Update Dependency Tags to 0.2.0 and Remove SSH Token Use

tools/env_setup/install_cosmos_transfer1.sh

@@ -31,7 +31,7 @@ if [ -d "$COSMOS_TRANSFER_DIR" ]; then
     echo "Cosmos Transfer directory already exists at $COSMOS_TRANSFER_DIR. Skipping clone."
 else
     echo "Cloning Cosmos Transfer repository into $COSMOS_TRANSFER_DIR..."
-    git clone git@github.com:nvidia-cosmos/cosmos-transfer1.git "$COSMOS_TRANSFER_DIR"
+    git clone https://github.com/nvidia-cosmos/cosmos-transfer1.git "$COSMOS_TRANSFER_DIR"
 fi
 
 pushd "$COSMOS_TRANSFER_DIR"

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/[email protected].0rc3 \
+    git+https://github.com/isaac-for-healthcare/[email protected].0 \
     --extra-index-url https://pypi.nvidia.com
 
 ISAACLAB_DIR="$PROJECT_ROOT/third_party/IsaacLab"
@@ -44,7 +44,7 @@ if [ -d "$ISAACLAB_DIR" ]; then
     echo "IsaacLab directory already exists at $ISAACLAB_DIR. Skipping clone. Will use existing."
 else
     echo "Cloning IsaacLab repository into $ISAACLAB_DIR..."
-    git clone -b v2.1.0 git@github.com:isaac-sim/IsaacLab.git "$ISAACLAB_DIR"
+    git clone -b v2.1.0 https://github.com/isaac-sim/IsaacLab.git "$ISAACLAB_DIR"
 fi
 
 # ---- Apply events_random_texture.patch patch to IsaacLab ----

tools/env_setup/install_raysim.sh

@@ -0,0 +1,42 @@
+#!/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
+
+echo "Installing Raysim..."
+
+# Get the parent directory of the current script
+PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && cd ../.. && pwd)"
+
+
+if [ -d "$PROJECT_ROOT/workflows/robotic_ultrasound/scripts/raysim" ]; then
+    echo "Raysim already installed. Skipping installation."
+    exit 0
+fi
+
+echo "Downloading Raysim..."
+
+wget https://github.com/isaac-for-healthcare/i4h-asset-catalog/releases/download/v0.2.0/raysim-py310-linux-v0.2.0.zip \
+    -O $PROJECT_ROOT/workflows/robotic_ultrasound/scripts/raysim.zip
+
+echo "Unzipping Raysim..."
+
+unzip $PROJECT_ROOT/workflows/robotic_ultrasound/scripts/raysim.zip -d $PROJECT_ROOT/workflows/robotic_ultrasound/scripts/raysim
+
+rm $PROJECT_ROOT/workflows/robotic_ultrasound/scripts/raysim.zip
+
+echo "Raysim installed successfully."

tools/env_setup_robot_us.sh

@@ -73,11 +73,11 @@ echo "Installing build tools..."
 if [ "$EUID" -ne 0 ]; then
     sudo apt-get install -y cmake
     sudo apt-get update
-    sudo apt-get install -y git build-essential pybind11-dev libxcb-cursor0
+    sudo apt-get install -y git build-essential pybind11-dev libxcb-cursor0 unzip
 else
     apt-get install -y cmake
     apt-get update
-    apt-get install -y git build-essential pybind11-dev libxcb-cursor0
+    apt-get install -y git build-essential pybind11-dev libxcb-cursor0 unzip
 fi
 
 
@@ -136,6 +136,11 @@ echo "Installing Cosmos..."
 bash "$PROJECT_ROOT/tools/env_setup/install_cudnn.sh"
 bash "$PROJECT_ROOT/tools/env_setup/install_cosmos_transfer1.sh"
 
+# ---- Install Raysim (Common) ----
+echo "Installing Raysim..."
+bash "$PROJECT_ROOT/tools/env_setup/install_raysim.sh"
+
+
 echo "=========================================="
 echo "Environment setup script finished."
 echo "=========================================="

tutorials/assets/bring_your_own_robot/Virtual_Incision_MIRA/README.md

@@ -13,7 +13,7 @@ This tutorial shows how to teleoperate the [Virtual Incision MIRA](https://virtu
 This tutorial requires 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)
-- [i4h_asset_helper](https://github.com/isaac-for-healthcare/i4h-asset-catalog/blob/v0.2.0rc3/docs/catalog_helper.md)
+- [i4h_asset_helper](https://github.com/isaac-for-healthcare/i4h-asset-catalog/blob/v0.2.0/docs/catalog_helper.md)
 
 Please ensure these are installed.
 

tutorials/assets/bring_your_own_xr/README.md

@@ -72,7 +72,7 @@ Set up your Apple Vision Pro and enable Developer Mode.
 
 On your Mac development machine, clone the [Isaac XR Teleop Sample Client](https://github.com/isaac-sim/isaac-xr-teleop-sample-client-apple) GitHub repository:
 ```bash
-git clone git@github.com:isaac-sim/isaac-xr-teleop-sample-client-apple.git
+git clone https://github.com/isaac-sim/isaac-xr-teleop-sample-client-apple.git
 ```
 
 Follow the repository README document to build the application and deploy to your Apple Vision Pro on the local network.

workflows/robotic_surgery/docker/Dockerfile

@@ -40,14 +40,6 @@ RUN apt-get update && \
         libglu1-mesa && \
     rm -rf /var/lib/apt/lists/*
 
-# Add github.com to list of known hosts for git clone with ssh
-# use COPY command instead
-RUN mkdir -p ~/.ssh && \
-    curl --silent https://api.github.com/meta \
-        | jq --raw-output '"github.com "+.ssh_keys[]' >> ~/.ssh/known_hosts
-#RUN mkdir -p ~/.ssh
-#COPY ./github /root/.ssh/known_hosts
-
 # all devices should be visible
 ENV NVIDIA_VISIBLE_DEVICES=all
 # set 'compute' driver cap to use Cuda
@@ -64,17 +56,15 @@ COPY tools /workspace/i4h-workflows/tools
 COPY workflows /workspace/i4h-workflows/workflows
 
 # Install miniconda3 and create robotic_surgery
-RUN --mount=type=ssh \
-    mkdir -p ~/miniconda3 && \
+RUN mkdir -p ~/miniconda3 && \
     wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh && \
     bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 && \
     rm ~/miniconda3/miniconda.sh && \
     source ~/miniconda3/bin/activate && \
     conda init --all && \
     conda create -n robotic_surgery python=3.10.14 -y
 
-RUN --mount=type=ssh \
-    source ~/miniconda3/bin/activate && \
+RUN source ~/miniconda3/bin/activate && \
     conda activate robotic_surgery && \
     cd /workspace/i4h-workflows && \
     BUILD_DOCKER_IMAGE=true bash tools/env_setup_robot_surgery.sh

workflows/robotic_surgery/docker/README.md

@@ -6,7 +6,6 @@ This guide provides instructions for running robotic surgery simulations using D
 
 - **Docker Engine**
 - **NVIDIA Docker Runtime**
-- **Git** with SSH key access to private repositories
 - **X11 forwarding** support (for GUI mode)
 
 ## Build the Docker Image
@@ -16,15 +15,7 @@ This guide provides instructions for running robotic surgery simulations using D
 git clone https://github.com/isaac-for-healthcare/i4h-workflows.git
 cd i4h-workflows
 
-# Enable BuildKit
-export DOCKER_BUILDKIT=1
-
-# Set up SSH agent for private repository access
-eval "$(ssh-agent -s)"
-ssh-add ~/.ssh/id_ed25519  # Replace with your SSH key path
-
-# Build the Docker image with SSH forwarding
-docker build --ssh default -f workflows/robotic_surgery/docker/Dockerfile -t robotic_surgery:latest .
+docker build -f workflows/robotic_surgery/docker/Dockerfile -t robotic_surgery:latest .
 ```
 
 ## Running the Container

workflows/robotic_ultrasound/README.md

@@ -124,15 +124,6 @@ export RTI_LICENSE_FILE=<path-to-your-rti-license-file>
    **Note:** If you have `robotic_surgery` workflow scripts or previous versions of `robotic_ultrasound` workflow scripts in your `PYTHONPATH`, you can reset it to include only the robotic_ultrasound scripts by running `export PYTHONPATH=$(pwd)/workflows/robotic_ultrasound/scripts`
    </details>
 
-#### 4️⃣ Raytracing Ultrasound Simulator Installation
-```bash
-# Download precompiled ray tracing engine
-# FIXME: this https assets will not be available before GA. Alternatively, you can download it from the link below.
-wget https://github.com/isaac-for-healthcare/i4h-sensor-simulation/releases/download/v0.2.0rc1/raysim-py310-linux-v0.2.0rc1.zip -O workflows/robotic_ultrasound/scripts/raysim.zip
-unzip workflows/robotic_ultrasound/scripts/raysim.zip -d workflows/robotic_ultrasound/scripts/raysim
-rm workflows/robotic_ultrasound/scripts/raysim.zip
-```
-
 
 ✅ **Installation Complete** - Your robotic ultrasound simulation environment is operational.
 
@@ -243,7 +234,7 @@ The robotic ultrasound workflow is built on the following dependencies:
 - [Gr00T N1](https://github.com/NVIDIA/Isaac-GR00T)
 - [Cosmos Transfer 1](https://github.com/nvidia-cosmos/cosmos-transfer1/tree/main)
 - [openpi](https://github.com/Physical-Intelligence/openpi) and [lerobot](https://github.com/huggingface/lerobot)
-- [Raytracing Ultrasound Simulator](https://github.com/isaac-for-healthcare/i4h-sensor-simulation/tree/v0.2.0rc3/ultrasound-raytracing)
+- [Raytracing Ultrasound Simulator](https://github.com/isaac-for-healthcare/i4h-sensor-simulation/tree/v0.2.0/ultrasound-raytracing)
 - [RTI Connext DDS](https://www.rti.com/products)
 
 ### 🐳 Docker Installation Procedures
@@ -308,8 +299,9 @@ Expected PyTorch version conflicts between IsaacLab (2.5.1) and OpenPI (2.6.0) a
 #### 6️⃣ Raytracing Ultrasound Simulator Installation
 
 Choose one of the following options:
-- **(Use pre-built binary)** Download the pre-release version from [here](https://github.com/isaac-for-healthcare/i4h-sensor-simulation/releases/tag/v0.2.0rc3) and extract to `workflows/robotic_ultrasound/scripts/raysim`.
-- **(Compiling from source)** Install and build following instructions in [Raytracing Ultrasound Simulator](https://github.com/isaac-for-healthcare/i4h-sensor-simulation/tree/v0.2.0rc3/ultrasound-raytracing#installation) and copy the `raysim` folder to `workflows/robotic_ultrasound/scripts/`.
+- **(Use pre-built binary)** Current [installation script](../../tools/env_setup_robot_us.sh) will download the pre-built binary and install it to `workflows/robotic_ultrasound/scripts/raysim`.
+
+- **(Compiling from source)** Install and build following instructions in [Raytracing Ultrasound Simulator](https://github.com/isaac-for-healthcare/i4h-sensor-simulation/tree/v0.2.0/ultrasound-raytracing#installation) and copy the `raysim` folder to `workflows/robotic_ultrasound/scripts/`.
 
 ### 📦 Asset Management
 

workflows/robotic_ultrasound/docker/Dockerfile

@@ -40,14 +40,6 @@ RUN apt-get update && \
         libglu1-mesa && \
     rm -rf /var/lib/apt/lists/*
 
-# Add github.com to list of known hosts for git clone with ssh
-# use COPY command instead
-RUN mkdir -p ~/.ssh && \
-    curl --silent https://api.github.com/meta \
-        | jq --raw-output '"github.com "+.ssh_keys[]' >> ~/.ssh/known_hosts
-#RUN mkdir -p ~/.ssh
-#COPY ./github /root/.ssh/known_hosts
-
 # all devices should be visible
 ENV NVIDIA_VISIBLE_DEVICES=all
 # set 'compute' driver cap to use Cuda
@@ -66,17 +58,15 @@ COPY workflows /workspace/i4h-workflows/workflows
 COPY holoscan_i4h /workspace/i4h-workflows/holoscan_i4h
 
 # Install miniconda3 and create robotic_ultrasound
-RUN --mount=type=ssh \
-    mkdir -p ~/miniconda3 && \
+RUN mkdir -p ~/miniconda3 && \
     wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh && \
     bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 && \
     rm ~/miniconda3/miniconda.sh && \
     source ~/miniconda3/bin/activate && \
     conda init --all && \
     conda create -n robotic_ultrasound python=3.10.14 -y
 
-RUN --mount=type=ssh \
-    source ~/miniconda3/bin/activate && \
+RUN source ~/miniconda3/bin/activate && \
     conda activate robotic_ultrasound && \
     cd /workspace/i4h-workflows && \
     BUILD_DOCKER_IMAGE=true bash tools/env_setup_robot_us.sh

workflows/robotic_ultrasound/docker/README.md

@@ -6,7 +6,6 @@ This guide provides instructions for running robotic ultrasound simulations usin
 
 - **Docker Engine**
 - **NVIDIA Docker Runtime**
-- **Git** with SSH key access to private repositories
 - **X11 forwarding** support (for GUI mode)
 - **RTI License**
    - Please refer to the [Environment Setup](../README.md#environment-setup) for instructions to prepare the I4H assets and RTI license locally.
@@ -21,16 +20,7 @@ This guide provides instructions for running robotic ultrasound simulations usin
 # Clone the repository
 git clone https://github.com/isaac-for-healthcare/i4h-workflows.git
 cd i4h-workflows
-
-# Enable BuildKit
-export DOCKER_BUILDKIT=1
-
-# Set up SSH agent for private repository access
-eval "$(ssh-agent -s)"
-ssh-add ~/.ssh/id_ed25519  # Replace with your SSH key path
-
-# Build the Docker image with SSH forwarding
-docker build --ssh default --no-cache -f workflows/robotic_ultrasound/docker/Dockerfile -t robotic_us:latest .
+docker build --no-cache -f workflows/robotic_ultrasound/docker/Dockerfile -t robotic_us:latest .
 ```
 
 ## Running the Container

workflows/telesurgery/README.md

@@ -146,10 +146,6 @@ export RTI_LICENSE_FILE=/home/username/rti/rti_license.dat
 When running the Patient and the Surgeon applications on separate systems, export the following environment variables:
 
 ```bash
-# Starts the SSH agent and adds your private key
-eval "$(ssh-agent -s)"
-ssh-add ~/.ssh/id_ed25519  # Replace with your SSH key
-
 # Set IP addresses of patient and surgeon machines
 export PATIENT_IP="<IP Address of the system running the Patient application>"
 export SURGEON_IP="<IP Address of the system running the Surgeon application>"

workflows/telesurgery/docker/Dockerfile

@@ -26,7 +26,6 @@ RUN apt-get update && \
     apt-get update && \
     apt-get install -y \
         curl \
-        openssh-client \
         cmake \
         wget \
         build-essential \
@@ -44,8 +43,7 @@ RUN apt-get update && \
         gcc-12 \
         g++-12 && \
     update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-12 100 && \
-    update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-12 100 && \
-    mkdir -p ~/.ssh && ssh-keyscan github.com >> ~/.ssh/known_hosts
+    update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-12 100
 
 ENV PATH=/usr/local/cuda-12.8/bin${PATH:+:${PATH}}
 ENV LD_LIBRARY_PATH=/usr/local/cuda-12.8/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}

workflows/telesurgery/docker/Dockerfile.sim

@@ -27,7 +27,6 @@ RUN apt-get update && \
     apt-get update && \
     apt-get install -y \
         curl \
-        openssh-client \
         cmake \
         wget \
         build-essential \
@@ -45,8 +44,7 @@ RUN apt-get update && \
         gcc-12 \
         g++-12 && \
     update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-12 100 && \
-    update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-12 100 && \
-    mkdir -p ~/.ssh && ssh-keyscan github.com >> ~/.ssh/known_hosts
+    update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-12 100
 
 # Install Holoscan SDK
 WORKDIR /tmp
@@ -63,9 +61,8 @@ RUN update-alternatives --install /usr/bin/python python $PYTHON_EXECUTABLE 100
     && update-alternatives --install /usr/bin/python3 python3 $PYTHON_EXECUTABLE 100
 
 # # Set up the Simulation
-RUN --mount=type=ssh \
-    $PYTHON_EXECUTABLE -m pip install --no-deps \
-        git+ssh://[email protected]/isaac-for-healthcare/[email protected]
+RUN $PYTHON_EXECUTABLE -m pip install --no-deps \
+        git+https://github.com/isaac-for-healthcare/[email protected]
 
 # Install Python dependencies
 COPY workflows/telesurgery/requirements.txt /tmp/requirements.txt

workflows/telesurgery/docker/real.sh

@@ -29,7 +29,7 @@ CONTAINER_NAME=telesurgery
 function build() {
   BASE_IMAGE=nvcr.io/nvidia/clara-holoscan/holoscan:v3.2.0-$(get_host_gpu)
   echo "Building Telesurgery Docker Image using ${BASE_IMAGE}"
-  docker build --ssh default \
+  docker build \
     --build-arg BASE_IMAGE=$BASE_IMAGE \
     -t $DOCKER_IMAGE \
     -f workflows/telesurgery/docker/Dockerfile .
@@ -56,13 +56,11 @@ function run() {
     --ipc=host \
     --network=host \
     --privileged \
-    --volume $SSH_AUTH_SOCK:/ssh-agent \
     -e ACCEPT_EULA=Y \
     -e PRIVACY_CONSENT=Y \
     -e DISPLAY \
     -e XDG_RUNTIME_DIR \
     -e XDG_SESSION_TYPE \
-    -e SSH_AUTH_SOCK=/ssh-agent \
     -e PATIENT_IP="$PATIENT_IP" \
     -e SURGEON_IP="$SURGEON_IP" \
     -v /tmp/.X11-unix:/tmp/.X11-unix \

workflows/telesurgery/docker/sim.sh

@@ -31,7 +31,7 @@ function build() {
   if [ -L $SCRIPT_DIR/../../../third_party/IssacLab ]; then
     rm $SCRIPT_DIR/../../../third_party/IssacLab
   fi
-  docker build --ssh default -t $DOCKER_IMAGE -f workflows/telesurgery/docker/Dockerfile.sim .
+  docker build -t $DOCKER_IMAGE -f workflows/telesurgery/docker/Dockerfile.sim .
   download_operators
 }
 
@@ -55,13 +55,11 @@ function run() {
     --ipc=host \
     --network=host \
     --privileged \
-    --volume $SSH_AUTH_SOCK:/ssh-agent \
     -e ACCEPT_EULA=Y \
     -e PRIVACY_CONSENT=Y \
     -e DISPLAY \
     -e XDG_RUNTIME_DIR \
     -e XDG_SESSION_TYPE \
-    -e SSH_AUTH_SOCK=/ssh-agent \
     -e PATIENT_IP="$PATIENT_IP" \
     -e SURGEON_IP="$SURGEON_IP" \
     $OTHER_ARGS \