feat: mani demo docker

[jmatejcz]

Purpose

Update base dockerfile
Add dockerfile for manipulation demo

Proposed Changes

• Base Dockerfile is slightly refactored adding some env variables that make logs cleaner. It also now uses caches to speed up following builds.
• Add Manipulation demo dockerfile which runs whole demo
• Added back script that downloads weights, so that user do not wait couple mins with waiting for services.... (not sure about this though)
• Changed commands to run. Docker no longer shares network with host, which led to bugs when 2 containers were run in the same network

Issues

• Links to relevant issues

Testing

Run manipulation demo in docker following the docs

Summary by CodeRabbit

• New Features

  • Added manipulation demo Docker container with web interface access at localhost:8501

• Documentation

  • Simplified Docker setup instructions for core environment
  • Updated manipulation demo setup guide with streamlined deployment steps

• Chores

  • Enhanced Docker images with improved build caching and environment optimization

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 69.11%. Comparing base (65b80ba) to head (34de7b3).
⚠️ Report is 5 commits behind head on main.
✅ All tests successful. No failed tests found.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #748      +/-   ##
==========================================
+ Coverage   65.33%   69.11%   +3.78%     
==========================================
  Files          78       82       +4     
  Lines        3392     3681     +289     
==========================================
+ Hits         2216     2544     +328     
+ Misses       1176     1137      -39     

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[jmatejcz]

@CodeRabbit

[coderabbitai]

Tip

For best results, initiate chat on the files or code changes.

@jmatejcz Hello! How can I help you with this PR? I can:

• Review the changes in detail
• Answer questions about the code
• Help with specific concerns or improvements
• Generate code or tests
• Or anything else you need assistance with

Just let me know what you'd like me to do!

[jmatejcz]

@CodeRabbit full review

[coderabbitai]

✅ Actions performed

Full review triggered.

[coderabbitai]

Walkthrough

The PR introduces a new manipulation demo Docker environment alongside supporting documentation and scripts. It adds Fast DDS configuration and Poetry caching optimizations to the main Dockerfile, creates a new manipulation-demo Dockerfile with vcs import and streamlit entrypoint, simplifies demo documentation, and includes a model weights download script.

Changes

Cohort / File(s)	Summary
Docker Configuration docker/Dockerfile, docker/Dockerfile.manipulation-demo	Main Dockerfile adds NVIDIA visibility, Fast DDS environment variables, Poetry caching, and dependency management. New manipulation-demo Dockerfile imports demo repos via vcs, installs dependencies with rosdep and Poetry, builds with colcon, and launches streamlit application.
Documentation docs/demos/manipulation.md, docs/setup/setup_docker.md	Manipulation demo doc refactors setup steps to emphasize direct docker build and run, removes X11/NVIDIA guidance, and adds web interface access information. Docker setup doc simplifies container run commands by removing host network/IPC/pid sharing options and test execution steps.
Python Scripts src/rai_extensions/rai_perception/rai_perception/scripts/download_weights.py	New script instantiates GroundingDinoAgent and GroundedSamAgent for model weight downloading during container build.

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~20 minutes

Possibly related PRs

• Manipulation demo: Update launching steps #332: Directly related to manipulation-demo Dockerfile and documentation changes through demos.repos usage and manipulation demo setup modifications.
• feat: updated docker setup for manipulation demo #641: Related through shared modifications to main Dockerfile for Fast DDS configuration and Poetry installation behavior changes.

Suggested reviewers

• boczekbartek
• Juliaj
• maciejmajek

🚥 Pre-merge checks | ✅ 2 | ❌ 1

❌ Failed checks (1 inconclusive)

Check name	Status	Explanation	Resolution
Title check	❓ Inconclusive	The title 'feat: mani demo docker' is vague and uses abbreviated terminology ('mani' instead of 'manipulation') that doesn't clearly convey the main changes to reviewers.	Use a more descriptive title like 'feat: add manipulation demo Docker configuration and base Dockerfile refactoring' to clearly communicate the primary changes.

✅ Passed checks (2 passed)

Check name	Status	Explanation
Description check	✅ Passed	The description covers all required template sections with clear explanations of purpose, changes, and testing approach, though issue links are not provided.
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.

_{✏️ Tip: You can configure your own custom pre-merge checks in the settings.}

✨ Finishing touches

• 📝 Generate docstrings

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Post copyable unit tests in a comment
• Commit unit tests in branch jm/feat/mani-demo-docker

---

Thanks for using CodeRabbit! It's free for OSS, and your support helps us grow. If you like it, consider giving us a shout-out.

❤️ Share

• X
• Mastodon
• Reddit
• LinkedIn

_{Comment @coderabbitai help to get the list of available commands and usage tips.}

[coderabbitai]

Actionable comments posted: 1

🤖 Fix all issues with AI agents

In `@docs/demos/manipulation.md`:
- Around line 92-129: Fix typos and unify terminology and image tag in the
manipulation demo steps: correct "manipulaiton" to "manipulation" in the docker
build step (the line containing the docker build command for
rai-manipulation-demo:jazzy), change "environmental variable" to "environment
variable" in the line with export OPENAI_API_KEY (the export OPENAI_API_KEY=...
line), update the docker run example to reference the full image tag
"rai-manipulation-demo:humble" instead of "rai:humble" (the docker run -p
8501... line), and remove the extra space before the colon in the web interface
URL line so it reads "http://localhost:8501".

🧹 Nitpick comments (3)

src/rai_extensions/rai_perception/rai_perception/scripts/download_weights.py (1)

17-21: Ensure agents are stopped even if initialization fails.
If GroundedSamAgent() raises, GroundingDinoAgent never gets stopped. A try/finally avoids resource leaks.

♻️ Proposed fix

 if __name__ == "__main__":
-    agent1 = GroundingDinoAgent()
-    agent2 = GroundedSamAgent()
-    agent1.stop()
-    agent2.stop()
+    agent1 = agent2 = None
+    try:
+        agent1 = GroundingDinoAgent()
+        agent2 = GroundedSamAgent()
+    finally:
+        if agent2:
+            agent2.stop()
+        if agent1:
+            agent1.stop()

docker/Dockerfile.manipulation-demo (1)

34-35: Use exec in ENTRYPOINT to forward signals.
Without exec, Bash stays PID 1 and may not forward SIGTERM cleanly.

♻️ Proposed fix

-ENTRYPOINT ["bash", "-c", ". setup_shell.sh && streamlit run examples/manipulation-demo-streamlit.py \"$@\""]
+ENTRYPOINT ["bash", "-c", ". setup_shell.sh && exec streamlit run examples/manipulation-demo-streamlit.py \"$@\""]

docker/Dockerfile (1)

82-84: Confirm that forcing Fast DDS is intended for all containers.
If other DDS implementations are supported, consider documenting how to override RMW_IMPLEMENTATION at runtime.

[coderabbitai]

⚠️ Potential issue | 🟡 Minor

🧩 Analysis chain

🏁 Script executed:

# First, locate and examine the file
cat -n docs/demos/manipulation.md | sed -n '90,130p'

Repository: RobotecAI/rai

Length of output: 1648

---

Fix typos, terminology, image tag reference, and formatting.

Line 94: "manipulaiton" is a typo. Line 106: use "environment variable" (standard terminology). Line 119: the comment references "rai:humble" but should match the full image tag format "rai-manipulation-demo:humble". Line 126: remove the extra space before the colon.

📝 Proposed fix

-2.  Build docker manipulaiton demo image:
+2.  Build docker manipulation demo image:

-4.  Set the `$OPENAI_API_KEY` environmental variable.
+4.  Set the `$OPENAI_API_KEY` environment variable.

-    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:humble
+    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

-6.  To access the demo web interface, open your web browser and navigate to :
+6.  To access the demo web interface, open your web browser and navigate to:

🤖 Prompt for AI Agents

In `@docs/demos/manipulation.md` around lines 92 - 129, Fix typos and unify
terminology and image tag in the manipulation demo steps: correct "manipulaiton"
to "manipulation" in the docker build step (the line containing the docker build
command for rai-manipulation-demo:jazzy), change "environmental variable" to
"environment variable" in the line with export OPENAI_API_KEY (the export
OPENAI_API_KEY=... line), update the docker run example to reference the full
image tag "rai-manipulation-demo:humble" instead of "rai:humble" (the docker run
-p 8501... line), and remove the extra space before the colon in the web
interface URL line so it reads "http://localhost:8501".