feat: updated docker setup for manipulation demo

.dockerignore

@@ -0,0 +1,182 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# ROS
+build/
+devel/
+install/
+log/
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/ dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+dist/
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+logs/
+.vscode/
+
+!examples/imgs/*.md
+
+src/examples/*-demo
+artifact_database.pkl
+
+imgui.ini
+
+src/rai_bench/rai_bench/experiments
+src/rai_interfaces
+
+# Demo assets
+demo_assets/

docker/Dockerfile

@@ -13,27 +13,42 @@
 # limitations under the License.
 
 ARG ROS_DISTRO=jazzy
-
 FROM osrf/ros:${ROS_DISTRO}-desktop-full
+
+ARG DEPENDENCIES=core_only
 ENV DEBIAN_FRONTEND=noninteractive
 
+# 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'
+
+
 # Install dependencies
-RUN apt-get update && apt-get install -y \
+RUN apt update && apt install -y \
     python3 \
     python3-pip \
     git \
-    wget
+    wget \
+    zip
 
 # Install Poetry
-RUN curl -sSL https://install.python-poetry.org | python3 - --version 1.8.4
+RUN curl -sSL https://install.python-poetry.org | python3 - --version 2.1.3
 ENV PATH="/root/.local/bin:$PATH"
 
-# Clone and setup RAI
+# Copy the RAI repository
+COPY . /rai
 WORKDIR /rai
-RUN git clone https://github.com/RobotecAI/rai.git .
 
-# Install Python dependencies with Poetry
-RUN poetry install --with nomad,openset
+# Set up the environment to use Fast DDS
+ENV FASTRTPS_DEFAULT_PROFILES_FILE=/rai/docker/fastrtps_config.xml
+ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+
+RUN /bin/bash -c 'if [ "${DEPENDENCIES}" = "core_only" ]; then \
+  poetry install; \
+else \
+  poetry install --all-groups; \
+fi'
 
 # Install ROS dependencies
 RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash && \

docker/fastrtps_config.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>CustomUdpTransport</transport_id>
+            <type>UDPv4</type>
+        </transport_descriptor>
+    </transport_descriptors>
+    <participant profile_name="participant_profile" is_default_profile="true">
+        <rtps>
+            <userTransports>
+                <transport_id>CustomUdpTransport</transport_id>
+            </userTransports>
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+</profiles>

docs/demos/manipulation.md

@@ -18,6 +18,10 @@ manipulation techniques.
 
     Make sure ROS 2 is sourced. (e.g. `source /opt/ros/humble/setup.bash`)
 
+### Local Setup
+
+#### Setting up the demo
+
 1. Follow the RAI setup instructions in the [quick setup guide](../setup/install.md#setting-up-developer-environment).
 2. Download additional dependencies:
 
@@ -39,7 +43,7 @@ manipulation techniques.
     colcon build --symlink-install
     ```
 
-## Running the Demo
+#### Running the demo
 
 !!! note "Remain in sourced shell"
 
@@ -75,6 +79,110 @@ manipulation techniques.
 
     To change camera in the simulation use 1-7 keys on your keyboard once it's window is focused.
 
+### Docker Setup
+
+!!! note "ROS 2 required"
+
+    The docker setup requires a working Humble or Jazzy ROS 2 installation on the host machine. Make sure that ROS 2 is sourced on the host machine and the `ROS_DOMAIN_ID` environment variable is set to the same value as in the [Docker setup](../setup/setup_docker.md#2-set-up-communications-between-docker-and-host-optional)
+
+!!! warning "ROS 2 distributions"
+
+    It is highly recommended that ROS 2 distribution on the host machine matches the ROS 2 distribution of the docker container. A distribution version mismatch may result in the demo not working correctly.
+
+#### 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)
+    and configure communication between the container and the host ([link](../setup/setup_docker.md#2-set-up-communications-between-docker-and-host-optional)).
+
+2.  On the host machine, download the latest binary release for the Robotic Arm Demo:
+
+    ```shell
+    ./scripts/download_demo.sh manipulation
+    ```
+
+3.  Run the docker container (if not already running):
+
+    ```shell
+    docker run --net=host --ipc=host --pid=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID -it rai:jazzy # or rai:humble
+    ```
+
+    !!! tip "NVIDIA GPU acceleration"
+
+        If the [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html) is set up on your host machine, you can use the GPU within the RAI docker container for faster inference by adding the `--gpus all` option:
+
+        ```shell
+        docker run --net=host --ipc=host --pid=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID --gpus all -it rai:jazzy # or rai:humble
+        ```
+
+        Sometimes, passing GPUs to the docker container may result in an error:
+
+        ```shell
+        docker: Error response from daemon: could not select device driver "" with capabilities: [[gpu]].
+        ```
+
+        Restarting the docker service should resolve this error:
+
+        ```shell
+        sudo systemctl restart docker
+        ```
+
+4.  (Inside the container shell) Download additional ROS 2 dependencies:
+
+    ```shell
+    vcs import < demos.repos
+    rosdep install --from-paths src/examples/rai-manipulation-demo/ros2_ws/src --ignore-src -r -y
+    ```
+
+5.  (Inside the container shell) Build the ROS 2 workspace:
+
+    ```shell
+    source /opt/ros/${ROS_DISTRO}/setup.bash
+    colcon build --symlink-install
+    ```
+
+6.  (Inside the docker container) By default, RAI uses OpenAI as the vendor. Thus, it is necessary
+    to set the `$OPENAI_API_KEY` environmental variable. The command below may be utilized to set
+    the variable and add it to the container's `.bashrc` file:
+
+    ```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)
+
+#### 2. Running the demo
+
+!!! note Source the setup shell
+
+    Ensure ROS 2 is sourced on the host machine and the `ROS_DOMAIN_ID` environment variable is set to the same value as in the [Docker setup](../setup/setup_docker.md#2-set-up-communications-between-docker-and-host-optional). Ensure that every command inside the docker container is run in a sourced shell using `source setup_shell.sh`.
+
+1. Launch the Robotic Arm Visualization on the host machine:
+
+    ```shell
+    ./demo_assets/manipulation/RAIManipulationDemo/RAIManipulationDemo.GameLauncher
+    ```
+
+2. (Inside the container shell) Launch the Robotic Arm Demo script inside of the docker container:
+
+    ```shell
+    ros2 launch examples/manipulation-demo.launch.py
+    ```
+
+3. (Inside the container shell) Open a new terminal for the docker container (e.g., `docker exec -it CONTAINER_ID /bin/bash`) and launch the streamlit interface:
+
+    ```shell
+    streamlit run examples/manipulation-demo-streamlit.py
+    ```
+
+    Alternatively, run the simpler command-line version:
+
+    ```shell
+    python examples/manipulation-demo.py
+    ```
+
 ## How it works
 
 The manipulation demo utilizes several components: