c54af..59ccfe74 100644 --- a/workflows/robotic_surgery/README.md +++ b/workflows/robotic_surgery/README.md @@ -1,112 +1,283 @@ -# Robotic Surgery Workflow +# 🔬 Robotic Surgery Workflow ![Robotic Surgery Workflow](../../docs/source/robotic_surgery_workflow.jpg) +--- + +## 🩺 Technical Overview + The Robotic Surgery Workflow is a comprehensive solution designed for healthcare professionals and researchers working in the field of robotic-assisted surgery. This workflow provides a robust framework for simulating, training, and analyzing robotic surgical procedures in a virtual environment. It leverages NVIDIA's ray tracing capabilities to create highly realistic surgical simulations, enabling surgeons to practice complex procedures, researchers to develop new surgical techniques, and medical institutions to enhance their training programs. By offering a safe, controlled environment for surgical practice and research, this workflow helps improve surgical outcomes, reduce training costs, and advance the field of robotic surgery. +The framework supports multiple surgical robots and tasks: -## Table of Contents -- [System Requirements](#system-requirements) -- [Environment Setup](#environment-setup) - - [Prerequisites](#prerequisites) - - [Installation Steps](#installation-steps) - - [Asset Setup](#asset-setup) - - [Environment Variables](#environment-variables) -- [Running the Workflow](#running-the-workflow) +- **dVRK (da Vinci Research Kit)**: Patient Side Manipulator (PSM) for minimally invasive surgery. +- **STAR (Smart Tissue Autonomous Robot)**: Autonomous surgical robot for tissue manipulation. +- **Multi-arm coordination**: Dual-arm surgical robot synchronization. +- **Surgical task simulation**: Needle lifting, suturing, peg transfer, etc. -## System Requirements +--- -### Hardware Requirements -- Ubuntu 22.04 -- NVIDIA GPU with ray tracing capability - - GPUs without RT Cores (A100, H100) are not supported - - Minimum 8GB VRAM recommended -- 50GB of disk space -- 16GB RAM minimum +## 📋 Table of Contents -### Software Requirements -- [NVIDIA Driver Version >= 555](https://www.nvidia.com/en-us/drivers/) -- Python 3.10 +- [🚀 Quick Start](#-quick-start) +- [⚡ Running Workflows](#-running-workflows) +- [🔧 Detailed Setup Instructions](#-detailed-setup-instructions) +- [🛠️ Troubleshooting](#️-troubleshooting) -## Environment Setup +--- -**Note**: The setup process takes approximately 30-40 minutes to complete, depending on your system and network connection. +## 🚀 Quick Start -### Prerequisites +### ⏱️ Installation Timeline +**Estimated Setup Duration:** 40-60 minutes (network-dependent asset downloads) -The robotic surgery workflow is built on the following dependencies: -- [IsaacSim 4.5.0](https://docs.isaacsim.omniverse.nvidia.com/4.5.0/index.html) -- [IsaacLab 2.1.0](https://isaac-sim.github.io/IsaacLab/v2.1.0/index.html) +### 🔍 System Prerequisites Validation -### Installation Steps +#### GPU Architecture Requirements +- **NVIDIA GPU**: RT Core-enabled architecture (Ampere or later) +- **Compute Capability**: ≥8.6 +- **VRAM**: ≥24GB GDDR6/HBM +- **Unsupported**: A100, H100 (lack RT Cores for ray tracing acceleration) -#### 1. Install NVIDIA Driver -Install or upgrade to the latest NVIDIA driver from [NVIDIA website](https://www.nvidia.com/en-us/drivers/) +
+ 🔍 GPU Compatibility Verification + + ```bash + nvidia-smi --query-gpu=name,compute_cap --format=csv,noheader + ``` + + Verify output shows compute capability ≥8.6 (Ampere/Ada Lovelace/Hopper with RT Cores) +
+ +#### Driver & System Requirements +- **Operating System**: Ubuntu 22.04 LTS / 24.04 LTS (x86_64) +- **NVIDIA Driver**: ≥535.129.03 (RTX ray tracing API support) +- **Memory Requirements**: ≥8GB GPU memory, ≥32GB system RAM +- **Storage**: ≥100GB NVMe SSD (asset caching and simulation data) + +
+ 🔍 Driver Version Validation -**Note**: The workflow requires driver version >= 555 for ray tracing capabilities. + ```bash + nvidia-smi --query-gpu=driver_version --format=csv,noheader,nounits + ``` +
+ +#### Software Dependencies +- **Python**: 3.10 (exact version required) -#### 2. Install Dependencies +--- -##### Install Conda +### 🐍 Conda Environment Setup -[Miniconda](https://www.anaconda.com/docs/getting-started/miniconda/main) is recommended. +The robotic surgery workflow can be installed in a conda-based environment for dependency isolation and compatibility. -##### Create Conda Environment +**Prerequisites**: Ensure [Miniconda](https://www.anaconda.com/docs/getting-started/miniconda/install) is installed on your system. + +#### 1️⃣ Repository Clone +```bash +git clone https://github.com/isaac-for-healthcare/i4h-workflows.git +cd i4h-workflows +``` +#### 2️⃣ Environment Creation & Dependency Installation ```bash -# Create a new conda environment conda create -n robotic_surgery python=3.10 -y -# Activate the environment conda activate robotic_surgery +bash tools/env_setup_robot_surgery.sh +``` + +**⚠️ Expected Build Time**: The environment setup process takes 40-60 minutes. You may encounter intermediary warnings about conflicting library dependencies - these are non-critical and can be ignored. + +#### 3️⃣ Environment Variable Configuration +```bash +# Set PYTHONPATH for current session +export PYTHONPATH=$(pwd)/workflows/robotic_surgery/scripts ``` -##### Clone repository +
+ 💾 Persistent Environment Configuration (Recommended) + + To avoid setting PYTHONPATH for every new terminal session: + ```bash - git clone https://github.com/isaac-for-healthcare/i4h-workflows.git - cd i4h-workflows + # Add to your shell profile + echo "export PYTHONPATH=$(pwd)/workflows/robotic_surgery/scripts:\$PYTHONPATH" >> ~/.bashrc + source ~/.bashrc ``` -##### Install All Dependencies -The main script `tools/env_setup_robot_surgery.sh` installs all necessary dependencies: + This ensures the environment variables are automatically set when you open new terminals. + + **Note:** If you have `robotic_ultrasound` workflow scripts or previous versions of `robotic_surgery` workflow scripts in your `PYTHONPATH`, you can reset it to include only the `robotic_surgery` scripts by running `export PYTHONPATH=$(pwd)/workflows/robotic_surgery/scripts` +
+ + +✅ **Installation Complete** - Your robotic surgery simulation environment is ready. + +--- -###### Base Components -- IsaacSim 4.5.0 (and core dependencies) -- IsaacLab 2.1.0 -- Essential build tools and libraries +## ⚡ Running Workflows -Run the script from the repository root: +### 🎯 Quick Start Examples + +#### 🤖 Basic Robot Control - dVRK PSM Reach ```bash -cd +conda activate robotic_surgery +python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/reach_psm_sm.py +``` + +**Expected Behavior:** +- Isaac Sim launches with dVRK PSM simulation +- PSM arm moves to predefined target poses + +> **⏳ First Run Loading Time**: Initial simulation loading takes 5-10 minutes for asset download and scene initialization. Isaac Sim may appear frozen with no console progress indication - this is normal behavior. + +#### 🔬 Surgical Task Simulation - Needle Lifting +```bash +conda activate robotic_surgery +python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/lift_needle_sm.py +``` + +**Expected Behavior:** +- Isaac Sim launches with robotic surgery simulation +- Surgical simulation with needle manipulation +- Precise grasping and lifting operations + +#### 🧠 Reinforcement Learning Training +```bash +conda activate robotic_surgery +# Training (45+ minutes) +python workflows/robotic_surgery/scripts/simulation/scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Reach-PSM-v0 --headless + +# Evaluation/Play mode +python workflows/robotic_surgery/scripts/simulation/scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Reach-PSM-Play-v0 +``` + +**Expected Behavior:** +- RSL-RL agent training with GPU acceleration +- TensorBoard logging for training progress monitoring +- Trained model evaluation in simulation environment + +--- + +### 🎯 Workflow Component Matrix + +| Category | Script | Usage Scenario | Purpose | Documentation | Key Requirements | Expected Runtime | +|----------|--------|----------------|---------|---------------|------------------|------------------| +| **🚀 Basic Control** | [reach_psm_sm.py](scripts/simulation/scripts/environments/state_machine/reach_psm_sm.py) | First-time users, basic robot control | Single-arm dVRK PSM reaching tasks | [State Machine README](scripts/simulation/scripts/environments/state_machine/README.md#dvrk-psm-reach) | Isaac Lab | 2-5 minutes | +| **🤖 Dual-Arm Control** | [reach_dual_psm_sm.py](scripts/simulation/scripts/environments/state_machine/reach_dual_psm_sm.py) | First-time users, basic robot control | Dual-arm dVRK PSM coordination | [State Machine README](scripts/simulation/scripts/environments/state_machine/README.md#dual-arm-dvrk-psm-reach) | Isaac Lab | 2-5 minutes | +| **⭐ STAR Robot** | [reach_star_sm.py](scripts/simulation/scripts/environments/state_machine/reach_star_sm.py) | First-time users, basic robot control | STAR robot reaching demonstrations | [State Machine README](scripts/simulation/scripts/environments/state_machine/README.md#star-reach) | Isaac Lab | 2-5 minutes | +| **🪡 Needle Manipulation** | [lift_needle_sm.py](scripts/simulation/scripts/environments/state_machine/lift_needle_sm.py) | First-time users, basic robot control | Suture needle lifting and manipulation | [State Machine README](scripts/simulation/scripts/environments/state_machine/README.md#suture-needle-lift) | Isaac Lab | 3-7 minutes | +| **🫁 Realistic OR Simulation** | [lift_needle_organs_sm.py](scripts/simulation/scripts/environments/state_machine/lift_needle_organs_sm.py) | Realistic surgical simulation in an operating room | Needle lifting | [State Machine README](scripts/simulation/scripts/environments/state_machine/README.md#organs-suture-needle-lift) | Isaac Lab | 3-7 minutes | +| **🧩 Peg Transfer** | [lift_block_sm.py](scripts/simulation/scripts/environments/state_machine/lift_block_sm.py) | First-time users, basic robot control | Peg transfer surgical training task | [State Machine README](scripts/simulation/scripts/environments/state_machine/README.md#peg-block-lift) | Isaac Lab | 2-5 minutes | +| **🧠 RL Training** | [train.py](scripts/simulation/scripts/reinforcement_learning/rsl_rl/train.py) | AI model development | Reinforcement learning agent training | [RSL-RL README](scripts/simulation/scripts/reinforcement_learning/rsl_rl/README.md#training-and-playing) | Isaac Lab | 45+ minutes | +| **🎮 RL Evaluation** | [play.py](scripts/simulation/scripts/reinforcement_learning/rsl_rl/play.py) | Model validation | Trained agent evaluation and visualization | [RSL-RL README](scripts/simulation/scripts/reinforcement_learning/rsl_rl/README.md#training-and-playing) | Isaac Lab, trained model | 5-10 minutes | +| **🎮 MIRA Teleoperation Tutorial** | [teleoperate_virtual_incision_mira.py](../../tutorials/assets/bring_your_own_robot/Virtual_Incision_MIRA/teleoperate_virtual_incision_mira.py) | Interactive robot control | Virtual Incision MIRA keyboard teleoperation | [Virtual Incision MIRA README](../../tutorials/assets/bring_your_own_robot/Virtual_Incision_MIRA/README.md) | Isaac Lab | 5-10 minutes | + +--- + +### 🎓 Understanding the Workflow Architecture + +``` +Isaac Sim Environment +├── Robots (dVRK PSM, STAR) +├── Surgical Instruments (needles, pegs, operating room equipment) +├── Anatomical Models (organs) +└── Control Systems (state machines, RL) +``` + +--- + +## 🔧 Detailed Setup Instructions + +
+📋 Advanced Configuration & Dependencies + +### 🏗️ Framework Architecture Dependencies + +The robotic surgery workflow is built on the following core dependencies: +- [IsaacSim 4.5.0](https://docs.isaacsim.omniverse.nvidia.com/4.5.0/index.html) +- [IsaacLab 2.1.0](https://isaac-sim.github.io/IsaacLab/v2.1.0/index.html) +- [RSL-RL](https://github.com/leggedrobotics/rsl_rl) for reinforcement learning + +### 🐳 Docker Installation Procedures + +Please refer to the [Robotic Surgery Docker Container Guide](./docker/README.md) for detailed instructions on how to run the workflow in a Docker container. + +### 🔨 Conda Installation Procedures + +#### 1️⃣ NVIDIA Graphics Driver Installation +Install or upgrade to the latest NVIDIA driver from [NVIDIA website](https://www.nvidia.com/en-us/drivers/) + +**Note**: The workflow requires driver version ≥535.129.03 for ray tracing capabilities. + +#### 2️⃣ Conda Installation +Install Miniconda following the [official guide](https://www.anaconda.com/docs/getting-started/miniconda/install): + +```bash +# Download and install Miniconda +wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh +bash Miniconda3-latest-Linux-x86_64.sh +``` + +#### 3️⃣ Environment Creation and Setup +```bash +# Create and activate environment +conda create -n robotic_surgery python=3.10 -y +conda activate robotic_surgery + +# Clone repository and install dependencies +git clone https://github.com/isaac-for-healthcare/i4h-workflows.git +cd i4h-workflows bash tools/env_setup_robot_surgery.sh ``` -### Asset Setup +#### 4️⃣ Environment Variable Configuration +```bash +# Current session +export PYTHONPATH=$(pwd)/workflows/robotic_surgery/scripts:$PYTHONPATH -**Note**: The assets can be automatically retrieved when running the workflows. Optionally, you can also download all the assets in advance. Please note that the assets are approximately 65 GB and may take some time to download depending on your internet connection. +# Persistent configuration (recommended) +echo "export PYTHONPATH=$(pwd)/workflows/robotic_surgery/scripts:\$PYTHONPATH" >> ~/.bashrc +source ~/.bashrc +``` + +### 📦 Asset Management + +#### Automated Asset Retrieval +Assets are automatically downloaded when running workflows for the first time. -Download the required assets using: +#### Manual Asset Retrieval ```bash +# Download all assets (65GB, 30-60 minutes) i4h-asset-retrieve ``` -This will download assets to `~/.cache/i4h-assets/`. For more details, refer to the [Asset Container Helper](https://github.com/isaac-for-healthcare/i4h-asset-catalog/blob/main/docs/catalog_helper.md). +**Asset Storage**: `~/.cache/i4h-assets//` -### Environment Variables +
-Before running any scripts, you need to set up the following environment variables: +--- -1. **PYTHONPATH**: Set this to point to the scripts directory: - ```bash - export PYTHONPATH=/workflows/robotic_surgery/scripts - ``` - This ensures Python can find the modules under the [`scripts`](./scripts) directory. +## 🛠️ Troubleshooting + +### ⚠️ Common Issues + +#### 🐌 Long Loading Times +**Symptoms**: Isaac Sim appears frozen during initial loading +**Resolution**: This is expected behavior. Initial loading takes 5-10 minutes with no progress indication. Be patient and avoid force-closing the application. + +#### 🔗 Module Import Errors +**Symptoms**: `ModuleNotFoundError` when running scripts +**Resolution**: Ensure `PYTHONPATH` includes the scripts directory: +```bash +export PYTHONPATH=$(pwd)/workflows/robotic_surgery/scripts +``` -## Running the Workflow +#### 🔧 Environment Build Issues +**Symptoms**: Conflicting library dependency warnings during setup +**Resolution**: These warnings are non-critical and can be ignored. The environment will function correctly. -The robotic surgery workflow provides several example scripts demonstrating different components: +### 🆘 Support Resources -- [Simulation](./scripts/simulation) - - Basic robot control - - Surgical task simulation - - State machine demonstrations - - Reinforcement learning examples +- **Issue Tracking**: [GitHub Issues](https://github.com/isaac-for-healthcare/i4h-workflows/issues) diff --git a/workflows/robotic_surgery/docker/README.md b/workflows/robotic_surgery/docker/README.md index e81e2c6a..5ae20adb 100644 --- a/workflows/robotic_surgery/docker/README.md +++ b/workflows/robotic_surgery/docker/README.md @@ -59,7 +59,9 @@ docker run --name isaac-sim -it --gpus all --rm \ ### 1. Interactive GUI Mode with X11 Forwarding -For interactive development and debugging: +The command to run the simulation is the same as [Running Workflows](../README.md#-running-workflows) section. + +For example, ```bash # Inside the container @@ -69,11 +71,9 @@ conda activate robotic_surgery python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/reach_psm_sm.py ``` -Please refer to the [Simulation README](../scripts/simulation/README.md) for more details. - ### 2. Headless Streaming Mode -For remote access: +For headless streaming server setup, you can use the WebRTC streaming mode, with `livestream` flag. ```bash # Inside the container diff --git a/workflows/robotic_surgery/scripts/simulation/README.md b/workflows/robotic_surgery/scripts/simulation/README.md index c7e62a23..0a1e6d33 100644 --- a/workflows/robotic_surgery/scripts/simulation/README.md +++ b/workflows/robotic_surgery/scripts/simulation/README.md @@ -1,76 +1,5 @@ -# Isaac for Healthcare - Robotic Surgery +# I4H Simulation for Robotic Surgery - -## Overview - -Robotic Surgery is a physics-based surgical robot simulation framework with photorealistic rendering in NVIDIA Omniverse. Robotic Surgery leverages GPU parallelization to train reinforcement learning and imitation learning algorithms to facilitate study of robot learning to augment human surgical skills. - - -## Setup - -Please refer to the [README](../../README.md#environment-setup) for instructions on how to install the dependencies. - -## Robotic Surgery Tasks - -We provide examples on hand-crafted state machines for the robotic surgery environments, demonstrating the execution of surgical subtasks. - -- **dVRK-PSM Reach**: da Vinci Research Kit (dVRK) Patient Side Manipulator (PSM) to reach a desired pose: -```bash -python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/reach_psm_sm.py -``` - -- **Dual-arm dVRK-PSM Reach**: dual-arm dVRK-PSM to reach a desired pose: -```bash -python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/reach_dual_psm_sm.py -``` - -- **STAR Reach**: STAR arm to reach a desired pose: -```bash -python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/reach_star_sm.py -``` - -- **Suture Needle Lift**: lift a suture needle to a desired pose: -```bash -python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/lift_needle_sm.py -``` - -- **Organs Suture Needle Lift**: lift a suture needle from an organ to a desired pose in the operating room: -```bash -python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/lift_needle_organs_sm.py -``` - -- **Peg Block Lift**: lift a peg block to a desired pose: -```bash -python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/lift_block_sm.py -``` - -## Reinforcement Learning - -Train an agent with [RSL-RL](https://github.com/leggedrobotics/rsl_rl): - -- **dVRK-PSM Reach (`Isaac-Reach-PSM-v0`)**: - -```bash -# run script for training -python workflows/robotic_surgery/scripts/simulation/scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Reach-PSM-v0 --headless -# run script for playing with 50 environments -python workflows/robotic_surgery/scripts/simulation/scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Reach-PSM-Play-v0 -``` - -- **Suture Needle Lift (`Isaac-Lift-Needle-PSM-IK-Rel-v0`)**: - -```bash -# run script for training -python workflows/robotic_surgery/scripts/simulation/scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Lift-Needle-PSM-IK-Rel-v0 --headless -# run script for playing with 50 environments -python workflows/robotic_surgery/scripts/simulation/scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Lift-Needle-PSM-IK-Rel-Play-v0 -``` - -### TensorBoard: TensorFlow's visualization toolkit - -Monitor the training progress stored in the `logs` directory on [Tensorboard](https://www.tensorflow.org/tensorboard): - -```bash -# execute from the root directory of the repository -python -m tensorboard.main --logdir=logs -``` +This folder contains the scripts for the simulation in the IsaacSim environment. +- [State Machine Environments](./scripts/environments/state_machine/README.md) +- [Reinforcement Learning](./scripts/reinforcement_learning/rsl_rl/README.md) diff --git a/workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/README.md b/workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/README.md new file mode 100644 index 00000000..7f2bc0e4 --- /dev/null +++ b/workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/README.md @@ -0,0 +1,52 @@ +# State Machine Environments + +We provide examples on hand-crafted state machines for the robotic surgery environments, demonstrating the execution of surgical subtasks. + +## Running the State Machine Environments + +### dVRK-PSM Reach + +Drive the da Vinci Research Kit (dVRK) Patient Side Manipulator (PSM) to reach a desired pose: +```bash +python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/reach_psm_sm.py +``` + +### Dual-arm dVRK-PSM Reach + +Drive the dual-arm dVRK-PSM to reach a desired pose: +```bash +python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/reach_dual_psm_sm.py +``` + +### STAR Reach + +Drive the STAR arm to reach a desired pose: +```bash +python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/reach_star_sm.py +``` + +### Suture Needle Lift + +Lift a suture needle to a desired pose: +```bash +python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/lift_needle_sm.py +``` + +### Organs Suture Needle Lift + +Lift a suture needle from an organ to a desired pose in the operating room: +```bash +python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/lift_needle_organs_sm.py +``` + +### Peg Block Lift + +Lift a peg block to a desired pose: +```bash +python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/lift_block_sm.py +``` + +## Documentation Links + +- [IsaacLab Task Setting](../../../exts/robotic.surgery.tasks/docs/README.md) +- [Assets](../../../utils/assets.py) diff --git a/workflows/robotic_surgery/scripts/simulation/scripts/reinforcement_learning/rsl_rl/README.md b/workflows/robotic_surgery/scripts/simulation/scripts/reinforcement_learning/rsl_rl/README.md new file mode 100644 index 00000000..d5c72098 --- /dev/null +++ b/workflows/robotic_surgery/scripts/simulation/scripts/reinforcement_learning/rsl_rl/README.md @@ -0,0 +1,37 @@ +# Reinforcement Learning + +## Training and Playing + +Train an agent with [RSL-RL](https://github.com/leggedrobotics/rsl_rl): + +- **dVRK-PSM Reach (`Isaac-Reach-PSM-v0`)**: + +```bash +# run script for training +python workflows/robotic_surgery/scripts/simulation/scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Reach-PSM-v0 --headless +# run script for playing with 50 environments +python workflows/robotic_surgery/scripts/simulation/scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Reach-PSM-Play-v0 +``` + +- **Suture Needle Lift (`Isaac-Lift-Needle-PSM-IK-Rel-v0`)**: + +```bash +# run script for training +python workflows/robotic_surgery/scripts/simulation/scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Lift-Needle-PSM-IK-Rel-v0 --headless +# run script for playing with 50 environments +python workflows/robotic_surgery/scripts/simulation/scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Lift-Needle-PSM-IK-Rel-Play-v0 +``` + +### TensorBoard: TensorFlow's visualization toolkit + +Monitor the training progress stored in the `logs` directory on [Tensorboard](https://www.tensorflow.org/tensorboard): + +```bash +# execute from the root directory of the repository +python -m tensorboard.main --logdir=logs +``` + +## Documentation Links + +- [IsaacLab Task Setting](../../../exts/robotic.surgery.tasks/docs/README.md) +- [Assets](../../../utils/assets.py) diff --git a/workflows/robotic_ultrasound/README.md b/workflows/robotic_ultrasound/README.md index 43e07a44..b56626d6 100644 --- a/workflows/robotic_ultrasound/README.md +++ b/workflows/robotic_ultrasound/README.md @@ -89,16 +89,16 @@ The robotic ultrasound workflow requires conda-based environment management due Installation reference: [Miniconda Installation Guide](https://www.anaconda.com/docs/getting-started/miniconda/install#quickstart-install-instructions) -#### 1️⃣ Environment Creation +#### 1️⃣ Repository Clone ```bash -conda create -n robotic_ultrasound python=3.10 -y -conda activate robotic_ultrasound +git clone https://github.com/isaac-for-healthcare/i4h-workflows.git +cd i4h-workflows ``` -#### 2️⃣ Repository Clone & Dependency Installation +#### 2️⃣ Environment Creation & Dependency Installation ```bash -git clone https://github.com/isaac-for-healthcare/i4h-workflows.git -cd i4h-workflows +conda create -n robotic_ultrasound python=3.10 -y +conda activate robotic_ultrasound bash tools/env_setup_robot_us.sh ```