feat: mani demo docker

docker/Dockerfile

@@ -18,60 +18,68 @@ FROM osrf/ros:${ROS_DISTRO}-desktop-full
 ARG DEPENDENCIES=core_only
 ENV DEBIAN_FRONTEND=noninteractive
 # Increase timeout for Poetry requests.
-ENV POETRY_REQUESTS_TIMEOUT=300
 
 # Check whether the $DEPENDENCIES ARG has a valid value
 RUN /bin/bash -c 'if [ "${DEPENDENCIES}" != "core_only" ] && [ "${DEPENDENCIES}" != "all_groups" ]; then \
   echo Error: invalid DEPENDENCIES value. Valid values "core_only", "all_groups" && exit 1; \
 fi'
 
+ENV NVIDIA_VISIBLE_DEVICES=all \
+    NVIDIA_DRIVER_CAPABILITIES=all
 
 # Install dependencies
 RUN apt update && apt install -y \
     python3 \
     python3-pip \
     git \
     wget \
-    zip
+    zip \
+    libglu1-mesa-dev \
+    libxcb-xinerama0 \
+    libfontconfig1-dev \
+    libnvidia-gl-470 \
+    libxcb-xkb-dev \
+    libxkbcommon-x11-dev \
+    libxkbcommon-dev \
+    libxcb-xfixes0-dev \
+    libxcb-xinput-dev \
+    libxcb-xinput0 \
+    libpcre2-16-0 \
+    libunwind-dev
+
 # Install Poetry
-RUN curl -sSL https://install.python-poetry.org | python3 - --version 2.1.3
+RUN --mount=type=cache,target=/root/.cache/pypoetry/cache curl -sSL https://install.python-poetry.org \
+    | python3 - --version 2.3.2
+
 ENV PATH="/root/.local/bin:$PATH"
 
 # Copy the RAI repository
 COPY . /rai
 WORKDIR /rai
 
-# Set up the environment to use Fast DDS
-ENV FASTRTPS_DEFAULT_PROFILES_FILE=/rai/docker/fastrtps_config.xml
-ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+ENV POETRY_REQUESTS_TIMEOUT=100 \
+    PYTHONUNBUFFERED=1 \
+    PYTHONDONTWRITEBYTECODE=1 \
+    PIP_DISABLE_PIP_VERSION_CHECK=on \
+    PIP_DEFAULT_TIMEOUT=100
 
-RUN /bin/bash -c 'if [ "${DEPENDENCIES}" = "core_only" ]; then \
-  poetry install; \
+
+RUN --mount=type=cache,target=/root/.cache/pypoetry/cache \
+    --mount=type=cache,target=/root/.cache/pypoetry/artifacts \
+    /bin/bash -c 'if [ "${DEPENDENCIES}" = "core_only" ]; then \
+  poetry install -v; \
 else \
-  poetry install --all-groups; \
+  poetry install --all-groups -v; \
 fi'
 
 # Install ROS dependencies
 RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash && \
+    rosdep update && \
     rosdep install --from-paths src --ignore-src -r -y'
 
 # Build the workspace
 RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash && colcon build --symlink-install'
 
-# Install libraries required for GUI and NVIDIA support
-RUN apt install -y \
-    libglu1-mesa-dev \
-    libxcb-xinerama0 \
-    libfontconfig1-dev \
-    libnvidia-gl-470 \
-    libxcb-xkb-dev \
-    libxkbcommon-x11-dev \
-    libxkbcommon-dev \
-    libxcb-xfixes0-dev \
-    libxcb-xinput-dev \
-    libxcb-xinput0 \
-    libpcre2-16-0 \
-    libunwind-dev
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=all
+# Set up the environment to use Fast DDS
+ENV FASTRTPS_DEFAULT_PROFILES_FILE=/rai/docker/fastrtps_config.xml
+ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp

docker/Dockerfile.manipulation-demo

@@ -0,0 +1,35 @@
+# Copyright (C) 2024 Robotec.AI
+#
+# 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.
+
+ARG ROS_DISTRO=jazzy
+FROM rai:${ROS_DISTRO}
+
+# Import additional repos for demo
+RUN vcs import < demos.repos
+
+# Install ROS dependencies for newly imported repos
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash && \
+    rosdep install --from-paths src --ignore-src -r -y'
+
+RUN ./scripts/download_demo.sh manipulation
+
+# Install all dependencies
+RUN --mount=type=cache,target=/root/.cache/pypoetry/cache \
+    --mount=type=cache,target=/root/.cache/pypoetry/artifacts \
+    /bin/bash -c 'poetry install --with perception,simbench -v'
+
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash && colcon build --symlink-install'
+
+RUN /bin/bash -c ". setup_shell.sh && poetry run python src/rai_extensions/rai_perception/rai_perception/scripts/download_weights.py"
+ENTRYPOINT ["bash", "-c", ". setup_shell.sh && streamlit run examples/manipulation-demo-streamlit.py \"$@\""]

docs/demos/manipulation.md

@@ -97,46 +97,44 @@ manipulation techniques.
 
 #### 1. Setting up the demo
 
-1.  Set up docker as outlined in the [docker setup guide](../setup/setup_docker.md). During the setup, build the docker image with all dependencies (i.e., use the `--build-arg DEPENDENCIES=all_groups` argument)
+1.  Set up docker as outlined in the [docker setup guide](../setup/setup_docker.md). Build base image with flag `DEPENDENCIES=core_only`
 
-2.  Enable X11 access for the docker container:
+2.  Build docker manipulation demo image:
 
     ```shell
-    xhost +local:root
+    docker build -t rai-manipulation-demo:jazzy --build-arg ROS_DISTRO=jazzy -f docker/Dockerfile.manipulation-demo .
     ```
 
-3.  Run the docker container with the following command:
+3.  Enable X11 access for the docker container:
 
     ```shell
-    docker run --net=host --ipc=host --pid=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --gpus all -it rai:jazzy # or rai:humble
+    xhost +local:root
     ```
 
-    !!! tip "NVIDIA Container Toolkit"
-
-        In order to use the `--gpus all` flag, the [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html) must be installed on the host machine.
-
-4.  (Inside the docker container) By default, RAI uses OpenAI as the vendor. Thus, it is necessary
-    to set the `$OPENAI_API_KEY` environmental variable. The command below may be utilized to set
-    the variable and add it to the container's `.bashrc` file:
+4.  Set the `$OPENAI_API_KEY` environment variable.
 
     ```shell
     export OPENAI_API_KEY=YOUR_OPEN_AI_API_KEY
-    echo "export OPENAI_API_KEY=$OPENAI_API_KEY" >> ~/.bashrc
     ```
 
     !!! note AI vendor change
 
         The default vendor can be changed to a different provider via the [RAI configuration tool](../setup/install.md#15-configure-rai)
 
-5.  After this, follow the steps in the [Local Setup](#local-setup) from step 2 onwards.
+5.  Run the docker container with the following command:
 
-    !!! tip "New terminal in docker"
+    ```shell
+    docker run -p 8501:8501 -e DISPLAY=$DISPLAY -e OPENAI_API_KEY=$OPENAI_API_KEY -v /tmp/.X11-unix:/tmp/.X11-unix --gpus all -it rai-manipulation-demo:jazzy # or rai-manipulation-demo:humble
+    ```
+
+    !!! tip "NVIDIA Container Toolkit"
 
-        In order to open a new terminal in the same docker container, you can use the following command:
+        In order to use the `--gpus all` flag, the [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html) must be installed on the host machine.
 
-        ```shell
-        docker exec -it <container_id> bash
-        ```
+6.  To access the demo web interface, open your web browser and navigate to :
+    ```
+    http://localhost:8501
+    ```
 
 ## How it works
 

docs/setup/setup_docker.md

@@ -93,19 +93,18 @@ To allow the container to communicate with the host machine, configure the host
 ### 3.1. Humble
 
 ```bash
-docker run --net=host --ipc=host --pid=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID -it rai:humble
+docker run -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID -it rai:humble
 ```
 
 ### 3.2. Jazzy
 
 ```bash
-docker run --net=host --ipc=host --pid=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID -it rai:jazzy
+docker run -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID -it rai:jazzy
 ```
 
 ## 4. Run the tests to confirm the setup
 
 ```sh
-cd /rai
 source setup_shell.sh
 poetry run pytest tests/{agents,messages,tools,types}
 ```

src/rai_extensions/rai_perception/rai_perception/scripts/download_weights.py

@@ -0,0 +1,37 @@
+# Copyright (C) 2025 Robotec.AI
+#
+# 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.
+
+import logging
+
+from rai_perception.services.detection_service import DetectionService
+from rai_perception.services.segmentation_service import SegmentationService
+from rai_perception.services.weights import download_weights
+
+SERVICES = [DetectionService, SegmentationService]
+
+if __name__ == "__main__":
+    logging.basicConfig(level=logging.INFO)
+    logger = logging.getLogger(__name__)
+
+    for service_class in SERVICES:
+        weights_path = (
+            service_class.DEFAULT_WEIGHTS_ROOT_PATH
+            / service_class.WEIGHTS_DIR_PATH_PART
+            / service_class.WEIGHTS_FILENAME
+        )
+        weights_path.parent.mkdir(parents=True, exist_ok=True)
+        if not weights_path.exists():
+            download_weights(weights_path, logger, service_class.WEIGHTS_URL)
+        else:
+            logger.info(f"Weights already exist at {weights_path}, skipping download.")