From e483ca09a9996092d2bcf9661eec1534bd028c34 Mon Sep 17 00:00:00 2001 From: maciejmajek Date: Thu, 14 May 2026 15:09:02 +0200 Subject: [PATCH 01/69] refactor: pixi --- docs/running.md | 93 ++++++---------- docs/running_hil_sim_hmi.md | 89 +++++---------- docs/setup_hil.md | 78 ++++++------- docs/setup_sim.md | 114 ++++++------------- docs/setup_single_machine.md | 162 ++++++++++++--------------- pixi.lock | 74 +++++++++++++ pixi.toml | 206 +++++++++++++++++++++++++++++++++++ pixi_activate.sh | 16 +++ rai_app/README.md | 18 +-- 9 files changed, 504 insertions(+), 346 deletions(-) create mode 100644 pixi.lock create mode 100644 pixi.toml create mode 100644 pixi_activate.sh diff --git a/docs/running.md b/docs/running.md index 93db30a..f4b46e8 100644 --- a/docs/running.md +++ b/docs/running.md @@ -1,65 +1,54 @@ # Running the Demo -## O3DE +All commands use `pixi run` — the ROS 2 workspace is sourced automatically via `pixi_activate.sh`. + +Run `pixi task list` to see all available commands. -To run the O3DE, run the following command: +## O3DE ```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -${DEMO_ROOT}/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher +pixi run sim ``` ## ROS 2 -To run the ROS 2 stack and control agents, execute: - ```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -./scripts/run_ros2_stack.sh +pixi run ros2 ``` ## HMI -To run the HMI, execute: - ```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -ros2 launch mobile_manipulator_hmi hmi_launch.py +pixi run hmi ``` # Inference -To run the inference, execute: +## Local (llama.cpp) -```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -hf -``` - -For example, use the following commands to start each of the models. Note that the extra arguments -are required for a stable operation of the Demo: - -- GPT-OSS-20B +Models default to `$DEMO_ROOT/models/`. Override with env vars if your models are elsewhere. ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/unsloth_gpt-oss-20b-GGUF_gpt-oss-20b-Q4_K_M.gguf --no-prefill-assistant --port 8080 -``` - -- LFM2-VL-3B-GGUF +# GPT-OSS-20B — port 8080 +pixi run serve-llm -```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/LFM2-VL-3B_public/LFM2-VL-3B-Q8_0.gguf --mmproj /path/to/downloaded/model/mmproj-LFM2-VL-3B-Q8_0.gguf --port 8081 -``` +# LFM2-VL-3B — port 8081 +pixi run serve-vlm -- Qwen3-Embedding-0.6b +# Qwen3-Embedding-0.6b — port 8082 +pixi run serve-embedding -```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/Qwen3-Embedding-0.6b_Q8_0.gguf --embedding --pooling last -c 4096 -b 2048 -ub 2048 --port 8082 +# Qwen3-Reranker-0.6B — port 8083 +pixi run serve-reranker ``` -- Qwen3-Reranker-0.6B +To use a custom path: ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/Qwen3-Reranker-0.6B.gguf --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083 +LLM_MODEL=/path/to/gpt-oss-20b-Q4_K_M.gguf pixi run serve-llm +VLM_MODEL=/path/to/LFM2-VL-3B-Q8_0.gguf VLM_MMPROJ=/path/to/mmproj.gguf pixi run serve-vlm +EMBEDDING_MODEL=/path/to/embedding.gguf pixi run serve-embedding +RERANKER_MODEL=/path/to/reranker.gguf pixi run serve-reranker ``` ## Agent @@ -68,43 +57,29 @@ For instructions, see: [Agent setup and inference](../rai_app/README.md) ## Local Runtime Components -These commands run the same components locally that are defined in `docker/compose.yaml`. -Each command assumes you have sourced your ROS 2 environment: +### Agent Orchestrator ```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash +pixi run orchestrator ``` -### Configuration Files - -- Local inference (default): `${DEMO_ROOT}/config.toml` - -### Individual ROS 2 Components +### Individual Components -Use these commands when you want to run components separately instead of `./scripts/run_ros2_stack.sh`: - -```shell -ros2 launch robotec_kairos_ur10 robotec_launch.py -ros2 run mobile_manipulator_hmi utilization_node -uv run python rai_app/agents/nav2_agent.py -uv run python rai_app/agents/moveit2_agent.py -uv run python rai_app/environment/scene_agent.py -ros2 run nav2_lifecycle_manager nav_lifecycle_node -uv run python rai_app/agents/inspection_agent.py -${DEMO_ROOT}/scripts/start_safety_agent.sh -``` - -### Agent Orchestrator +Use these when you want to run components separately instead of `pixi run ros2`: ```shell -uv run python rai_app/agents/agent_orchestrator.py +pixi run nav2-agent +pixi run moveit2-agent +pixi run scene-agent +pixi run inspection-agent +pixi run safety-agent ``` ### Safety Embeddings and Reranker (optional) -These services are only required if you run the safety agent with RAG. See `docs/safety_agent_with_rag.md`. +These are only required when running the safety agent with RAG. See `docs/safety_agent_with_rag.md`. ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m --embedding --pooling last --port 8082 --host 0.0.0.0 -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m --embedding --pooling rank -fa on --port 8083 --host 0.0.0.0 +EMBEDDING_MODEL=/path/to/embeddings.gguf pixi run serve-embedding +RERANKER_MODEL=/path/to/reranker.gguf pixi run serve-reranker ``` diff --git a/docs/running_hil_sim_hmi.md b/docs/running_hil_sim_hmi.md index c494dfa..a2cff27 100644 --- a/docs/running_hil_sim_hmi.md +++ b/docs/running_hil_sim_hmi.md @@ -1,105 +1,70 @@ # Running a Demo on HIL, Simulation, and HMI -## Simulation +All commands use `pixi run` — the ROS 2 workspace is sourced automatically. + +## Simulation Machine ### O3DE ```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -${DEMO_ROOT}/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher +pixi run sim ``` -## HIL +## HIL Machine ### ROS 2 -To run the ROS 2 stack and control agents, execute: - ```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -./scripts/run_ros2_stack.sh +pixi run ros2 ``` ### Inference -To run the inference, execute: - ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -hf +pixi run serve-llm # GPT-OSS-20B → port 8080 +pixi run serve-vlm # LFM2-VL-3B → port 8081 +pixi run serve-embedding # Qwen3-Embedding → port 8082 +pixi run serve-reranker # Qwen3-Reranker → port 8083 ``` -e.g. - -```` -* GPT-OSS-20B -```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/unsloth_gpt-oss-20b-GGUF_gpt-oss-20b-Q4_K_M.gguf --port 8080 -```` - -- LFM2-VL-3B-GGUF +Models default to `$DEMO_ROOT/models/`. Override with env vars if your models are elsewhere: ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/LFM2-VL-3B_public/LFM2-VL-3B-Q8_0.gguf --mmproj /path/to/downloaded/model/mmproj-LFM2-VL-3B-Q8_0.gguf --port 8081 +LLM_MODEL=/path/to/model.gguf pixi run serve-llm +VLM_MODEL=/path/to/vlm.gguf VLM_MMPROJ=/path/to/mmproj.gguf pixi run serve-vlm ``` -- Qwen3-Embedding-0.6b +### Agent Orchestrator ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/Qwen3-Embedding-0.6b_Q8_0.gguf --embedding --pooling last -c 4096 -b 2048 -ub 2048 --port 8082 +pixi run orchestrator ``` -- Qwen3-Reranker-0.6B +## HMI Machine ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/Qwen3-Reranker-0.6B.gguf --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083 +pixi run hmi ``` -## HMI - -### Running the GUI - -```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -ros2 launch mobile_manipulator_hmi hmi_launch.py -``` - -## Local Runtime Components - -These commands run the same components locally that are defined in `docker/compose.yaml`. -Each command assumes you have sourced your ROS 2 environment: - -```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -``` - -### Configuration Files - -- Local inference (default): `${DEMO_ROOT}/config.toml` +--- ## Individual ROS 2 Components -Use these commands when you want to run components separately instead of `./scripts/run_ros2_stack.sh`: +Use these when you want to run components separately instead of `pixi run ros2`: ```shell -ros2 launch robotec_kairos_ur10 robotec_launch.py -ros2 run mobile_manipulator_hmi utilization_node -uv run python rai_app/agents/nav2_agent.py -uv run python rai_app/agents/moveit2_agent.py -uv run python rai_app/environment/scene_agent.py -ros2 run nav2_lifecycle_manager nav_lifecycle_node -uv run python rai_app/agents/inspection_agent.py -${DEMO_ROOT}/scripts/start_safety_agent.sh +pixi run nav2-agent +pixi run moveit2-agent +pixi run scene-agent +pixi run inspection-agent +pixi run safety-agent ``` -Start the orchestrator: - -For instructions, see: [Agent setup and inference](../rai_app/README.md) - ## Safety Embeddings and Reranker (optional) -These services are only required if you run the safety agent with RAG. See `docs/safety_agent_with_rag.md`. +These are only required when running the safety agent with RAG. See `docs/safety_agent_with_rag.md`. ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m --embedding --pooling last --port 8082 --host 0.0.0.0 -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m --embedding --pooling rank -fa on --port 8083 --host 0.0.0.0 +pixi run serve-embedding +pixi run serve-reranker ``` diff --git a/docs/setup_hil.md b/docs/setup_hil.md index 12682a2..a355a6c 100644 --- a/docs/setup_hil.md +++ b/docs/setup_hil.md @@ -3,7 +3,7 @@ This repository is compatible with the following system: - System: Ubuntu 24.04 -- ROS 2: Jazzy with development tools installed [link](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional) +- ROS 2: Jazzy with development tools installed [link](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Real-Time-Kernel-Tuning-Guide.html) - Python: 3.12 ## Building the Project @@ -13,52 +13,52 @@ This repository is compatible with the following system: #### Clone the Repository ```shell -cd /home/${USER} git clone git@github.com:RobotecAI/agentic-mobile-manipulator.git +cd agentic-mobile-manipulator ``` -#### Set the Root Directory of the Project +#### Install System Dependencies -Set the root directory of the project to `$DEMO_ROOT` and `$O3DE_ROOT`, e.g., by adding the following line to your `.bashrc` or `.zshrc` file: - -```shell -export DEMO_ROOT=/home/${USER}/agentic-mobile-manipulator/ +```bash +sudo apt update +sudo apt install git git-lfs python3-vcstool ``` -### Setup ROS 2 +> [!NOTE] +> ROS 2 Jazzy with dev tools (including `colcon`, `rosdep`) must also be installed. +> See the [ROS 2 installation guide](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional). -#### Build the ROS 2 Workspace - -```shell -cd ${DEMO_ROOT}/ros2_ws -rosdep update -rosdep install --ignore-src --from-paths src -y -colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -``` +#### Install pixi -Source the installation in your `.bashrc` or `.zshrc` file: +[pixi](https://pixi.sh) orchestrates all build steps and sets environment variables automatically. ```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash +curl -fsSL https://pixi.sh/install.sh | sh ``` -### Setup Python Environment +Restart your shell or run `source ~/.bashrc` after installation. + +--- -1. Install uv +### Build ```shell -curl -LsSf https://astral.sh/uv/install.sh | sh +pixi run setup-hil ``` -2. Install dependencies +This runs: -```shell -uv sync -``` +| Step | pixi task | What it does | +| ---- | --------------- | --------------------------------------- | +| 1 | `clone-ros2-ws` | `vcs import` for ROS 2 workspace | +| 2 | `build-ros2` | `rosdep install` + `colcon build` | +| 3 | `sync` | `uv sync` — install Python dependencies | -## Setting Up llama.cpp +--- -llama.cpp is used as the default GenAI inference engine. Other inference engines can be used if they maintain compatibility with the OpenAI API. +## Setting Up llama.cpp (optional) + +llama.cpp is used as the default local GenAI inference engine. Skip this section if using a cloud API. ### Prerequisites @@ -72,25 +72,19 @@ vulkaninfo ### Build llama.cpp -> [!TIP] -> In this example, Vulkan is used as the backend. Choose the appropriate backend based on your setup. For more information, see the [llama.cpp documentation](https://github.com/ggml-org/llama.cpp/blob/master/docs/build.md). - -```shell -cd ${DEMO_ROOT} -vcs import --input ${DEMO_ROOT}/inference.repos -``` - ```shell -cd ${DEMO_ROOT}/inference/llama.cpp - -cmake -B build -DGGML_VULKAN=1 -cmake --build build --config Release +pixi run build-llama ``` -### Download Model +This clones llama.cpp and builds it with Vulkan backend. -For every configured model in `config.toml`, download and run the model using the following command: +Or, to run the full HIL setup including llama.cpp in one command: ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-cli -hf +pixi run setup-hil-local ``` + +### Download Models + +For every model configured in `config.toml`, download the GGUF file and place it in `$DEMO_ROOT/models/`. +See [Download Models](setup_single_machine.md#download-models) for links. diff --git a/docs/setup_sim.md b/docs/setup_sim.md index 72a429a..cb064c9 100644 --- a/docs/setup_sim.md +++ b/docs/setup_sim.md @@ -13,113 +13,61 @@ This repository is compatible with the following system: #### Clone the Repository ```shell -cd /home/${USER} git clone git@github.com:RobotecAI/agentic-mobile-manipulator.git +cd agentic-mobile-manipulator ``` -#### Set the Root Directory of the Project - -Set the root directory of the project to `$DEMO_ROOT` and `$O3DE_ROOT`, e.g., by adding the following lines to your `.bashrc` or `.zshrc` file: - -```shell -export DEMO_ROOT=/home/${USER}/agentic-mobile-manipulator/ -export O3DE_ROOT=${DEMO_ROOT}engine/o3de -``` - -#### Install Base Dependencies +#### Install System Dependencies ```bash sudo apt update -sudo apt install git git-lfs ninja-build -``` - -#### Clone Repositories - -```shell -cd ${DEMO_ROOT} -vcs import --input ${DEMO_ROOT}/engine.repos -vcs import --input ${DEMO_ROOT}/gems.repos -vcs import --input ${DEMO_ROOT}/ros2_ws.repos -``` - -### Setup O3DE - -Install [packages required to build O3DE:](https://www.docs.o3de.org/docs/welcome-guide/requirements/#linux) - -```shell -sudo apt install cmake libstdc++-12-dev clang libglu1-mesa-dev libxcb-randr0-dev libxcb-xinerama0 libxcb-xinput0 libxcb-xinput-dev libxcb-xfixes0-dev libxcb-xkb-dev libxkbcommon-dev libxkbcommon-x11-dev libfontconfig1-dev libpcre2-16-0 zlib1g-dev mesa-common-dev libunwind-dev libzstd-dev tix -``` - -Register the O3DE engine: - -```shell -cd ${O3DE_ROOT} -git lfs install -git lfs pull -python/get_python.sh -${O3DE_ROOT}/scripts/o3de.sh register --this-engine +sudo apt install git git-lfs python3-vcstool ninja-build \ + cmake libstdc++-12-dev clang \ + libglu1-mesa-dev libxcb-randr0-dev libxcb-xinerama0 libxcb-xinput0 \ + libxcb-xinput-dev libxcb-xfixes0-dev libxcb-xkb-dev libxkbcommon-dev \ + libxkbcommon-x11-dev libfontconfig1-dev libpcre2-16-0 zlib1g-dev \ + mesa-common-dev libunwind-dev libzstd-dev tix ``` -#### Setup o3de-extras - -```shell -cd ${DEMO_ROOT}/gems -git lfs install -git lfs pull -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/o3de-extras/Gems -``` +> [!NOTE] +> ROS 2 Jazzy with dev tools (including `colcon`, `rosdep`) must also be installed. +> See the [ROS 2 installation guide](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional). -#### Non-canonical Gems +#### Install pixi -These are gems that are open source but not maintained by O3DE. +[pixi](https://pixi.sh) orchestrates all build steps and sets environment variables automatically. ```shell -cd ${DEMO_ROOT}/gems -${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-humanworker-gem -${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-ur-robots-gem -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-warehouse-assets -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-generic-assets -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-o3de-tools -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/project_gems/ - +curl -fsSL https://pixi.sh/install.sh | sh ``` -#### Register Project +Restart your shell or run `source ~/.bashrc` after installation. -```shell -${O3DE_ROOT}/scripts/o3de.sh register --project-path ${DEMO_ROOT}/sim -``` - -### Setup ROS 2 +--- -#### Build the ROS 2 Workspace +### Build Everything ```shell -cd ${DEMO_ROOT}/ros2_ws -rosdep update -rosdep install --ignore-src --from-paths src -y -colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select simulation_interfaces +pixi run setup ``` -Source the installation in your `.bashrc` or `.zshrc` file: +This single command runs the full build pipeline in the correct order: -```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -``` +| Step | pixi task | What it does | +| ---- | --------------- | ----------------------------------------------------- | +| 1 | `clone-engine` | `vcs import` for O3DE engine and gems | +| 2 | `clone-ros2-ws` | `vcs import` for ROS 2 workspace | +| 3 | `setup-o3de` | git-lfs pull + O3DE engine registration | +| 4 | `register-gems` | Register all O3DE gems and the simulation project | +| 5 | `build-ros2` | `rosdep install` + `colcon build` | +| 6 | `build-o3de` | CMake configure + Ninja build (Editor + GameLauncher) | +| 7 | `sync` | `uv sync` — install Python dependencies | -### Build O3DE Editor and GameLauncher +> [!NOTE] > `build-o3de` takes 30–60 minutes on first run. -```shell -cd ${DEMO_ROOT}/sim -cmake -B build/linux -G "Ninja Multi-Config" \ - -DLY_DISABLE_TEST_MODULES=ON \ - -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ - -DLY_STRIP_DEBUG_SYMBOLS=ON \ - -DCMAKE_LINKER_TYPE=MOLD -cmake --build build/linux --config profile --target MobileManipulatorDemo Editor MobileManipulatorDemo.Assets MobileManipulatorDemo.GameLauncher -``` +--- -### Export project to binary file +### Export Project to Binary ```shell sudo apt install python3-resolvelib python3-puremagic diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index 85abec3..cb6bb93 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -15,151 +15,124 @@ This repository is compatible with the following system: ```shell cd /home/${USER} git clone git@github.com:RobotecAI/agentic-mobile-manipulator.git +cd agentic-mobile-manipulator ``` -#### Set the Root Directory of the Project +#### Install System Dependencies -Set the root directory of the project to `$DEMO_ROOT` and `$O3DE_ROOT`, e.g., by adding the following lines to your `.bashrc` or `.zshrc` file: - -```shell -export DEMO_ROOT=/home/${USER}/agentic-mobile-manipulator -export O3DE_ROOT=${DEMO_ROOT}/engine/o3de -``` - -#### Install Base Dependencies +These packages must be installed via `apt` before using pixi: ```bash sudo apt update -sudo apt install git git-lfs ninja-build +sudo apt install git git-lfs python3-vcstool ninja-build \ + cmake libstdc++-12-dev clang \ + libglu1-mesa-dev libxcb-randr0-dev libxcb-xinerama0 libxcb-xinput0 \ + libxcb-xinput-dev libxcb-xfixes0-dev libxcb-xkb-dev libxkbcommon-dev \ + libxkbcommon-x11-dev libfontconfig1-dev libpcre2-16-0 zlib1g-dev \ + mesa-common-dev libunwind-dev libzstd-dev tix ``` -#### Clone Repositories - -```shell -cd ${DEMO_ROOT} -vcs import --input ${DEMO_ROOT}/engine.repos -vcs import --input ${DEMO_ROOT}/gems.repos -vcs import --input ${DEMO_ROOT}/ros2_ws.repos -``` +> [!NOTE] +> ROS 2 Jazzy with dev tools (including `colcon`, `rosdep`) must also be installed. +> See the [ROS 2 installation guide](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional). -### Setup O3DE +#### Install pixi -Install [packages required to build O3DE:](https://www.docs.o3de.org/docs/welcome-guide/requirements/#linux) +[pixi](https://pixi.sh) orchestrates all build steps and sets environment variables automatically. ```shell -sudo apt install cmake libstdc++-12-dev clang libglu1-mesa-dev libxcb-randr0-dev libxcb-xinerama0 libxcb-xinput0 libxcb-xinput-dev libxcb-xfixes0-dev libxcb-xkb-dev libxkbcommon-dev libxkbcommon-x11-dev libfontconfig1-dev libpcre2-16-0 zlib1g-dev mesa-common-dev libunwind-dev libzstd-dev tix +curl -fsSL https://pixi.sh/install.sh | sh ``` -Register the O3DE engine: +Restart your shell or run `source ~/.bashrc` after installation. -```shell -cd ${O3DE_ROOT} -git lfs install -git lfs pull -python/get_python.sh -${O3DE_ROOT}/scripts/o3de.sh register --this-engine -``` +--- -#### Setup o3de-extras +### Build Everything ```shell -cd ${DEMO_ROOT}/gems -git lfs install -git lfs pull -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/o3de-extras/Gems +pixi run setup ``` -#### Non-canonical Gems +This single command runs the full build pipeline in the correct order: -These are gems that are open source but not maintained by O3DE. +| Step | pixi task | What it does | +| ---- | --------------- | ----------------------------------------------------- | +| 1 | `clone` | `vcs import` for engine, gems, and ROS 2 workspace | +| 2 | `setup-o3de` | git-lfs pull + O3DE engine registration | +| 3 | `register-gems` | Register all O3DE gems and the simulation project | +| 4 | `build-ros2` | `rosdep install` + `colcon build` | +| 5 | `build-o3de` | CMake configure + Ninja build (Editor + GameLauncher) | +| 6 | `sync` | `uv sync` — install Python dependencies | -```shell -cd ${DEMO_ROOT}/gems -${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-humanworker-gem -${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-ur-robots-gem -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-warehouse-assets -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-generic-assets -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-o3de-tools -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/project_gems/ -``` +> [!NOTE] > `build-o3de` takes 30–60 minutes on first run. -#### Register Project - -```shell -${O3DE_ROOT}/scripts/o3de.sh register --project-path ${DEMO_ROOT}/sim -``` +#### Local Inference (optional) -### Setup ROS 2 - -#### Build the ROS 2 Workspace +If you want to run models locally via llama.cpp instead of cloud APIs: ```shell -cd ${DEMO_ROOT}/ros2_ws -rosdep update -rosdep install --ignore-src --from-paths src -y -colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release +pixi run clone-inference +pixi run build-llama ``` -Source the installation in your `.bashrc` or `.zshrc` file: +Then [download the required models](#download-models). -```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -``` +--- + +### Running the Demo -### Build O3DE Editor and GameLauncher +`pixi run` replaces all manual `source` calls — the ROS 2 environment is sourced automatically. ```shell -cd ${DEMO_ROOT}/sim -cmake -B build/linux -G "Ninja Multi-Config" \ - -DLY_DISABLE_TEST_MODULES=ON \ - -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ - -DLY_STRIP_DEBUG_SYMBOLS=ON \ - -DCMAKE_LINKER_TYPE=MOLD -cmake --build build/linux --config profile --target MobileManipulatorDemo Editor MobileManipulatorDemo.Assets MobileManipulatorDemo.GameLauncher +# In separate terminals: +pixi run sim # O3DE simulation +pixi run ros2 # Full ROS 2 stack +pixi run orchestrator # Agent orchestrator ``` -### Setup Python Environment - -1. Install uv +For the HMI: ```shell -curl -LsSf https://astral.sh/uv/install.sh | sh +pixi run hmi ``` -2. Install dependencies +Individual agents (for debugging): ```shell -uv sync +pixi run nav2-agent +pixi run moveit2-agent +pixi run scene-agent +pixi run inspection-agent +pixi run safety-agent ``` -### Setting Up llama.cpp (local inference) - -> [!TIP] -> For the demo presented at ROSCon 2025, the Vulkan backend was used. For more information, see the [llama.cpp documentation](https://github.com/ggml-org/llama.cpp/blob/master/docs/build.md). +Local inference servers: ```shell -cd ${DEMO_ROOT} -vcs import --input ${DEMO_ROOT}/inference.repos +# Models default to $DEMO_ROOT/models/. +# Override with env vars, e.g.: LLM_MODEL=/path/to/model.gguf pixi run serve-llm +pixi run serve-llm # GPT-OSS-20B → port 8080 +pixi run serve-vlm # LFM2-VL-3B → port 8081 +pixi run serve-embedding # Qwen3-Embedding-0.6b → port 8082 +pixi run serve-reranker # Qwen3-Reranker-0.6B → port 8083 ``` -```shell -cd ${DEMO_ROOT}/inference/llama.cpp +Run `pixi task list` to see all available commands. -cmake -B build -DGGML_VULKAN=1 -cmake --build build --config Release -``` +--- ### Download Models -For every configured model in `config.toml`, download the appropriate GGUF file and run it via `llama-server`. - -For the default setup, download the following models: +For every model configured in `config.toml`, download the GGUF file and place it in `$DEMO_ROOT/models/`: - [GPT-OSS-20B](https://huggingface.co/unsloth/gpt-oss-20b-GGUF/resolve/main/gpt-oss-20b-Q4_K_M.gguf?download=true) -- [LFM2-VL-3B-GGUF](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/LFM2-VL-3B-Q8_0.gguf?download=true) along with [mmproj](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/mmproj-LFM2-VL-3B-Q8_0.gguf?download=true) +- [LFM2-VL-3B-GGUF](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/LFM2-VL-3B-Q8_0.gguf?download=true) + [mmproj](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/mmproj-LFM2-VL-3B-Q8_0.gguf?download=true) - [Qwen3-Embedding-0.6b](https://robotecai-my.sharepoint.com/:u:/g/personal/bartlomiej_boczek_robotec_ai/IQB7tkMkmi34Q6xtTB89N1LxAfod0sMpGT4uTffjo6iW7qc?e=6kLoTi) - [Qwen3-Reranker-0.6B](https://robotecai-my.sharepoint.com/:u:/g/personal/bartlomiej_boczek_robotec_ai/IQAgWOVPiyS8RZ1QUVVx6N9gAaOGGrvDnk7Qa0IpSbhlp_8?e=P0b1Ak) +--- + ## Developer Setup ### Conventional Commits @@ -168,11 +141,14 @@ We use conventional commits to ensure that the commit messages are consistent an ### Pre-commit -We use pre-commit to ensure that the code is formatted and linted before it is committed. +```bash +pixi run pre-commit-install +``` + +To run hooks manually: ```bash -sudo apt install pre-commit -pre-commit install +pixi run lint ``` # Next Steps diff --git a/pixi.lock b/pixi.lock new file mode 100644 index 0000000..6616505 --- /dev/null +++ b/pixi.lock @@ -0,0 +1,74 @@ +version: 6 +environments: + default: + channels: + - url: https://conda.anaconda.org/conda-forge/ + options: + pypi-prerelease-mode: if-necessary-or-explicit + packages: + linux-64: + - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-15.2.0-he0feb66_18.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-15.2.0-he0feb66_18.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_18.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/uv-0.11.7-h0f56927_0.conda +packages: +- conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda + build_number: 20 + sha256: 1dd3fffd892081df9726d7eb7e0dea6198962ba775bd88842135a4ddb4deb3c9 + md5: a9f577daf3de00bca7c3c76c0ecbd1de + depends: + - __glibc >=2.17,<3.0.a0 + - libgomp >=7.5.0 + constrains: + - openmp_impl <0.0a0 + license: BSD-3-Clause + license_family: BSD + size: 28948 + timestamp: 1770939786096 +- conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-15.2.0-he0feb66_18.conda + sha256: faf7d2017b4d718951e3a59d081eb09759152f93038479b768e3d612688f83f5 + md5: 0aa00f03f9e39fb9876085dee11a85d4 + depends: + - __glibc >=2.17,<3.0.a0 + - _openmp_mutex >=4.5 + constrains: + - libgcc-ng ==15.2.0=*_18 + - libgomp 15.2.0 he0feb66_18 + license: GPL-3.0-only WITH GCC-exception-3.1 + license_family: GPL + size: 1041788 + timestamp: 1771378212382 +- conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-15.2.0-he0feb66_18.conda + sha256: 21337ab58e5e0649d869ab168d4e609b033509de22521de1bfed0c031bfc5110 + md5: 239c5e9546c38a1e884d69effcf4c882 + depends: + - __glibc >=2.17,<3.0.a0 + license: GPL-3.0-only WITH GCC-exception-3.1 + license_family: GPL + size: 603262 + timestamp: 1771378117851 +- conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_18.conda + sha256: 78668020064fdaa27e9ab65cd2997e2c837b564ab26ce3bf0e58a2ce1a525c6e + md5: 1b08cd684f34175e4514474793d44bcb + depends: + - __glibc >=2.17,<3.0.a0 + - libgcc 15.2.0 he0feb66_18 + constrains: + - libstdcxx-ng ==15.2.0=*_18 + license: GPL-3.0-only WITH GCC-exception-3.1 + license_family: GPL + size: 5852330 + timestamp: 1771378262446 +- conda: https://conda.anaconda.org/conda-forge/linux-64/uv-0.11.7-h0f56927_0.conda + sha256: 46b01d5a26aa9d0b304b3bd96e5882083254e7688c43687fef2d066bc97c02c5 + md5: c1c843d3c59957d6ab6161a93d89086d + depends: + - libstdcxx >=14 + - libgcc >=14 + - __glibc >=2.17,<3.0.a0 + constrains: + - __glibc >=2.17 + license: Apache-2.0 OR MIT + size: 19287808 + timestamp: 1776299150878 diff --git a/pixi.toml b/pixi.toml new file mode 100644 index 0000000..aa6d9ea --- /dev/null +++ b/pixi.toml @@ -0,0 +1,206 @@ +[workspace] +name = "agentic-mobile-manipulator" +version = "1.0.0" +description = "Agentic Mobile Manipulator Demo" +channels = ["conda-forge"] +platforms = ["linux-64"] + +# ─── Environment ──────────────────────────────────────────────────────────────── +# DEMO_ROOT and O3DE_ROOT are set automatically — no need to add them to .bashrc. +# pixi_activate.sh sources ROS 2 setup files when available. +[activation] +env = { DEMO_ROOT = "${PIXI_PROJECT_ROOT}", O3DE_ROOT = "${PIXI_PROJECT_ROOT}/engine/o3de" } +scripts = ["pixi_activate.sh"] + +[dependencies] +# uv is the Python package manager used by this project. +# All other build tools (cmake, ninja, clang, colcon, vcs) come from the ROS 2 +# dev-tools apt installation documented in docs/setup_single_machine.md. +uv = ">=0.5" + +# ─── Setup Tasks ──────────────────────────────────────────────────────────────── + +[tasks.clone-engine] +cmd = """ +vcs import --input $DEMO_ROOT/engine.repos && +vcs import --input $DEMO_ROOT/gems.repos +""" +description = "Clone O3DE engine and gems" + +[tasks.clone-ros2-ws] +cmd = "vcs import --input $DEMO_ROOT/ros2_ws.repos" +description = "Clone ROS 2 workspace repositories" + +[tasks.clone] +depends-on = ["clone-engine", "clone-ros2-ws"] +description = "Clone all repositories (engine, gems, and ROS 2 workspace)" + +[tasks.clone-inference] +cmd = "vcs import --input $DEMO_ROOT/inference.repos" +description = "Clone llama.cpp (required for local inference)" + +[tasks.setup-o3de] +cmd = """ +cd $O3DE_ROOT && +git lfs install && git lfs pull && +python/get_python.sh && +$O3DE_ROOT/scripts/o3de.sh register --this-engine +""" +depends-on = ["clone-engine"] +description = "Pull O3DE LFS assets and register the engine" + +[tasks.register-gems] +cmd = """ +cd $DEMO_ROOT/gems && git lfs install && git lfs pull && +$O3DE_ROOT/scripts/o3de.sh register --all-gems-path $DEMO_ROOT/gems/o3de-extras/Gems && +$O3DE_ROOT/scripts/o3de.sh register --gem-path $DEMO_ROOT/gems/o3de-humanworker-gem && +$O3DE_ROOT/scripts/o3de.sh register --gem-path $DEMO_ROOT/gems/o3de-ur-robots-gem && +$O3DE_ROOT/scripts/o3de.sh register --all-gems-path $DEMO_ROOT/gems/robotec-warehouse-assets && +$O3DE_ROOT/scripts/o3de.sh register --all-gems-path $DEMO_ROOT/gems/robotec-generic-assets && +$O3DE_ROOT/scripts/o3de.sh register --all-gems-path $DEMO_ROOT/gems/robotec-o3de-tools && +$O3DE_ROOT/scripts/o3de.sh register --all-gems-path $DEMO_ROOT/project_gems/ && +$O3DE_ROOT/scripts/o3de.sh register --project-path $DEMO_ROOT/sim --force +""" +depends-on = ["setup-o3de"] +description = "Register all O3DE gems and the simulation project" + +[tasks.build-ros2] +cmd = """ +cd $DEMO_ROOT/ros2_ws && +rosdep update && +rosdep install --ignore-src --from-paths src -y && +colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release +""" +depends-on = ["clone-ros2-ws"] +description = "Build the ROS 2 workspace with colcon" + +[tasks.build-o3de] +cmd = """ +cd $DEMO_ROOT/sim && +cmake -B build/linux -G "Ninja Multi-Config" \ + -DCMAKE_MODULE_PATH=$O3DE_ROOT/cmake \ + -DLY_DISABLE_TEST_MODULES=ON \ + -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ + -DLY_STRIP_DEBUG_SYMBOLS=ON \ + -DCMAKE_LINKER_TYPE=MOLD && +cmake --build build/linux --config profile \ + --target MobileManipulatorDemo Editor MobileManipulatorDemo.Assets MobileManipulatorDemo.GameLauncher +""" +depends-on = ["register-gems", "build-ros2"] +description = "Build O3DE Editor and GameLauncher (slow — takes 30–60 min)" + +[tasks.build-llama] +cmd = """ +cd $DEMO_ROOT/inference/llama.cpp && +cmake -B build -DGGML_VULKAN=1 && +cmake --build build --config Release +""" +depends-on = ["clone-inference"] +description = "Clone and build llama.cpp with Vulkan backend (standalone, no O3DE/ROS 2 required)" + +[tasks.sync] +cmd = "uv sync" +description = "Install Python dependencies" + +# Full setup: runs all build steps in dependency order. +# Run pixi run setup-local if you also need local llama.cpp inference. +[tasks.setup] +depends-on = ["build-ros2", "build-o3de", "sync"] +description = "Full setup (O3DE + ROS 2 + Python). See also: setup-local." + +[tasks.setup-hil] +depends-on = ["build-ros2", "sync"] +description = "Setup HIL machine (ROS 2 workspace + Python, no O3DE)" + +[tasks.setup-hil-local] +depends-on = ["setup-hil", "build-llama"] +description = "Setup HIL machine including local llama.cpp inference" + +[tasks.setup-local] +depends-on = ["setup", "build-llama"] +description = "Full setup including local llama.cpp inference" + +# ─── Run Tasks ────────────────────────────────────────────────────────────────── +# These tasks assume the workspace has been sourced via pixi_activate.sh. + +[tasks.sim] +cmd = "$DEMO_ROOT/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher -bg_ConnectToAssetProcessor=0" +description = "Launch O3DE simulation" + +[tasks.ros2] +cmd = "$DEMO_ROOT/scripts/run_ros2_stack.sh" +description = "Launch full ROS 2 stack (robot, nav2, moveit2, scene, agents)" + +[tasks.hmi] +cmd = "ros2 launch mobile_manipulator_hmi hmi_launch.py" +description = "Launch the Human-Machine Interface" + +[tasks.orchestrator] +cmd = "uv run python rai_app/agents/agent_orchestrator.py" +description = "Launch the agent orchestrator" + +# Individual agents — use these instead of ros2 when debugging a specific component. +[tasks.nav2-agent] +cmd = "uv run python rai_app/agents/nav2_agent.py" +description = "Launch nav2 agent" + +[tasks.moveit2-agent] +cmd = "uv run python rai_app/agents/moveit2_agent.py" +description = "Launch moveit2 agent" + +[tasks.scene-agent] +cmd = "uv run python rai_app/environment/scene_agent.py" +description = "Launch scene agent" + +[tasks.inspection-agent] +cmd = "uv run python rai_app/agents/inspection_agent.py" +description = "Launch inspection agent" + +[tasks.safety-agent] +cmd = "$DEMO_ROOT/scripts/start_safety_agent.sh" +description = "Launch safety agent (with RAG)" + +# ─── Local Inference ──────────────────────────────────────────────────────────── +# Set the model env vars before running, e.g.: +# LLM_MODEL=/path/to/gpt-oss-20b-Q4_K_M.gguf pixi run serve-llm +# +# Default paths assume models are placed in $DEMO_ROOT/models/. + +[tasks.serve-llm] +cmd = """$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server \ + -m ${LLM_MODEL:-$DEMO_ROOT/models/gpt-oss-20b-Q4_K_M.gguf} \ + --no-prefill-assistant --port 8080""" +description = "Serve GPT-OSS-20B on port 8080 (set LLM_MODEL to override path)" + +[tasks.serve-vlm] +cmd = """$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server \ + -m ${VLM_MODEL:-$DEMO_ROOT/models/LFM2-VL-3B-Q8_0.gguf} \ + --mmproj ${VLM_MMPROJ:-$DEMO_ROOT/models/mmproj-LFM2-VL-3B-Q8_0.gguf} \ + --port 8081""" +description = "Serve LFM2-VL-3B on port 8081 (set VLM_MODEL / VLM_MMPROJ to override paths)" + +[tasks.serve-embedding] +cmd = """$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server \ + -m ${EMBEDDING_MODEL:-$DEMO_ROOT/models/Qwen3-Embedding-0.6b_Q8_0.gguf} \ + --embedding --pooling last -c 4096 -b 2048 -ub 2048 --port 8082""" +description = "Serve Qwen3-Embedding-0.6b on port 8082" + +[tasks.serve-reranker] +cmd = """$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server \ + -m ${RERANKER_MODEL:-$DEMO_ROOT/models/Qwen3-Reranker-0.6B.gguf} \ + --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083""" +description = "Serve Qwen3-Reranker-0.6B on port 8083" + +# ─── Dev Tasks ────────────────────────────────────────────────────────────────── + +[tasks.pre-commit-install] +cmd = "uv run pre-commit install" +description = "Install pre-commit hooks" + +[tasks.lint] +cmd = "uv run pre-commit run --all-files" +description = "Run all linters and formatters" + +[tasks.test] +cmd = "uv run pytest" +description = "Run test suite" diff --git a/pixi_activate.sh b/pixi_activate.sh new file mode 100644 index 0000000..f591386 --- /dev/null +++ b/pixi_activate.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +# Sourced by pixi on environment activation. +# Sets up ROS 2 Jazzy paths so that pixi shell / pixi run tasks have a full +# ROS 2 environment without needing manual `source` calls. + +# Base ROS 2 installation +if [ -f "/opt/ros/jazzy/setup.bash" ]; then + # shellcheck source=/dev/null + source "/opt/ros/jazzy/setup.bash" +fi + +# Project ROS 2 workspace (available after `pixi run build-ros2`) +if [ -f "${DEMO_ROOT}/ros2_ws/install/setup.bash" ]; then + # shellcheck source=/dev/null + source "${DEMO_ROOT}/ros2_ws/install/setup.bash" +fi diff --git a/rai_app/README.md b/rai_app/README.md index d9a6cc5..e2b95a5 100644 --- a/rai_app/README.md +++ b/rai_app/README.md @@ -157,22 +157,26 @@ tasks queue topic-> /orchestrator/tasks_queue, std_msgs/msg/String ## Setup and Run -1. Follow the basic setup instructions [here](../docs/setup.md). +1. Follow the setup instructions [here](../docs/setup_single_machine.md). 2. Setup your vendor and model in config [here](../config.toml). If using default openai, remember to set OPENAI_API_KEY env. -3. Launch the simulation. -4. launch the robotic stack +3. Launch the simulation: ```bash -./scripts/run_ros2_stack.sh +pixi run sim ``` -5. Spawn objects in HMI, chosing from different scenarios +4. Launch the robotic stack: + +```bash +pixi run ros2 +``` + +5. Spawn objects in HMI, choosing from different scenarios 6. Run orchestrator: ```bash -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -uv run rai_app/agents/agent_orchestrator.py +pixi run orchestrator ``` 7. Send tasks via HMI From adf91b1da05e81ec31de3b39c020a96b086dce14 Mon Sep 17 00:00:00 2001 From: maciejmajek Date: Thu, 14 May 2026 15:49:42 +0200 Subject: [PATCH 02/69] fix: inference --- .gitignore | 1 + pixi.toml | 38 ++++++++++++++++++-------------- pyproject.toml | 3 +++ scripts/download_models.sh | 45 ++++++++++++++++++++++++++++++++++++++ scripts/serve_all.sh | 28 ++++++++++++++++++++++++ scripts/smoke_test.sh | 36 ++++++++++++++++++++++++++++++ 6 files changed, 135 insertions(+), 16 deletions(-) create mode 100755 scripts/download_models.sh create mode 100755 scripts/serve_all.sh create mode 100755 scripts/smoke_test.sh diff --git a/.gitignore b/.gitignore index b11e0ff..d0dfe25 100644 --- a/.gitignore +++ b/.gitignore @@ -19,3 +19,4 @@ safety_violations.json imgui.ini anomaly_images/ package_condition_images/ +models/ diff --git a/pixi.toml b/pixi.toml index aa6d9ea..5b4d02d 100644 --- a/pixi.toml +++ b/pixi.toml @@ -161,38 +161,44 @@ cmd = "$DEMO_ROOT/scripts/start_safety_agent.sh" description = "Launch safety agent (with RAG)" # ─── Local Inference ──────────────────────────────────────────────────────────── -# Set the model env vars before running, e.g.: +# Default model paths assume models are placed in $DEMO_ROOT/models/. +# Override by setting the env var before running, e.g.: # LLM_MODEL=/path/to/gpt-oss-20b-Q4_K_M.gguf pixi run serve-llm -# -# Default paths assume models are placed in $DEMO_ROOT/models/. + +[tasks.download-models] +cmd = "bash $DEMO_ROOT/scripts/download_models.sh" +description = "Download models for local inference (embedding/reranker must be downloaded manually)" + +[tasks.serve-all] +cmd = "bash $DEMO_ROOT/scripts/serve_all.sh" +description = "Launch all inference servers in a tmux session (2x2 grid)" [tasks.serve-llm] -cmd = """$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server \ - -m ${LLM_MODEL:-$DEMO_ROOT/models/gpt-oss-20b-Q4_K_M.gguf} \ - --no-prefill-assistant --port 8080""" +cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $LLM_MODEL --no-prefill-assistant --port 8080" +env = { LLM_MODEL = "$DEMO_ROOT/models/gpt-oss-20b-Q4_K_M.gguf" } description = "Serve GPT-OSS-20B on port 8080 (set LLM_MODEL to override path)" [tasks.serve-vlm] -cmd = """$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server \ - -m ${VLM_MODEL:-$DEMO_ROOT/models/LFM2-VL-3B-Q8_0.gguf} \ - --mmproj ${VLM_MMPROJ:-$DEMO_ROOT/models/mmproj-LFM2-VL-3B-Q8_0.gguf} \ - --port 8081""" +cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $VLM_MODEL --mmproj $VLM_MMPROJ --port 8081" +env = { VLM_MODEL = "$DEMO_ROOT/models/LFM2-VL-3B-Q8_0.gguf", VLM_MMPROJ = "$DEMO_ROOT/models/mmproj-LFM2-VL-3B-Q8_0.gguf" } description = "Serve LFM2-VL-3B on port 8081 (set VLM_MODEL / VLM_MMPROJ to override paths)" [tasks.serve-embedding] -cmd = """$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server \ - -m ${EMBEDDING_MODEL:-$DEMO_ROOT/models/Qwen3-Embedding-0.6b_Q8_0.gguf} \ - --embedding --pooling last -c 4096 -b 2048 -ub 2048 --port 8082""" +cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $EMBEDDING_MODEL --embedding --pooling last -c 4096 -b 2048 -ub 2048 --port 8082" +env = { EMBEDDING_MODEL = "$DEMO_ROOT/models/Qwen3-Embedding-0.6b_Q8_0.gguf" } description = "Serve Qwen3-Embedding-0.6b on port 8082" [tasks.serve-reranker] -cmd = """$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server \ - -m ${RERANKER_MODEL:-$DEMO_ROOT/models/Qwen3-Reranker-0.6B.gguf} \ - --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083""" +cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $RERANKER_MODEL --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083" +env = { RERANKER_MODEL = "$DEMO_ROOT/models/Qwen3-Reranker-0.6B.gguf" } description = "Serve Qwen3-Reranker-0.6B on port 8083" # ─── Dev Tasks ────────────────────────────────────────────────────────────────── +[tasks.smoke-test] +cmd = "bash $DEMO_ROOT/scripts/smoke_test.sh" +description = "Check if all LLM inference servers are up" + [tasks.pre-commit-install] cmd = "uv run pre-commit install" description = "Install pre-commit hooks" diff --git a/pyproject.toml b/pyproject.toml index 28786ff..2736211 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -23,6 +23,9 @@ include = ["scripts*", "rai_app*"] requires = ["setuptools>=64", "wheel"] build-backend = "setuptools.build_meta" +[tool.uv.workspace] +exclude = ["inference/*"] + [tool.pytest.ini_options] addopts = "-vv" testpaths = ["tests"] diff --git a/scripts/download_models.sh b/scripts/download_models.sh new file mode 100755 index 0000000..dd8be86 --- /dev/null +++ b/scripts/download_models.sh @@ -0,0 +1,45 @@ +#!/usr/bin/env bash +set -e + +MODELS_DIR="${DEMO_ROOT}/models" +mkdir -p "$MODELS_DIR" + +download() { + local name="$1" + local url="$2" + local dest="$3" + if [ -f "$dest" ]; then + echo " [skip] $name — already exists" + else + echo " [download] $name" + wget -q --show-progress -c -O "$dest" "$url" + fi +} + +echo "" +echo "=== Downloading models to $MODELS_DIR ===" +echo "" + +download "GPT-OSS-20B (LLM)" \ + "https://huggingface.co/unsloth/gpt-oss-20b-GGUF/resolve/main/gpt-oss-20b-Q4_K_M.gguf?download=true" \ + "$MODELS_DIR/gpt-oss-20b-Q4_K_M.gguf" + +download "LFM2-VL-3B (VLM)" \ + "https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/LFM2-VL-3B-Q8_0.gguf?download=true" \ + "$MODELS_DIR/LFM2-VL-3B-Q8_0.gguf" + +download "LFM2-VL-3B mmproj" \ + "https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/mmproj-LFM2-VL-3B-Q8_0.gguf?download=true" \ + "$MODELS_DIR/mmproj-LFM2-VL-3B-Q8_0.gguf" + +echo "" +echo "=== Manual downloads required ===" +echo "" +echo " The following models must be downloaded manually and placed in $MODELS_DIR/:" +echo "" +echo " Qwen3-Embedding-0.6b:" +echo " https://robotecai-my.sharepoint.com/:u:/g/personal/bartlomiej_boczek_robotec_ai/IQB7tkMkmi34Q6xtTB89N1LxAfod0sMpGT4uTffjo6iW7qc?e=6kLoTi" +echo "" +echo " Qwen3-Reranker-0.6B:" +echo " https://robotecai-my.sharepoint.com/:u:/g/personal/bartlomiej_boczek_robotec_ai/IQAgWOVPiyS8RZ1QUVVx6N9gAaOGGrvDnk7Qa0IpSbhlp_8?e=P0b1Ak" +echo "" diff --git a/scripts/serve_all.sh b/scripts/serve_all.sh new file mode 100755 index 0000000..d774a65 --- /dev/null +++ b/scripts/serve_all.sh @@ -0,0 +1,28 @@ +#!/usr/bin/env bash +set -e + +SESSION="llm-servers" + +if tmux has-session -t "$SESSION" 2>/dev/null; then + echo "Session '$SESSION' already exists. Attaching..." + tmux attach-session -t "$SESSION" + exit 0 +fi + +tmux new-session -d -s "$SESSION" -x 220 -y 50 + +tmux rename-window -t "$SESSION:0" "inference" + +# 2x2 grid: split into 4 panes +tmux split-window -h -t "$SESSION:0" +tmux split-window -v -t "$SESSION:0.0" +tmux split-window -v -t "$SESSION:0.2" + +tmux send-keys -t "$SESSION:0.0" "pixi run serve-llm" Enter +tmux send-keys -t "$SESSION:0.1" "pixi run serve-embedding" Enter +tmux send-keys -t "$SESSION:0.2" "pixi run serve-vlm" Enter +tmux send-keys -t "$SESSION:0.3" "pixi run serve-reranker" Enter + +tmux select-layout -t "$SESSION:0" tiled + +tmux attach-session -t "$SESSION" diff --git a/scripts/smoke_test.sh b/scripts/smoke_test.sh new file mode 100755 index 0000000..ab9d020 --- /dev/null +++ b/scripts/smoke_test.sh @@ -0,0 +1,36 @@ +#!/usr/bin/env bash + +PASS=0 +FAIL=0 + +check() { + local name="$1" + local url="$2" + local response + local http_code + + http_code=$(curl -s -o /dev/null -w "%{http_code}" --max-time 3 "$url" 2>/dev/null) + + if [ "$http_code" = "200" ]; then + echo " [OK] $name ($url)" + PASS=$((PASS + 1)) + else + echo " [FAIL] $name ($url) — HTTP $http_code" + FAIL=$((FAIL + 1)) + fi +} + +echo "" +echo "=== LLM Server Health Check ===" +echo "" + +check "LLM (GPT-OSS-20B)" "http://localhost:8080/health" +check "VLM (LFM2-VL-3B)" "http://localhost:8081/health" +check "Embed (Qwen3-Embedding-0.6b)" "http://localhost:8082/health" +check "Rerank (Qwen3-Reranker-0.6B)" "http://localhost:8083/health" + +echo "" +echo " $PASS passed, $FAIL failed" +echo "" + +[ "$FAIL" -eq 0 ] From 27bc6cda5e4d980658e4d0db4a52adae0b001058 Mon Sep 17 00:00:00 2001 From: maciejmajek Date: Thu, 14 May 2026 15:53:49 +0200 Subject: [PATCH 03/69] fix: multithreaded llama build --- pixi.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pixi.toml b/pixi.toml index 5b4d02d..8678aa8 100644 --- a/pixi.toml +++ b/pixi.toml @@ -93,7 +93,7 @@ description = "Build O3DE Editor and GameLauncher (slow — takes 30–60 min)" cmd = """ cd $DEMO_ROOT/inference/llama.cpp && cmake -B build -DGGML_VULKAN=1 && -cmake --build build --config Release +cmake --build build --config Release -j $(nproc) """ depends-on = ["clone-inference"] description = "Clone and build llama.cpp with Vulkan backend (standalone, no O3DE/ROS 2 required)" From 151bac9a82e743cd6d37028c63a1bfcea5a74543 Mon Sep 17 00:00:00 2001 From: maciejmajek Date: Thu, 14 May 2026 15:58:58 +0200 Subject: [PATCH 04/69] fix: reranker model name --- pixi.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pixi.toml b/pixi.toml index 8678aa8..55d858d 100644 --- a/pixi.toml +++ b/pixi.toml @@ -190,7 +190,7 @@ description = "Serve Qwen3-Embedding-0.6b on port 8082" [tasks.serve-reranker] cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $RERANKER_MODEL --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083" -env = { RERANKER_MODEL = "$DEMO_ROOT/models/Qwen3-Reranker-0.6B.gguf" } +env = { RERANKER_MODEL = "$DEMO_ROOT/models/Qwen3-Reranker-0.6B_16BF.gguf" } description = "Serve Qwen3-Reranker-0.6B on port 8083" # ─── Dev Tasks ────────────────────────────────────────────────────────────────── From 212f5c1d2e4886dbb41ed676d9d9cd301f95a04e Mon Sep 17 00:00:00 2001 From: maciejmajek Date: Thu, 14 May 2026 16:01:14 +0200 Subject: [PATCH 05/69] feat: smoke test colors --- scripts/smoke_test.sh | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) diff --git a/scripts/smoke_test.sh b/scripts/smoke_test.sh index ab9d020..548b2c7 100755 --- a/scripts/smoke_test.sh +++ b/scripts/smoke_test.sh @@ -1,21 +1,24 @@ #!/usr/bin/env bash +GREEN='\033[0;32m' +RED='\033[0;31m' +RESET='\033[0m' + PASS=0 FAIL=0 check() { local name="$1" local url="$2" - local response local http_code http_code=$(curl -s -o /dev/null -w "%{http_code}" --max-time 3 "$url" 2>/dev/null) if [ "$http_code" = "200" ]; then - echo " [OK] $name ($url)" + echo -e " ${GREEN}[OK] $name ($url)${RESET}" PASS=$((PASS + 1)) else - echo " [FAIL] $name ($url) — HTTP $http_code" + echo -e " ${RED}[FAIL] $name ($url) — HTTP $http_code${RESET}" FAIL=$((FAIL + 1)) fi } @@ -24,13 +27,17 @@ echo "" echo "=== LLM Server Health Check ===" echo "" -check "LLM (GPT-OSS-20B)" "http://localhost:8080/health" -check "VLM (LFM2-VL-3B)" "http://localhost:8081/health" +check "LLM (GPT-OSS-20B)" "http://localhost:8080/health" +check "VLM (LFM2-VL-3B)" "http://localhost:8081/health" check "Embed (Qwen3-Embedding-0.6b)" "http://localhost:8082/health" check "Rerank (Qwen3-Reranker-0.6B)" "http://localhost:8083/health" echo "" -echo " $PASS passed, $FAIL failed" +if [ "$FAIL" -eq 0 ]; then + echo -e " ${GREEN}$PASS passed, $FAIL failed${RESET}" +else + echo -e " ${RED}$PASS passed, $FAIL failed${RESET}" +fi echo "" [ "$FAIL" -eq 0 ] From 2791e041cb32282649fbf583d3fe1c04ec2cdb7f Mon Sep 17 00:00:00 2001 From: maciejmajek Date: Thu, 14 May 2026 16:28:26 +0200 Subject: [PATCH 06/69] chore: update links --- config.toml | 7 ------- docs/setup_single_machine.md | 4 ++-- pixi.toml | 6 +++--- scripts/download_models.sh | 18 +++++++----------- 4 files changed, 12 insertions(+), 23 deletions(-) diff --git a/config.toml b/config.toml index 7b38fb5..86990a8 100644 --- a/config.toml +++ b/config.toml @@ -42,10 +42,3 @@ embeddings_base_url = "http://localhost:8082/v1" # NOTE: The reranker and the embedding model are two separate models! reranker_base_url = "http://localhost:8083/v1/reranking" -# INFO: -# Start the EMBEDDING model in llama.cpp using the following command: -# ./llama-server -m /home/user/llamas/gguf/custom_ggufs/Qwen3-Embedding-0.6b_Q8_0.gguf --embedding --pooling last -c 4096 -b 2048 -ub 2048 --port 8082 - -# INFO: -# Start the RERANKER model in llama.cpp using the following command: -# ./llama-server -m /home/user/llamas/gguf/custom_ggufs/Qwen3-Reranker-0.6B_BF16.gguf --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083 diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index cb6bb93..5d2fd2d 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -128,8 +128,8 @@ For every model configured in `config.toml`, download the GGUF file and place it - [GPT-OSS-20B](https://huggingface.co/unsloth/gpt-oss-20b-GGUF/resolve/main/gpt-oss-20b-Q4_K_M.gguf?download=true) - [LFM2-VL-3B-GGUF](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/LFM2-VL-3B-Q8_0.gguf?download=true) + [mmproj](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/mmproj-LFM2-VL-3B-Q8_0.gguf?download=true) -- [Qwen3-Embedding-0.6b](https://robotecai-my.sharepoint.com/:u:/g/personal/bartlomiej_boczek_robotec_ai/IQB7tkMkmi34Q6xtTB89N1LxAfod0sMpGT4uTffjo6iW7qc?e=6kLoTi) -- [Qwen3-Reranker-0.6B](https://robotecai-my.sharepoint.com/:u:/g/personal/bartlomiej_boczek_robotec_ai/IQAgWOVPiyS8RZ1QUVVx6N9gAaOGGrvDnk7Qa0IpSbhlp_8?e=P0b1Ak) +- [Qwen3-Embedding-0.6B](https://huggingface.co/Qwen/Qwen3-Embedding-0.6B-GGUF/resolve/main/Qwen3-Embedding-0.6B-Q8_0.gguf?download=true) +- [Qwen3-Reranker-0.6B](https://huggingface.co/ggml-org/Qwen3-Reranker-0.6B-Q8_0-GGUF/resolve/main/qwen3-reranker-0.6b-q8_0.gguf?download=true) --- diff --git a/pixi.toml b/pixi.toml index 55d858d..bb6536c 100644 --- a/pixi.toml +++ b/pixi.toml @@ -167,7 +167,7 @@ description = "Launch safety agent (with RAG)" [tasks.download-models] cmd = "bash $DEMO_ROOT/scripts/download_models.sh" -description = "Download models for local inference (embedding/reranker must be downloaded manually)" +description = "Download models for local inference" [tasks.serve-all] cmd = "bash $DEMO_ROOT/scripts/serve_all.sh" @@ -185,12 +185,12 @@ description = "Serve LFM2-VL-3B on port 8081 (set VLM_MODEL / VLM_MMPROJ to over [tasks.serve-embedding] cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $EMBEDDING_MODEL --embedding --pooling last -c 4096 -b 2048 -ub 2048 --port 8082" -env = { EMBEDDING_MODEL = "$DEMO_ROOT/models/Qwen3-Embedding-0.6b_Q8_0.gguf" } +env = { EMBEDDING_MODEL = "$DEMO_ROOT/models/Qwen3-Embedding-0.6B-Q8_0.gguf" } description = "Serve Qwen3-Embedding-0.6b on port 8082" [tasks.serve-reranker] cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $RERANKER_MODEL --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083" -env = { RERANKER_MODEL = "$DEMO_ROOT/models/Qwen3-Reranker-0.6B_16BF.gguf" } +env = { RERANKER_MODEL = "$DEMO_ROOT/models/qwen3-reranker-0.6b-q8_0.gguf" } description = "Serve Qwen3-Reranker-0.6B on port 8083" # ─── Dev Tasks ────────────────────────────────────────────────────────────────── diff --git a/scripts/download_models.sh b/scripts/download_models.sh index dd8be86..256364b 100755 --- a/scripts/download_models.sh +++ b/scripts/download_models.sh @@ -32,14 +32,10 @@ download "LFM2-VL-3B mmproj" \ "https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/mmproj-LFM2-VL-3B-Q8_0.gguf?download=true" \ "$MODELS_DIR/mmproj-LFM2-VL-3B-Q8_0.gguf" -echo "" -echo "=== Manual downloads required ===" -echo "" -echo " The following models must be downloaded manually and placed in $MODELS_DIR/:" -echo "" -echo " Qwen3-Embedding-0.6b:" -echo " https://robotecai-my.sharepoint.com/:u:/g/personal/bartlomiej_boczek_robotec_ai/IQB7tkMkmi34Q6xtTB89N1LxAfod0sMpGT4uTffjo6iW7qc?e=6kLoTi" -echo "" -echo " Qwen3-Reranker-0.6B:" -echo " https://robotecai-my.sharepoint.com/:u:/g/personal/bartlomiej_boczek_robotec_ai/IQAgWOVPiyS8RZ1QUVVx6N9gAaOGGrvDnk7Qa0IpSbhlp_8?e=P0b1Ak" -echo "" +download "Qwen3-Embedding-0.6B (Embed)" \ + "https://huggingface.co/Qwen/Qwen3-Embedding-0.6B-GGUF/resolve/main/Qwen3-Embedding-0.6B-Q8_0.gguf?download=true" \ + "$MODELS_DIR/Qwen3-Embedding-0.6B-Q8_0.gguf" + +download "Qwen3-Reranker-0.6B (Rerank)" \ + "https://huggingface.co/ggml-org/Qwen3-Reranker-0.6B-Q8_0-GGUF/resolve/main/qwen3-reranker-0.6b-q8_0.gguf?download=true" \ + "$MODELS_DIR/qwen3-reranker-0.6b-q8_0.gguf" From f2a869b77028199a318d4771f975b89311ab3c66 Mon Sep 17 00:00:00 2001 From: maciejmajek Date: Thu, 14 May 2026 16:45:01 +0200 Subject: [PATCH 07/69] docs: update --- docs/setup_single_machine.md | 32 ++++---------------------------- 1 file changed, 4 insertions(+), 28 deletions(-) diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index 5d2fd2d..10a83dc 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -65,8 +65,6 @@ This single command runs the full build pipeline in the correct order: | 5 | `build-o3de` | CMake configure + Ninja build (Editor + GameLauncher) | | 6 | `sync` | `uv sync` — install Python dependencies | -> [!NOTE] > `build-o3de` takes 30–60 minutes on first run. - #### Local Inference (optional) If you want to run models locally via llama.cpp instead of cloud APIs: @@ -74,18 +72,16 @@ If you want to run models locally via llama.cpp instead of cloud APIs: ```shell pixi run clone-inference pixi run build-llama +pixi run download-models # or download the models manually, check the links below ``` -Then [download the required models](#download-models). - --- ### Running the Demo -`pixi run` replaces all manual `source` calls — the ROS 2 environment is sourced automatically. - ```shell # In separate terminals: +pixi run serve-all # All inference servers pixi run sim # O3DE simulation pixi run ros2 # Full ROS 2 stack pixi run orchestrator # Agent orchestrator @@ -97,28 +93,8 @@ For the HMI: pixi run hmi ``` -Individual agents (for debugging): - -```shell -pixi run nav2-agent -pixi run moveit2-agent -pixi run scene-agent -pixi run inspection-agent -pixi run safety-agent -``` - -Local inference servers: - -```shell -# Models default to $DEMO_ROOT/models/. -# Override with env vars, e.g.: LLM_MODEL=/path/to/model.gguf pixi run serve-llm -pixi run serve-llm # GPT-OSS-20B → port 8080 -pixi run serve-vlm # LFM2-VL-3B → port 8081 -pixi run serve-embedding # Qwen3-Embedding-0.6b → port 8082 -pixi run serve-reranker # Qwen3-Reranker-0.6B → port 8083 -``` - -Run `pixi task list` to see all available commands. +> [!TIP] +> Want to run certain part of the stack? Run `pixi task list` to see all available commands. --- From 9f71a9007191a851ccf6ac324c52481906a0116d Mon Sep 17 00:00:00 2001 From: maciejmajek Date: Thu, 14 May 2026 16:46:01 +0200 Subject: [PATCH 08/69] docs: update --- docs/setup_single_machine.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index 10a83dc..369b8a9 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -71,7 +71,7 @@ If you want to run models locally via llama.cpp instead of cloud APIs: ```shell pixi run clone-inference -pixi run build-llama +pixi run build-llama # this step is hardware specifc. By default, it builds with Vulkan backend. Check for better solutions for your hardware. pixi run download-models # or download the models manually, check the links below ``` From f6b3dd214823d0eff2428070e22f10836aeb3fcc Mon Sep 17 00:00:00 2001 From: maciejmajek Date: Thu, 14 May 2026 16:50:41 +0200 Subject: [PATCH 09/69] docs: update fix: run ros2 stack --- docs/running.md | 29 +---------------------------- docs/setup_single_machine.md | 21 --------------------- scripts/run_ros2_stack.sh | 1 + 3 files changed, 2 insertions(+), 49 deletions(-) diff --git a/docs/running.md b/docs/running.md index f4b46e8..9b4a801 100644 --- a/docs/running.md +++ b/docs/running.md @@ -1,9 +1,5 @@ # Running the Demo -All commands use `pixi run` — the ROS 2 workspace is sourced automatically via `pixi_activate.sh`. - -Run `pixi task list` to see all available commands. - ## O3DE ```shell @@ -22,9 +18,7 @@ pixi run ros2 pixi run hmi ``` -# Inference - -## Local (llama.cpp) +## Local inference (llama.cpp) Models default to `$DEMO_ROOT/models/`. Override with env vars if your models are elsewhere. @@ -62,24 +56,3 @@ For instructions, see: [Agent setup and inference](../rai_app/README.md) ```shell pixi run orchestrator ``` - -### Individual Components - -Use these when you want to run components separately instead of `pixi run ros2`: - -```shell -pixi run nav2-agent -pixi run moveit2-agent -pixi run scene-agent -pixi run inspection-agent -pixi run safety-agent -``` - -### Safety Embeddings and Reranker (optional) - -These are only required when running the safety agent with RAG. See `docs/safety_agent_with_rag.md`. - -```shell -EMBEDDING_MODEL=/path/to/embeddings.gguf pixi run serve-embedding -RERANKER_MODEL=/path/to/reranker.gguf pixi run serve-reranker -``` diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index 369b8a9..604e65c 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -77,27 +77,6 @@ pixi run download-models # or download the models manually, check the links bel --- -### Running the Demo - -```shell -# In separate terminals: -pixi run serve-all # All inference servers -pixi run sim # O3DE simulation -pixi run ros2 # Full ROS 2 stack -pixi run orchestrator # Agent orchestrator -``` - -For the HMI: - -```shell -pixi run hmi -``` - -> [!TIP] -> Want to run certain part of the stack? Run `pixi task list` to see all available commands. - ---- - ### Download Models For every model configured in `config.toml`, download the GGUF file and place it in `$DEMO_ROOT/models/`: diff --git a/scripts/run_ros2_stack.sh b/scripts/run_ros2_stack.sh index 5f20673..b8d66d2 100755 --- a/scripts/run_ros2_stack.sh +++ b/scripts/run_ros2_stack.sh @@ -1,3 +1,4 @@ +#!/usr/bin/env bash ( ros2 launch robotec_kairos_ur10 robotec_launch.py & ros2 run mobile_manipulator_hmi utilization_node & From 4a31fa2c1582c3af19536d1829260f4a9dd1b54d Mon Sep 17 00:00:00 2001 From: maciejmajek Date: Thu, 14 May 2026 17:04:23 +0200 Subject: [PATCH 10/69] feat: demo.sh --- pixi.toml | 10 +++++ scripts/demo.sh | 110 ++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 120 insertions(+) create mode 100755 scripts/demo.sh diff --git a/pixi.toml b/pixi.toml index bb6536c..aa1f34d 100644 --- a/pixi.toml +++ b/pixi.toml @@ -165,6 +165,16 @@ description = "Launch safety agent (with RAG)" # Override by setting the env var before running, e.g.: # LLM_MODEL=/path/to/gpt-oss-20b-Q4_K_M.gguf pixi run serve-llm +[tasks.demo] +cmd = "bash $DEMO_ROOT/scripts/demo.sh" +description = "Start full demo: sim → ros2 → inference → orchestrator (3 tmux sessions)" + +[tasks.demo-stop] +cmd = """for s in simulation inference agent; do + tmux kill-session -t "$s" 2>/dev/null && echo " killed '$s'" || true +done""" +description = "Stop all demo tmux sessions" + [tasks.download-models] cmd = "bash $DEMO_ROOT/scripts/download_models.sh" description = "Download models for local inference" diff --git a/scripts/demo.sh b/scripts/demo.sh new file mode 100755 index 0000000..4c2a839 --- /dev/null +++ b/scripts/demo.sh @@ -0,0 +1,110 @@ +#!/usr/bin/env bash +set -e + +GREEN='\033[0;32m' +YELLOW='\033[1;33m' +RED='\033[0;31m' +CYAN='\033[0;36m' +BOLD='\033[1m' +RESET='\033[0m' + +log() { echo -e " ${GREEN}●${RESET} $*"; } +warn() { echo -e " ${YELLOW}!${RESET} $*"; } +err() { echo -e " ${RED}✗${RESET} $*" >&2; exit 1; } +ok() { echo -e " ${GREEN}✓${RESET} $*"; } +section(){ echo -e "\n${BOLD}${CYAN}$*${RESET}"; } + +# ── Guard ───────────────────────────────────────────────────────────────────── + +for s in simulation inference agent; do + if tmux has-session -t "$s" 2>/dev/null; then + warn "Session '$s' already exists." + warn "Run 'pixi run demo-stop' first, or attach with: tmux attach -t $s" + exit 1 + fi +done + +trap 'echo; warn "Interrupted. Run: pixi run demo-stop"' INT TERM + +# ── 1. Simulation ───────────────────────────────────────────────────────────── + +section "Starting simulation..." + +tmux new-session -d -s simulation -x 220 -y 50 +tmux rename-window -t simulation:0 "sim+ros2" +tmux split-window -v -t simulation:0.0 + +tmux send-keys -t simulation:0.0 "cd $DEMO_ROOT && pixi run sim" Enter +log "O3DE launched (simulation — top pane)" + +echo -ne " ${YELLOW}○${RESET} Waiting for /clock" +elapsed=0 +while ! ros2 topic list 2>/dev/null | grep -q "^/clock$"; do + sleep 2; elapsed=$((elapsed + 2)); echo -n "." + [ $elapsed -ge 120 ] && echo && err "Timed out waiting for /clock (120 s)" +done +echo -e " ${GREEN}✓${RESET}" + +# ── 2. ROS 2 Stack ──────────────────────────────────────────────────────────── + +section "Starting ROS 2 stack..." + +tmux send-keys -t simulation:0.1 "cd $DEMO_ROOT && pixi run ros2" Enter +ok "ROS 2 stack launched (simulation — bottom pane)" + +# ── 3. Inference servers ────────────────────────────────────────────────────── + +section "Starting inference servers..." + +tmux new-session -d -s inference -x 220 -y 50 +tmux rename-window -t inference:0 "models" +tmux split-window -h -t inference:0.0 +tmux split-window -v -t inference:0.0 +tmux split-window -v -t inference:0.2 +tmux select-layout -t inference:0 tiled + +tmux send-keys -t inference:0.0 "cd $DEMO_ROOT && pixi run serve-llm" Enter +tmux send-keys -t inference:0.1 "cd $DEMO_ROOT && pixi run serve-embedding" Enter +tmux send-keys -t inference:0.2 "cd $DEMO_ROOT && pixi run serve-vlm" Enter +tmux send-keys -t inference:0.3 "cd $DEMO_ROOT && pixi run serve-reranker" Enter + +log "Inference session created (inference — 2×2 grid)" + +echo -ne " ${YELLOW}○${RESET} Waiting for inference servers" +elapsed=0 +while true; do + all_up=true + for port in 8080 8081 8082 8083; do + code=$(curl -s -o /dev/null -w "%{http_code}" --max-time 2 \ + "http://localhost:$port/health" 2>/dev/null) + [ "$code" != "200" ] && all_up=false && break + done + if $all_up; then echo -e " ${GREEN}✓${RESET}"; break; fi + sleep 5; elapsed=$((elapsed + 5)); echo -n "." + if [ $elapsed -ge 600 ]; then + echo + warn "Not all inference servers ready after 600 s — continuing anyway" + break + fi +done + +# ── 4. Orchestrator ─────────────────────────────────────────────────────────── + +section "Starting orchestrator..." + +tmux new-session -d -s agent -x 220 -y 50 +tmux rename-window -t agent:0 "orchestrator" +tmux send-keys -t agent:0 "cd $DEMO_ROOT && pixi run orchestrator" Enter +ok "Orchestrator launched (agent)" + +# ── Summary ─────────────────────────────────────────────────────────────────── + +echo "" +echo -e "${BOLD}${GREEN}=== Demo running ===${RESET}" +echo "" +echo -e " ${CYAN}tmux attach -t simulation${RESET} — O3DE sim (top) + ROS 2 stack (bottom)" +echo -e " ${CYAN}tmux attach -t inference${RESET} — 4 inference servers (2×2 grid)" +echo -e " ${CYAN}tmux attach -t agent${RESET} — orchestrator" +echo "" +echo -e " Stop everything: ${YELLOW}pixi run demo-stop${RESET}" +echo "" From fce9fcabe634c64060e0e85f8f2788b96d4bbf38 Mon Sep 17 00:00:00 2001 From: maciejmajek Date: Thu, 14 May 2026 17:22:10 +0200 Subject: [PATCH 11/69] feat: single command demo run --- pixi.toml | 4 +- scripts/demo.sh | 125 +++++++++++++++++++++++++++++++------------ scripts/demo_stop.sh | 4 ++ 3 files changed, 96 insertions(+), 37 deletions(-) create mode 100755 scripts/demo_stop.sh diff --git a/pixi.toml b/pixi.toml index aa1f34d..c115e97 100644 --- a/pixi.toml +++ b/pixi.toml @@ -170,9 +170,7 @@ cmd = "bash $DEMO_ROOT/scripts/demo.sh" description = "Start full demo: sim → ros2 → inference → orchestrator (3 tmux sessions)" [tasks.demo-stop] -cmd = """for s in simulation inference agent; do - tmux kill-session -t "$s" 2>/dev/null && echo " killed '$s'" || true -done""" +cmd = "bash $DEMO_ROOT/scripts/demo_stop.sh" description = "Stop all demo tmux sessions" [tasks.download-models] diff --git a/scripts/demo.sh b/scripts/demo.sh index 4c2a839..1d565af 100755 --- a/scripts/demo.sh +++ b/scripts/demo.sh @@ -8,11 +8,45 @@ CYAN='\033[0;36m' BOLD='\033[1m' RESET='\033[0m' -log() { echo -e " ${GREEN}●${RESET} $*"; } -warn() { echo -e " ${YELLOW}!${RESET} $*"; } -err() { echo -e " ${RED}✗${RESET} $*" >&2; exit 1; } -ok() { echo -e " ${GREEN}✓${RESET} $*"; } -section(){ echo -e "\n${BOLD}${CYAN}$*${RESET}"; } +log() { echo -e " ${GREEN}●${RESET} $*"; } +warn() { echo -e " ${YELLOW}!${RESET} $*"; } +err() { echo -e " ${RED}✗${RESET} $*" >&2; } +ok() { echo -e " ${GREEN}✓${RESET} $*"; } +section() { echo -e "\n${BOLD}${CYAN}$*${RESET}"; } + +# ── Helpers ─────────────────────────────────────────────────────────────────── + +wait_topic() { + local topic="$1" timeout="${2:-120}" elapsed=0 dots="" + echo -ne " ${YELLOW}○${RESET} Waiting for ${topic}" + while ! ros2 topic list 2>/dev/null | grep -q "^${topic}$"; do + sleep 2; elapsed=$((elapsed + 2)); dots="${dots}."; echo -n "." + if [ $elapsed -ge $timeout ]; then + printf " ${RED}✗${RESET}\n" + err "Timed out waiting for ${topic} (${timeout}s)" + return 1 + fi + done + printf "\r ${GREEN}●${RESET} Waiting for ${topic}%s ${GREEN}✓${RESET}\n" "$dots" +} + +check_inference() { + log "Waiting 10s for inference servers to initialize..." + sleep 10 + if bash "$DEMO_ROOT/scripts/smoke_test.sh"; then + return 0 + else + echo "" + warn "Inference servers not healthy. Inspect with: pixi run serve-all" + return 1 + fi +} + +stop_all() { + for s in simulation inference agent; do + tmux kill-session -t "$s" 2>/dev/null || true + done +} # ── Guard ───────────────────────────────────────────────────────────────────── @@ -24,7 +58,7 @@ for s in simulation inference agent; do fi done -trap 'echo; warn "Interrupted. Run: pixi run demo-stop"' INT TERM +trap 'echo; warn "Interrupted — cleaning up..."; stop_all; exit 1' INT TERM QUIT # ── 1. Simulation ───────────────────────────────────────────────────────────── @@ -37,20 +71,16 @@ tmux split-window -v -t simulation:0.0 tmux send-keys -t simulation:0.0 "cd $DEMO_ROOT && pixi run sim" Enter log "O3DE launched (simulation — top pane)" -echo -ne " ${YELLOW}○${RESET} Waiting for /clock" -elapsed=0 -while ! ros2 topic list 2>/dev/null | grep -q "^/clock$"; do - sleep 2; elapsed=$((elapsed + 2)); echo -n "." - [ $elapsed -ge 120 ] && echo && err "Timed out waiting for /clock (120 s)" -done -echo -e " ${GREEN}✓${RESET}" +wait_topic "/clock" 120 || { stop_all; exit 1; } # ── 2. ROS 2 Stack ──────────────────────────────────────────────────────────── section "Starting ROS 2 stack..." tmux send-keys -t simulation:0.1 "cd $DEMO_ROOT && pixi run ros2" Enter -ok "ROS 2 stack launched (simulation — bottom pane)" +log "ROS 2 stack launched (simulation — bottom pane)" + +wait_topic "/joint_states" 60 || { stop_all; exit 1; } # ── 3. Inference servers ────────────────────────────────────────────────────── @@ -67,26 +97,9 @@ tmux send-keys -t inference:0.0 "cd $DEMO_ROOT && pixi run serve-llm" Ente tmux send-keys -t inference:0.1 "cd $DEMO_ROOT && pixi run serve-embedding" Enter tmux send-keys -t inference:0.2 "cd $DEMO_ROOT && pixi run serve-vlm" Enter tmux send-keys -t inference:0.3 "cd $DEMO_ROOT && pixi run serve-reranker" Enter - log "Inference session created (inference — 2×2 grid)" -echo -ne " ${YELLOW}○${RESET} Waiting for inference servers" -elapsed=0 -while true; do - all_up=true - for port in 8080 8081 8082 8083; do - code=$(curl -s -o /dev/null -w "%{http_code}" --max-time 2 \ - "http://localhost:$port/health" 2>/dev/null) - [ "$code" != "200" ] && all_up=false && break - done - if $all_up; then echo -e " ${GREEN}✓${RESET}"; break; fi - sleep 5; elapsed=$((elapsed + 5)); echo -n "." - if [ $elapsed -ge 600 ]; then - echo - warn "Not all inference servers ready after 600 s — continuing anyway" - break - fi -done +check_inference || { stop_all; exit 1; } # ── 4. Orchestrator ─────────────────────────────────────────────────────────── @@ -95,9 +108,53 @@ section "Starting orchestrator..." tmux new-session -d -s agent -x 220 -y 50 tmux rename-window -t agent:0 "orchestrator" tmux send-keys -t agent:0 "cd $DEMO_ROOT && pixi run orchestrator" Enter -ok "Orchestrator launched (agent)" +log "Orchestrator launched (agent)" + +# ── Final health check ──────────────────────────────────────────────────────── + +section "Running health check in 10s..." +sleep 10 + +failed=false + +for s in simulation inference agent; do + if tmux has-session -t "$s" 2>/dev/null; then + ok "Session '$s' is running" + else + err "Session '$s' has exited unexpectedly" + failed=true + fi +done + +for port in 8080 8081 8082 8083; do + code=$(curl -s -o /dev/null -w "%{http_code}" --max-time 2 \ + "http://localhost:$port/health" 2>/dev/null || echo "000") + if [ "$code" = "200" ]; then + ok "Inference port $port — OK" + else + err "Inference port $port — not responding (HTTP $code)" + failed=true + fi +done + +for topic in /clock /joint_states; do + if ros2 topic list 2>/dev/null | grep -q "^${topic}$"; then + ok "Topic ${topic} — OK" + else + err "Topic ${topic} — not found" + failed=true + fi +done + +# ── Result ──────────────────────────────────────────────────────────────────── -# ── Summary ─────────────────────────────────────────────────────────────────── +if $failed; then + echo "" + echo -e "${BOLD}${RED}=== Demo failed — stopping all sessions ===${RESET}" + echo "" + stop_all + exit 1 +fi echo "" echo -e "${BOLD}${GREEN}=== Demo running ===${RESET}" diff --git a/scripts/demo_stop.sh b/scripts/demo_stop.sh new file mode 100755 index 0000000..e1effe8 --- /dev/null +++ b/scripts/demo_stop.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +for s in simulation inference agent; do + tmux kill-session -t "$s" 2>/dev/null && echo " killed '$s'" || true +done From 8b696b7725d2693332e7b0d874294f3841db277e Mon Sep 17 00:00:00 2001 From: maciejmajek Date: Thu, 14 May 2026 17:23:45 +0200 Subject: [PATCH 12/69] docs: update --- docs/running.md | 22 ++++++++++++---------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/docs/running.md b/docs/running.md index 9b4a801..404bf42 100644 --- a/docs/running.md +++ b/docs/running.md @@ -1,24 +1,32 @@ # Running the Demo -## O3DE +## Run all at once + +```shell +pixi run demo +``` + +## Run separately + +### O3DE ```shell pixi run sim ``` -## ROS 2 +### ROS 2 ```shell pixi run ros2 ``` -## HMI +### HMI ```shell pixi run hmi ``` -## Local inference (llama.cpp) +### Local inference (llama.cpp) Models default to `$DEMO_ROOT/models/`. Override with env vars if your models are elsewhere. @@ -45,12 +53,6 @@ EMBEDDING_MODEL=/path/to/embedding.gguf pixi run serve-embedding RERANKER_MODEL=/path/to/reranker.gguf pixi run serve-reranker ``` -## Agent - -For instructions, see: [Agent setup and inference](../rai_app/README.md) - -## Local Runtime Components - ### Agent Orchestrator ```shell From 0e14af3381050fe3b9170caccb2a2dfc578c2adf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Wed, 20 May 2026 11:07:24 +0200 Subject: [PATCH 13/69] Update ros2 dependencies MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- ros2_ws.repos | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/ros2_ws.repos b/ros2_ws.repos index eb1cfa6..ffbbefd 100644 --- a/ros2_ws.repos +++ b/ros2_ws.repos @@ -27,36 +27,36 @@ repositories: ros2_ws/src/packages/control_msgs: type: git url: https://github.com/ros-controls/control_msgs.git - version: da34baa99f66772e73b75d75e19a62cfc3516f75 + version: ecfc5df44b2490faf80f3650f62b55c549393c1a ros2_ws/src/packages/control_toolbox: type: git url: https://github.com/ros-controls/control_toolbox.git - version: 6d0482f6b7ce3e1f44e89e5b44f6f92ced60bae5 + version: 689ec6f911f1f5cb9ef29d9fd9a0abfc769c7224 ros2_ws/src/packages/kinematics_interface: type: git url: https://github.com/ros-controls/kinematics_interface.git - version: cd1e80e1012c8de53407086afd800d9cfe276dbd + version: fe60f651628ea97a5ca295aa5088e965220af244 ros2_ws/src/packages/moveit2: type: git url: https://github.com/moveit/moveit2.git - version: 950322e0018b86a64258ebc1241b5d0509331ef7 + version: 2d780de168dc8e1dff597191066209351f5581ee ros2_ws/src/packages/moveit_msgs: type: git url: https://github.com/moveit/moveit_msgs.git - version: a76e0d67f356735b0a59313eca2c9a3fe2e17da7 + version: 8daca8c56914e9cb8bd31d3332e71dd93dde5cc6 ros2_ws/src/packages/realtime_tools: type: git url: https://github.com/ros-controls/realtime_tools.git - version: 842a3c9b69e157ef27b05b755526b953b18c06bd + version: 6ea36e1bae2983bdf250134e46ae9c01ff5a6a16 ros2_ws/src/packages/ros2_control: type: git url: https://github.com/ros-controls/ros2_control.git - version: b315f2b7dcadf2d76a58deb67436213acc8214b6 + version: 324966525b7e0c7b47a1b6f52cb87017b9d0cc58 ros2_ws/src/packages/ros2_controllers: type: git url: https://github.com/ros-controls/ros2_controllers - version: 88ce478aba10ecca75f61b1bc3a79d3a7e34187f + version: 9e7dc558404ef98de7191af68b7922d07d358f67 ros2_ws/src/packages/srdfdom: type: git url: https://github.com/moveit/srdfdom.git - version: 94b4a92760d0ff58d8931f686f2aebe71e88fb84 \ No newline at end of file + version: 94b4a92760d0ff58d8931f686f2aebe71e88fb84 From b7afd3d52daa86c51e8f79e33c662e754d08485f Mon Sep 17 00:00:00 2001 From: Jan Hanca Date: Mon, 27 Apr 2026 16:07:29 +0200 Subject: [PATCH 14/69] Fix build: update gems.repos Signed-off-by: Jan Hanca --- gems.repos | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gems.repos b/gems.repos index 4df4ac2..5f4496e 100644 --- a/gems.repos +++ b/gems.repos @@ -18,7 +18,7 @@ repositories: ./gems/robotec-warehouse-assets: type: git url: https://github.com/RobotecAI/robotec-warehouse-assets.git - version: 66595d4359cf9ee65abd4988cf59c889174c7ad6 + version: 9d342d20be893457762c0718c797332c1459825c ./gems/robotec-generic-assets: type: git url: https://github.com/RobotecAI/robotec-generic-assets.git From 1c2cc1a9fdfbbecf003128a5c3b544b333680d22 Mon Sep 17 00:00:00 2001 From: Jan Hanca Date: Mon, 27 Apr 2026 16:50:04 +0200 Subject: [PATCH 15/69] Fix build: update dependencies Signed-off-by: Jan Hanca --- docker/Dockerfile.o3de | 10 ---------- sim/project.json | 27 ++++++++++++++++++++++++--- 2 files changed, 24 insertions(+), 13 deletions(-) diff --git a/docker/Dockerfile.o3de b/docker/Dockerfile.o3de index 59f58c1..e2ebf14 100644 --- a/docker/Dockerfile.o3de +++ b/docker/Dockerfile.o3de @@ -29,16 +29,6 @@ RUN ${O3DE_ROOT}/scripts/o3de.sh register --this-engine WORKDIR ${DEMO_ROOT}/gems RUN git lfs install --force RUN git lfs pull -RUN ${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/o3de-extras/Gems - -WORKDIR ${DEMO_ROOT}/gems -RUN ${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-humanworker-gem -RUN ${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-ur-robots-gem -RUN ${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-warehouse-assets -RUN ${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-generic-assets -RUN ${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-o3de-tools -RUN ${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/project_gems/ -RUN ${O3DE_ROOT}/scripts/o3de.sh register --project-path ${DEMO_ROOT}/sim # ---- Build O3DE ---- # diff --git a/sim/project.json b/sim/project.json index c617616..aeb7986 100644 --- a/sim/project.json +++ b/sim/project.json @@ -16,6 +16,29 @@ "engine": "o3de", "external_subdirectories": [ "Gem", + "../gems/o3de-extras/Gems/LevelGeoreferencing", + "../gems/o3de-extras/Gems/ROS2", + "../gems/o3de-extras/Gems/ROS2Controllers", + "../gems/o3de-extras/Gems/ROS2SampleRobots", + "../gems/o3de-extras/Gems/ROS2Sensors", + "../gems/o3de-extras/Gems/SimulationInterfaces", + "../gems/o3de-extras/Gems/WarehouseAssets", + "../gems/o3de-humanworker-gem", + "../gems/o3de-ur-robots-gem", + "../gems/robotec-o3de-tools/Gems/RobotecSpectatorCamera", + "../gems/robotec-o3de-tools/Gems/ROS2ScriptIntegration", + "../gems/robotec-o3de-tools/Gems/WheelAnimTool", + "../gems/robotec-generic-assets/RobotecGarbagePropsAssets", + "../gems/robotec-generic-assets/RobotecSmallContainersAssets", + "../gems/robotec-generic-assets/RobotecSurveillanceCamerasAssets", + "../gems/robotec-generic-assets/RobotecGenericDecorationsAssets", + "../gems/robotec-warehouse-assets/Gems/RobotecWarehouseRacksAssets", + "../gems/robotec-warehouse-assets/Gems/RobotecWarehouseBarriersAndCagesAssets", + "../gems/robotec-warehouse-assets/Gems/RobotecWarehouseLaddersStairsAssets", + "../gems/robotec-warehouse-assets/Gems/RobotecWarehouseMiscAssets", + "../gems/robotec-warehouse-assets/Gems/RobotecWarehouseBuildingAssets", + "../gems/robotec-warehouse-assets/Gems/RobotecWarehouseInventoryAssets", + "../gems/robotec-warehouse-assets/Gems/RobotecWarehouseFloorMarkingAssets", "../project_gems/LevelGem", "../project_gems/KairosPlus" ], @@ -45,9 +68,7 @@ "WhiteBox", "WheelAnimTool", "ROS2Controllers", - "ROS2RobotImporter", "ROS2Sensors", - "ROS2RobotImporter", "ROS2SampleRobots", "RobotecSpectatorCamera", "URRobots", @@ -66,7 +87,7 @@ "RobotecSmallContainersAssets", "RobotecSurveillanceCamerasAssets", "RobotecGenericDecorationsAssets", - "RobotecWarehousePayloadAssets", + "RobotecWarehouseInventoryAssets", "RobotecWarehouseFloorMarkingAssets", "HumanWorker" ], From 03b59e21f6aac52064b0c46ec4e25830e55aa46c Mon Sep 17 00:00:00 2001 From: Jan Hanca Date: Mon, 27 Apr 2026 16:55:23 +0200 Subject: [PATCH 16/69] Remove pointless project.json backup Signed-off-by: Jan Hanca --- sim/project.json.bak0 | 46 ------------------------------------------- 1 file changed, 46 deletions(-) delete mode 100644 sim/project.json.bak0 diff --git a/sim/project.json.bak0 b/sim/project.json.bak0 deleted file mode 100644 index 19dd365..0000000 --- a/sim/project.json.bak0 +++ /dev/null @@ -1,46 +0,0 @@ -{ - "project_name": "MobileManipulatorDemo", - "version": "1.0.0", - "project_id": "{6D3DFA48-B1E6-435C-A585-706F891578C2}", - "origin": "The primary repo for MobileManipulatorDemo goes here: i.e. http://www.mydomain.com", - "license": "What license MobileManipulatorDemo uses goes here: i.e. https://opensource.org/licenses/Apache-2.0 Or https://opensource.org/licenses/MIT etc.", - "display_name": "MobileManipulatorDemo", - "summary": "A short description of MobileManipulatorDemo.", - "canonical_tags": [ - "Project" - ], - "user_tags": [ - "MobileManipulatorDemo" - ], - "icon_path": "preview.png", - "engine": "o3de", - "external_subdirectories": [ - "Gem" - ], - "restricted": "MobileManipulatorDemo", - "gem_names": [ - "MobileManipulatorDemo", - "Atom", - "AudioSystem", - "CameraFramework", - "DebugDraw", - "DiffuseProbeGrid", - "EditorPythonBindings", - "EMotionFX", - "GameState", - "ImGui", - "LandscapeCanvas", - "LyShine", - "MiniAudio", - "PhysX", - "PrimitiveAssets", - "PrefabBuilder", - "SaveData", - "ScriptCanvasPhysics", - "ScriptEvents", - "StartingPointInput", - "TextureAtlas", - "WhiteBox", - "RemoteTools" - ] -} From c8356732e02011dc6bbc3477ee3f3565dfd518d0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Wed, 13 May 2026 16:18:45 +0200 Subject: [PATCH 17/69] Update asset paths in warehouse prefab MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- .../Assets/Warehouse/Building/Warehouse_30x30.prefab | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/project_gems/LevelGem/Assets/Warehouse/Building/Warehouse_30x30.prefab b/project_gems/LevelGem/Assets/Warehouse/Building/Warehouse_30x30.prefab index e92ffbb..55582a2 100755 --- a/project_gems/LevelGem/Assets/Warehouse/Building/Warehouse_30x30.prefab +++ b/project_gems/LevelGem/Assets/Warehouse/Building/Warehouse_30x30.prefab @@ -24209,7 +24209,7 @@ ] }, "Instance_[367928860992204]": { - "Source": "Signs/Models/Materials/InspectionStation_Sign.prefab", + "Source": "Signs/InspectionStation_Sign.prefab", "Patches": [ { "op": "replace", @@ -24239,7 +24239,7 @@ ] }, "Instance_[370523021238988]": { - "Source": "Signs/Models/Materials/OutboundShipment_Sign.prefab", + "Source": "Signs/OutboundShipment_Sign.prefab", "Patches": [ { "op": "replace", @@ -25295,7 +25295,7 @@ ] }, "Instance_[429501512147660]": { - "Source": "Signs/Models/Materials/InspectionStation_Sign.prefab", + "Source": "Signs/InspectionStation_Sign.prefab", "Patches": [ { "op": "replace", @@ -25421,7 +25421,7 @@ ] }, "Instance_[488510067827404]": { - "Source": "Signs/Models/Materials/OutboundShipment_Sign.prefab", + "Source": "Signs/OutboundShipment_Sign.prefab", "Patches": [ { "op": "replace", @@ -26181,4 +26181,4 @@ ] } } -} \ No newline at end of file +} From 336b179efac68e4926460c1f6b56956e3902270d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Wed, 20 May 2026 12:00:50 +0200 Subject: [PATCH 18/69] Update project registration step MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- pixi.toml | 13 +++---------- 1 file changed, 3 insertions(+), 10 deletions(-) diff --git a/pixi.toml b/pixi.toml index c115e97..bfdb64f 100644 --- a/pixi.toml +++ b/pixi.toml @@ -49,20 +49,13 @@ $O3DE_ROOT/scripts/o3de.sh register --this-engine depends-on = ["clone-engine"] description = "Pull O3DE LFS assets and register the engine" -[tasks.register-gems] +[tasks.register-project] cmd = """ cd $DEMO_ROOT/gems && git lfs install && git lfs pull && -$O3DE_ROOT/scripts/o3de.sh register --all-gems-path $DEMO_ROOT/gems/o3de-extras/Gems && -$O3DE_ROOT/scripts/o3de.sh register --gem-path $DEMO_ROOT/gems/o3de-humanworker-gem && -$O3DE_ROOT/scripts/o3de.sh register --gem-path $DEMO_ROOT/gems/o3de-ur-robots-gem && -$O3DE_ROOT/scripts/o3de.sh register --all-gems-path $DEMO_ROOT/gems/robotec-warehouse-assets && -$O3DE_ROOT/scripts/o3de.sh register --all-gems-path $DEMO_ROOT/gems/robotec-generic-assets && -$O3DE_ROOT/scripts/o3de.sh register --all-gems-path $DEMO_ROOT/gems/robotec-o3de-tools && -$O3DE_ROOT/scripts/o3de.sh register --all-gems-path $DEMO_ROOT/project_gems/ && $O3DE_ROOT/scripts/o3de.sh register --project-path $DEMO_ROOT/sim --force """ depends-on = ["setup-o3de"] -description = "Register all O3DE gems and the simulation project" +description = "Register the simulation project" [tasks.build-ros2] cmd = """ @@ -86,7 +79,7 @@ cmake -B build/linux -G "Ninja Multi-Config" \ cmake --build build/linux --config profile \ --target MobileManipulatorDemo Editor MobileManipulatorDemo.Assets MobileManipulatorDemo.GameLauncher """ -depends-on = ["register-gems", "build-ros2"] +depends-on = ["register-project", "build-ros2"] description = "Build O3DE Editor and GameLauncher (slow — takes 30–60 min)" [tasks.build-llama] From fc2267e01cffbff55a4096da0b85a4712e25d387 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Wed, 20 May 2026 17:41:53 +0200 Subject: [PATCH 19/69] Fix ros2_ws sourcing path MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- pixi_activate.sh | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/pixi_activate.sh b/pixi_activate.sh index f591386..daee763 100644 --- a/pixi_activate.sh +++ b/pixi_activate.sh @@ -4,13 +4,13 @@ # ROS 2 environment without needing manual `source` calls. # Base ROS 2 installation -if [ -f "/opt/ros/jazzy/setup.bash" ]; then +if [ -f "/opt/ros/jazzy/local_setup.sh" ]; then # shellcheck source=/dev/null - source "/opt/ros/jazzy/setup.bash" + source "/opt/ros/jazzy/local_setup.sh" fi # Project ROS 2 workspace (available after `pixi run build-ros2`) -if [ -f "${DEMO_ROOT}/ros2_ws/install/setup.bash" ]; then +if [ -f "${PIXI_PROJECT_ROOT}/ros2_ws/install/local_setup.sh" ]; then # shellcheck source=/dev/null - source "${DEMO_ROOT}/ros2_ws/install/setup.bash" + source "${PIXI_PROJECT_ROOT}/ros2_ws/install/local_setup.sh" fi From 751ae53d706883a3e5938e6c524299d42adf32eb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Wed, 20 May 2026 17:42:15 +0200 Subject: [PATCH 20/69] Fix tmux setup for running demo MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- scripts/demo.sh | 44 ++++++++++++++++++++++++-------------------- scripts/serve_all.sh | 22 ++++++++++------------ scripts/test.sh | 1 + 3 files changed, 35 insertions(+), 32 deletions(-) create mode 100644 scripts/test.sh diff --git a/scripts/demo.sh b/scripts/demo.sh index 1d565af..286cdd8 100755 --- a/scripts/demo.sh +++ b/scripts/demo.sh @@ -64,11 +64,13 @@ trap 'echo; warn "Interrupted — cleaning up..."; stop_all; exit 1' INT TERM QU section "Starting simulation..." -tmux new-session -d -s simulation -x 220 -y 50 -tmux rename-window -t simulation:0 "sim+ros2" -tmux split-window -v -t simulation:0.0 +# Create the session with a named first window so we don't rely on window index numbers +tmux new-session -d -s simulation -n "sim+ros2" -x 220 -y 50 +SIM_TOP_PANE=$(tmux display-message -p -t simulation:sim+ros2 "#{pane_id}") +SIM_BOTTOM_PANE=$(tmux split-window -v -P -F "#{pane_id}" -t "$SIM_TOP_PANE") -tmux send-keys -t simulation:0.0 "cd $DEMO_ROOT && pixi run sim" Enter +# Send commands to the panes using pane IDs so pane-base-index does not matter +tmux send-keys -t "$SIM_TOP_PANE" "cd $DEMO_ROOT && pixi run sim" Enter log "O3DE launched (simulation — top pane)" wait_topic "/clock" 120 || { stop_all; exit 1; } @@ -77,7 +79,7 @@ wait_topic "/clock" 120 || { stop_all; exit 1; } section "Starting ROS 2 stack..." -tmux send-keys -t simulation:0.1 "cd $DEMO_ROOT && pixi run ros2" Enter +tmux send-keys -t "$SIM_BOTTOM_PANE" "cd $DEMO_ROOT && pixi run ros2" Enter log "ROS 2 stack launched (simulation — bottom pane)" wait_topic "/joint_states" 60 || { stop_all; exit 1; } @@ -86,17 +88,19 @@ wait_topic "/joint_states" 60 || { stop_all; exit 1; } section "Starting inference servers..." -tmux new-session -d -s inference -x 220 -y 50 -tmux rename-window -t inference:0 "models" -tmux split-window -h -t inference:0.0 -tmux split-window -v -t inference:0.0 -tmux split-window -v -t inference:0.2 -tmux select-layout -t inference:0 tiled - -tmux send-keys -t inference:0.0 "cd $DEMO_ROOT && pixi run serve-llm" Enter -tmux send-keys -t inference:0.1 "cd $DEMO_ROOT && pixi run serve-embedding" Enter -tmux send-keys -t inference:0.2 "cd $DEMO_ROOT && pixi run serve-vlm" Enter -tmux send-keys -t inference:0.3 "cd $DEMO_ROOT && pixi run serve-reranker" Enter +# Create inference session with a named window +tmux new-session -d -s inference -n models -x 220 -y 50 +INF_TOP_LEFT=$(tmux display-message -p -t inference:models "#{pane_id}") +INF_TOP_RIGHT=$(tmux split-window -h -P -F "#{pane_id}" -t "$INF_TOP_LEFT") +INF_BOTTOM_LEFT=$(tmux split-window -v -P -F "#{pane_id}" -t "$INF_TOP_LEFT") +INF_BOTTOM_RIGHT=$(tmux split-window -v -P -F "#{pane_id}" -t "$INF_TOP_RIGHT") +tmux select-layout -t inference:models tiled + +# Target panes by pane ID so the script works with any pane-base-index setting +tmux send-keys -t "$INF_TOP_LEFT" "cd $DEMO_ROOT && pixi run serve-llm" Enter +tmux send-keys -t "$INF_TOP_RIGHT" "cd $DEMO_ROOT && pixi run serve-embedding" Enter +tmux send-keys -t "$INF_BOTTOM_LEFT" "cd $DEMO_ROOT && pixi run serve-vlm" Enter +tmux send-keys -t "$INF_BOTTOM_RIGHT" "cd $DEMO_ROOT && pixi run serve-reranker" Enter log "Inference session created (inference — 2×2 grid)" check_inference || { stop_all; exit 1; } @@ -105,12 +109,12 @@ check_inference || { stop_all; exit 1; } section "Starting orchestrator..." -tmux new-session -d -s agent -x 220 -y 50 -tmux rename-window -t agent:0 "orchestrator" -tmux send-keys -t agent:0 "cd $DEMO_ROOT && pixi run orchestrator" Enter +# Create agent session with a named window so we don't rely on index 0 +tmux new-session -d -s agent -n orchestrator -x 220 -y 50 +tmux send-keys -t agent:orchestrator "cd $DEMO_ROOT && pixi run orchestrator" Enter log "Orchestrator launched (agent)" -# ── Final health check ──────────────────────────────────────────────────────── +# ── Final health check ─────────────────────────────────────────────────────── section "Running health check in 10s..." sleep 10 diff --git a/scripts/serve_all.sh b/scripts/serve_all.sh index d774a65..0ec1467 100755 --- a/scripts/serve_all.sh +++ b/scripts/serve_all.sh @@ -9,20 +9,18 @@ if tmux has-session -t "$SESSION" 2>/dev/null; then exit 0 fi -tmux new-session -d -s "$SESSION" -x 220 -y 50 +tmux new-session -d -s "$SESSION" -n inference -x 220 -y 50 -tmux rename-window -t "$SESSION:0" "inference" +INF_TOP_LEFT=$(tmux display-message -p -t "$SESSION:inference" "#{pane_id}") +INF_TOP_RIGHT=$(tmux split-window -h -P -F "#{pane_id}" -t "$INF_TOP_LEFT") +INF_BOTTOM_LEFT=$(tmux split-window -v -P -F "#{pane_id}" -t "$INF_TOP_LEFT") +INF_BOTTOM_RIGHT=$(tmux split-window -v -P -F "#{pane_id}" -t "$INF_TOP_RIGHT") -# 2x2 grid: split into 4 panes -tmux split-window -h -t "$SESSION:0" -tmux split-window -v -t "$SESSION:0.0" -tmux split-window -v -t "$SESSION:0.2" +tmux send-keys -t "$INF_TOP_LEFT" "pixi run serve-llm" Enter +tmux send-keys -t "$INF_TOP_RIGHT" "pixi run serve-embedding" Enter +tmux send-keys -t "$INF_BOTTOM_LEFT" "pixi run serve-vlm" Enter +tmux send-keys -t "$INF_BOTTOM_RIGHT" "pixi run serve-reranker" Enter -tmux send-keys -t "$SESSION:0.0" "pixi run serve-llm" Enter -tmux send-keys -t "$SESSION:0.1" "pixi run serve-embedding" Enter -tmux send-keys -t "$SESSION:0.2" "pixi run serve-vlm" Enter -tmux send-keys -t "$SESSION:0.3" "pixi run serve-reranker" Enter - -tmux select-layout -t "$SESSION:0" tiled +tmux select-layout -t "$SESSION:inference" tiled tmux attach-session -t "$SESSION" diff --git a/scripts/test.sh b/scripts/test.sh new file mode 100644 index 0000000..6dd0805 --- /dev/null +++ b/scripts/test.sh @@ -0,0 +1 @@ +ros2 pkg prefix simulation_interfaces From bde9571e2bc71b1888f169588590e4e109aefdfd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Wed, 29 Apr 2026 17:23:42 +0200 Subject: [PATCH 21/69] Update SpawnEntity parameter for new simulation interfaces MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- rai_app/environment/scene_manager.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rai_app/environment/scene_manager.py b/rai_app/environment/scene_manager.py index e7c5dda..2db670a 100644 --- a/rai_app/environment/scene_manager.py +++ b/rai_app/environment/scene_manager.py @@ -235,7 +235,7 @@ def spawn_object( req = SpawnEntity.Request() req.name = name - req.uri = self.spawnable_to_uri[object_name] + req.entity_resource.uri = self.spawnable_to_uri[object_name] req.initial_pose.header.frame_id = frame req.initial_pose.pose.position.x = pose.position.x req.initial_pose.pose.position.y = pose.position.y From cca3875f06eafeb9914f8202adff6e5f71d46ad0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Sun, 7 Jun 2026 23:52:53 +0200 Subject: [PATCH 22/69] Switch to o3de 2605 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- engine.repos | 4 ++-- gems.repos | 10 +++++----- ros2_ws.repos | 2 +- sim/project.json | 2 +- 4 files changed, 9 insertions(+), 9 deletions(-) diff --git a/engine.repos b/engine.repos index f036544..2b5f3d1 100644 --- a/engine.repos +++ b/engine.repos @@ -1,5 +1,5 @@ repositories: ./engine/o3de: type: git - url: https://github.com/RobotecAI/o3de.git - version: 725882d7a09d4c3f204a6256f5a79e839e33ea0c + url: https://github.com/o3de/o3de.git + version: 2605.0 diff --git a/gems.repos b/gems.repos index 5f4496e..44dc614 100644 --- a/gems.repos +++ b/gems.repos @@ -1,20 +1,20 @@ repositories: ./gems/o3de-extras: type: git - url: https://github.com/robotecai/o3de-extras.git - version: a653caeb431a3cf2da26c227b57c0fc1829fefcd + url: https://github.com/o3de/o3de-extras.git + version: 2605.0 ./gems/o3de-humanworker-gem: type: git url: https://github.com/RobotecAI/o3de-humanworker-gem.git - version: f7bcf0f78383a30d60947de30e06971f15682ce6 + version: 3.0.0 ./gems/o3de-ur-robots-gem: type: git url: https://github.com/RobotecAI/o3de-ur-robots-gem.git - version: 33fc9f1f0629d7d8dd5378958dae774434c9334d + version: 3.0.0 ./gems/robotec-o3de-tools: type: git url: https://github.com/RobotecAI/robotec-o3de-tools.git - version: b88b11f3de7185197a4b396d51c6b00c1283d51a + version: f8ff72cc2fd249f77c16c5cf43d4341dccc29633 ./gems/robotec-warehouse-assets: type: git url: https://github.com/RobotecAI/robotec-warehouse-assets.git diff --git a/ros2_ws.repos b/ros2_ws.repos index ffbbefd..1261a21 100644 --- a/ros2_ws.repos +++ b/ros2_ws.repos @@ -18,7 +18,7 @@ repositories: ros2_ws/src/packages/simulation_interfaces: type: git url: https://github.com/ros-simulation/simulation_interfaces.git - version: 1.0.1 + version: 2.1.0 ros2_ws/src/packages/rai_interfaces: type: git url: https://github.com/RobotecAI/rai_interfaces.git diff --git a/sim/project.json b/sim/project.json index aeb7986..3afe5b5 100644 --- a/sim/project.json +++ b/sim/project.json @@ -91,5 +91,5 @@ "RobotecWarehouseFloorMarkingAssets", "HumanWorker" ], - "engine_version": "2.4.0" + "engine_version": "2.6.0" } From e7225f2dc419a874231df5bed2ef5c62d0f0c649 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Mon, 8 Jun 2026 00:00:45 +0200 Subject: [PATCH 23/69] Add custom spawn service handler for entities MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- sim/Gem/CMakeLists.txt | 20 +- sim/Gem/MobileManipulatorDemo_files.cmake | 5 + .../MobileManipulatorDemoSystemComponent.cpp | 19 ++ .../MobileManipulatorDemoSystemComponent.h | 18 ++ sim/Gem/Source/ROS2Service.h | 77 +++++++ sim/Gem/Source/SpawnEntityServiceHandler.cpp | 203 ++++++++++++++++++ sim/Gem/Source/SpawnEntityServiceHandler.h | 37 ++++ sim/Gem/Source/SpawnServiceUtils.cpp | 57 +++++ sim/Gem/Source/SpawnServiceUtils.h | 30 +++ sim/Gem/gem.json | 45 ++-- sim/Gem/mobilemanipulatordemo_files.cmake | 5 + sim/Registry/ros2.setreg | 4 + 12 files changed, 491 insertions(+), 29 deletions(-) create mode 100644 sim/Gem/Source/ROS2Service.h create mode 100644 sim/Gem/Source/SpawnEntityServiceHandler.cpp create mode 100644 sim/Gem/Source/SpawnEntityServiceHandler.h create mode 100644 sim/Gem/Source/SpawnServiceUtils.cpp create mode 100644 sim/Gem/Source/SpawnServiceUtils.h diff --git a/sim/Gem/CMakeLists.txt b/sim/Gem/CMakeLists.txt index 38a4a94..6215ed8 100644 --- a/sim/Gem/CMakeLists.txt +++ b/sim/Gem/CMakeLists.txt @@ -12,13 +12,22 @@ include(${pal_dir}/PAL_${PAL_PLATFORM_NAME_LOWERCASE}.cmake) # Now that we have loaded our project traits for this platform, see if this project is even supported on this platform. # If its not supported we just return after including the unsupported. if(NOT PAL_TRAIT_MOBILEMANIPULATORDEMO_SUPPORTED) - return() + return() endif() # We are on a supported platform, so add the ${gem_name} target # Note: We include the common files and the platform specific files which are set in mobilemanipulatordemo_files.cmake and # in ${pal_dir}/mobilemanipulatordemo_${PAL_PLATFORM_NAME_LOWERCASE}_files.cmake +find_package(simulation_interfaces REQUIRED) +if(simulation_interfaces_VERSION VERSION_GREATER_EQUAL "2.0.0") + set(SIMULATION_INTERFACES_MAJOR_API_VERSION 2) +elseif(simulation_interfaces_VERSION VERSION_GREATER_EQUAL "1.4.0") + set(SIMULATION_INTERFACES_MAJOR_API_VERSION 1) +else() + message(FATAL_ERROR "simulation_interfaces version ${simulation_interfaces_VERSION} is not supported. Minimum required: 1.4.0") +endif() +message(STATUS "simulation_interfaces ${simulation_interfaces_VERSION} -> SIMULATION_INTERFACES_MAJOR_API_VERSION=${SIMULATION_INTERFACES_MAJOR_API_VERSION}") # The ${gem_name}.Private.Object target is an internal target # It should not be used outside of this CMakeLists.txt ly_add_target( @@ -34,7 +43,12 @@ ly_add_target( PRIVATE AZ::AzGameFramework Gem::Atom_AtomBridge.Static + Gem::SimulationInterfaces.API + Gem::ROS2.Static ) +target_compile_definitions(${gem_name}.Private.Object PUBLIC + SIMULATION_INTERFACES_MAJOR_API_VERSION=${SIMULATION_INTERFACES_MAJOR_API_VERSION}) + ly_add_target( NAME ${gem_name} ${PAL_TRAIT_MONOLITHIC_DRIVEN_MODULE_TYPE} @@ -49,6 +63,8 @@ ly_add_target( PRIVATE Gem::${gem_name}.Private.Object AZ::AzCore + Gem::SimulationInterfaces.API + Gem::ROS2.Static ) # Include the gem name into the Client Module source file @@ -87,5 +103,5 @@ o3de_find_ancestor_project_root(project_path project_name "${CMAKE_CURRENT_SOURC # If the project name could not be queried from a project.json file, then fallback # to using the name of the project provided when the project template was instantiated if (NOT project_name) - set(project_name MobileManipulatorDemo) + set(project_name MobileManipulatorDemo) endif() diff --git a/sim/Gem/MobileManipulatorDemo_files.cmake b/sim/Gem/MobileManipulatorDemo_files.cmake index 3626335..87783bd 100644 --- a/sim/Gem/MobileManipulatorDemo_files.cmake +++ b/sim/Gem/MobileManipulatorDemo_files.cmake @@ -5,4 +5,9 @@ set(FILES Include/MobileManipulatorDemo/MobileManipulatorDemoBus.h Source/MobileManipulatorDemoSystemComponent.cpp Source/MobileManipulatorDemoSystemComponent.h + + Source/SpawnEntityServiceHandler.cpp + Source/SpawnEntityServiceHandler.h + Source/SpawnServiceUtils.cpp + Source/SpawnServiceUtils.h ) diff --git a/sim/Gem/Source/MobileManipulatorDemoSystemComponent.cpp b/sim/Gem/Source/MobileManipulatorDemoSystemComponent.cpp index 64fc9c3..89befb2 100644 --- a/sim/Gem/Source/MobileManipulatorDemoSystemComponent.cpp +++ b/sim/Gem/Source/MobileManipulatorDemoSystemComponent.cpp @@ -5,6 +5,9 @@ #include +#include +#include "SpawnEntityServiceHandler.h" + namespace MobileManipulatorDemo { AZ_COMPONENT_IMPL(MobileManipulatorDemoSystemComponent, "MobileManipulatorDemoSystemComponent", @@ -32,6 +35,7 @@ namespace MobileManipulatorDemo void MobileManipulatorDemoSystemComponent::GetRequiredServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& required) { + required.push_back(AZ_CRC_CE("ROS2Service")); } void MobileManipulatorDemoSystemComponent::GetDependentServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& dependent) @@ -61,10 +65,25 @@ namespace MobileManipulatorDemo void MobileManipulatorDemoSystemComponent::Activate() { MobileManipulatorDemoRequestBus::Handler::BusConnect(); + + auto ros2Node = ROS2::ROS2Interface::Get()->GetNode(); + if (!ros2Node) + { + AZ_Trace("MobileManipulatorDemo", "ROS 2 node is not available."); + return; + } + + RegisterInterface(ros2Node); } void MobileManipulatorDemoSystemComponent::Deactivate() { MobileManipulatorDemoRequestBus::Handler::BusDisconnect(); + + for (auto& [handlerType, handler] : m_availableRos2Interface) + { + handler.reset(); + } + m_availableRos2Interface.clear(); } } diff --git a/sim/Gem/Source/MobileManipulatorDemoSystemComponent.h b/sim/Gem/Source/MobileManipulatorDemoSystemComponent.h index 58e4e52..819637d 100644 --- a/sim/Gem/Source/MobileManipulatorDemoSystemComponent.h +++ b/sim/Gem/Source/MobileManipulatorDemoSystemComponent.h @@ -5,6 +5,10 @@ #include +#include "AzCore/Debug/Trace.h" +#include "ROS2/Handlers/IROS2HandlerBase.h" +#include + namespace MobileManipulatorDemo { class MobileManipulatorDemoSystemComponent @@ -36,5 +40,19 @@ namespace MobileManipulatorDemo void Activate() override; void Deactivate() override; //////////////////////////////////////////////////////////////////////// + + private: + AZStd::unordered_map> m_availableRos2Interface; + template + void RegisterInterface(rclcpp::Node::SharedPtr ros2Node) + { + AZStd::shared_ptr handler = AZStd::make_shared(); + handler->Initialize(ros2Node); + if (handler->IsValid()) + { + m_availableRos2Interface[handler->GetTypeName()] = AZStd::move(handler); + } + handler.reset(); + }; }; } diff --git a/sim/Gem/Source/ROS2Service.h b/sim/Gem/Source/ROS2Service.h new file mode 100644 index 0000000..a4ecfdb --- /dev/null +++ b/sim/Gem/Source/ROS2Service.h @@ -0,0 +1,77 @@ +// NOTE: This file is a slightly modified copy of ROS2/Code/Include/ROS2/Handlers/ROS2ServiceBase.h + +/* +* Copyright (c) Contributors to the Open 3D Engine Project. +* For complete copyright and license terms please see the LICENSE at the root of this distribution. +* +* SPDX-License-Identifier: Apache-2.0 OR MIT +* +*/ + +#pragma once + +#include +#include +#include +#include + +namespace MobileManipulatorDemo +{ + template + class ROS2Service : public virtual ROS2::IROS2HandlerBase + { + public: + using Request = typename RosServiceType::Request; + using Response = typename RosServiceType::Response; + using ServiceHandle = std::shared_ptr>; + virtual ~ROS2Service() = default; + + void Initialize(rclcpp::Node::SharedPtr& node) override + { + CreateService(node); + } + + void SendResponse(Response response) + { + AZ_Assert(m_serviceHandle, "Failed to get m_serviceHandle"); + AZ_Assert(m_lastRequestHeader, "Failed to get last request header ptr"); + m_serviceHandle->send_response(*m_lastRequestHeader, response); + } + + bool IsValid() const override + { + return m_serviceHandle != nullptr; + } + + protected: + //! This function is called when a service request is received. + virtual AZStd::optional HandleServiceRequest(const std::shared_ptr header, const Request& request) = 0; + + private: + void CreateService(rclcpp::Node::SharedPtr& node) + { + auto serviceName = GetDefaultName(); + const std::string serviceNameStr(serviceName.data(), serviceName.size()); + m_serviceHandle = node->create_service( + serviceNameStr, + [this]( + const ServiceHandle service_handle, + const std::shared_ptr header, + const std::shared_ptr request) + { + m_lastRequestHeader = header; + auto response = HandleServiceRequest(header, *request); + // if no response passed it means, that handleServiceRequest will send response in defined callback after time consuming + // task, header needs to be cached + if (response.has_value()) + { + service_handle->send_response(*header, response.value()); + } + }); + } + + std::shared_ptr m_lastRequestHeader = nullptr; + ServiceHandle m_serviceHandle; + }; + +} // namespace MobileManipulatorDemo diff --git a/sim/Gem/Source/SpawnEntityServiceHandler.cpp b/sim/Gem/Source/SpawnEntityServiceHandler.cpp new file mode 100644 index 0000000..9ae9217 --- /dev/null +++ b/sim/Gem/Source/SpawnEntityServiceHandler.cpp @@ -0,0 +1,203 @@ +// NOTE: this file is a slightly modified copy of SimulationInterfaces/Code/Source/Services/SpawnEntityServiceHandler.cpp + +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "SpawnEntityServiceHandler.h" +#include "AzCore/Component/ComponentApplicationBus.h" +#include "AzCore/Component/EntityId.h" +#include "AzCore/Component/TransformBus.h" +#include "AzCore/Debug/Trace.h" +#include "SimulationInterfaces/Result.h" +#include "SpawnServiceUtils.h" +#include +#include +#include +#include +#include +#include +#include +#include + +namespace MobileManipulatorDemo +{ + AZStd::vector GetAllDescendants(AZ::EntityId parent) + { + AZStd::vector descendants; + AZ::TransformBus::EventResult( + descendants, + parent, + &AZ::TransformInterface::GetAllDescendants); + + return descendants; + } + + AZStd::string GetEntityName(AZ::EntityId entityId) + { + AZStd::string name; + AZ::ComponentApplicationBus::BroadcastResult( + name, + &AZ::ComponentApplicationRequests::GetEntityName, + entityId + ); + + return name; + } + + void RegisterChildGrippingPoints(const AZStd::string& rootName) + { + AZ::Outcome rootId; + SimulationInterfaces::SimulationEntityManagerRequestBus::BroadcastResult( + rootId, + &SimulationInterfaces::SimulationEntityManagerRequests::GetEntityRoot, + rootName + ); + + if (rootId.IsSuccess()) + { + for (auto& descendantId : GetAllDescendants(rootId.GetValue())) + { + auto descendantName = GetEntityName(descendantId); + + if (descendantName.contains("GrippingPoint")) + { + auto proposedName = rootName + "_" + descendantName; + AZ::Outcome result; + SimulationInterfaces::SimulationEntityManagerRequestBus::BroadcastResult( + result, + &SimulationInterfaces::SimulationEntityManagerRequests::RegisterNewSimulatedBody, + proposedName, + descendantId + ); + } + } + } + } + + SpawnEntityServiceHandler::SpawnEntityServiceHandler() + { + ROS2SimulationInterfaces::ROS2SimulationInterfacesRequestBus::Broadcast( + &ROS2SimulationInterfaces::ROS2SimulationInterfacesRequests::AddSimulationFeatures, + AZStd::unordered_set{ + simulation_interfaces::msg::SimulatorFeatures::SPAWNING }); + } + + AZStd::optional SpawnEntityServiceHandler::HandleServiceRequest( + const std::shared_ptr header, const Request& request) + { + AZ_Printf("MobileManipulatorDemo", "Hello world!!! SpawnEntityServiceHandler"); + const AZStd::string_view name{ request.name.c_str(), request.name.size() }; +#if SIMULATION_INTERFACES_MAJOR_API_VERSION >= 2 + const AZStd::string_view uri{ request.entity_resource.uri.c_str(), request.entity_resource.uri.size() }; +#else + const AZStd::string_view uri{ request.uri.c_str(), request.uri.size() }; +#endif + const AZStd::string_view entityNamespace{ request.entity_namespace.c_str(), request.entity_namespace.size() }; + const AZStd::string_view messageFrameId{ request.initial_pose.header.frame_id.c_str(), + request.initial_pose.header.frame_id.size() }; + const builtin_interfaces::msg::Time zeroTime = builtin_interfaces::msg::Time(); + + // Validate entity name + if (!name.empty() && !SpawnServiceUtils::ValidateEntityName(name)) + { + Response response; + response.result.result = simulation_interfaces::srv::SpawnEntity::Response::NAME_INVALID; + response.result.error_message = "Invalid entity name. Entity names can only contain alphanumeric characters and underscores."; + SendResponse(response); + return AZStd::nullopt; + } + + // Validate namespace name + if (!entityNamespace.empty() && !SpawnServiceUtils::ValidateNamespaceName(entityNamespace)) + { + Response response; + response.result.result = simulation_interfaces::srv::SpawnEntity::Response::NAMESPACE_INVALID; + response.result.error_message = + "Invalid entity namespace. Entity namespaces can only contain alphanumeric characters and forward slashes."; + SendResponse(response); + return AZStd::nullopt; + } + + // deal with frames + const auto simulatorFrameId = ROS2SimulationInterfaces::RegistryUtilities::GetSimulatorROS2Frame(); + AZ::Transform transformOffset = AZ::Transform::CreateIdentity(); + if (!messageFrameId.empty() && simulatorFrameId != messageFrameId) + { + auto transformInterface = ROS2::TFInterface::Get(); + AZ_Assert(transformInterface, "TFInterface is not available, cannot set entity state without transform offset."); + const auto transformOutcome = transformInterface->GetTransform(simulatorFrameId, messageFrameId, zeroTime); + + if (transformOutcome.IsSuccess()) + { + transformOffset = transformOutcome.GetValue(); + } + else + { + Response response; + response.result.result = simulation_interfaces::msg::Result::RESULT_OPERATION_FAILED; + response.result.error_message = transformOutcome.GetError().c_str(); + SendResponse(response); + return AZStd::nullopt; + } + } + + const AZ::Transform requestedPose = ROS2::ROS2Conversions::FromROS2Pose(request.initial_pose.pose); + if (const auto poseValidation = SpawnServiceUtils::ValidateTransformNormalized(requestedPose); !poseValidation.IsSuccess()) + { + Response response; + response.result.result = simulation_interfaces::srv::SpawnEntity::Response::INVALID_POSE; + response.result.error_message = poseValidation.GetError().c_str(); + SendResponse(response); + return AZStd::nullopt; + } + + const AZ::Transform initialPose = transformOffset * + AZ::Transform::CreateFromQuaternionAndTranslation(requestedPose.GetRotation().GetNormalized(), requestedPose.GetTranslation()); + + SimulationInterfaces::PreInsertionCb preinsertionCB = + [this](const AZ::Outcome& outcome) + { + if (!outcome.IsSuccess()) + { + Response response; + const auto& failedResult = outcome.GetError(); + response.result.result = failedResult.m_errorCode; + response.result.error_message = failedResult.m_errorString.c_str(); + + SendResponse(response); + } + }; + SimulationInterfaces::SimulationEntityManagerRequestBus::Broadcast( + &SimulationInterfaces::SimulationEntityManagerRequests::SpawnEntity, + name, + uri, + entityNamespace, + initialPose, + request.allow_renaming, + preinsertionCB, + [this](const AZ::Outcome& outcome) + { + Response response; + if (outcome.IsSuccess()) + { + RegisterChildGrippingPoints(outcome.GetValue()); + response.result.result = simulation_interfaces::msg::Result::RESULT_OK; + response.entity_name = outcome.GetValue().c_str(); + } + else + { + const auto& failedResult = outcome.GetError(); + response.result.result = failedResult.m_errorCode; + response.result.error_message = failedResult.m_errorString.c_str(); + } + SendResponse(response); + }); + return AZStd::nullopt; + } + +} // namespace MobileManipulatorDemo diff --git a/sim/Gem/Source/SpawnEntityServiceHandler.h b/sim/Gem/Source/SpawnEntityServiceHandler.h new file mode 100644 index 0000000..ac32aa2 --- /dev/null +++ b/sim/Gem/Source/SpawnEntityServiceHandler.h @@ -0,0 +1,37 @@ +// NOTE: this file is a slightly modified copy of SimulationInterfaces/Code/Source/Services/SpawnEntityServiceHandler.h + +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include "ROS2Service.h" +#include +#include + +namespace MobileManipulatorDemo +{ + class SpawnEntityServiceHandler + : public ROS2Service + { + public: + SpawnEntityServiceHandler(); + + AZStd::string_view GetTypeName() const override + { + return "SpawnEntity"; + } + + AZStd::string_view GetDefaultName() const override + { + return "spawn_entity"; + } + + AZStd::optional HandleServiceRequest(const std::shared_ptr header, const Request& request) override; + }; +} // namespace MobileManipulatorDemo diff --git a/sim/Gem/Source/SpawnServiceUtils.cpp b/sim/Gem/Source/SpawnServiceUtils.cpp new file mode 100644 index 0000000..a36843e --- /dev/null +++ b/sim/Gem/Source/SpawnServiceUtils.cpp @@ -0,0 +1,57 @@ +// NOTE: this file is a slightly modified copy of SimulationInterfaces/Code/Source/Services/SpawnServiceUtils.cpp + +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "SpawnServiceUtils.h" +#include +#include + +namespace MobileManipulatorDemo::SpawnServiceUtils +{ + bool ValidateEntityName(AZStd::string_view entityName) + { + static const AZStd::regex entityRegex{ + R"(^[a-zA-Z0-9_]+$)" + }; // Entity names can only contain alphanumeric characters and underscores + return AZStd::regex_match(entityName.begin(), entityName.end(), entityRegex); + } + + bool ValidateNamespaceName(AZStd::string_view namespaceName) + { + static const AZStd::regex namespaceRegex{ + R"(^[a-zA-Z0-9_/]+$)" + }; // Namespace names can only contain alphanumeric characters and forward slashes + return AZStd::regex_match(namespaceName.begin(), namespaceName.end(), namespaceRegex); + } + + AZ::Outcome ValidateTransformNormalized( + const AZ::Transform& transform, float quaternionTolerance, float maxTranslation) + { + // Check rotation quaternion is normalised. + const float quaternionLength = transform.GetRotation().GetLength(); + if (!AZ::IsClose(quaternionLength, 1.0f, quaternionTolerance)) + { + return AZ::Failure("Invalid pose orientation quaternion: length is not close to 1.0."); + } + + // Check translation components are finite and within range. + const AZ::Vector3 translation = transform.GetTranslation(); + if (!translation.IsFinite()) + { + return AZ::Failure("Invalid pose translation: one or more components are NaN or infinite."); + } + const float absMax = translation.GetAbs().GetMaxElement(); + if (absMax > maxTranslation) + { + return AZ::Failure("Invalid pose translation: exceeds the maximum allowed."); + } + + return AZ::Success(); + } +} // namespace MobileManipulatorDemo::SpawnServiceUtils diff --git a/sim/Gem/Source/SpawnServiceUtils.h b/sim/Gem/Source/SpawnServiceUtils.h new file mode 100644 index 0000000..4045df2 --- /dev/null +++ b/sim/Gem/Source/SpawnServiceUtils.h @@ -0,0 +1,30 @@ +// NOTE: this file is a slightly modified copy of SimulationInterfaces/Code/Source/Services/SpawnServiceUtils.h + +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include +#include + +namespace MobileManipulatorDemo::SpawnServiceUtils +{ + bool ValidateEntityName(AZStd::string_view entityName); + bool ValidateNamespaceName(AZStd::string_view namespaceName); + + //! Validates that the transform has a normalised rotation quaternion and a finite, in-range translation. + //! @param transform Transform to validate. + //! @param quaternionTolerance Tolerance on |quaternion| - 1.0f. Defaults to 1e-3f. + //! @param maxTranslation Maximum allowed absolute value per axis in metres. Defaults to 1e7f (~10 000 km). + //! @return Success when valid, Failure with a descriptive error message when not. + AZ::Outcome ValidateTransformNormalized( + const AZ::Transform& transform, float quaternionTolerance = 1e-3f, float maxTranslation = 1e7f); +} // namespace MobileManipulatorDemo::SpawnServiceUtils diff --git a/sim/Gem/gem.json b/sim/Gem/gem.json index 6e4b639..d5b667a 100644 --- a/sim/Gem/gem.json +++ b/sim/Gem/gem.json @@ -1,29 +1,20 @@ { - "gem_name": "MobileManipulatorDemo", - "version": "1.0.0", - "display_name": "MobileManipulatorDemo", - "license": "What license MobileManipulatorDemo uses goes here: i.e. Apache-2.0 or MIT", - "license_url": "Link to the license web site goes here: i.e. https://opensource.org/licenses/Apache-2.0 Or https://opensource.org/licenses/MIT", - "origin": "The name of the originator goes here. i.e. XYZ Inc.", - "origin_url": "The primary repo for MobileManipulatorDemo goes here: i.e. http://www.mydomain.com", - "type": "", - "summary": "A short description of MobileManipulatorDemo.", - "canonical_tags": [ - "Gem" - ], - "user_tags": [ - "MobileManipulatorDemo" - ], - "platforms": [ - "${Platforms}" - ], - "icon_path": "preview.png", - "requirements": "", - "documentation_url": "", - "dependencies": [ - ], - "compatible_engines": [ - ], - "engine_api_dependencies":[ - ] + "gem_name": "MobileManipulatorDemo", + "version": "1.0.0", + "display_name": "MobileManipulatorDemo", + "license": "What license MobileManipulatorDemo uses goes here: i.e. Apache-2.0 or MIT", + "license_url": "Link to the license web site goes here: i.e. https://opensource.org/licenses/Apache-2.0 Or https://opensource.org/licenses/MIT", + "origin": "The name of the originator goes here. i.e. XYZ Inc.", + "origin_url": "The primary repo for MobileManipulatorDemo goes here: i.e. http://www.mydomain.com", + "type": "", + "summary": "A short description of MobileManipulatorDemo.", + "canonical_tags": ["Gem"], + "user_tags": ["MobileManipulatorDemo"], + "platforms": ["${Platforms}"], + "icon_path": "preview.png", + "requirements": "", + "documentation_url": "", + "dependencies": ["SimulationInterfaces", "ROS2>=4.1.0"], + "compatible_engines": [], + "engine_api_dependencies": [] } diff --git a/sim/Gem/mobilemanipulatordemo_files.cmake b/sim/Gem/mobilemanipulatordemo_files.cmake index d835836..63d86a3 100644 --- a/sim/Gem/mobilemanipulatordemo_files.cmake +++ b/sim/Gem/mobilemanipulatordemo_files.cmake @@ -4,4 +4,9 @@ set(FILES Include/MobileManipulatorDemo/MobileManipulatorDemoTypeIds.h Source/MobileManipulatorDemoSystemComponent.cpp Source/MobileManipulatorDemoSystemComponent.h + + Source/SpawnEntityServiceHandler.cpp + Source/SpawnEntityServiceHandler.h + Source/SpawnServiceUtils.cpp + Source/SpawnServiceUtils.h ) diff --git a/sim/Registry/ros2.setreg b/sim/Registry/ros2.setreg index 0e03799..7670f4b 100644 --- a/sim/Registry/ros2.setreg +++ b/sim/Registry/ros2.setreg @@ -21,6 +21,10 @@ "Camera": { "AllowPipelineModification": true + }, + "HandlersNames": + { + "SpawnEntity": "" } } } From f55a5ca1be67a026c490a668724a92104f870b23 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Mon, 8 Jun 2026 01:20:22 +0200 Subject: [PATCH 24/69] Fix service handler registration in editor MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- pixi.toml | 4 +++ .../MobileManipulatorDemoSystemComponent.cpp | 36 +++++++++++++++---- .../MobileManipulatorDemoSystemComponent.h | 6 +++- sim/Gem/Source/SpawnEntityServiceHandler.cpp | 1 - 4 files changed, 38 insertions(+), 9 deletions(-) diff --git a/pixi.toml b/pixi.toml index bfdb64f..edcb3c8 100644 --- a/pixi.toml +++ b/pixi.toml @@ -211,3 +211,7 @@ description = "Run all linters and formatters" [tasks.test] cmd = "uv run pytest" description = "Run test suite" + +[tasks.editor] +cmd = "$DEMO_ROOT/sim/build/linux/bin/profile/Editor" +description = "Launch O3DE editor" diff --git a/sim/Gem/Source/MobileManipulatorDemoSystemComponent.cpp b/sim/Gem/Source/MobileManipulatorDemoSystemComponent.cpp index 89befb2..0fd82a5 100644 --- a/sim/Gem/Source/MobileManipulatorDemoSystemComponent.cpp +++ b/sim/Gem/Source/MobileManipulatorDemoSystemComponent.cpp @@ -43,6 +43,17 @@ namespace MobileManipulatorDemo } MobileManipulatorDemoSystemComponent::MobileManipulatorDemoSystemComponent() + : m_nodeHandler([this] (std::shared_ptr node) + { + if (node) + { + TryRegisterSpawnServiceHandler(); + } + else + { + DestroyHandlers(); + } + }) { if (MobileManipulatorDemoInterface::Get() == nullptr) { @@ -62,28 +73,39 @@ namespace MobileManipulatorDemo { } - void MobileManipulatorDemoSystemComponent::Activate() + void MobileManipulatorDemoSystemComponent::TryRegisterSpawnServiceHandler() { - MobileManipulatorDemoRequestBus::Handler::BusConnect(); - auto ros2Node = ROS2::ROS2Interface::Get()->GetNode(); if (!ros2Node) { - AZ_Trace("MobileManipulatorDemo", "ROS 2 node is not available."); return; } RegisterInterface(ros2Node); } - void MobileManipulatorDemoSystemComponent::Deactivate() + void MobileManipulatorDemoSystemComponent::DestroyHandlers() { - MobileManipulatorDemoRequestBus::Handler::BusDisconnect(); - for (auto& [handlerType, handler] : m_availableRos2Interface) { handler.reset(); } m_availableRos2Interface.clear(); } + + void MobileManipulatorDemoSystemComponent::Activate() + { + MobileManipulatorDemoRequestBus::Handler::BusConnect(); + + ROS2::ROS2Interface::Get()->ConnectOnNodeChanged(m_nodeHandler); + TryRegisterSpawnServiceHandler(); + } + + void MobileManipulatorDemoSystemComponent::Deactivate() + { + MobileManipulatorDemoRequestBus::Handler::BusDisconnect(); + + m_nodeHandler.Disconnect(); + DestroyHandlers(); + } } diff --git a/sim/Gem/Source/MobileManipulatorDemoSystemComponent.h b/sim/Gem/Source/MobileManipulatorDemoSystemComponent.h index 819637d..73b2530 100644 --- a/sim/Gem/Source/MobileManipulatorDemoSystemComponent.h +++ b/sim/Gem/Source/MobileManipulatorDemoSystemComponent.h @@ -5,8 +5,8 @@ #include -#include "AzCore/Debug/Trace.h" #include "ROS2/Handlers/IROS2HandlerBase.h" +#include "ROS2/ROS2Bus.h" #include namespace MobileManipulatorDemo @@ -54,5 +54,9 @@ namespace MobileManipulatorDemo } handler.reset(); }; + ROS2::ROS2Requests::NodeChangedEvent::Handler m_nodeHandler; + + void TryRegisterSpawnServiceHandler(); + void DestroyHandlers(); }; } diff --git a/sim/Gem/Source/SpawnEntityServiceHandler.cpp b/sim/Gem/Source/SpawnEntityServiceHandler.cpp index 9ae9217..55ceecf 100644 --- a/sim/Gem/Source/SpawnEntityServiceHandler.cpp +++ b/sim/Gem/Source/SpawnEntityServiceHandler.cpp @@ -90,7 +90,6 @@ namespace MobileManipulatorDemo AZStd::optional SpawnEntityServiceHandler::HandleServiceRequest( const std::shared_ptr header, const Request& request) { - AZ_Printf("MobileManipulatorDemo", "Hello world!!! SpawnEntityServiceHandler"); const AZStd::string_view name{ request.name.c_str(), request.name.size() }; #if SIMULATION_INTERFACES_MAJOR_API_VERSION >= 2 const AZStd::string_view uri{ request.entity_resource.uri.c_str(), request.entity_resource.uri.size() }; From 9693f88f08a6fabf7fcb3fa8aed9e85863074927 Mon Sep 17 00:00:00 2001 From: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> Date: Mon, 8 Jun 2026 11:03:50 +0200 Subject: [PATCH 25/69] feat: add pixi task runner to replace manual setup (#23) * refactor: pixi * fix: inference * fix: multithreaded llama build * fix: reranker model name * feat: smoke test colors * chore: update links * docs: update * docs: update * docs: update fix: run ros2 stack * feat: demo.sh * feat: single command demo run * docs: update --- .gitignore | 1 + config.toml | 7 -- docs/running.md | 100 ++++------------ docs/running_hil_sim_hmi.md | 89 +++++--------- docs/setup_hil.md | 78 ++++++------- docs/setup_sim.md | 114 +++++------------- docs/setup_single_machine.md | 161 ++++++++----------------- pixi.lock | 74 ++++++++++++ pixi.toml | 220 +++++++++++++++++++++++++++++++++++ pixi_activate.sh | 16 +++ pyproject.toml | 3 + rai_app/README.md | 18 +-- scripts/demo.sh | 167 ++++++++++++++++++++++++++ scripts/demo_stop.sh | 4 + scripts/download_models.sh | 41 +++++++ scripts/run_ros2_stack.sh | 1 + scripts/serve_all.sh | 28 +++++ scripts/smoke_test.sh | 43 +++++++ 18 files changed, 774 insertions(+), 391 deletions(-) create mode 100644 pixi.lock create mode 100644 pixi.toml create mode 100644 pixi_activate.sh create mode 100755 scripts/demo.sh create mode 100755 scripts/demo_stop.sh create mode 100755 scripts/download_models.sh create mode 100755 scripts/serve_all.sh create mode 100755 scripts/smoke_test.sh diff --git a/.gitignore b/.gitignore index b11e0ff..d0dfe25 100644 --- a/.gitignore +++ b/.gitignore @@ -19,3 +19,4 @@ safety_violations.json imgui.ini anomaly_images/ package_condition_images/ +models/ diff --git a/config.toml b/config.toml index 7b38fb5..86990a8 100644 --- a/config.toml +++ b/config.toml @@ -42,10 +42,3 @@ embeddings_base_url = "http://localhost:8082/v1" # NOTE: The reranker and the embedding model are two separate models! reranker_base_url = "http://localhost:8083/v1/reranking" -# INFO: -# Start the EMBEDDING model in llama.cpp using the following command: -# ./llama-server -m /home/user/llamas/gguf/custom_ggufs/Qwen3-Embedding-0.6b_Q8_0.gguf --embedding --pooling last -c 4096 -b 2048 -ub 2048 --port 8082 - -# INFO: -# Start the RERANKER model in llama.cpp using the following command: -# ./llama-server -m /home/user/llamas/gguf/custom_ggufs/Qwen3-Reranker-0.6B_BF16.gguf --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083 diff --git a/docs/running.md b/docs/running.md index 93db30a..404bf42 100644 --- a/docs/running.md +++ b/docs/running.md @@ -1,110 +1,60 @@ # Running the Demo -## O3DE - -To run the O3DE, run the following command: +## Run all at once ```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -${DEMO_ROOT}/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher +pixi run demo ``` -## ROS 2 +## Run separately -To run the ROS 2 stack and control agents, execute: +### O3DE ```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -./scripts/run_ros2_stack.sh +pixi run sim ``` -## HMI - -To run the HMI, execute: +### ROS 2 ```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -ros2 launch mobile_manipulator_hmi hmi_launch.py +pixi run ros2 ``` -# Inference - -To run the inference, execute: +### HMI ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -hf +pixi run hmi ``` -For example, use the following commands to start each of the models. Note that the extra arguments -are required for a stable operation of the Demo: +### Local inference (llama.cpp) -- GPT-OSS-20B +Models default to `$DEMO_ROOT/models/`. Override with env vars if your models are elsewhere. ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/unsloth_gpt-oss-20b-GGUF_gpt-oss-20b-Q4_K_M.gguf --no-prefill-assistant --port 8080 -``` +# GPT-OSS-20B — port 8080 +pixi run serve-llm -- LFM2-VL-3B-GGUF - -```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/LFM2-VL-3B_public/LFM2-VL-3B-Q8_0.gguf --mmproj /path/to/downloaded/model/mmproj-LFM2-VL-3B-Q8_0.gguf --port 8081 -``` +# LFM2-VL-3B — port 8081 +pixi run serve-vlm -- Qwen3-Embedding-0.6b +# Qwen3-Embedding-0.6b — port 8082 +pixi run serve-embedding -```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/Qwen3-Embedding-0.6b_Q8_0.gguf --embedding --pooling last -c 4096 -b 2048 -ub 2048 --port 8082 +# Qwen3-Reranker-0.6B — port 8083 +pixi run serve-reranker ``` -- Qwen3-Reranker-0.6B +To use a custom path: ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/Qwen3-Reranker-0.6B.gguf --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083 -``` - -## Agent - -For instructions, see: [Agent setup and inference](../rai_app/README.md) - -## Local Runtime Components - -These commands run the same components locally that are defined in `docker/compose.yaml`. -Each command assumes you have sourced your ROS 2 environment: - -```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -``` - -### Configuration Files - -- Local inference (default): `${DEMO_ROOT}/config.toml` - -### Individual ROS 2 Components - -Use these commands when you want to run components separately instead of `./scripts/run_ros2_stack.sh`: - -```shell -ros2 launch robotec_kairos_ur10 robotec_launch.py -ros2 run mobile_manipulator_hmi utilization_node -uv run python rai_app/agents/nav2_agent.py -uv run python rai_app/agents/moveit2_agent.py -uv run python rai_app/environment/scene_agent.py -ros2 run nav2_lifecycle_manager nav_lifecycle_node -uv run python rai_app/agents/inspection_agent.py -${DEMO_ROOT}/scripts/start_safety_agent.sh +LLM_MODEL=/path/to/gpt-oss-20b-Q4_K_M.gguf pixi run serve-llm +VLM_MODEL=/path/to/LFM2-VL-3B-Q8_0.gguf VLM_MMPROJ=/path/to/mmproj.gguf pixi run serve-vlm +EMBEDDING_MODEL=/path/to/embedding.gguf pixi run serve-embedding +RERANKER_MODEL=/path/to/reranker.gguf pixi run serve-reranker ``` ### Agent Orchestrator ```shell -uv run python rai_app/agents/agent_orchestrator.py -``` - -### Safety Embeddings and Reranker (optional) - -These services are only required if you run the safety agent with RAG. See `docs/safety_agent_with_rag.md`. - -```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m --embedding --pooling last --port 8082 --host 0.0.0.0 -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m --embedding --pooling rank -fa on --port 8083 --host 0.0.0.0 +pixi run orchestrator ``` diff --git a/docs/running_hil_sim_hmi.md b/docs/running_hil_sim_hmi.md index c494dfa..a2cff27 100644 --- a/docs/running_hil_sim_hmi.md +++ b/docs/running_hil_sim_hmi.md @@ -1,105 +1,70 @@ # Running a Demo on HIL, Simulation, and HMI -## Simulation +All commands use `pixi run` — the ROS 2 workspace is sourced automatically. + +## Simulation Machine ### O3DE ```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -${DEMO_ROOT}/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher +pixi run sim ``` -## HIL +## HIL Machine ### ROS 2 -To run the ROS 2 stack and control agents, execute: - ```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -./scripts/run_ros2_stack.sh +pixi run ros2 ``` ### Inference -To run the inference, execute: - ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -hf +pixi run serve-llm # GPT-OSS-20B → port 8080 +pixi run serve-vlm # LFM2-VL-3B → port 8081 +pixi run serve-embedding # Qwen3-Embedding → port 8082 +pixi run serve-reranker # Qwen3-Reranker → port 8083 ``` -e.g. - -```` -* GPT-OSS-20B -```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/unsloth_gpt-oss-20b-GGUF_gpt-oss-20b-Q4_K_M.gguf --port 8080 -```` - -- LFM2-VL-3B-GGUF +Models default to `$DEMO_ROOT/models/`. Override with env vars if your models are elsewhere: ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/LFM2-VL-3B_public/LFM2-VL-3B-Q8_0.gguf --mmproj /path/to/downloaded/model/mmproj-LFM2-VL-3B-Q8_0.gguf --port 8081 +LLM_MODEL=/path/to/model.gguf pixi run serve-llm +VLM_MODEL=/path/to/vlm.gguf VLM_MMPROJ=/path/to/mmproj.gguf pixi run serve-vlm ``` -- Qwen3-Embedding-0.6b +### Agent Orchestrator ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/Qwen3-Embedding-0.6b_Q8_0.gguf --embedding --pooling last -c 4096 -b 2048 -ub 2048 --port 8082 +pixi run orchestrator ``` -- Qwen3-Reranker-0.6B +## HMI Machine ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m /path/to/downloaded/model/Qwen3-Reranker-0.6B.gguf --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083 +pixi run hmi ``` -## HMI - -### Running the GUI - -```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -ros2 launch mobile_manipulator_hmi hmi_launch.py -``` - -## Local Runtime Components - -These commands run the same components locally that are defined in `docker/compose.yaml`. -Each command assumes you have sourced your ROS 2 environment: - -```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -``` - -### Configuration Files - -- Local inference (default): `${DEMO_ROOT}/config.toml` +--- ## Individual ROS 2 Components -Use these commands when you want to run components separately instead of `./scripts/run_ros2_stack.sh`: +Use these when you want to run components separately instead of `pixi run ros2`: ```shell -ros2 launch robotec_kairos_ur10 robotec_launch.py -ros2 run mobile_manipulator_hmi utilization_node -uv run python rai_app/agents/nav2_agent.py -uv run python rai_app/agents/moveit2_agent.py -uv run python rai_app/environment/scene_agent.py -ros2 run nav2_lifecycle_manager nav_lifecycle_node -uv run python rai_app/agents/inspection_agent.py -${DEMO_ROOT}/scripts/start_safety_agent.sh +pixi run nav2-agent +pixi run moveit2-agent +pixi run scene-agent +pixi run inspection-agent +pixi run safety-agent ``` -Start the orchestrator: - -For instructions, see: [Agent setup and inference](../rai_app/README.md) - ## Safety Embeddings and Reranker (optional) -These services are only required if you run the safety agent with RAG. See `docs/safety_agent_with_rag.md`. +These are only required when running the safety agent with RAG. See `docs/safety_agent_with_rag.md`. ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m --embedding --pooling last --port 8082 --host 0.0.0.0 -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-server -m --embedding --pooling rank -fa on --port 8083 --host 0.0.0.0 +pixi run serve-embedding +pixi run serve-reranker ``` diff --git a/docs/setup_hil.md b/docs/setup_hil.md index 12682a2..a355a6c 100644 --- a/docs/setup_hil.md +++ b/docs/setup_hil.md @@ -3,7 +3,7 @@ This repository is compatible with the following system: - System: Ubuntu 24.04 -- ROS 2: Jazzy with development tools installed [link](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional) +- ROS 2: Jazzy with development tools installed [link](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Real-Time-Kernel-Tuning-Guide.html) - Python: 3.12 ## Building the Project @@ -13,52 +13,52 @@ This repository is compatible with the following system: #### Clone the Repository ```shell -cd /home/${USER} git clone git@github.com:RobotecAI/agentic-mobile-manipulator.git +cd agentic-mobile-manipulator ``` -#### Set the Root Directory of the Project +#### Install System Dependencies -Set the root directory of the project to `$DEMO_ROOT` and `$O3DE_ROOT`, e.g., by adding the following line to your `.bashrc` or `.zshrc` file: - -```shell -export DEMO_ROOT=/home/${USER}/agentic-mobile-manipulator/ +```bash +sudo apt update +sudo apt install git git-lfs python3-vcstool ``` -### Setup ROS 2 +> [!NOTE] +> ROS 2 Jazzy with dev tools (including `colcon`, `rosdep`) must also be installed. +> See the [ROS 2 installation guide](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional). -#### Build the ROS 2 Workspace - -```shell -cd ${DEMO_ROOT}/ros2_ws -rosdep update -rosdep install --ignore-src --from-paths src -y -colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -``` +#### Install pixi -Source the installation in your `.bashrc` or `.zshrc` file: +[pixi](https://pixi.sh) orchestrates all build steps and sets environment variables automatically. ```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash +curl -fsSL https://pixi.sh/install.sh | sh ``` -### Setup Python Environment +Restart your shell or run `source ~/.bashrc` after installation. + +--- -1. Install uv +### Build ```shell -curl -LsSf https://astral.sh/uv/install.sh | sh +pixi run setup-hil ``` -2. Install dependencies +This runs: -```shell -uv sync -``` +| Step | pixi task | What it does | +| ---- | --------------- | --------------------------------------- | +| 1 | `clone-ros2-ws` | `vcs import` for ROS 2 workspace | +| 2 | `build-ros2` | `rosdep install` + `colcon build` | +| 3 | `sync` | `uv sync` — install Python dependencies | -## Setting Up llama.cpp +--- -llama.cpp is used as the default GenAI inference engine. Other inference engines can be used if they maintain compatibility with the OpenAI API. +## Setting Up llama.cpp (optional) + +llama.cpp is used as the default local GenAI inference engine. Skip this section if using a cloud API. ### Prerequisites @@ -72,25 +72,19 @@ vulkaninfo ### Build llama.cpp -> [!TIP] -> In this example, Vulkan is used as the backend. Choose the appropriate backend based on your setup. For more information, see the [llama.cpp documentation](https://github.com/ggml-org/llama.cpp/blob/master/docs/build.md). - -```shell -cd ${DEMO_ROOT} -vcs import --input ${DEMO_ROOT}/inference.repos -``` - ```shell -cd ${DEMO_ROOT}/inference/llama.cpp - -cmake -B build -DGGML_VULKAN=1 -cmake --build build --config Release +pixi run build-llama ``` -### Download Model +This clones llama.cpp and builds it with Vulkan backend. -For every configured model in `config.toml`, download and run the model using the following command: +Or, to run the full HIL setup including llama.cpp in one command: ```shell -${DEMO_ROOT}/inference/llama.cpp/build/bin/llama-cli -hf +pixi run setup-hil-local ``` + +### Download Models + +For every model configured in `config.toml`, download the GGUF file and place it in `$DEMO_ROOT/models/`. +See [Download Models](setup_single_machine.md#download-models) for links. diff --git a/docs/setup_sim.md b/docs/setup_sim.md index 72a429a..cb064c9 100644 --- a/docs/setup_sim.md +++ b/docs/setup_sim.md @@ -13,113 +13,61 @@ This repository is compatible with the following system: #### Clone the Repository ```shell -cd /home/${USER} git clone git@github.com:RobotecAI/agentic-mobile-manipulator.git +cd agentic-mobile-manipulator ``` -#### Set the Root Directory of the Project - -Set the root directory of the project to `$DEMO_ROOT` and `$O3DE_ROOT`, e.g., by adding the following lines to your `.bashrc` or `.zshrc` file: - -```shell -export DEMO_ROOT=/home/${USER}/agentic-mobile-manipulator/ -export O3DE_ROOT=${DEMO_ROOT}engine/o3de -``` - -#### Install Base Dependencies +#### Install System Dependencies ```bash sudo apt update -sudo apt install git git-lfs ninja-build -``` - -#### Clone Repositories - -```shell -cd ${DEMO_ROOT} -vcs import --input ${DEMO_ROOT}/engine.repos -vcs import --input ${DEMO_ROOT}/gems.repos -vcs import --input ${DEMO_ROOT}/ros2_ws.repos -``` - -### Setup O3DE - -Install [packages required to build O3DE:](https://www.docs.o3de.org/docs/welcome-guide/requirements/#linux) - -```shell -sudo apt install cmake libstdc++-12-dev clang libglu1-mesa-dev libxcb-randr0-dev libxcb-xinerama0 libxcb-xinput0 libxcb-xinput-dev libxcb-xfixes0-dev libxcb-xkb-dev libxkbcommon-dev libxkbcommon-x11-dev libfontconfig1-dev libpcre2-16-0 zlib1g-dev mesa-common-dev libunwind-dev libzstd-dev tix -``` - -Register the O3DE engine: - -```shell -cd ${O3DE_ROOT} -git lfs install -git lfs pull -python/get_python.sh -${O3DE_ROOT}/scripts/o3de.sh register --this-engine +sudo apt install git git-lfs python3-vcstool ninja-build \ + cmake libstdc++-12-dev clang \ + libglu1-mesa-dev libxcb-randr0-dev libxcb-xinerama0 libxcb-xinput0 \ + libxcb-xinput-dev libxcb-xfixes0-dev libxcb-xkb-dev libxkbcommon-dev \ + libxkbcommon-x11-dev libfontconfig1-dev libpcre2-16-0 zlib1g-dev \ + mesa-common-dev libunwind-dev libzstd-dev tix ``` -#### Setup o3de-extras - -```shell -cd ${DEMO_ROOT}/gems -git lfs install -git lfs pull -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/o3de-extras/Gems -``` +> [!NOTE] +> ROS 2 Jazzy with dev tools (including `colcon`, `rosdep`) must also be installed. +> See the [ROS 2 installation guide](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional). -#### Non-canonical Gems +#### Install pixi -These are gems that are open source but not maintained by O3DE. +[pixi](https://pixi.sh) orchestrates all build steps and sets environment variables automatically. ```shell -cd ${DEMO_ROOT}/gems -${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-humanworker-gem -${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-ur-robots-gem -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-warehouse-assets -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-generic-assets -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-o3de-tools -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/project_gems/ - +curl -fsSL https://pixi.sh/install.sh | sh ``` -#### Register Project +Restart your shell or run `source ~/.bashrc` after installation. -```shell -${O3DE_ROOT}/scripts/o3de.sh register --project-path ${DEMO_ROOT}/sim -``` - -### Setup ROS 2 +--- -#### Build the ROS 2 Workspace +### Build Everything ```shell -cd ${DEMO_ROOT}/ros2_ws -rosdep update -rosdep install --ignore-src --from-paths src -y -colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select simulation_interfaces +pixi run setup ``` -Source the installation in your `.bashrc` or `.zshrc` file: +This single command runs the full build pipeline in the correct order: -```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -``` +| Step | pixi task | What it does | +| ---- | --------------- | ----------------------------------------------------- | +| 1 | `clone-engine` | `vcs import` for O3DE engine and gems | +| 2 | `clone-ros2-ws` | `vcs import` for ROS 2 workspace | +| 3 | `setup-o3de` | git-lfs pull + O3DE engine registration | +| 4 | `register-gems` | Register all O3DE gems and the simulation project | +| 5 | `build-ros2` | `rosdep install` + `colcon build` | +| 6 | `build-o3de` | CMake configure + Ninja build (Editor + GameLauncher) | +| 7 | `sync` | `uv sync` — install Python dependencies | -### Build O3DE Editor and GameLauncher +> [!NOTE] > `build-o3de` takes 30–60 minutes on first run. -```shell -cd ${DEMO_ROOT}/sim -cmake -B build/linux -G "Ninja Multi-Config" \ - -DLY_DISABLE_TEST_MODULES=ON \ - -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ - -DLY_STRIP_DEBUG_SYMBOLS=ON \ - -DCMAKE_LINKER_TYPE=MOLD -cmake --build build/linux --config profile --target MobileManipulatorDemo Editor MobileManipulatorDemo.Assets MobileManipulatorDemo.GameLauncher -``` +--- -### Export project to binary file +### Export Project to Binary ```shell sudo apt install python3-resolvelib python3-puremagic diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index 85abec3..604e65c 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -15,150 +15,78 @@ This repository is compatible with the following system: ```shell cd /home/${USER} git clone git@github.com:RobotecAI/agentic-mobile-manipulator.git +cd agentic-mobile-manipulator ``` -#### Set the Root Directory of the Project +#### Install System Dependencies -Set the root directory of the project to `$DEMO_ROOT` and `$O3DE_ROOT`, e.g., by adding the following lines to your `.bashrc` or `.zshrc` file: - -```shell -export DEMO_ROOT=/home/${USER}/agentic-mobile-manipulator -export O3DE_ROOT=${DEMO_ROOT}/engine/o3de -``` - -#### Install Base Dependencies +These packages must be installed via `apt` before using pixi: ```bash sudo apt update -sudo apt install git git-lfs ninja-build -``` - -#### Clone Repositories - -```shell -cd ${DEMO_ROOT} -vcs import --input ${DEMO_ROOT}/engine.repos -vcs import --input ${DEMO_ROOT}/gems.repos -vcs import --input ${DEMO_ROOT}/ros2_ws.repos -``` - -### Setup O3DE - -Install [packages required to build O3DE:](https://www.docs.o3de.org/docs/welcome-guide/requirements/#linux) - -```shell -sudo apt install cmake libstdc++-12-dev clang libglu1-mesa-dev libxcb-randr0-dev libxcb-xinerama0 libxcb-xinput0 libxcb-xinput-dev libxcb-xfixes0-dev libxcb-xkb-dev libxkbcommon-dev libxkbcommon-x11-dev libfontconfig1-dev libpcre2-16-0 zlib1g-dev mesa-common-dev libunwind-dev libzstd-dev tix -``` - -Register the O3DE engine: - -```shell -cd ${O3DE_ROOT} -git lfs install -git lfs pull -python/get_python.sh -${O3DE_ROOT}/scripts/o3de.sh register --this-engine -``` - -#### Setup o3de-extras - -```shell -cd ${DEMO_ROOT}/gems -git lfs install -git lfs pull -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/o3de-extras/Gems -``` - -#### Non-canonical Gems - -These are gems that are open source but not maintained by O3DE. - -```shell -cd ${DEMO_ROOT}/gems -${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-humanworker-gem -${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-ur-robots-gem -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-warehouse-assets -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-generic-assets -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-o3de-tools -${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/project_gems/ +sudo apt install git git-lfs python3-vcstool ninja-build \ + cmake libstdc++-12-dev clang \ + libglu1-mesa-dev libxcb-randr0-dev libxcb-xinerama0 libxcb-xinput0 \ + libxcb-xinput-dev libxcb-xfixes0-dev libxcb-xkb-dev libxkbcommon-dev \ + libxkbcommon-x11-dev libfontconfig1-dev libpcre2-16-0 zlib1g-dev \ + mesa-common-dev libunwind-dev libzstd-dev tix ``` -#### Register Project - -```shell -${O3DE_ROOT}/scripts/o3de.sh register --project-path ${DEMO_ROOT}/sim -``` +> [!NOTE] +> ROS 2 Jazzy with dev tools (including `colcon`, `rosdep`) must also be installed. +> See the [ROS 2 installation guide](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional). -### Setup ROS 2 +#### Install pixi -#### Build the ROS 2 Workspace +[pixi](https://pixi.sh) orchestrates all build steps and sets environment variables automatically. ```shell -cd ${DEMO_ROOT}/ros2_ws -rosdep update -rosdep install --ignore-src --from-paths src -y -colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release +curl -fsSL https://pixi.sh/install.sh | sh ``` -Source the installation in your `.bashrc` or `.zshrc` file: +Restart your shell or run `source ~/.bashrc` after installation. -```shell -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -``` +--- -### Build O3DE Editor and GameLauncher +### Build Everything ```shell -cd ${DEMO_ROOT}/sim -cmake -B build/linux -G "Ninja Multi-Config" \ - -DLY_DISABLE_TEST_MODULES=ON \ - -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ - -DLY_STRIP_DEBUG_SYMBOLS=ON \ - -DCMAKE_LINKER_TYPE=MOLD -cmake --build build/linux --config profile --target MobileManipulatorDemo Editor MobileManipulatorDemo.Assets MobileManipulatorDemo.GameLauncher +pixi run setup ``` -### Setup Python Environment +This single command runs the full build pipeline in the correct order: -1. Install uv +| Step | pixi task | What it does | +| ---- | --------------- | ----------------------------------------------------- | +| 1 | `clone` | `vcs import` for engine, gems, and ROS 2 workspace | +| 2 | `setup-o3de` | git-lfs pull + O3DE engine registration | +| 3 | `register-gems` | Register all O3DE gems and the simulation project | +| 4 | `build-ros2` | `rosdep install` + `colcon build` | +| 5 | `build-o3de` | CMake configure + Ninja build (Editor + GameLauncher) | +| 6 | `sync` | `uv sync` — install Python dependencies | -```shell -curl -LsSf https://astral.sh/uv/install.sh | sh -``` +#### Local Inference (optional) -2. Install dependencies +If you want to run models locally via llama.cpp instead of cloud APIs: ```shell -uv sync +pixi run clone-inference +pixi run build-llama # this step is hardware specifc. By default, it builds with Vulkan backend. Check for better solutions for your hardware. +pixi run download-models # or download the models manually, check the links below ``` -### Setting Up llama.cpp (local inference) - -> [!TIP] -> For the demo presented at ROSCon 2025, the Vulkan backend was used. For more information, see the [llama.cpp documentation](https://github.com/ggml-org/llama.cpp/blob/master/docs/build.md). - -```shell -cd ${DEMO_ROOT} -vcs import --input ${DEMO_ROOT}/inference.repos -``` - -```shell -cd ${DEMO_ROOT}/inference/llama.cpp - -cmake -B build -DGGML_VULKAN=1 -cmake --build build --config Release -``` +--- ### Download Models -For every configured model in `config.toml`, download the appropriate GGUF file and run it via `llama-server`. - -For the default setup, download the following models: +For every model configured in `config.toml`, download the GGUF file and place it in `$DEMO_ROOT/models/`: - [GPT-OSS-20B](https://huggingface.co/unsloth/gpt-oss-20b-GGUF/resolve/main/gpt-oss-20b-Q4_K_M.gguf?download=true) -- [LFM2-VL-3B-GGUF](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/LFM2-VL-3B-Q8_0.gguf?download=true) along with [mmproj](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/mmproj-LFM2-VL-3B-Q8_0.gguf?download=true) -- [Qwen3-Embedding-0.6b](https://robotecai-my.sharepoint.com/:u:/g/personal/bartlomiej_boczek_robotec_ai/IQB7tkMkmi34Q6xtTB89N1LxAfod0sMpGT4uTffjo6iW7qc?e=6kLoTi) -- [Qwen3-Reranker-0.6B](https://robotecai-my.sharepoint.com/:u:/g/personal/bartlomiej_boczek_robotec_ai/IQAgWOVPiyS8RZ1QUVVx6N9gAaOGGrvDnk7Qa0IpSbhlp_8?e=P0b1Ak) +- [LFM2-VL-3B-GGUF](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/LFM2-VL-3B-Q8_0.gguf?download=true) + [mmproj](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/mmproj-LFM2-VL-3B-Q8_0.gguf?download=true) +- [Qwen3-Embedding-0.6B](https://huggingface.co/Qwen/Qwen3-Embedding-0.6B-GGUF/resolve/main/Qwen3-Embedding-0.6B-Q8_0.gguf?download=true) +- [Qwen3-Reranker-0.6B](https://huggingface.co/ggml-org/Qwen3-Reranker-0.6B-Q8_0-GGUF/resolve/main/qwen3-reranker-0.6b-q8_0.gguf?download=true) + +--- ## Developer Setup @@ -168,11 +96,14 @@ We use conventional commits to ensure that the commit messages are consistent an ### Pre-commit -We use pre-commit to ensure that the code is formatted and linted before it is committed. +```bash +pixi run pre-commit-install +``` + +To run hooks manually: ```bash -sudo apt install pre-commit -pre-commit install +pixi run lint ``` # Next Steps diff --git a/pixi.lock b/pixi.lock new file mode 100644 index 0000000..6616505 --- /dev/null +++ b/pixi.lock @@ -0,0 +1,74 @@ +version: 6 +environments: + default: + channels: + - url: https://conda.anaconda.org/conda-forge/ + options: + pypi-prerelease-mode: if-necessary-or-explicit + packages: + linux-64: + - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-15.2.0-he0feb66_18.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-15.2.0-he0feb66_18.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_18.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/uv-0.11.7-h0f56927_0.conda +packages: +- conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda + build_number: 20 + sha256: 1dd3fffd892081df9726d7eb7e0dea6198962ba775bd88842135a4ddb4deb3c9 + md5: a9f577daf3de00bca7c3c76c0ecbd1de + depends: + - __glibc >=2.17,<3.0.a0 + - libgomp >=7.5.0 + constrains: + - openmp_impl <0.0a0 + license: BSD-3-Clause + license_family: BSD + size: 28948 + timestamp: 1770939786096 +- conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-15.2.0-he0feb66_18.conda + sha256: faf7d2017b4d718951e3a59d081eb09759152f93038479b768e3d612688f83f5 + md5: 0aa00f03f9e39fb9876085dee11a85d4 + depends: + - __glibc >=2.17,<3.0.a0 + - _openmp_mutex >=4.5 + constrains: + - libgcc-ng ==15.2.0=*_18 + - libgomp 15.2.0 he0feb66_18 + license: GPL-3.0-only WITH GCC-exception-3.1 + license_family: GPL + size: 1041788 + timestamp: 1771378212382 +- conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-15.2.0-he0feb66_18.conda + sha256: 21337ab58e5e0649d869ab168d4e609b033509de22521de1bfed0c031bfc5110 + md5: 239c5e9546c38a1e884d69effcf4c882 + depends: + - __glibc >=2.17,<3.0.a0 + license: GPL-3.0-only WITH GCC-exception-3.1 + license_family: GPL + size: 603262 + timestamp: 1771378117851 +- conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_18.conda + sha256: 78668020064fdaa27e9ab65cd2997e2c837b564ab26ce3bf0e58a2ce1a525c6e + md5: 1b08cd684f34175e4514474793d44bcb + depends: + - __glibc >=2.17,<3.0.a0 + - libgcc 15.2.0 he0feb66_18 + constrains: + - libstdcxx-ng ==15.2.0=*_18 + license: GPL-3.0-only WITH GCC-exception-3.1 + license_family: GPL + size: 5852330 + timestamp: 1771378262446 +- conda: https://conda.anaconda.org/conda-forge/linux-64/uv-0.11.7-h0f56927_0.conda + sha256: 46b01d5a26aa9d0b304b3bd96e5882083254e7688c43687fef2d066bc97c02c5 + md5: c1c843d3c59957d6ab6161a93d89086d + depends: + - libstdcxx >=14 + - libgcc >=14 + - __glibc >=2.17,<3.0.a0 + constrains: + - __glibc >=2.17 + license: Apache-2.0 OR MIT + size: 19287808 + timestamp: 1776299150878 diff --git a/pixi.toml b/pixi.toml new file mode 100644 index 0000000..c115e97 --- /dev/null +++ b/pixi.toml @@ -0,0 +1,220 @@ +[workspace] +name = "agentic-mobile-manipulator" +version = "1.0.0" +description = "Agentic Mobile Manipulator Demo" +channels = ["conda-forge"] +platforms = ["linux-64"] + +# ─── Environment ──────────────────────────────────────────────────────────────── +# DEMO_ROOT and O3DE_ROOT are set automatically — no need to add them to .bashrc. +# pixi_activate.sh sources ROS 2 setup files when available. +[activation] +env = { DEMO_ROOT = "${PIXI_PROJECT_ROOT}", O3DE_ROOT = "${PIXI_PROJECT_ROOT}/engine/o3de" } +scripts = ["pixi_activate.sh"] + +[dependencies] +# uv is the Python package manager used by this project. +# All other build tools (cmake, ninja, clang, colcon, vcs) come from the ROS 2 +# dev-tools apt installation documented in docs/setup_single_machine.md. +uv = ">=0.5" + +# ─── Setup Tasks ──────────────────────────────────────────────────────────────── + +[tasks.clone-engine] +cmd = """ +vcs import --input $DEMO_ROOT/engine.repos && +vcs import --input $DEMO_ROOT/gems.repos +""" +description = "Clone O3DE engine and gems" + +[tasks.clone-ros2-ws] +cmd = "vcs import --input $DEMO_ROOT/ros2_ws.repos" +description = "Clone ROS 2 workspace repositories" + +[tasks.clone] +depends-on = ["clone-engine", "clone-ros2-ws"] +description = "Clone all repositories (engine, gems, and ROS 2 workspace)" + +[tasks.clone-inference] +cmd = "vcs import --input $DEMO_ROOT/inference.repos" +description = "Clone llama.cpp (required for local inference)" + +[tasks.setup-o3de] +cmd = """ +cd $O3DE_ROOT && +git lfs install && git lfs pull && +python/get_python.sh && +$O3DE_ROOT/scripts/o3de.sh register --this-engine +""" +depends-on = ["clone-engine"] +description = "Pull O3DE LFS assets and register the engine" + +[tasks.register-gems] +cmd = """ +cd $DEMO_ROOT/gems && git lfs install && git lfs pull && +$O3DE_ROOT/scripts/o3de.sh register --all-gems-path $DEMO_ROOT/gems/o3de-extras/Gems && +$O3DE_ROOT/scripts/o3de.sh register --gem-path $DEMO_ROOT/gems/o3de-humanworker-gem && +$O3DE_ROOT/scripts/o3de.sh register --gem-path $DEMO_ROOT/gems/o3de-ur-robots-gem && +$O3DE_ROOT/scripts/o3de.sh register --all-gems-path $DEMO_ROOT/gems/robotec-warehouse-assets && +$O3DE_ROOT/scripts/o3de.sh register --all-gems-path $DEMO_ROOT/gems/robotec-generic-assets && +$O3DE_ROOT/scripts/o3de.sh register --all-gems-path $DEMO_ROOT/gems/robotec-o3de-tools && +$O3DE_ROOT/scripts/o3de.sh register --all-gems-path $DEMO_ROOT/project_gems/ && +$O3DE_ROOT/scripts/o3de.sh register --project-path $DEMO_ROOT/sim --force +""" +depends-on = ["setup-o3de"] +description = "Register all O3DE gems and the simulation project" + +[tasks.build-ros2] +cmd = """ +cd $DEMO_ROOT/ros2_ws && +rosdep update && +rosdep install --ignore-src --from-paths src -y && +colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release +""" +depends-on = ["clone-ros2-ws"] +description = "Build the ROS 2 workspace with colcon" + +[tasks.build-o3de] +cmd = """ +cd $DEMO_ROOT/sim && +cmake -B build/linux -G "Ninja Multi-Config" \ + -DCMAKE_MODULE_PATH=$O3DE_ROOT/cmake \ + -DLY_DISABLE_TEST_MODULES=ON \ + -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ + -DLY_STRIP_DEBUG_SYMBOLS=ON \ + -DCMAKE_LINKER_TYPE=MOLD && +cmake --build build/linux --config profile \ + --target MobileManipulatorDemo Editor MobileManipulatorDemo.Assets MobileManipulatorDemo.GameLauncher +""" +depends-on = ["register-gems", "build-ros2"] +description = "Build O3DE Editor and GameLauncher (slow — takes 30–60 min)" + +[tasks.build-llama] +cmd = """ +cd $DEMO_ROOT/inference/llama.cpp && +cmake -B build -DGGML_VULKAN=1 && +cmake --build build --config Release -j $(nproc) +""" +depends-on = ["clone-inference"] +description = "Clone and build llama.cpp with Vulkan backend (standalone, no O3DE/ROS 2 required)" + +[tasks.sync] +cmd = "uv sync" +description = "Install Python dependencies" + +# Full setup: runs all build steps in dependency order. +# Run pixi run setup-local if you also need local llama.cpp inference. +[tasks.setup] +depends-on = ["build-ros2", "build-o3de", "sync"] +description = "Full setup (O3DE + ROS 2 + Python). See also: setup-local." + +[tasks.setup-hil] +depends-on = ["build-ros2", "sync"] +description = "Setup HIL machine (ROS 2 workspace + Python, no O3DE)" + +[tasks.setup-hil-local] +depends-on = ["setup-hil", "build-llama"] +description = "Setup HIL machine including local llama.cpp inference" + +[tasks.setup-local] +depends-on = ["setup", "build-llama"] +description = "Full setup including local llama.cpp inference" + +# ─── Run Tasks ────────────────────────────────────────────────────────────────── +# These tasks assume the workspace has been sourced via pixi_activate.sh. + +[tasks.sim] +cmd = "$DEMO_ROOT/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher -bg_ConnectToAssetProcessor=0" +description = "Launch O3DE simulation" + +[tasks.ros2] +cmd = "$DEMO_ROOT/scripts/run_ros2_stack.sh" +description = "Launch full ROS 2 stack (robot, nav2, moveit2, scene, agents)" + +[tasks.hmi] +cmd = "ros2 launch mobile_manipulator_hmi hmi_launch.py" +description = "Launch the Human-Machine Interface" + +[tasks.orchestrator] +cmd = "uv run python rai_app/agents/agent_orchestrator.py" +description = "Launch the agent orchestrator" + +# Individual agents — use these instead of ros2 when debugging a specific component. +[tasks.nav2-agent] +cmd = "uv run python rai_app/agents/nav2_agent.py" +description = "Launch nav2 agent" + +[tasks.moveit2-agent] +cmd = "uv run python rai_app/agents/moveit2_agent.py" +description = "Launch moveit2 agent" + +[tasks.scene-agent] +cmd = "uv run python rai_app/environment/scene_agent.py" +description = "Launch scene agent" + +[tasks.inspection-agent] +cmd = "uv run python rai_app/agents/inspection_agent.py" +description = "Launch inspection agent" + +[tasks.safety-agent] +cmd = "$DEMO_ROOT/scripts/start_safety_agent.sh" +description = "Launch safety agent (with RAG)" + +# ─── Local Inference ──────────────────────────────────────────────────────────── +# Default model paths assume models are placed in $DEMO_ROOT/models/. +# Override by setting the env var before running, e.g.: +# LLM_MODEL=/path/to/gpt-oss-20b-Q4_K_M.gguf pixi run serve-llm + +[tasks.demo] +cmd = "bash $DEMO_ROOT/scripts/demo.sh" +description = "Start full demo: sim → ros2 → inference → orchestrator (3 tmux sessions)" + +[tasks.demo-stop] +cmd = "bash $DEMO_ROOT/scripts/demo_stop.sh" +description = "Stop all demo tmux sessions" + +[tasks.download-models] +cmd = "bash $DEMO_ROOT/scripts/download_models.sh" +description = "Download models for local inference" + +[tasks.serve-all] +cmd = "bash $DEMO_ROOT/scripts/serve_all.sh" +description = "Launch all inference servers in a tmux session (2x2 grid)" + +[tasks.serve-llm] +cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $LLM_MODEL --no-prefill-assistant --port 8080" +env = { LLM_MODEL = "$DEMO_ROOT/models/gpt-oss-20b-Q4_K_M.gguf" } +description = "Serve GPT-OSS-20B on port 8080 (set LLM_MODEL to override path)" + +[tasks.serve-vlm] +cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $VLM_MODEL --mmproj $VLM_MMPROJ --port 8081" +env = { VLM_MODEL = "$DEMO_ROOT/models/LFM2-VL-3B-Q8_0.gguf", VLM_MMPROJ = "$DEMO_ROOT/models/mmproj-LFM2-VL-3B-Q8_0.gguf" } +description = "Serve LFM2-VL-3B on port 8081 (set VLM_MODEL / VLM_MMPROJ to override paths)" + +[tasks.serve-embedding] +cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $EMBEDDING_MODEL --embedding --pooling last -c 4096 -b 2048 -ub 2048 --port 8082" +env = { EMBEDDING_MODEL = "$DEMO_ROOT/models/Qwen3-Embedding-0.6B-Q8_0.gguf" } +description = "Serve Qwen3-Embedding-0.6b on port 8082" + +[tasks.serve-reranker] +cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $RERANKER_MODEL --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083" +env = { RERANKER_MODEL = "$DEMO_ROOT/models/qwen3-reranker-0.6b-q8_0.gguf" } +description = "Serve Qwen3-Reranker-0.6B on port 8083" + +# ─── Dev Tasks ────────────────────────────────────────────────────────────────── + +[tasks.smoke-test] +cmd = "bash $DEMO_ROOT/scripts/smoke_test.sh" +description = "Check if all LLM inference servers are up" + +[tasks.pre-commit-install] +cmd = "uv run pre-commit install" +description = "Install pre-commit hooks" + +[tasks.lint] +cmd = "uv run pre-commit run --all-files" +description = "Run all linters and formatters" + +[tasks.test] +cmd = "uv run pytest" +description = "Run test suite" diff --git a/pixi_activate.sh b/pixi_activate.sh new file mode 100644 index 0000000..f591386 --- /dev/null +++ b/pixi_activate.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +# Sourced by pixi on environment activation. +# Sets up ROS 2 Jazzy paths so that pixi shell / pixi run tasks have a full +# ROS 2 environment without needing manual `source` calls. + +# Base ROS 2 installation +if [ -f "/opt/ros/jazzy/setup.bash" ]; then + # shellcheck source=/dev/null + source "/opt/ros/jazzy/setup.bash" +fi + +# Project ROS 2 workspace (available after `pixi run build-ros2`) +if [ -f "${DEMO_ROOT}/ros2_ws/install/setup.bash" ]; then + # shellcheck source=/dev/null + source "${DEMO_ROOT}/ros2_ws/install/setup.bash" +fi diff --git a/pyproject.toml b/pyproject.toml index 28786ff..2736211 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -23,6 +23,9 @@ include = ["scripts*", "rai_app*"] requires = ["setuptools>=64", "wheel"] build-backend = "setuptools.build_meta" +[tool.uv.workspace] +exclude = ["inference/*"] + [tool.pytest.ini_options] addopts = "-vv" testpaths = ["tests"] diff --git a/rai_app/README.md b/rai_app/README.md index d9a6cc5..e2b95a5 100644 --- a/rai_app/README.md +++ b/rai_app/README.md @@ -157,22 +157,26 @@ tasks queue topic-> /orchestrator/tasks_queue, std_msgs/msg/String ## Setup and Run -1. Follow the basic setup instructions [here](../docs/setup.md). +1. Follow the setup instructions [here](../docs/setup_single_machine.md). 2. Setup your vendor and model in config [here](../config.toml). If using default openai, remember to set OPENAI_API_KEY env. -3. Launch the simulation. -4. launch the robotic stack +3. Launch the simulation: ```bash -./scripts/run_ros2_stack.sh +pixi run sim ``` -5. Spawn objects in HMI, chosing from different scenarios +4. Launch the robotic stack: + +```bash +pixi run ros2 +``` + +5. Spawn objects in HMI, choosing from different scenarios 6. Run orchestrator: ```bash -source ${DEMO_ROOT}/ros2_ws/install/setup.bash -uv run rai_app/agents/agent_orchestrator.py +pixi run orchestrator ``` 7. Send tasks via HMI diff --git a/scripts/demo.sh b/scripts/demo.sh new file mode 100755 index 0000000..1d565af --- /dev/null +++ b/scripts/demo.sh @@ -0,0 +1,167 @@ +#!/usr/bin/env bash +set -e + +GREEN='\033[0;32m' +YELLOW='\033[1;33m' +RED='\033[0;31m' +CYAN='\033[0;36m' +BOLD='\033[1m' +RESET='\033[0m' + +log() { echo -e " ${GREEN}●${RESET} $*"; } +warn() { echo -e " ${YELLOW}!${RESET} $*"; } +err() { echo -e " ${RED}✗${RESET} $*" >&2; } +ok() { echo -e " ${GREEN}✓${RESET} $*"; } +section() { echo -e "\n${BOLD}${CYAN}$*${RESET}"; } + +# ── Helpers ─────────────────────────────────────────────────────────────────── + +wait_topic() { + local topic="$1" timeout="${2:-120}" elapsed=0 dots="" + echo -ne " ${YELLOW}○${RESET} Waiting for ${topic}" + while ! ros2 topic list 2>/dev/null | grep -q "^${topic}$"; do + sleep 2; elapsed=$((elapsed + 2)); dots="${dots}."; echo -n "." + if [ $elapsed -ge $timeout ]; then + printf " ${RED}✗${RESET}\n" + err "Timed out waiting for ${topic} (${timeout}s)" + return 1 + fi + done + printf "\r ${GREEN}●${RESET} Waiting for ${topic}%s ${GREEN}✓${RESET}\n" "$dots" +} + +check_inference() { + log "Waiting 10s for inference servers to initialize..." + sleep 10 + if bash "$DEMO_ROOT/scripts/smoke_test.sh"; then + return 0 + else + echo "" + warn "Inference servers not healthy. Inspect with: pixi run serve-all" + return 1 + fi +} + +stop_all() { + for s in simulation inference agent; do + tmux kill-session -t "$s" 2>/dev/null || true + done +} + +# ── Guard ───────────────────────────────────────────────────────────────────── + +for s in simulation inference agent; do + if tmux has-session -t "$s" 2>/dev/null; then + warn "Session '$s' already exists." + warn "Run 'pixi run demo-stop' first, or attach with: tmux attach -t $s" + exit 1 + fi +done + +trap 'echo; warn "Interrupted — cleaning up..."; stop_all; exit 1' INT TERM QUIT + +# ── 1. Simulation ───────────────────────────────────────────────────────────── + +section "Starting simulation..." + +tmux new-session -d -s simulation -x 220 -y 50 +tmux rename-window -t simulation:0 "sim+ros2" +tmux split-window -v -t simulation:0.0 + +tmux send-keys -t simulation:0.0 "cd $DEMO_ROOT && pixi run sim" Enter +log "O3DE launched (simulation — top pane)" + +wait_topic "/clock" 120 || { stop_all; exit 1; } + +# ── 2. ROS 2 Stack ──────────────────────────────────────────────────────────── + +section "Starting ROS 2 stack..." + +tmux send-keys -t simulation:0.1 "cd $DEMO_ROOT && pixi run ros2" Enter +log "ROS 2 stack launched (simulation — bottom pane)" + +wait_topic "/joint_states" 60 || { stop_all; exit 1; } + +# ── 3. Inference servers ────────────────────────────────────────────────────── + +section "Starting inference servers..." + +tmux new-session -d -s inference -x 220 -y 50 +tmux rename-window -t inference:0 "models" +tmux split-window -h -t inference:0.0 +tmux split-window -v -t inference:0.0 +tmux split-window -v -t inference:0.2 +tmux select-layout -t inference:0 tiled + +tmux send-keys -t inference:0.0 "cd $DEMO_ROOT && pixi run serve-llm" Enter +tmux send-keys -t inference:0.1 "cd $DEMO_ROOT && pixi run serve-embedding" Enter +tmux send-keys -t inference:0.2 "cd $DEMO_ROOT && pixi run serve-vlm" Enter +tmux send-keys -t inference:0.3 "cd $DEMO_ROOT && pixi run serve-reranker" Enter +log "Inference session created (inference — 2×2 grid)" + +check_inference || { stop_all; exit 1; } + +# ── 4. Orchestrator ─────────────────────────────────────────────────────────── + +section "Starting orchestrator..." + +tmux new-session -d -s agent -x 220 -y 50 +tmux rename-window -t agent:0 "orchestrator" +tmux send-keys -t agent:0 "cd $DEMO_ROOT && pixi run orchestrator" Enter +log "Orchestrator launched (agent)" + +# ── Final health check ──────────────────────────────────────────────────────── + +section "Running health check in 10s..." +sleep 10 + +failed=false + +for s in simulation inference agent; do + if tmux has-session -t "$s" 2>/dev/null; then + ok "Session '$s' is running" + else + err "Session '$s' has exited unexpectedly" + failed=true + fi +done + +for port in 8080 8081 8082 8083; do + code=$(curl -s -o /dev/null -w "%{http_code}" --max-time 2 \ + "http://localhost:$port/health" 2>/dev/null || echo "000") + if [ "$code" = "200" ]; then + ok "Inference port $port — OK" + else + err "Inference port $port — not responding (HTTP $code)" + failed=true + fi +done + +for topic in /clock /joint_states; do + if ros2 topic list 2>/dev/null | grep -q "^${topic}$"; then + ok "Topic ${topic} — OK" + else + err "Topic ${topic} — not found" + failed=true + fi +done + +# ── Result ──────────────────────────────────────────────────────────────────── + +if $failed; then + echo "" + echo -e "${BOLD}${RED}=== Demo failed — stopping all sessions ===${RESET}" + echo "" + stop_all + exit 1 +fi + +echo "" +echo -e "${BOLD}${GREEN}=== Demo running ===${RESET}" +echo "" +echo -e " ${CYAN}tmux attach -t simulation${RESET} — O3DE sim (top) + ROS 2 stack (bottom)" +echo -e " ${CYAN}tmux attach -t inference${RESET} — 4 inference servers (2×2 grid)" +echo -e " ${CYAN}tmux attach -t agent${RESET} — orchestrator" +echo "" +echo -e " Stop everything: ${YELLOW}pixi run demo-stop${RESET}" +echo "" diff --git a/scripts/demo_stop.sh b/scripts/demo_stop.sh new file mode 100755 index 0000000..e1effe8 --- /dev/null +++ b/scripts/demo_stop.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +for s in simulation inference agent; do + tmux kill-session -t "$s" 2>/dev/null && echo " killed '$s'" || true +done diff --git a/scripts/download_models.sh b/scripts/download_models.sh new file mode 100755 index 0000000..256364b --- /dev/null +++ b/scripts/download_models.sh @@ -0,0 +1,41 @@ +#!/usr/bin/env bash +set -e + +MODELS_DIR="${DEMO_ROOT}/models" +mkdir -p "$MODELS_DIR" + +download() { + local name="$1" + local url="$2" + local dest="$3" + if [ -f "$dest" ]; then + echo " [skip] $name — already exists" + else + echo " [download] $name" + wget -q --show-progress -c -O "$dest" "$url" + fi +} + +echo "" +echo "=== Downloading models to $MODELS_DIR ===" +echo "" + +download "GPT-OSS-20B (LLM)" \ + "https://huggingface.co/unsloth/gpt-oss-20b-GGUF/resolve/main/gpt-oss-20b-Q4_K_M.gguf?download=true" \ + "$MODELS_DIR/gpt-oss-20b-Q4_K_M.gguf" + +download "LFM2-VL-3B (VLM)" \ + "https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/LFM2-VL-3B-Q8_0.gguf?download=true" \ + "$MODELS_DIR/LFM2-VL-3B-Q8_0.gguf" + +download "LFM2-VL-3B mmproj" \ + "https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/mmproj-LFM2-VL-3B-Q8_0.gguf?download=true" \ + "$MODELS_DIR/mmproj-LFM2-VL-3B-Q8_0.gguf" + +download "Qwen3-Embedding-0.6B (Embed)" \ + "https://huggingface.co/Qwen/Qwen3-Embedding-0.6B-GGUF/resolve/main/Qwen3-Embedding-0.6B-Q8_0.gguf?download=true" \ + "$MODELS_DIR/Qwen3-Embedding-0.6B-Q8_0.gguf" + +download "Qwen3-Reranker-0.6B (Rerank)" \ + "https://huggingface.co/ggml-org/Qwen3-Reranker-0.6B-Q8_0-GGUF/resolve/main/qwen3-reranker-0.6b-q8_0.gguf?download=true" \ + "$MODELS_DIR/qwen3-reranker-0.6b-q8_0.gguf" diff --git a/scripts/run_ros2_stack.sh b/scripts/run_ros2_stack.sh index 5f20673..b8d66d2 100755 --- a/scripts/run_ros2_stack.sh +++ b/scripts/run_ros2_stack.sh @@ -1,3 +1,4 @@ +#!/usr/bin/env bash ( ros2 launch robotec_kairos_ur10 robotec_launch.py & ros2 run mobile_manipulator_hmi utilization_node & diff --git a/scripts/serve_all.sh b/scripts/serve_all.sh new file mode 100755 index 0000000..d774a65 --- /dev/null +++ b/scripts/serve_all.sh @@ -0,0 +1,28 @@ +#!/usr/bin/env bash +set -e + +SESSION="llm-servers" + +if tmux has-session -t "$SESSION" 2>/dev/null; then + echo "Session '$SESSION' already exists. Attaching..." + tmux attach-session -t "$SESSION" + exit 0 +fi + +tmux new-session -d -s "$SESSION" -x 220 -y 50 + +tmux rename-window -t "$SESSION:0" "inference" + +# 2x2 grid: split into 4 panes +tmux split-window -h -t "$SESSION:0" +tmux split-window -v -t "$SESSION:0.0" +tmux split-window -v -t "$SESSION:0.2" + +tmux send-keys -t "$SESSION:0.0" "pixi run serve-llm" Enter +tmux send-keys -t "$SESSION:0.1" "pixi run serve-embedding" Enter +tmux send-keys -t "$SESSION:0.2" "pixi run serve-vlm" Enter +tmux send-keys -t "$SESSION:0.3" "pixi run serve-reranker" Enter + +tmux select-layout -t "$SESSION:0" tiled + +tmux attach-session -t "$SESSION" diff --git a/scripts/smoke_test.sh b/scripts/smoke_test.sh new file mode 100755 index 0000000..548b2c7 --- /dev/null +++ b/scripts/smoke_test.sh @@ -0,0 +1,43 @@ +#!/usr/bin/env bash + +GREEN='\033[0;32m' +RED='\033[0;31m' +RESET='\033[0m' + +PASS=0 +FAIL=0 + +check() { + local name="$1" + local url="$2" + local http_code + + http_code=$(curl -s -o /dev/null -w "%{http_code}" --max-time 3 "$url" 2>/dev/null) + + if [ "$http_code" = "200" ]; then + echo -e " ${GREEN}[OK] $name ($url)${RESET}" + PASS=$((PASS + 1)) + else + echo -e " ${RED}[FAIL] $name ($url) — HTTP $http_code${RESET}" + FAIL=$((FAIL + 1)) + fi +} + +echo "" +echo "=== LLM Server Health Check ===" +echo "" + +check "LLM (GPT-OSS-20B)" "http://localhost:8080/health" +check "VLM (LFM2-VL-3B)" "http://localhost:8081/health" +check "Embed (Qwen3-Embedding-0.6b)" "http://localhost:8082/health" +check "Rerank (Qwen3-Reranker-0.6B)" "http://localhost:8083/health" + +echo "" +if [ "$FAIL" -eq 0 ]; then + echo -e " ${GREEN}$PASS passed, $FAIL failed${RESET}" +else + echo -e " ${RED}$PASS passed, $FAIL failed${RESET}" +fi +echo "" + +[ "$FAIL" -eq 0 ] From e0960ecc49f8eaee923dd9093a598dfdcf3b73d8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Wed, 10 Jun 2026 16:54:04 +0200 Subject: [PATCH 26/69] Switch to O3DE SDK MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- .gitignore | 1 + docs/setup_sim.md | 22 ++++----- docs/setup_single_machine.md | 17 ++++--- engine.repos | 5 -- gems.repos | 4 -- pixi.toml | 49 +++++++++--------- scripts/install_o3de.sh | 55 +++++++++++++++++++++ scripts/register_gems.sh | 63 ++++++++++++++++++++++++ pixi_activate.sh => scripts/setup_env.sh | 12 +++++ sim/project.json | 9 +--- 10 files changed, 174 insertions(+), 63 deletions(-) delete mode 100644 engine.repos create mode 100644 scripts/install_o3de.sh create mode 100644 scripts/register_gems.sh rename pixi_activate.sh => scripts/setup_env.sh (57%) diff --git a/.gitignore b/.gitignore index d0dfe25..cf0fa88 100644 --- a/.gitignore +++ b/.gitignore @@ -20,3 +20,4 @@ imgui.ini anomaly_images/ package_condition_images/ models/ +*.bak0 diff --git a/docs/setup_sim.md b/docs/setup_sim.md index cb064c9..d4c3467 100644 --- a/docs/setup_sim.md +++ b/docs/setup_sim.md @@ -53,17 +53,17 @@ pixi run setup This single command runs the full build pipeline in the correct order: -| Step | pixi task | What it does | -| ---- | --------------- | ----------------------------------------------------- | -| 1 | `clone-engine` | `vcs import` for O3DE engine and gems | -| 2 | `clone-ros2-ws` | `vcs import` for ROS 2 workspace | -| 3 | `setup-o3de` | git-lfs pull + O3DE engine registration | -| 4 | `register-gems` | Register all O3DE gems and the simulation project | -| 5 | `build-ros2` | `rosdep install` + `colcon build` | -| 6 | `build-o3de` | CMake configure + Ninja build (Editor + GameLauncher) | -| 7 | `sync` | `uv sync` — install Python dependencies | - -> [!NOTE] > `build-o3de` takes 30–60 minutes on first run. +| Step | pixi task | What it does | +| ---- | ------------------ | ----------------------------------------------------- | +| 1 | `clone-gems` | `vcs import` for local O3DE gems | +| 2 | `clone-ros2-ws` | `vcs import` for the ROS 2 workspace | +| 3 | `install-o3de` | Install the O3DE engine | +| 4 | `register-gems` | Register O3DE gems | +| 5 | `register-project` | Run `git lfs pull` and register the simulation project | +| 6 | `build-ros2` | `rosdep install` + `colcon build` | +| 7 | `build-sim` | CMake configure + Ninja build (Editor + GameLauncher) | +| 8 | `sync` | `uv sync` — install Python dependencies | + --- diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index 604e65c..64f605d 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -56,14 +56,15 @@ pixi run setup This single command runs the full build pipeline in the correct order: -| Step | pixi task | What it does | -| ---- | --------------- | ----------------------------------------------------- | -| 1 | `clone` | `vcs import` for engine, gems, and ROS 2 workspace | -| 2 | `setup-o3de` | git-lfs pull + O3DE engine registration | -| 3 | `register-gems` | Register all O3DE gems and the simulation project | -| 4 | `build-ros2` | `rosdep install` + `colcon build` | -| 5 | `build-o3de` | CMake configure + Ninja build (Editor + GameLauncher) | -| 6 | `sync` | `uv sync` — install Python dependencies | +| Step | pixi task | What it does | +| ---- | ------------------ | ----------------------------------------------------- | +| 1 | `clone` | `vcs import` for gems and the ROS 2 workspace | +| 2 | `install-o3de` | Install the O3DE engine | +| 3 | `register-gems` | Register O3DE gems | +| 4 | `register-project` | Run `git lfs pull` and register the simulation project | +| 5 | `build-ros2` | `rosdep install` + `colcon build` | +| 6 | `build-sim` | CMake configure + Ninja build (Editor + GameLauncher) | +| 7 | `sync` | `uv sync` — install Python dependencies | #### Local Inference (optional) diff --git a/engine.repos b/engine.repos deleted file mode 100644 index 2b5f3d1..0000000 --- a/engine.repos +++ /dev/null @@ -1,5 +0,0 @@ -repositories: - ./engine/o3de: - type: git - url: https://github.com/o3de/o3de.git - version: 2605.0 diff --git a/gems.repos b/gems.repos index 44dc614..90d9c4b 100644 --- a/gems.repos +++ b/gems.repos @@ -1,8 +1,4 @@ repositories: - ./gems/o3de-extras: - type: git - url: https://github.com/o3de/o3de-extras.git - version: 2605.0 ./gems/o3de-humanworker-gem: type: git url: https://github.com/RobotecAI/o3de-humanworker-gem.git diff --git a/pixi.toml b/pixi.toml index edcb3c8..4130746 100644 --- a/pixi.toml +++ b/pixi.toml @@ -6,11 +6,10 @@ channels = ["conda-forge"] platforms = ["linux-64"] # ─── Environment ──────────────────────────────────────────────────────────────── -# DEMO_ROOT and O3DE_ROOT are set automatically — no need to add them to .bashrc. # pixi_activate.sh sources ROS 2 setup files when available. [activation] -env = { DEMO_ROOT = "${PIXI_PROJECT_ROOT}", O3DE_ROOT = "${PIXI_PROJECT_ROOT}/engine/o3de" } -scripts = ["pixi_activate.sh"] +env = {DEMO_ROOT = "${PIXI_PROJECT_ROOT}"} +scripts = ["scripts/setup_env.sh"] [dependencies] # uv is the Python package manager used by this project. @@ -20,41 +19,37 @@ uv = ">=0.5" # ─── Setup Tasks ──────────────────────────────────────────────────────────────── -[tasks.clone-engine] +[tasks.install-o3de] +cmd = "scripts/install_o3de.sh" + +[tasks.clone-gems] cmd = """ -vcs import --input $DEMO_ROOT/engine.repos && vcs import --input $DEMO_ROOT/gems.repos """ -description = "Clone O3DE engine and gems" +description = "Clone local O3DE gems" [tasks.clone-ros2-ws] cmd = "vcs import --input $DEMO_ROOT/ros2_ws.repos" description = "Clone ROS 2 workspace repositories" [tasks.clone] -depends-on = ["clone-engine", "clone-ros2-ws"] -description = "Clone all repositories (engine, gems, and ROS 2 workspace)" +depends-on = ["clone-gems", "clone-ros2-ws"] +description = "Clone all repositories (gems and ROS 2 workspace)" [tasks.clone-inference] cmd = "vcs import --input $DEMO_ROOT/inference.repos" description = "Clone llama.cpp (required for local inference)" -[tasks.setup-o3de] -cmd = """ -cd $O3DE_ROOT && -git lfs install && git lfs pull && -python/get_python.sh && -$O3DE_ROOT/scripts/o3de.sh register --this-engine -""" -depends-on = ["clone-engine"] -description = "Pull O3DE LFS assets and register the engine" +[tasks.register-gems] +cmd = "scripts/register_gems.sh" +depends-on = ["clone-gems", "install-o3de"] [tasks.register-project] cmd = """ cd $DEMO_ROOT/gems && git lfs install && git lfs pull && -$O3DE_ROOT/scripts/o3de.sh register --project-path $DEMO_ROOT/sim --force +$O3DE_ENGINE_PATH/scripts/o3de.sh register --project-path $DEMO_ROOT/sim --force """ -depends-on = ["setup-o3de"] +depends-on = ["install-o3de"] description = "Register the simulation project" [tasks.build-ros2] @@ -67,7 +62,7 @@ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release depends-on = ["clone-ros2-ws"] description = "Build the ROS 2 workspace with colcon" -[tasks.build-o3de] +[tasks.build-sim] cmd = """ cd $DEMO_ROOT/sim && cmake -B build/linux -G "Ninja Multi-Config" \ @@ -79,8 +74,8 @@ cmake -B build/linux -G "Ninja Multi-Config" \ cmake --build build/linux --config profile \ --target MobileManipulatorDemo Editor MobileManipulatorDemo.Assets MobileManipulatorDemo.GameLauncher """ -depends-on = ["register-project", "build-ros2"] -description = "Build O3DE Editor and GameLauncher (slow — takes 30–60 min)" +depends-on = ["register-gems", "register-project", "build-ros2"] +description = "Build O3DE Editor and GameLauncher" [tasks.build-llama] cmd = """ @@ -98,7 +93,7 @@ description = "Install Python dependencies" # Full setup: runs all build steps in dependency order. # Run pixi run setup-local if you also need local llama.cpp inference. [tasks.setup] -depends-on = ["build-ros2", "build-o3de", "sync"] +depends-on = ["build-ros2", "build-sim", "sync"] description = "Full setup (O3DE + ROS 2 + Python). See also: setup-local." [tasks.setup-hil] @@ -132,6 +127,10 @@ description = "Launch the Human-Machine Interface" cmd = "uv run python rai_app/agents/agent_orchestrator.py" description = "Launch the agent orchestrator" +[tasks.editor] +cmd = "$O3DE_ENGINE_PATH/bin/Linux/profile/Default/Editor" +description = "Launch O3DE editor" + # Individual agents — use these instead of ros2 when debugging a specific component. [tasks.nav2-agent] cmd = "uv run python rai_app/agents/nav2_agent.py" @@ -211,7 +210,3 @@ description = "Run all linters and formatters" [tasks.test] cmd = "uv run pytest" description = "Run test suite" - -[tasks.editor] -cmd = "$DEMO_ROOT/sim/build/linux/bin/profile/Editor" -description = "Launch O3DE editor" diff --git a/scripts/install_o3de.sh b/scripts/install_o3de.sh new file mode 100644 index 0000000..2a034ce --- /dev/null +++ b/scripts/install_o3de.sh @@ -0,0 +1,55 @@ +#!/usr/bin/env bash + +# O3DE SDK .deb download URL. Override with the O3DE_DEB_URL env var. +O3DE_DEB_URL="${O3DE_DEB_URL:-https://o3debinaries.org/main/Latest/Linux/o3de_2605_0.deb}" +O3DE_REQUIRED_VERSION="26.05" + +# ── Step 1: Install the .deb package ──────────────────────────────────────── + +# Check whether the required version is already installed. There may be +# multiple versions under /opt/O3DE/; only a directory whose name contains +# the required version string (e.g. "26.05") satisfies the check. +if ls -d /opt/O3DE/*/ &>/dev/null && \ + ls -d /opt/O3DE/*/ | grep -q "$O3DE_REQUIRED_VERSION"; then + echo "O3DE SDK $O3DE_REQUIRED_VERSION already installed: $(ls -d /opt/O3DE/*/ | grep "$O3DE_REQUIRED_VERSION")" +else + if ls -d /opt/O3DE/*/ &>/dev/null; then + echo "O3DE SDK found but version $O3DE_REQUIRED_VERSION is required. Installed: $(ls -d /opt/O3DE/*/)" + fi + echo "Downloading O3DE SDK from: $O3DE_DEB_URL" + TMP_DEB=$(mktemp --suffix=.deb) + trap 'rm -f "$TMP_DEB"' EXIT + + curl -fsSL -o "$TMP_DEB" "$O3DE_DEB_URL" + chmod 644 "$TMP_DEB" + + echo "Installing O3DE SDK (requires sudo)..." + sudo apt-get install -y "$TMP_DEB" + + echo "O3DE SDK installed: $(ls -d /opt/O3DE/*/)" +fi + +O3DE_ENGINE=$(ls -d /opt/O3DE/*/ | grep "$O3DE_REQUIRED_VERSION" | head -1 | sed 's:/$::') + +# ── Step 2: Bootstrap O3DE's bundled Python ───────────────────────────────── +# The .deb does not ship Python; get_python.sh downloads it and creates a +# venv. Needed before o3de.sh (which is a Python wrapper) can run. + +if [[ -d "$HOME/.o3de/Python/packages" ]]; then + echo "O3DE Python already bootstrapped." +else + echo "Bootstrapping O3DE Python..." + "$O3DE_ENGINE/python/get_python.sh" +fi + +# ── Step 3: Register the engine ───────────────────────────────────────────── +# Makes the SDK discoverable by cmake and o3de.sh project commands. + +if grep -q "$O3DE_ENGINE" ~/.o3de/o3de_manifest.json 2>/dev/null; then + echo "O3DE engine already registered." +else + echo "Registering O3DE engine..." + "$O3DE_ENGINE/scripts/o3de.sh" register --this-engine +fi + +echo "O3DE SDK ready: $O3DE_ENGINE" diff --git a/scripts/register_gems.sh b/scripts/register_gems.sh new file mode 100644 index 0000000..ef75d86 --- /dev/null +++ b/scripts/register_gems.sh @@ -0,0 +1,63 @@ +#!/usr/bin/env bash +# Downloads released gems from the O3DE gem catalogue and registers local +# submodule gems with the O3DE engine. +# Requires O3DE_ENGINE_PATH to be set (done automatically by pixi activation). +# Run after fetch-deps: pixi run register-gems + +set -euo pipefail + +SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +PROJECT_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)" +DEPS_DIR="$PROJECT_ROOT/deps" +O3DE_CLI="$O3DE_ENGINE_PATH/scripts/o3de.sh" + +if [[ ! -f "$O3DE_CLI" ]]; then + echo "ERROR: O3DE CLI not found at $O3DE_CLI" + echo " Make sure O3DE is installed and O3DE_ENGINE_PATH is set correctly." + exit 1 +fi + +# ── Step 1: Register the gem repo ─────────────────────────────────────────── +# Required so that `o3de download` can resolve gem names to download URLs. + +O3DE_REPO_URI="https://canonical.o3de.org" +if grep -q "$O3DE_REPO_URI" ~/.o3de/o3de_manifest.json 2>/dev/null; then + echo "O3DE gem repo already registered." +else + echo "Registering O3DE gem repo: $O3DE_REPO_URI" + "$O3DE_CLI" register --repo-uri "$O3DE_REPO_URI" +fi + +# ── Step 2: Download released gems from the gem catalogue ─────────────────── + +RELEASED_GEMS=( + "ROS2==4.2.0" + "ROS2Sensors==1.0.1" + "ROS2Controllers==1.1.0" + "LevelGeoreferencing==1.0.0" + "ROS2SampleRobots==1.2.0" + "SimulationInterfaces==2.2.0" + "WarehouseAssets==2.0.4" +) + +echo "=== Downloading O3DE Gems ===" +for gem in "${RELEASED_GEMS[@]}"; do + echo " Downloading: $gem" + "$O3DE_CLI" download --gem-name "$gem" -f +done + +# ── Step 3: Register local submodule gems ─────────────────────────────────── + +register_gem() { + local gem_path="$1" + if [[ ! -d "$gem_path" ]]; then + echo "ERROR: Gem directory not found: $gem_path" + echo " Run 'pixi run fetch-deps' first." + exit 1 + fi + echo " Registering: $gem_path" + "$O3DE_CLI" register --gem-path "$gem_path" +} + +echo "" +echo "=== All gems downloaded and registered successfully ===" diff --git a/pixi_activate.sh b/scripts/setup_env.sh similarity index 57% rename from pixi_activate.sh rename to scripts/setup_env.sh index daee763..50932f9 100644 --- a/pixi_activate.sh +++ b/scripts/setup_env.sh @@ -3,6 +3,18 @@ # Sets up ROS 2 Jazzy paths so that pixi shell / pixi run tasks have a full # ROS 2 environment without needing manual `source` calls. +# O3DE SDK path — resolved in order: +# 1. Caller-set env var (native dev workflow) +# 2. /etc/o3de-engine-path written by the container build (actual install path) +# 3. Hardcoded fallback for a typical native install +if [[ -z "$O3DE_ENGINE_PATH" ]]; then + if [[ -f /etc/o3de-engine-path ]]; then + export O3DE_ENGINE_PATH=$(cat /etc/o3de-engine-path) + else + export O3DE_ENGINE_PATH=/opt/O3DE/26.05 + fi +fi + # Base ROS 2 installation if [ -f "/opt/ros/jazzy/local_setup.sh" ]; then # shellcheck source=/dev/null diff --git a/sim/project.json b/sim/project.json index 3afe5b5..ddb651a 100644 --- a/sim/project.json +++ b/sim/project.json @@ -13,16 +13,9 @@ "MobileManipulatorDemo" ], "icon_path": "preview.png", - "engine": "o3de", + "engine": "o3de-sdk", "external_subdirectories": [ "Gem", - "../gems/o3de-extras/Gems/LevelGeoreferencing", - "../gems/o3de-extras/Gems/ROS2", - "../gems/o3de-extras/Gems/ROS2Controllers", - "../gems/o3de-extras/Gems/ROS2SampleRobots", - "../gems/o3de-extras/Gems/ROS2Sensors", - "../gems/o3de-extras/Gems/SimulationInterfaces", - "../gems/o3de-extras/Gems/WarehouseAssets", "../gems/o3de-humanworker-gem", "../gems/o3de-ur-robots-gem", "../gems/robotec-o3de-tools/Gems/RobotecSpectatorCamera", From d2c39e20e5cdbd272379892232d8b12b624e331f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Wed, 10 Jun 2026 18:21:18 +0200 Subject: [PATCH 27/69] Update docker to pixi MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- docker/Dockerfile.agents | 21 +++++------- docker/Dockerfile.o3de | 74 +++++++++++++++++++--------------------- docker/Dockerfile.ros2 | 36 +++++++++++-------- docker/compose.yaml | 20 +++++++++-- 4 files changed, 82 insertions(+), 69 deletions(-) diff --git a/docker/Dockerfile.agents b/docker/Dockerfile.agents index 7697668..452c63b 100644 --- a/docker/Dockerfile.agents +++ b/docker/Dockerfile.agents @@ -4,16 +4,13 @@ FROM ${ROS2_IMAGE} WORKDIR /root/MobileManipulatorDemo ENV DEMO_ROOT=/root/MobileManipulatorDemo -# install uv -RUN curl -LsSf https://astral.sh/uv/install.sh | sh -ENV PATH="/root/.local/bin:$PATH" +COPY pixi.toml pixi.lock ./ +COPY pyproject.toml uv.lock ./ +COPY rai_app/ rai_app/ +COPY scripts/ scripts/ +COPY tests/ tests/ +COPY regulations_db/ regulations_db/ +COPY monitoring/ monitoring/ +COPY config.toml ./ -COPY pyproject.toml ${DEMO_ROOT} -COPY rai_app/ ${DEMO_ROOT}/rai_app/ -COPY scripts/ ${DEMO_ROOT}/scripts/ -COPY tests/ ${DEMO_ROOT}/tests/ -COPY regulations_db/ ${DEMO_ROOT}/regulations_db/ -COPY monitoring/ ${DEMO_ROOT}/monitoring/ -COPY config.toml ${DEMO_ROOT} - -RUN uv sync +RUN pixi run sync diff --git a/docker/Dockerfile.o3de b/docker/Dockerfile.o3de index e2ebf14..482c1f2 100644 --- a/docker/Dockerfile.o3de +++ b/docker/Dockerfile.o3de @@ -1,48 +1,44 @@ ARG ROS2_IMAGE=mobile-manipulator-demo-ros2:latest FROM ${ROS2_IMAGE} -WORKDIR /root/MobileManipulatorDemo -ENV DEMO_ROOT=/root/MobileManipulatorDemo -ENV O3DE_ROOT=${DEMO_ROOT}/engine/o3de - -# Install O3DE dependencies -# Note: git, git-lfs, ninja-build, ros-dev-tools are inherited from base image -RUN apt update && apt install -y cmake libstdc++-12-dev clang libglu1-mesa-dev libxcb-randr0-dev libxcb-xinerama0 libxcb-xinput0 libxcb-xinput-dev libxcb-xfixes0-dev libxcb-xkb-dev libxkbcommon-dev libxkbcommon-x11-dev libfontconfig1-dev libpcre2-16-0 zlib1g-dev mesa-common-dev libunwind-dev libzstd-dev tix - -# Copying .git to enable git lfs pull in gems directory -COPY .git ${DEMO_ROOT}/.git -COPY sim ${DEMO_ROOT}/sim -COPY engine.repos ${DEMO_ROOT}/ -COPY gems.repos ${DEMO_ROOT}/ -COPY project_gems ${DEMO_ROOT}/project_gems - -# ---- O3DE ---- # -RUN vcs import --input ${DEMO_ROOT}/engine.repos -RUN vcs import --input ${DEMO_ROOT}/gems.repos +# Install O3DE build dependencies and the 26.05 SDK +# Note: git, git-lfs, ninja-build, ros-dev-tools, pixi are inherited from base image +RUN apt update && apt install -y \ + cmake \ + libstdc++-12-dev \ + clang \ + libglu1-mesa-dev \ + libxcb-randr0-dev \ + libxcb-xinerama0 \ + libxcb-xinput0 \ + libxcb-xinput-dev \ + libxcb-xfixes0-dev \ + libxcb-xkb-dev \ + libxkbcommon-dev \ + libxkbcommon-x11-dev \ + libfontconfig1-dev \ + libpcre2-16-0 \ + zlib1g-dev \ + mesa-common-dev \ + libunwind-dev \ + libzstd-dev \ + tix \ + wget \ + libxcb-keysyms1-dev \ + && apt clean && rm -rf /var/lib/apt/lists/* -WORKDIR ${O3DE_ROOT} -RUN git lfs install -RUN git lfs pull -RUN python/get_python.sh -RUN ${O3DE_ROOT}/scripts/o3de.sh register --this-engine - -WORKDIR ${DEMO_ROOT}/gems -RUN git lfs install --force -RUN git lfs pull +WORKDIR /root/MobileManipulatorDemo -# ---- Build O3DE ---- # +# Refresh pixi task definitions so cmake flags, SDK path, etc. are current +COPY pixi.toml pixi.lock gems.repos ros2_ws.repos ./ +COPY scripts/ scripts/ -WORKDIR ${DEMO_ROOT}/sim -RUN . ${DEMO_ROOT}/ros2_ws/install/setup.sh && cmake -B build/linux -G "Ninja Multi-Config" \ - -DLY_DISABLE_TEST_MODULES=ON \ - -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ - -DLY_STRIP_DEBUG_SYMBOLS=ON \ - -DCMAKE_LINKER_TYPE=MOLD -RUN . ${DEMO_ROOT}/ros2_ws/install/setup.sh && cmake --build build/linux --config profile --target MobileManipulatorDemo Editor MobileManipulatorDemo.Assets MobileManipulatorDemo.GameLauncher +# .git is required for gems LFS pull inside register-project +COPY .git .git/ +COPY project_gems/ project_gems/ +COPY sim/ sim/ -# clear up apt cache -RUN apt clean -RUN rm -rf /var/lib/apt/lists/* +RUN pixi run build-sim -WORKDIR ${DEMO_ROOT} +WORKDIR /root/MobileManipulatorDemo CMD ["bash"] diff --git a/docker/Dockerfile.ros2 b/docker/Dockerfile.ros2 index fa21e64..a3fa6f6 100644 --- a/docker/Dockerfile.ros2 +++ b/docker/Dockerfile.ros2 @@ -1,23 +1,29 @@ FROM ros:jazzy-ros-core +RUN apt update && apt install -y --no-install-recommends \ + curl \ + python3-vcstool \ + git \ + git-lfs \ + ninja-build \ + ros-dev-tools \ + lsb-release \ + wget \ + gnupg + +RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg +RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null +RUN apt update +RUN apt install -y libgz-math7-dev + +RUN curl -fsSL https://pixi.sh/install.sh | PIXI_HOME=/usr/local bash + WORKDIR /root/MobileManipulatorDemo ENV DEMO_ROOT=/root/MobileManipulatorDemo -RUN apt update && apt install -y python3-vcstool git git-lfs ninja-build ros-dev-tools -RUN rosdep init -COPY ros2_ws.repos ${DEMO_ROOT} -COPY ros2_ws/src ${DEMO_ROOT}/ros2_ws/src +COPY pixi.toml pixi.lock ros2_ws.repos ./ +COPY scripts/ scripts/ -WORKDIR ${DEMO_ROOT} -RUN vcs import --input ${DEMO_ROOT}/ros2_ws.repos +RUN rosdep init && pixi run build-ros2 -WORKDIR ${DEMO_ROOT}/ros2_ws -RUN rosdep update -RUN rosdep install --ignore-src --from-paths src -y -RUN . /opt/ros/${ROS_DISTRO}/setup.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release RUN echo "source ${DEMO_ROOT}/ros2_ws/install/setup.bash" >> ~/.bashrc - -RUN apt clean -RUN rm -rf /var/lib/apt/lists/* - -WORKDIR ${DEMO_ROOT} diff --git a/docker/compose.yaml b/docker/compose.yaml index f2a2b2b..d380d32 100644 --- a/docker/compose.yaml +++ b/docker/compose.yaml @@ -1,6 +1,11 @@ services: sim: image: robotecai/mobile-manipulator-demo-o3de:latest + build: + context: .. + dockerfile: docker/Dockerfile.o3de + args: + ROS2_IMAGE: mobile-manipulator-demo-ros2:latest environment: - DISPLAY=${DISPLAY} - QT_X11_NO_MITSHM=1 @@ -16,8 +21,17 @@ services: networks: - ros2_bridge + ros2: + image: mobile-manipulator-demo-ros2:latest + build: + context: .. + dockerfile: docker/Dockerfile.ros2 + stack: &stack image: robotecai/mobile-manipulator-demo-agents:latest + build: + context: .. + dockerfile: docker/Dockerfile.agents environment: - DISPLAY=${DISPLAY} - QT_X11_NO_MITSHM=1 @@ -29,7 +43,7 @@ services: volumes: - /tmp/.X11-unix:/tmp/.X11-unix - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - - ../config.toml:/root/MobileManipulatorDemo/config.toml + - ../config.toml:/root/MobileManipulatorDemo/config.toml networks: - ros2_bridge @@ -48,7 +62,7 @@ services: nav2_agent: <<: *stack command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/nav2_agent.py" - + moveit2_agent: <<: *stack command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/moveit2_agent.py" @@ -79,7 +93,7 @@ services: - /dev/kfd:/dev/kfd - /dev/dri:/dev/dri volumes: - - ../cloud_config.toml:/root/MobileManipulatorDemo/config.toml + - ../cloud_config.toml:/root/MobileManipulatorDemo/config.toml entrypoint: /ros_entrypoint.sh command: bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/agent_orchestrator.py" From 447298884aed707649b720a9a0ab6ed2dbe85370 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Thu, 11 Jun 2026 15:38:14 +0200 Subject: [PATCH 28/69] Use simulation_interfaces version from jazzy MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- rai_app/environment/scene_manager.py | 2 +- ros2_ws.repos | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/rai_app/environment/scene_manager.py b/rai_app/environment/scene_manager.py index 2db670a..e7c5dda 100644 --- a/rai_app/environment/scene_manager.py +++ b/rai_app/environment/scene_manager.py @@ -235,7 +235,7 @@ def spawn_object( req = SpawnEntity.Request() req.name = name - req.entity_resource.uri = self.spawnable_to_uri[object_name] + req.uri = self.spawnable_to_uri[object_name] req.initial_pose.header.frame_id = frame req.initial_pose.pose.position.x = pose.position.x req.initial_pose.pose.position.y = pose.position.y diff --git a/ros2_ws.repos b/ros2_ws.repos index 1261a21..a4ad6b3 100644 --- a/ros2_ws.repos +++ b/ros2_ws.repos @@ -18,7 +18,7 @@ repositories: ros2_ws/src/packages/simulation_interfaces: type: git url: https://github.com/ros-simulation/simulation_interfaces.git - version: 2.1.0 + version: 1.5.1 ros2_ws/src/packages/rai_interfaces: type: git url: https://github.com/RobotecAI/rai_interfaces.git From 96ddd8e337457d16b107ddcdf7f16871329a3ae2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Thu, 11 Jun 2026 15:44:21 +0200 Subject: [PATCH 29/69] Revert format change MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- sim/Gem/gem.json | 47 +++++++++++++++++++++++++++++------------------ 1 file changed, 29 insertions(+), 18 deletions(-) diff --git a/sim/Gem/gem.json b/sim/Gem/gem.json index d5b667a..82b5220 100644 --- a/sim/Gem/gem.json +++ b/sim/Gem/gem.json @@ -1,20 +1,31 @@ { - "gem_name": "MobileManipulatorDemo", - "version": "1.0.0", - "display_name": "MobileManipulatorDemo", - "license": "What license MobileManipulatorDemo uses goes here: i.e. Apache-2.0 or MIT", - "license_url": "Link to the license web site goes here: i.e. https://opensource.org/licenses/Apache-2.0 Or https://opensource.org/licenses/MIT", - "origin": "The name of the originator goes here. i.e. XYZ Inc.", - "origin_url": "The primary repo for MobileManipulatorDemo goes here: i.e. http://www.mydomain.com", - "type": "", - "summary": "A short description of MobileManipulatorDemo.", - "canonical_tags": ["Gem"], - "user_tags": ["MobileManipulatorDemo"], - "platforms": ["${Platforms}"], - "icon_path": "preview.png", - "requirements": "", - "documentation_url": "", - "dependencies": ["SimulationInterfaces", "ROS2>=4.1.0"], - "compatible_engines": [], - "engine_api_dependencies": [] + "gem_name": "MobileManipulatorDemo", + "version": "1.0.0", + "display_name": "MobileManipulatorDemo", + "license": "What license MobileManipulatorDemo uses goes here: i.e. Apache-2.0 or MIT", + "license_url": "Link to the license web site goes here: i.e. https://opensource.org/licenses/Apache-2.0 Or https://opensource.org/licenses/MIT", + "origin": "The name of the originator goes here. i.e. XYZ Inc.", + "origin_url": "The primary repo for MobileManipulatorDemo goes here: i.e. http://www.mydomain.com", + "type": "", + "summary": "A short description of MobileManipulatorDemo.", + "canonical_tags": [ + "Gem" + ], + "user_tags": [ + "MobileManipulatorDemo" + ], + "platforms": [ + "${Platforms}" + ], + "icon_path": "preview.png", + "requirements": "", + "documentation_url": "", + "dependencies": [ + "SimulationInterfaces", + "ROS2>=4.1.0" + ], + "compatible_engines": [ + ], + "engine_api_dependencies":[ + ] } From 60e343333a3085e546161967fa20cd990403fb36 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Thu, 11 Jun 2026 15:54:52 +0200 Subject: [PATCH 30/69] Link to ROS2.API instead of ROS2.Static MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- sim/Gem/CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sim/Gem/CMakeLists.txt b/sim/Gem/CMakeLists.txt index 6215ed8..7134219 100644 --- a/sim/Gem/CMakeLists.txt +++ b/sim/Gem/CMakeLists.txt @@ -44,7 +44,7 @@ ly_add_target( AZ::AzGameFramework Gem::Atom_AtomBridge.Static Gem::SimulationInterfaces.API - Gem::ROS2.Static + Gem::ROS2.API ) target_compile_definitions(${gem_name}.Private.Object PUBLIC SIMULATION_INTERFACES_MAJOR_API_VERSION=${SIMULATION_INTERFACES_MAJOR_API_VERSION}) @@ -64,7 +64,7 @@ ly_add_target( Gem::${gem_name}.Private.Object AZ::AzCore Gem::SimulationInterfaces.API - Gem::ROS2.Static + Gem::ROS2.API ) # Include the gem name into the Client Module source file From f2095d4acfebbd747d3ea0bc687ca80323fa1fd6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Thu, 11 Jun 2026 18:02:16 +0200 Subject: [PATCH 31/69] Use requires instead of macro for version handling MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- sim/Gem/CMakeLists.txt | 12 ------------ sim/Gem/Source/SpawnEntityServiceHandler.cpp | 16 +++++++++++----- 2 files changed, 11 insertions(+), 17 deletions(-) diff --git a/sim/Gem/CMakeLists.txt b/sim/Gem/CMakeLists.txt index 7134219..fd8d973 100644 --- a/sim/Gem/CMakeLists.txt +++ b/sim/Gem/CMakeLists.txt @@ -19,15 +19,6 @@ endif() # Note: We include the common files and the platform specific files which are set in mobilemanipulatordemo_files.cmake and # in ${pal_dir}/mobilemanipulatordemo_${PAL_PLATFORM_NAME_LOWERCASE}_files.cmake -find_package(simulation_interfaces REQUIRED) -if(simulation_interfaces_VERSION VERSION_GREATER_EQUAL "2.0.0") - set(SIMULATION_INTERFACES_MAJOR_API_VERSION 2) -elseif(simulation_interfaces_VERSION VERSION_GREATER_EQUAL "1.4.0") - set(SIMULATION_INTERFACES_MAJOR_API_VERSION 1) -else() - message(FATAL_ERROR "simulation_interfaces version ${simulation_interfaces_VERSION} is not supported. Minimum required: 1.4.0") -endif() -message(STATUS "simulation_interfaces ${simulation_interfaces_VERSION} -> SIMULATION_INTERFACES_MAJOR_API_VERSION=${SIMULATION_INTERFACES_MAJOR_API_VERSION}") # The ${gem_name}.Private.Object target is an internal target # It should not be used outside of this CMakeLists.txt ly_add_target( @@ -46,9 +37,6 @@ ly_add_target( Gem::SimulationInterfaces.API Gem::ROS2.API ) -target_compile_definitions(${gem_name}.Private.Object PUBLIC - SIMULATION_INTERFACES_MAJOR_API_VERSION=${SIMULATION_INTERFACES_MAJOR_API_VERSION}) - ly_add_target( NAME ${gem_name} ${PAL_TRAIT_MONOLITHIC_DRIVEN_MODULE_TYPE} diff --git a/sim/Gem/Source/SpawnEntityServiceHandler.cpp b/sim/Gem/Source/SpawnEntityServiceHandler.cpp index 55ceecf..6db24d5 100644 --- a/sim/Gem/Source/SpawnEntityServiceHandler.cpp +++ b/sim/Gem/Source/SpawnEntityServiceHandler.cpp @@ -87,15 +87,21 @@ namespace MobileManipulatorDemo simulation_interfaces::msg::SimulatorFeatures::SPAWNING }); } + template + AZStd::string_view getSpawnRequestUri(const RequestT& request) + { + if constexpr (requires { RequestT::entity_resource; }) { + return { request.entity_resource.uri.c_str(), request.entity_resource.uri.size() }; + } else { + return { request.uri.c_str(), request.uri.size() }; + } + } + AZStd::optional SpawnEntityServiceHandler::HandleServiceRequest( const std::shared_ptr header, const Request& request) { const AZStd::string_view name{ request.name.c_str(), request.name.size() }; -#if SIMULATION_INTERFACES_MAJOR_API_VERSION >= 2 - const AZStd::string_view uri{ request.entity_resource.uri.c_str(), request.entity_resource.uri.size() }; -#else - const AZStd::string_view uri{ request.uri.c_str(), request.uri.size() }; -#endif + const AZStd::string_view uri = getSpawnRequestUri(request); const AZStd::string_view entityNamespace{ request.entity_namespace.c_str(), request.entity_namespace.size() }; const AZStd::string_view messageFrameId{ request.initial_pose.header.frame_id.c_str(), request.initial_pose.header.frame_id.size() }; From b72a9a997b47ae5431858b8c6a32433ccc1d2f36 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Thu, 11 Jun 2026 19:54:58 +0200 Subject: [PATCH 32/69] Fix setup_env.sh MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- scripts/setup_env.sh | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/scripts/setup_env.sh b/scripts/setup_env.sh index 50932f9..d3dd7ce 100644 --- a/scripts/setup_env.sh +++ b/scripts/setup_env.sh @@ -5,14 +5,10 @@ # O3DE SDK path — resolved in order: # 1. Caller-set env var (native dev workflow) -# 2. /etc/o3de-engine-path written by the container build (actual install path) -# 3. Hardcoded fallback for a typical native install +# 2. Discovered from /opt/O3DE/ (set by install_o3de.sh or container build) if [[ -z "$O3DE_ENGINE_PATH" ]]; then - if [[ -f /etc/o3de-engine-path ]]; then - export O3DE_ENGINE_PATH=$(cat /etc/o3de-engine-path) - else - export O3DE_ENGINE_PATH=/opt/O3DE/26.05 - fi + discovered=$(ls -d /opt/O3DE/*/ 2>/dev/null | sort -V | tail -1 | sed 's:/$::') + [[ -n "$discovered" ]] && export O3DE_ENGINE_PATH="$discovered" fi # Base ROS 2 installation From 060e955a21077a590a32ee3855107a372b501a44 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Thu, 11 Jun 2026 20:04:05 +0200 Subject: [PATCH 33/69] Update docs MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- docs/setup_sim.md | 6 +++--- docs/setup_single_machine.md | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/docs/setup_sim.md b/docs/setup_sim.md index d4c3467..8795715 100644 --- a/docs/setup_sim.md +++ b/docs/setup_sim.md @@ -58,10 +58,10 @@ This single command runs the full build pipeline in the correct order: | 1 | `clone-gems` | `vcs import` for local O3DE gems | | 2 | `clone-ros2-ws` | `vcs import` for the ROS 2 workspace | | 3 | `install-o3de` | Install the O3DE engine | -| 4 | `register-gems` | Register O3DE gems | -| 5 | `register-project` | Run `git lfs pull` and register the simulation project | +| 4 | `register-gems` | Register O3DE gems | +| 5 | `register-project` | Run `git lfs pull` and register the simulation project| | 6 | `build-ros2` | `rosdep install` + `colcon build` | -| 7 | `build-sim` | CMake configure + Ninja build (Editor + GameLauncher) | +| 7 | `build-sim` | CMake configure + Ninja build (GameLauncher) | | 8 | `sync` | `uv sync` — install Python dependencies | diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index 64f605d..59fcb41 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -60,10 +60,10 @@ This single command runs the full build pipeline in the correct order: | ---- | ------------------ | ----------------------------------------------------- | | 1 | `clone` | `vcs import` for gems and the ROS 2 workspace | | 2 | `install-o3de` | Install the O3DE engine | -| 3 | `register-gems` | Register O3DE gems | -| 4 | `register-project` | Run `git lfs pull` and register the simulation project | +| 3 | `register-gems` | Register O3DE gems | +| 4 | `register-project` | Run `git lfs pull` and register the simulation project| | 5 | `build-ros2` | `rosdep install` + `colcon build` | -| 6 | `build-sim` | CMake configure + Ninja build (Editor + GameLauncher) | +| 6 | `build-sim` | CMake configure + Ninja build (GameLauncher) | | 7 | `sync` | `uv sync` — install Python dependencies | #### Local Inference (optional) From d31680a84c48f45db7e970caf452b69c738eb8c9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Thu, 11 Jun 2026 20:10:28 +0200 Subject: [PATCH 34/69] Fix includes MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- sim/Gem/Source/MobileManipulatorDemoSystemComponent.h | 4 ++-- sim/Gem/Source/SpawnEntityServiceHandler.cpp | 9 ++++----- 2 files changed, 6 insertions(+), 7 deletions(-) diff --git a/sim/Gem/Source/MobileManipulatorDemoSystemComponent.h b/sim/Gem/Source/MobileManipulatorDemoSystemComponent.h index 73b2530..8551b9d 100644 --- a/sim/Gem/Source/MobileManipulatorDemoSystemComponent.h +++ b/sim/Gem/Source/MobileManipulatorDemoSystemComponent.h @@ -5,8 +5,8 @@ #include -#include "ROS2/Handlers/IROS2HandlerBase.h" -#include "ROS2/ROS2Bus.h" +#include +#include #include namespace MobileManipulatorDemo diff --git a/sim/Gem/Source/SpawnEntityServiceHandler.cpp b/sim/Gem/Source/SpawnEntityServiceHandler.cpp index 6db24d5..9ef8ce4 100644 --- a/sim/Gem/Source/SpawnEntityServiceHandler.cpp +++ b/sim/Gem/Source/SpawnEntityServiceHandler.cpp @@ -9,11 +9,10 @@ */ #include "SpawnEntityServiceHandler.h" -#include "AzCore/Component/ComponentApplicationBus.h" -#include "AzCore/Component/EntityId.h" -#include "AzCore/Component/TransformBus.h" -#include "AzCore/Debug/Trace.h" -#include "SimulationInterfaces/Result.h" +#include +#include +#include +#include #include "SpawnServiceUtils.h" #include #include From b6c85e262181ab1e59beb6b639d8ffe764b0c0a4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Thu, 11 Jun 2026 20:14:48 +0200 Subject: [PATCH 35/69] Add license information to gem.json MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- sim/Gem/gem.json | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/sim/Gem/gem.json b/sim/Gem/gem.json index 82b5220..e68b5f6 100644 --- a/sim/Gem/gem.json +++ b/sim/Gem/gem.json @@ -2,12 +2,12 @@ "gem_name": "MobileManipulatorDemo", "version": "1.0.0", "display_name": "MobileManipulatorDemo", - "license": "What license MobileManipulatorDemo uses goes here: i.e. Apache-2.0 or MIT", - "license_url": "Link to the license web site goes here: i.e. https://opensource.org/licenses/Apache-2.0 Or https://opensource.org/licenses/MIT", - "origin": "The name of the originator goes here. i.e. XYZ Inc.", - "origin_url": "The primary repo for MobileManipulatorDemo goes here: i.e. http://www.mydomain.com", + "license": "Apache-2.0", + "license_url": "https://opensource.org/licenses/Apache-2.0", + "origin": "https://github.com/RobotecAI/MobileManipulatorDemo", + "origin_url": "https://github.com/RobotecAI/MobileManipulatorDemo", "type": "", - "summary": "A short description of MobileManipulatorDemo.", + "summary": "Simulation environment for the Mobile Manipulator Demo.", "canonical_tags": [ "Gem" ], From f140970dce3c1280a4994ca7a2ec0789d2c4eb35 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Wed, 17 Jun 2026 21:57:33 +0200 Subject: [PATCH 36/69] WIP: fix docker MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- docker/Dockerfile.agents | 3 +- docker/Dockerfile.o3de | 4 +- docker/Dockerfile.ros2 | 1 + docker/compose.yaml | 101 +++++++++++++++++++++------------------ 4 files changed, 58 insertions(+), 51 deletions(-) diff --git a/docker/Dockerfile.agents b/docker/Dockerfile.agents index 452c63b..1f02ee8 100644 --- a/docker/Dockerfile.agents +++ b/docker/Dockerfile.agents @@ -1,5 +1,4 @@ -ARG ROS2_IMAGE=robotecai/mobile-manipulator-demo-ros2:latest -FROM ${ROS2_IMAGE} +FROM base_image WORKDIR /root/MobileManipulatorDemo ENV DEMO_ROOT=/root/MobileManipulatorDemo diff --git a/docker/Dockerfile.o3de b/docker/Dockerfile.o3de index 482c1f2..690665f 100644 --- a/docker/Dockerfile.o3de +++ b/docker/Dockerfile.o3de @@ -1,5 +1,4 @@ -ARG ROS2_IMAGE=mobile-manipulator-demo-ros2:latest -FROM ${ROS2_IMAGE} +FROM base_image # Install O3DE build dependencies and the 26.05 SDK # Note: git, git-lfs, ninja-build, ros-dev-tools, pixi are inherited from base image @@ -38,6 +37,7 @@ COPY .git .git/ COPY project_gems/ project_gems/ COPY sim/ sim/ +RUN pixi run install-o3de RUN pixi run build-sim WORKDIR /root/MobileManipulatorDemo diff --git a/docker/Dockerfile.ros2 b/docker/Dockerfile.ros2 index a3fa6f6..bda32e7 100644 --- a/docker/Dockerfile.ros2 +++ b/docker/Dockerfile.ros2 @@ -23,6 +23,7 @@ ENV DEMO_ROOT=/root/MobileManipulatorDemo COPY pixi.toml pixi.lock ros2_ws.repos ./ COPY scripts/ scripts/ +COPY ros2_ws/ ros2_ws/ RUN rosdep init && pixi run build-ros2 diff --git a/docker/compose.yaml b/docker/compose.yaml index d380d32..54a7558 100644 --- a/docker/compose.yaml +++ b/docker/compose.yaml @@ -4,8 +4,8 @@ services: build: context: .. dockerfile: docker/Dockerfile.o3de - args: - ROS2_IMAGE: mobile-manipulator-demo-ros2:latest + additional_contexts: + base_image: service:ros2 environment: - DISPLAY=${DISPLAY} - QT_X11_NO_MITSHM=1 @@ -15,14 +15,13 @@ services: volumes: - /tmp/.X11-unix:/tmp/.X11-unix - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - - ./start_sim.sh:/root/MobileManipulatorDemo/start_sim.sh entrypoint: /ros_entrypoint.sh - command: /root/MobileManipulatorDemo/start_sim.sh + command: pixi run sim networks: - ros2_bridge ros2: - image: mobile-manipulator-demo-ros2:latest + image: robotecai/mobile-manipulator-demo-ros2:latest build: context: .. dockerfile: docker/Dockerfile.ros2 @@ -32,6 +31,8 @@ services: build: context: .. dockerfile: docker/Dockerfile.agents + additional_contexts: + base_image: service:ros2 environment: - DISPLAY=${DISPLAY} - QT_X11_NO_MITSHM=1 @@ -44,47 +45,53 @@ services: - /tmp/.X11-unix:/tmp/.X11-unix - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - ../config.toml:/root/MobileManipulatorDemo/config.toml + command: pixi run ros2 networks: - ros2_bridge - hmi: - <<: *stack - command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 launch mobile_manipulator_hmi hmi_launch.py" + # hmi: + # <<: *stack + # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 launch mobile_manipulator_hmi hmi_launch.py" - kairos: - <<: *stack - command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 launch robotec_kairos_ur10 robotec_launch.py" + # kairos: + # <<: *stack + # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 launch robotec_kairos_ur10 robotec_launch.py" - utilization_node: - <<: *stack - command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 run manipulator_hmi utilization_node" + # utilization_node: + # <<: *stack + # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 run manipulator_hmi utilization_node" - nav2_agent: - <<: *stack - command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/nav2_agent.py" + # nav2_agent: + # <<: *stack + # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/nav2_agent.py" - moveit2_agent: - <<: *stack - command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/moveit2_agent.py" + # moveit2_agent: + # <<: *stack + # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/moveit2_agent.py" - scene_agent: - <<: *stack - command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/environment/scene_agent.py" + # scene_agent: + # <<: *stack + # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/environment/scene_agent.py" - nav_lifecycle_node: - <<: *stack - command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 run nav2_lifecycle_manager nav_lifecycle_node" + # nav_lifecycle_node: + # <<: *stack + # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 run nav2_lifecycle_manager nav_lifecycle_node" - inspection_agent: - <<: *stack - command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/inspection_agent.py" + # inspection_agent: + # <<: *stack + # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/inspection_agent.py" - safety_agent: - <<: *stack - command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && cd /root/MobileManipulatorDemo && ./scripts/start_safety_agent.sh" + # safety_agent: + # <<: *stack + # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && cd /root/MobileManipulatorDemo && ./scripts/start_safety_agent.sh" agents: image: robotecai/mobile-manipulator-demo-agents:latest + build: + context: .. + dockerfile: docker/Dockerfile.agents + additional_contexts: + base_image: service:ros2 environment: - DISPLAY=${DISPLAY} - QT_X11_NO_MITSHM=1 @@ -96,25 +103,25 @@ services: - ../cloud_config.toml:/root/MobileManipulatorDemo/config.toml entrypoint: /ros_entrypoint.sh - command: bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/agent_orchestrator.py" + command: pixi run orchestrator networks: - ros2_bridge - safety-embeddings: - image: robotecai/mobile-manipulator-demo-llama:latest - build: - dockerfile: Dockerfile.llama - command: -m /custom_ggufs/Qwen3-Embedding-0.6b_BF16.gguf --embedding -c 4096 -b 2048 -ub 2048 --pooling last --port 8082 --host 0.0.0.0 - networks: - - ros2_bridge + # safety-embeddings: + # image: robotecai/mobile-manipulator-demo-llama:latest + # build: + # dockerfile: Dockerfile.llama + # command: -m /custom_ggufs/Qwen3-Embedding-0.6b_BF16.gguf --embedding -c 4096 -b 2048 -ub 2048 --pooling last --port 8082 --host 0.0.0.0 + # networks: + # - ros2_bridge - safety-reranker: - image: robotecai/mobile-manipulator-demo-llama:latest - build: - dockerfile: Dockerfile.llama - command: -m /custom_ggufs/Qwen3-Reranker-0.6B_16BF.gguf --embedding --pooling rank -fa on -c 4096 -b 2048 -ub 2048 --port 8083 --host 0.0.0.0 - networks: - - ros2_bridge + # safety-reranker: + # image: robotecai/mobile-manipulator-demo-llama:latest + # build: + # dockerfile: Dockerfile.llama + # command: -m /custom_ggufs/Qwen3-Reranker-0.6B_16BF.gguf --embedding --pooling rank -fa on -c 4096 -b 2048 -ub 2048 --port 8083 --host 0.0.0.0 + # networks: + # - ros2_bridge networks: ros2_bridge: driver: bridge From d0e7ea0f151e469982ef6cb6b22e1d31844b2ac3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Wed, 17 Jun 2026 23:04:34 +0200 Subject: [PATCH 37/69] WIP: fix docker 2 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- docker/Dockerfile.o3de | 1 + docker/compose.yaml | 4 +++- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/docker/Dockerfile.o3de b/docker/Dockerfile.o3de index 690665f..20d14cb 100644 --- a/docker/Dockerfile.o3de +++ b/docker/Dockerfile.o3de @@ -38,6 +38,7 @@ COPY project_gems/ project_gems/ COPY sim/ sim/ RUN pixi run install-o3de +RUN apt install -y git-lfs && git lfs install --force RUN pixi run build-sim WORKDIR /root/MobileManipulatorDemo diff --git a/docker/compose.yaml b/docker/compose.yaml index 54a7558..1c77c63 100644 --- a/docker/compose.yaml +++ b/docker/compose.yaml @@ -16,8 +16,10 @@ services: - /tmp/.X11-unix:/tmp/.X11-unix - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority entrypoint: /ros_entrypoint.sh - command: pixi run sim + command: > + sh -c 'find /root/MobileManipulatorDemo/sim/Cache -type f -exec sh -c '"'"'cat "$@" > /dev/null'"'"' sh {} + && pixi run sim' networks: + - ros2_bridge ros2: From c34908663522dbc1b306cb9fa832d65a561f1dab Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mateusz=20=C5=BBak?= Date: Wed, 24 Jun 2026 14:07:12 +0200 Subject: [PATCH 38/69] style(docs): apply prettier formatting to setup tables (#28) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Align markdown table borders and drop a stray blank line in the setup guides so pre-commit passes clean. No content changes. Signed-off-by: Mateusz Żak --- docs/setup_sim.md | 21 ++++++++++----------- docs/setup_single_machine.md | 18 +++++++++--------- 2 files changed, 19 insertions(+), 20 deletions(-) diff --git a/docs/setup_sim.md b/docs/setup_sim.md index 8795715..208aec7 100644 --- a/docs/setup_sim.md +++ b/docs/setup_sim.md @@ -53,17 +53,16 @@ pixi run setup This single command runs the full build pipeline in the correct order: -| Step | pixi task | What it does | -| ---- | ------------------ | ----------------------------------------------------- | -| 1 | `clone-gems` | `vcs import` for local O3DE gems | -| 2 | `clone-ros2-ws` | `vcs import` for the ROS 2 workspace | -| 3 | `install-o3de` | Install the O3DE engine | -| 4 | `register-gems` | Register O3DE gems | -| 5 | `register-project` | Run `git lfs pull` and register the simulation project| -| 6 | `build-ros2` | `rosdep install` + `colcon build` | -| 7 | `build-sim` | CMake configure + Ninja build (GameLauncher) | -| 8 | `sync` | `uv sync` — install Python dependencies | - +| Step | pixi task | What it does | +| ---- | ------------------ | ------------------------------------------------------ | +| 1 | `clone-gems` | `vcs import` for local O3DE gems | +| 2 | `clone-ros2-ws` | `vcs import` for the ROS 2 workspace | +| 3 | `install-o3de` | Install the O3DE engine | +| 4 | `register-gems` | Register O3DE gems | +| 5 | `register-project` | Run `git lfs pull` and register the simulation project | +| 6 | `build-ros2` | `rosdep install` + `colcon build` | +| 7 | `build-sim` | CMake configure + Ninja build (GameLauncher) | +| 8 | `sync` | `uv sync` — install Python dependencies | --- diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index 59fcb41..03222bd 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -56,15 +56,15 @@ pixi run setup This single command runs the full build pipeline in the correct order: -| Step | pixi task | What it does | -| ---- | ------------------ | ----------------------------------------------------- | -| 1 | `clone` | `vcs import` for gems and the ROS 2 workspace | -| 2 | `install-o3de` | Install the O3DE engine | -| 3 | `register-gems` | Register O3DE gems | -| 4 | `register-project` | Run `git lfs pull` and register the simulation project| -| 5 | `build-ros2` | `rosdep install` + `colcon build` | -| 6 | `build-sim` | CMake configure + Ninja build (GameLauncher) | -| 7 | `sync` | `uv sync` — install Python dependencies | +| Step | pixi task | What it does | +| ---- | ------------------ | ------------------------------------------------------ | +| 1 | `clone` | `vcs import` for gems and the ROS 2 workspace | +| 2 | `install-o3de` | Install the O3DE engine | +| 3 | `register-gems` | Register O3DE gems | +| 4 | `register-project` | Run `git lfs pull` and register the simulation project | +| 5 | `build-ros2` | `rosdep install` + `colcon build` | +| 6 | `build-sim` | CMake configure + Ninja build (GameLauncher) | +| 7 | `sync` | `uv sync` — install Python dependencies | #### Local Inference (optional) From c4a8fba5e0e8df6a890bdc3d88a7355c84be2906 Mon Sep 17 00:00:00 2001 From: Jan Hanca Date: Tue, 23 Jun 2026 13:46:45 +0200 Subject: [PATCH 39/69] Initial changes Signed-off-by: Jan Hanca --- docker/Dockerfile.ros2 | 2 +- docker/compose.yaml | 87 +++++++--- docs/running.md | 18 +-- docs/running_hil_sim_hmi.md | 16 +- docs/setup_hil.md | 17 +- docs/setup_sim.md | 22 +-- docs/setup_single_machine.md | 25 +-- pixi.toml | 303 ++++++++++++++++++++--------------- 8 files changed, 290 insertions(+), 200 deletions(-) diff --git a/docker/Dockerfile.ros2 b/docker/Dockerfile.ros2 index bda32e7..ad709da 100644 --- a/docker/Dockerfile.ros2 +++ b/docker/Dockerfile.ros2 @@ -23,7 +23,7 @@ ENV DEMO_ROOT=/root/MobileManipulatorDemo COPY pixi.toml pixi.lock ros2_ws.repos ./ COPY scripts/ scripts/ -COPY ros2_ws/ ros2_ws/ +COPY ros2_ws/src/ ros2_ws/src/ RUN rosdep init && pixi run build-ros2 diff --git a/docker/compose.yaml b/docker/compose.yaml index 1c77c63..2938085 100644 --- a/docker/compose.yaml +++ b/docker/compose.yaml @@ -1,3 +1,24 @@ +x-ros2-stack: &stack + image: robotecai/mobile-manipulator-demo-agents:latest + build: + context: .. + dockerfile: docker/Dockerfile.agents + additional_contexts: + base_image: service:ros2 + environment: + - DISPLAY=${DISPLAY} + - QT_X11_NO_MITSHM=1 + - OPENAI_API_KEY=${OPENAI_API_KEY} + entrypoint: /ros_entrypoint.sh + devices: + - /dev/kfd:/dev/kfd + - /dev/dri:/dev/dri + volumes: + - /tmp/.X11-unix:/tmp/.X11-unix + - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority + networks: + - ros2_bridge + services: sim: image: robotecai/mobile-manipulator-demo-o3de:latest @@ -19,8 +40,10 @@ services: command: > sh -c 'find /root/MobileManipulatorDemo/sim/Cache -type f -exec sh -c '"'"'cat "$@" > /dev/null'"'"' sh {} + && pixi run sim' networks: - - ros2_bridge + depends_on: + ros2-stack: + condition: service_started ros2: image: robotecai/mobile-manipulator-demo-ros2:latest @@ -28,63 +51,84 @@ services: context: .. dockerfile: docker/Dockerfile.ros2 - stack: &stack - image: robotecai/mobile-manipulator-demo-agents:latest - build: - context: .. - dockerfile: docker/Dockerfile.agents - additional_contexts: - base_image: service:ros2 - environment: - - DISPLAY=${DISPLAY} - - QT_X11_NO_MITSHM=1 - - OPENAI_API_KEY=${OPENAI_API_KEY} - entrypoint: /ros_entrypoint.sh - devices: - - /dev/kfd:/dev/kfd - - /dev/dri:/dev/dri + ros2-stack: + <<: *stack volumes: - /tmp/.X11-unix:/tmp/.X11-unix - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - ../config.toml:/root/MobileManipulatorDemo/config.toml command: pixi run ros2 - networks: - - ros2_bridge # hmi: # <<: *stack + # volumes: + # - /tmp/.X11-unix:/tmp/.X11-unix + # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority + # - ../config.toml:/root/MobileManipulatorDemo/config.toml # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 launch mobile_manipulator_hmi hmi_launch.py" # kairos: # <<: *stack + # volumes: + # - /tmp/.X11-unix:/tmp/.X11-unix + # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority + # - ../config.toml:/root/MobileManipulatorDemo/config.toml # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 launch robotec_kairos_ur10 robotec_launch.py" # utilization_node: # <<: *stack + # volumes: + # - /tmp/.X11-unix:/tmp/.X11-unix + # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority + # - ../config.toml:/root/MobileManipulatorDemo/config.toml # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 run manipulator_hmi utilization_node" # nav2_agent: # <<: *stack + # volumes: + # - /tmp/.X11-unix:/tmp/.X11-unix + # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority + # - ../config.toml:/root/MobileManipulatorDemo/config.toml # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/nav2_agent.py" # moveit2_agent: # <<: *stack + # volumes: + # - /tmp/.X11-unix:/tmp/.X11-unix + # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority + # - ../config.toml:/root/MobileManipulatorDemo/config.toml # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/moveit2_agent.py" # scene_agent: # <<: *stack + # volumes: + # - /tmp/.X11-unix:/tmp/.X11-unix + # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority + # - ../config.toml:/root/MobileManipulatorDemo/config.toml # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/environment/scene_agent.py" # nav_lifecycle_node: # <<: *stack + # volumes: + # - /tmp/.X11-unix:/tmp/.X11-unix + # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority + # - ../config.toml:/root/MobileManipulatorDemo/config.toml # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 run nav2_lifecycle_manager nav_lifecycle_node" # inspection_agent: # <<: *stack + # volumes: + # - /tmp/.X11-unix:/tmp/.X11-unix + # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority + # - ../config.toml:/root/MobileManipulatorDemo/config.toml # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/inspection_agent.py" # safety_agent: # <<: *stack + # volumes: + # - /tmp/.X11-unix:/tmp/.X11-unix + # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority + # - ../config.toml:/root/MobileManipulatorDemo/config.toml # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && cd /root/MobileManipulatorDemo && ./scripts/start_safety_agent.sh" agents: @@ -95,19 +139,19 @@ services: additional_contexts: base_image: service:ros2 environment: - - DISPLAY=${DISPLAY} - - QT_X11_NO_MITSHM=1 - OPENAI_API_KEY=${OPENAI_API_KEY} devices: - /dev/kfd:/dev/kfd - /dev/dri:/dev/dri volumes: - ../cloud_config.toml:/root/MobileManipulatorDemo/config.toml - entrypoint: /ros_entrypoint.sh command: pixi run orchestrator networks: - ros2_bridge + depends_on: + ros2-stack: + condition: service_started # safety-embeddings: # image: robotecai/mobile-manipulator-demo-llama:latest @@ -124,6 +168,7 @@ services: # command: -m /custom_ggufs/Qwen3-Reranker-0.6B_16BF.gguf --embedding --pooling rank -fa on -c 4096 -b 2048 -ub 2048 --port 8083 --host 0.0.0.0 # networks: # - ros2_bridge + networks: ros2_bridge: driver: bridge diff --git a/docs/running.md b/docs/running.md index 404bf42..a76ee2e 100644 --- a/docs/running.md +++ b/docs/running.md @@ -3,7 +3,7 @@ ## Run all at once ```shell -pixi run demo +pixi run -e local demo ``` ## Run separately @@ -32,25 +32,25 @@ Models default to `$DEMO_ROOT/models/`. Override with env vars if your ```shell # GPT-OSS-20B — port 8080 -pixi run serve-llm +pixi run -e local serve-llm # LFM2-VL-3B — port 8081 -pixi run serve-vlm +pixi run -e local serve-vlm # Qwen3-Embedding-0.6b — port 8082 -pixi run serve-embedding +pixi run -e local serve-embedding # Qwen3-Reranker-0.6B — port 8083 -pixi run serve-reranker +pixi run -e local serve-reranker ``` To use a custom path: ```shell -LLM_MODEL=/path/to/gpt-oss-20b-Q4_K_M.gguf pixi run serve-llm -VLM_MODEL=/path/to/LFM2-VL-3B-Q8_0.gguf VLM_MMPROJ=/path/to/mmproj.gguf pixi run serve-vlm -EMBEDDING_MODEL=/path/to/embedding.gguf pixi run serve-embedding -RERANKER_MODEL=/path/to/reranker.gguf pixi run serve-reranker +LLM_MODEL=/path/to/gpt-oss-20b-Q4_K_M.gguf pixi run -e local serve-llm +VLM_MODEL=/path/to/LFM2-VL-3B-Q8_0.gguf VLM_MMPROJ=/path/to/mmproj.gguf pixi run -e local serve-vlm +EMBEDDING_MODEL=/path/to/embedding.gguf pixi run -e local serve-embedding +RERANKER_MODEL=/path/to/reranker.gguf pixi run -e local serve-reranker ``` ### Agent Orchestrator diff --git a/docs/running_hil_sim_hmi.md b/docs/running_hil_sim_hmi.md index a2cff27..7ba78ec 100644 --- a/docs/running_hil_sim_hmi.md +++ b/docs/running_hil_sim_hmi.md @@ -21,17 +21,17 @@ pixi run ros2 ### Inference ```shell -pixi run serve-llm # GPT-OSS-20B → port 8080 -pixi run serve-vlm # LFM2-VL-3B → port 8081 -pixi run serve-embedding # Qwen3-Embedding → port 8082 -pixi run serve-reranker # Qwen3-Reranker → port 8083 +pixi run -e hil-local serve-llm # GPT-OSS-20B → port 8080 +pixi run -e hil-local serve-vlm # LFM2-VL-3B → port 8081 +pixi run -e hil-local serve-embedding # Qwen3-Embedding → port 8082 +pixi run -e hil-local serve-reranker # Qwen3-Reranker → port 8083 ``` Models default to `$DEMO_ROOT/models/`. Override with env vars if your models are elsewhere: ```shell -LLM_MODEL=/path/to/model.gguf pixi run serve-llm -VLM_MODEL=/path/to/vlm.gguf VLM_MMPROJ=/path/to/mmproj.gguf pixi run serve-vlm +LLM_MODEL=/path/to/model.gguf pixi run -e hil-local serve-llm +VLM_MODEL=/path/to/vlm.gguf VLM_MMPROJ=/path/to/mmproj.gguf pixi run -e hil-local serve-vlm ``` ### Agent Orchestrator @@ -65,6 +65,6 @@ pixi run safety-agent These are only required when running the safety agent with RAG. See `docs/safety_agent_with_rag.md`. ```shell -pixi run serve-embedding -pixi run serve-reranker +pixi run -e hil-local serve-embedding +pixi run -e hil-local serve-reranker ``` diff --git a/docs/setup_hil.md b/docs/setup_hil.md index a355a6c..a57aaa7 100644 --- a/docs/setup_hil.md +++ b/docs/setup_hil.md @@ -43,16 +43,17 @@ Restart your shell or run `source ~/.bashrc` after installation. ### Build ```shell -pixi run setup-hil +pixi run -e hil setup ``` This runs: -| Step | pixi task | What it does | -| ---- | --------------- | --------------------------------------- | -| 1 | `clone-ros2-ws` | `vcs import` for ROS 2 workspace | -| 2 | `build-ros2` | `rosdep install` + `colcon build` | -| 3 | `sync` | `uv sync` — install Python dependencies | +| Step | pixi task | What it does | +| ---- | ---------------- | --------------------------------------- | +| 1 | `clone-ros2-ws` | `vcs import` for ROS 2 workspace | +| 2 | `rosdep-update` | `rosdep update` — refresh package index | +| 3 | `build-ros2` | `rosdep install` + `colcon build` | +| 4 | `sync` | `uv sync` — install Python dependencies | --- @@ -73,7 +74,7 @@ vulkaninfo ### Build llama.cpp ```shell -pixi run build-llama +pixi run -e hil-local build-llama ``` This clones llama.cpp and builds it with Vulkan backend. @@ -81,7 +82,7 @@ This clones llama.cpp and builds it with Vulkan backend. Or, to run the full HIL setup including llama.cpp in one command: ```shell -pixi run setup-hil-local +pixi run -e hil-local setup ``` ### Download Models diff --git a/docs/setup_sim.md b/docs/setup_sim.md index 208aec7..cbba52b 100644 --- a/docs/setup_sim.md +++ b/docs/setup_sim.md @@ -53,16 +53,18 @@ pixi run setup This single command runs the full build pipeline in the correct order: -| Step | pixi task | What it does | -| ---- | ------------------ | ------------------------------------------------------ | -| 1 | `clone-gems` | `vcs import` for local O3DE gems | -| 2 | `clone-ros2-ws` | `vcs import` for the ROS 2 workspace | -| 3 | `install-o3de` | Install the O3DE engine | -| 4 | `register-gems` | Register O3DE gems | -| 5 | `register-project` | Run `git lfs pull` and register the simulation project | -| 6 | `build-ros2` | `rosdep install` + `colcon build` | -| 7 | `build-sim` | CMake configure + Ninja build (GameLauncher) | -| 8 | `sync` | `uv sync` — install Python dependencies | +| Step | pixi task | What it does | +| ---- | ------------------ | ----------------------------------------------------- | +| 1 | `clone-gems` | `vcs import` for local O3DE gems | +| 2 | `clone-ros2-ws` | `vcs import` for the ROS 2 workspace | +| 3 | `install-o3de` | Install the O3DE engine | +| 4 | `register-gems` | Register O3DE gems | +| 5 | `register-project` | Run `git lfs pull` and register the simulation project| +| 6 | `rosdep-update` | `rosdep update` — refresh package index | +| 7 | `build-ros2` | `rosdep install` + `colcon build` | +| 8 | `build-sim` | CMake configure + Ninja build (GameLauncher) | +| 9 | `sync` | `uv sync` — install Python dependencies | + --- diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index 03222bd..8f5a1f3 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -56,24 +56,25 @@ pixi run setup This single command runs the full build pipeline in the correct order: -| Step | pixi task | What it does | -| ---- | ------------------ | ------------------------------------------------------ | -| 1 | `clone` | `vcs import` for gems and the ROS 2 workspace | -| 2 | `install-o3de` | Install the O3DE engine | -| 3 | `register-gems` | Register O3DE gems | -| 4 | `register-project` | Run `git lfs pull` and register the simulation project | -| 5 | `build-ros2` | `rosdep install` + `colcon build` | -| 6 | `build-sim` | CMake configure + Ninja build (GameLauncher) | -| 7 | `sync` | `uv sync` — install Python dependencies | +| Step | pixi task | What it does | +| ---- | ------------------ | ----------------------------------------------------- | +| 1 | `clone` | `vcs import` for gems and the ROS 2 workspace | +| 2 | `install-o3de` | Install the O3DE engine | +| 3 | `register-gems` | Register O3DE gems | +| 4 | `register-project` | Run `git lfs pull` and register the simulation project| +| 5 | `rosdep-update` | `rosdep update` — refresh package index | +| 6 | `build-ros2` | `rosdep install` + `colcon build` | +| 7 | `build-sim` | CMake configure + Ninja build (GameLauncher) | +| 8 | `sync` | `uv sync` — install Python dependencies | #### Local Inference (optional) If you want to run models locally via llama.cpp instead of cloud APIs: ```shell -pixi run clone-inference -pixi run build-llama # this step is hardware specifc. By default, it builds with Vulkan backend. Check for better solutions for your hardware. -pixi run download-models # or download the models manually, check the links below +pixi run -e local clone-inference +pixi run -e local build-llama # this step is hardware specific. By default, it builds with Vulkan backend. Check for better solutions for your hardware. +pixi run -e local download-models # or download the models manually, check the links below ``` --- diff --git a/pixi.toml b/pixi.toml index 4130746..7a04026 100644 --- a/pixi.toml +++ b/pixi.toml @@ -5,7 +5,7 @@ description = "Agentic Mobile Manipulator Demo" channels = ["conda-forge"] platforms = ["linux-64"] -# ─── Environment ──────────────────────────────────────────────────────────────── +# ─── Activation ───────────────────────────────────────────────────────────────── # pixi_activate.sh sources ROS 2 setup files when available. [activation] env = {DEMO_ROOT = "${PIXI_PROJECT_ROOT}"} @@ -17,196 +17,237 @@ scripts = ["scripts/setup_env.sh"] # dev-tools apt installation documented in docs/setup_single_machine.md. uv = ">=0.5" -# ─── Setup Tasks ──────────────────────────────────────────────────────────────── +# ─── Workspace tasks (available in every environment) ─────────────────────────── -[tasks.install-o3de] -cmd = "scripts/install_o3de.sh" +[tasks.sync] +cmd = "uv sync" +description = "Install Python dependencies" -[tasks.clone-gems] -cmd = """ -vcs import --input $DEMO_ROOT/gems.repos -""" -description = "Clone local O3DE gems" +[tasks.pre-commit-install] +cmd = "uv run pre-commit install" +depends-on = ["sync"] +description = "Install pre-commit hooks" -[tasks.clone-ros2-ws] -cmd = "vcs import --input $DEMO_ROOT/ros2_ws.repos" -description = "Clone ROS 2 workspace repositories" +[tasks.lint] +cmd = "uv run pre-commit run --all-files" +depends-on = ["sync"] +description = "Run all linters and formatters" -[tasks.clone] -depends-on = ["clone-gems", "clone-ros2-ws"] -description = "Clone all repositories (gems and ROS 2 workspace)" +[tasks.test] +cmd = "uv run pytest" +depends-on = ["sync"] +description = "Run test suite" -[tasks.clone-inference] -cmd = "vcs import --input $DEMO_ROOT/inference.repos" -description = "Clone llama.cpp (required for local inference)" +[tasks.smoke-test] +cmd = "bash scripts/smoke_test.sh" +description = "Check if all LLM inference servers are up" -[tasks.register-gems] -cmd = "scripts/register_gems.sh" -depends-on = ["clone-gems", "install-o3de"] +# ─── Feature: ros2 ────────────────────────────────────────────────────────────── -[tasks.register-project] -cmd = """ -cd $DEMO_ROOT/gems && git lfs install && git lfs pull && -$O3DE_ENGINE_PATH/scripts/o3de.sh register --project-path $DEMO_ROOT/sim --force -""" -depends-on = ["install-o3de"] -description = "Register the simulation project" +[feature.ros2.tasks.clone-ros2-ws] +cmd = "vcs import --input ros2_ws.repos" +description = "Clone ROS 2 workspace repositories" -[tasks.build-ros2] +[feature.ros2.tasks.rosdep-update] +cmd = "rosdep init || true && rosdep update" +description = "Update rosdep package index (run once after cloning, not on every build)" + +[feature.ros2.tasks.build-ros2] cmd = """ -cd $DEMO_ROOT/ros2_ws && -rosdep update && rosdep install --ignore-src --from-paths src -y && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release """ -depends-on = ["clone-ros2-ws"] +cwd = "ros2_ws" +outputs = ["ros2_ws/install/"] +depends-on = ["clone-ros2-ws", "rosdep-update"] description = "Build the ROS 2 workspace with colcon" -[tasks.build-sim] -cmd = """ -cd $DEMO_ROOT/sim && -cmake -B build/linux -G "Ninja Multi-Config" \ - -DCMAKE_MODULE_PATH=$O3DE_ROOT/cmake \ - -DLY_DISABLE_TEST_MODULES=ON \ - -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ - -DLY_STRIP_DEBUG_SYMBOLS=ON \ - -DCMAKE_LINKER_TYPE=MOLD && -cmake --build build/linux --config profile \ - --target MobileManipulatorDemo Editor MobileManipulatorDemo.Assets MobileManipulatorDemo.GameLauncher -""" -depends-on = ["register-gems", "register-project", "build-ros2"] -description = "Build O3DE Editor and GameLauncher" - -[tasks.build-llama] -cmd = """ -cd $DEMO_ROOT/inference/llama.cpp && -cmake -B build -DGGML_VULKAN=1 && -cmake --build build --config Release -j $(nproc) -""" -depends-on = ["clone-inference"] -description = "Clone and build llama.cpp with Vulkan backend (standalone, no O3DE/ROS 2 required)" - -[tasks.sync] -cmd = "uv sync" -description = "Install Python dependencies" - -# Full setup: runs all build steps in dependency order. -# Run pixi run setup-local if you also need local llama.cpp inference. -[tasks.setup] -depends-on = ["build-ros2", "build-sim", "sync"] -description = "Full setup (O3DE + ROS 2 + Python). See also: setup-local." - -[tasks.setup-hil] -depends-on = ["build-ros2", "sync"] -description = "Setup HIL machine (ROS 2 workspace + Python, no O3DE)" - -[tasks.setup-hil-local] -depends-on = ["setup-hil", "build-llama"] -description = "Setup HIL machine including local llama.cpp inference" - -[tasks.setup-local] -depends-on = ["setup", "build-llama"] -description = "Full setup including local llama.cpp inference" - -# ─── Run Tasks ────────────────────────────────────────────────────────────────── -# These tasks assume the workspace has been sourced via pixi_activate.sh. - -[tasks.sim] -cmd = "$DEMO_ROOT/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher -bg_ConnectToAssetProcessor=0" -description = "Launch O3DE simulation" - -[tasks.ros2] -cmd = "$DEMO_ROOT/scripts/run_ros2_stack.sh" +[feature.ros2.tasks.ros2] +cmd = "bash scripts/run_ros2_stack.sh" +depends-on = ["build-ros2"] description = "Launch full ROS 2 stack (robot, nav2, moveit2, scene, agents)" -[tasks.hmi] +[feature.ros2.tasks.hmi] cmd = "ros2 launch mobile_manipulator_hmi hmi_launch.py" +depends-on = ["build-ros2"] description = "Launch the Human-Machine Interface" -[tasks.orchestrator] +[feature.ros2.tasks.orchestrator] cmd = "uv run python rai_app/agents/agent_orchestrator.py" +depends-on = ["build-ros2", "sync"] description = "Launch the agent orchestrator" -[tasks.editor] -cmd = "$O3DE_ENGINE_PATH/bin/Linux/profile/Default/Editor" -description = "Launch O3DE editor" - # Individual agents — use these instead of ros2 when debugging a specific component. -[tasks.nav2-agent] + +[feature.ros2.tasks.nav2-agent] cmd = "uv run python rai_app/agents/nav2_agent.py" +depends-on = ["build-ros2", "sync"] description = "Launch nav2 agent" -[tasks.moveit2-agent] +[feature.ros2.tasks.moveit2-agent] cmd = "uv run python rai_app/agents/moveit2_agent.py" +depends-on = ["build-ros2", "sync"] description = "Launch moveit2 agent" -[tasks.scene-agent] +[feature.ros2.tasks.scene-agent] cmd = "uv run python rai_app/environment/scene_agent.py" +depends-on = ["build-ros2", "sync"] description = "Launch scene agent" -[tasks.inspection-agent] +[feature.ros2.tasks.inspection-agent] cmd = "uv run python rai_app/agents/inspection_agent.py" +depends-on = ["build-ros2", "sync"] description = "Launch inspection agent" -[tasks.safety-agent] -cmd = "$DEMO_ROOT/scripts/start_safety_agent.sh" +[feature.ros2.tasks.safety-agent] +cmd = "bash scripts/start_safety_agent.sh" +depends-on = ["build-ros2", "sync"] description = "Launch safety agent (with RAG)" -# ─── Local Inference ──────────────────────────────────────────────────────────── -# Default model paths assume models are placed in $DEMO_ROOT/models/. -# Override by setting the env var before running, e.g.: -# LLM_MODEL=/path/to/gpt-oss-20b-Q4_K_M.gguf pixi run serve-llm +# ─── Feature: sim ─────────────────────────────────────────────────────────────── -[tasks.demo] -cmd = "bash $DEMO_ROOT/scripts/demo.sh" -description = "Start full demo: sim → ros2 → inference → orchestrator (3 tmux sessions)" +[feature.sim.tasks.install-o3de] +cmd = "scripts/install_o3de.sh" -[tasks.demo-stop] -cmd = "bash $DEMO_ROOT/scripts/demo_stop.sh" -description = "Stop all demo tmux sessions" +[feature.sim.tasks.clone-gems] +cmd = "vcs import --input gems.repos" +description = "Clone local O3DE gems" + +[feature.sim.tasks.register-gems] +cmd = "scripts/register_gems.sh" +depends-on = ["clone-gems", "install-o3de"] + +[feature.sim.tasks.register-project] +cmd = """ +git lfs install && git lfs pull && +$O3DE_ENGINE_PATH/scripts/o3de.sh register --project-path $DEMO_ROOT/sim --force +""" +cwd = "gems" +depends-on = ["clone-gems", "install-o3de"] +description = "Pull gem LFS assets and register the simulation project with the O3DE engine" + +[feature.sim.tasks.build-sim] +cmd = """ +cmake -B build/linux -G "Ninja Multi-Config" \ + -DCMAKE_MODULE_PATH=$O3DE_ENGINE_PATH/cmake \ + -DLY_DISABLE_TEST_MODULES=ON \ + -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ + -DLY_STRIP_DEBUG_SYMBOLS=ON && +cmake --build build/linux --config profile \ + --target MobileManipulatorDemo.Assets MobileManipulatorDemo.GameLauncher +""" +cwd = "sim" +outputs = ["sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher"] +depends-on = ["register-gems", "register-project", "build-ros2"] +description = "Build O3DE GameLauncher and project assets" + +[feature.sim.tasks.sim] +cmd = "$DEMO_ROOT/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher -bg_ConnectToAssetProcessor=0" +depends-on = ["build-sim"] +description = "Launch O3DE simulation" + +[feature.sim.tasks.editor] +cmd = "$O3DE_ENGINE_PATH/bin/Linux/profile/Default/Editor" +depends-on = ["build-sim"] +description = "Launch O3DE Editor from SDK (project must be registered and assets built first)" + +# ─── Feature: local-inference ─────────────────────────────────────────────────── + +[feature.local-inference.tasks.clone-inference] +cmd = "vcs import --input inference.repos" +description = "Clone llama.cpp (required for local inference)" + +[feature.local-inference.tasks.build-llama] +cmd = """ +cmake -B build -DGGML_VULKAN=1 && +cmake --build build --config Release -j $(nproc) +""" +cwd = "inference/llama.cpp" +outputs = ["inference/llama.cpp/build/bin/llama-server"] +depends-on = ["clone-inference"] +description = "Build llama.cpp with Vulkan backend" -[tasks.download-models] -cmd = "bash $DEMO_ROOT/scripts/download_models.sh" +[feature.local-inference.tasks.download-models] +cmd = "bash scripts/download_models.sh" description = "Download models for local inference" -[tasks.serve-all] -cmd = "bash $DEMO_ROOT/scripts/serve_all.sh" -description = "Launch all inference servers in a tmux session (2x2 grid)" +# Default model paths assume models are placed in $DEMO_ROOT/models/. +# Override by setting the env var before running, e.g.: +# LLM_MODEL=/path/to/gpt-oss-20b-Q4_K_M.gguf pixi run serve-llm -[tasks.serve-llm] +[feature.local-inference.tasks.serve-llm] cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $LLM_MODEL --no-prefill-assistant --port 8080" env = { LLM_MODEL = "$DEMO_ROOT/models/gpt-oss-20b-Q4_K_M.gguf" } +depends-on = ["build-llama"] description = "Serve GPT-OSS-20B on port 8080 (set LLM_MODEL to override path)" -[tasks.serve-vlm] +[feature.local-inference.tasks.serve-vlm] cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $VLM_MODEL --mmproj $VLM_MMPROJ --port 8081" env = { VLM_MODEL = "$DEMO_ROOT/models/LFM2-VL-3B-Q8_0.gguf", VLM_MMPROJ = "$DEMO_ROOT/models/mmproj-LFM2-VL-3B-Q8_0.gguf" } +depends-on = ["build-llama"] description = "Serve LFM2-VL-3B on port 8081 (set VLM_MODEL / VLM_MMPROJ to override paths)" -[tasks.serve-embedding] +[feature.local-inference.tasks.serve-embedding] cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $EMBEDDING_MODEL --embedding --pooling last -c 4096 -b 2048 -ub 2048 --port 8082" env = { EMBEDDING_MODEL = "$DEMO_ROOT/models/Qwen3-Embedding-0.6B-Q8_0.gguf" } +depends-on = ["build-llama"] description = "Serve Qwen3-Embedding-0.6b on port 8082" -[tasks.serve-reranker] +[feature.local-inference.tasks.serve-reranker] cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $RERANKER_MODEL --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083" env = { RERANKER_MODEL = "$DEMO_ROOT/models/qwen3-reranker-0.6b-q8_0.gguf" } +depends-on = ["build-llama"] description = "Serve Qwen3-Reranker-0.6B on port 8083" -# ─── Dev Tasks ────────────────────────────────────────────────────────────────── +[feature.local-inference.tasks.serve-all] +cmd = "bash scripts/serve_all.sh" +depends-on = ["build-llama"] +description = "Launch all inference servers in a tmux session (2x2 grid)" -[tasks.smoke-test] -cmd = "bash $DEMO_ROOT/scripts/smoke_test.sh" -description = "Check if all LLM inference servers are up" +# ─── Profile features ─────────────────────────────────────────────────────────── +# One profile feature per environment. Each defines a `setup` entry point so +# that `pixi run -e setup` builds exactly the components for that machine. -[tasks.pre-commit-install] -cmd = "uv run pre-commit install" -description = "Install pre-commit hooks" +[feature.profile-default.tasks.clone] +depends-on = ["clone-gems", "clone-ros2-ws"] +description = "Clone all repositories (gems and ROS 2 workspace)" -[tasks.lint] -cmd = "uv run pre-commit run --all-files" -description = "Run all linters and formatters" +[feature.profile-default.tasks.setup] +depends-on = ["build-ros2", "build-sim", "sync"] +description = "Full setup (O3DE + ROS 2 + Python)" -[tasks.test] -cmd = "uv run pytest" -description = "Run test suite" +[feature.profile-hil.tasks.setup] +depends-on = ["build-ros2", "sync"] +description = "Setup HIL machine (ROS 2 + Python, no O3DE)" + +[feature.profile-hil-local.tasks.setup] +depends-on = ["build-ros2", "sync", "build-llama"] +description = "Setup HIL machine with local llama.cpp inference" + +[feature.profile-local.tasks.clone] +depends-on = ["clone-gems", "clone-ros2-ws"] +description = "Clone all repositories (gems and ROS 2 workspace)" + +[feature.profile-local.tasks.setup] +depends-on = ["build-ros2", "build-sim", "sync", "build-llama"] +description = "Full setup including local llama.cpp inference" + +[feature.profile-local.tasks.demo] +cmd = "bash scripts/demo.sh" +depends-on = ["build-ros2", "build-sim", "sync", "build-llama"] +description = "Start full demo: sim → ros2 → inference → orchestrator (3 tmux sessions)" + +[feature.profile-local.tasks.demo-stop] +cmd = "bash scripts/demo_stop.sh" +description = "Stop all demo tmux sessions" + +# ─── Environments ─────────────────────────────────────────────────────────────── +# Run `pixi run -e setup` to bootstrap the matching machine type. +# Tasks from features not included in an environment are unavailable in it — +# e.g. `build-sim` cannot be run in the `hil` environment. + +[environments] +default = {features = ["ros2", "sim", "profile-default"]} +hil = {features = ["ros2", "profile-hil"]} +hil-local = {features = ["ros2", "local-inference", "profile-hil-local"]} +local = {features = ["ros2", "sim", "local-inference", "profile-local"]} From 5262bcf42176ec4a9045035f47588f2aebdf04c3 Mon Sep 17 00:00:00 2001 From: Jan Hanca Date: Tue, 23 Jun 2026 15:58:06 +0200 Subject: [PATCH 40/69] ROS 2 deps from submodules to pixi packages Signed-off-by: Jan Hanca Co-authored-by: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> --- docker/Dockerfile.ros2 | 8 +++- pixi.toml | 103 ++++++++++++++++++++++++++++------------- ros2_ws.repos | 67 ++++++++++----------------- scripts/check_env.sh | 21 +++++++++ 4 files changed, 122 insertions(+), 77 deletions(-) create mode 100755 scripts/check_env.sh diff --git a/docker/Dockerfile.ros2 b/docker/Dockerfile.ros2 index ad709da..f628de6 100644 --- a/docker/Dockerfile.ros2 +++ b/docker/Dockerfile.ros2 @@ -25,6 +25,12 @@ COPY pixi.toml pixi.lock ros2_ws.repos ./ COPY scripts/ scripts/ COPY ros2_ws/src/ ros2_ws/src/ -RUN rosdep init && pixi run build-ros2 +# Drop the packages/ directory that was copied from the host; all those packages +# are either conda packages (ros-jazzy-*) or will be freshly cloned by vcs import +# (clone-ros2-ws depends-on in build-ros2). Keeping host-side checkouts causes +# colcon to try building stale source that can no longer satisfy its cmake deps. +RUN rm -rf ros2_ws/src/packages/ + +RUN pixi run build-ros2 RUN echo "source ${DEMO_ROOT}/ros2_ws/install/setup.bash" >> ~/.bashrc diff --git a/pixi.toml b/pixi.toml index 7a04026..fc68c54 100644 --- a/pixi.toml +++ b/pixi.toml @@ -2,23 +2,64 @@ name = "agentic-mobile-manipulator" version = "1.0.0" description = "Agentic Mobile Manipulator Demo" -channels = ["conda-forge"] +channels = ["robostack-jazzy", "conda-forge"] platforms = ["linux-64"] # ─── Activation ───────────────────────────────────────────────────────────────── -# pixi_activate.sh sources ROS 2 setup files when available. +# scripts/setup_env.sh sources the ros2_ws overlay when available. [activation] env = {DEMO_ROOT = "${PIXI_PROJECT_ROOT}"} scripts = ["scripts/setup_env.sh"] [dependencies] -# uv is the Python package manager used by this project. -# All other build tools (cmake, ninja, clang, colcon, vcs) come from the ROS 2 -# dev-tools apt installation documented in docs/setup_single_machine.md. +# Python package manager for rai_app dependencies. uv = ">=0.5" +# ─── ROS 2 Jazzy (RoboStack) ───────────────────────────────────────────────── +# The full ROS 2 runtime comes from the robostack-jazzy conda channel. +# pixi runs RoboStack's activation scripts automatically, so AMENT_PREFIX_PATH, +# PYTHONPATH, etc. are set up on `pixi shell` / `pixi run`. +# +# NOTE: nav2-bringup is deliberately omitted — it transitively pulls +# ros-gz-sim → simulation_interfaces 1.2.0, which clashes with the source-built +# 1.5.1 overlay required by the O3DE SimulationInterfaces gem. +ros-jazzy-desktop = "*" +ros-jazzy-navigation2 = "*" +ros-jazzy-interactive-marker-twist-server = "*" +ros-jazzy-vision-msgs = "*" +ros-jazzy-moveit = "2.12.*" +ros-jazzy-moveit-py = "2.12.*" +ros-jazzy-tf-transformations = "*" +ros-jazzy-ros2-control = "*" +ros-jazzy-ros2-controllers = "*" + +# Previously vcs-imported and colcon-built; now binary conda packages. +# (See ros2_ws.repos for the full migration note.) +ros-jazzy-ur-description = "*" +ros-jazzy-control-msgs = "*" +ros-jazzy-control-toolbox = "*" +ros-jazzy-kinematics-interface = "*" +ros-jazzy-moveit-msgs = "*" +ros-jazzy-realtime-tools = "*" +ros-jazzy-srdfdom = "*" + +# ─── Build toolchain (for source packages remaining in ros2_ws/src) ────────── +# Use conda compilers so source packages stay ABI-compatible with the RoboStack +# binaries they link against. O3DE is built outside this env (system toolchain). +colcon-common-extensions = "*" +vcstool = "*" +c-compiler = "*" +cxx-compiler = "*" +pkg-config = "*" +qt-main = "*" +nlohmann_json = "*" + # ─── Workspace tasks (available in every environment) ─────────────────────────── +[tasks.check-env] +cmd = "bash scripts/check_env.sh" +description = "Fail fast if apt ROS 2 (/opt/ros) is sourced — must not be mixed with conda/RoboStack" + [tasks.sync] cmd = "uv sync" description = "Install Python dependencies" @@ -48,60 +89,53 @@ description = "Check if all LLM inference servers are up" cmd = "vcs import --input ros2_ws.repos" description = "Clone ROS 2 workspace repositories" -[feature.ros2.tasks.rosdep-update] -cmd = "rosdep init || true && rosdep update" -description = "Update rosdep package index (run once after cloning, not on every build)" - [feature.ros2.tasks.build-ros2] -cmd = """ -rosdep install --ignore-src --from-paths src -y && -colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -""" +cmd = "colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release" cwd = "ros2_ws" outputs = ["ros2_ws/install/"] -depends-on = ["clone-ros2-ws", "rosdep-update"] -description = "Build the ROS 2 workspace with colcon" +depends-on = ["check-env", "clone-ros2-ws"] +description = "Build the ROS 2 workspace with colcon (deps provided by conda/RoboStack — no rosdep)" [feature.ros2.tasks.ros2] cmd = "bash scripts/run_ros2_stack.sh" -depends-on = ["build-ros2"] +depends-on = ["check-env", "build-ros2"] description = "Launch full ROS 2 stack (robot, nav2, moveit2, scene, agents)" [feature.ros2.tasks.hmi] cmd = "ros2 launch mobile_manipulator_hmi hmi_launch.py" -depends-on = ["build-ros2"] +depends-on = ["check-env", "build-ros2"] description = "Launch the Human-Machine Interface" [feature.ros2.tasks.orchestrator] cmd = "uv run python rai_app/agents/agent_orchestrator.py" -depends-on = ["build-ros2", "sync"] +depends-on = ["check-env", "build-ros2", "sync"] description = "Launch the agent orchestrator" # Individual agents — use these instead of ros2 when debugging a specific component. [feature.ros2.tasks.nav2-agent] cmd = "uv run python rai_app/agents/nav2_agent.py" -depends-on = ["build-ros2", "sync"] +depends-on = ["check-env", "build-ros2", "sync"] description = "Launch nav2 agent" [feature.ros2.tasks.moveit2-agent] cmd = "uv run python rai_app/agents/moveit2_agent.py" -depends-on = ["build-ros2", "sync"] +depends-on = ["check-env", "build-ros2", "sync"] description = "Launch moveit2 agent" [feature.ros2.tasks.scene-agent] cmd = "uv run python rai_app/environment/scene_agent.py" -depends-on = ["build-ros2", "sync"] +depends-on = ["check-env", "build-ros2", "sync"] description = "Launch scene agent" [feature.ros2.tasks.inspection-agent] cmd = "uv run python rai_app/agents/inspection_agent.py" -depends-on = ["build-ros2", "sync"] +depends-on = ["check-env", "build-ros2", "sync"] description = "Launch inspection agent" [feature.ros2.tasks.safety-agent] cmd = "bash scripts/start_safety_agent.sh" -depends-on = ["build-ros2", "sync"] +depends-on = ["check-env", "build-ros2", "sync"] description = "Launch safety agent (with RAG)" # ─── Feature: sim ─────────────────────────────────────────────────────────────── @@ -113,18 +147,21 @@ cmd = "scripts/install_o3de.sh" cmd = "vcs import --input gems.repos" description = "Clone local O3DE gems" +[feature.sim.tasks.pull-gems-lfs] +cmd = "git lfs install && git lfs pull" +cwd = "gems" +depends-on = ["clone-gems"] +description = "Fetch LFS assets for gems (vcs import does not pull LFS objects automatically)" + [feature.sim.tasks.register-gems] cmd = "scripts/register_gems.sh" -depends-on = ["clone-gems", "install-o3de"] +depends-on = ["pull-gems-lfs", "install-o3de"] [feature.sim.tasks.register-project] -cmd = """ -git lfs install && git lfs pull && -$O3DE_ENGINE_PATH/scripts/o3de.sh register --project-path $DEMO_ROOT/sim --force -""" +cmd = "$O3DE_ENGINE_PATH/scripts/o3de.sh register --project-path $DEMO_ROOT/sim --force" cwd = "gems" -depends-on = ["clone-gems", "install-o3de"] -description = "Pull gem LFS assets and register the simulation project with the O3DE engine" +depends-on = ["pull-gems-lfs", "install-o3de"] +description = "Register the simulation project with the O3DE engine" [feature.sim.tasks.build-sim] cmd = """ @@ -138,17 +175,17 @@ cmake --build build/linux --config profile \ """ cwd = "sim" outputs = ["sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher"] -depends-on = ["register-gems", "register-project", "build-ros2"] +depends-on = ["check-env", "register-gems", "register-project", "build-ros2"] description = "Build O3DE GameLauncher and project assets" [feature.sim.tasks.sim] cmd = "$DEMO_ROOT/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher -bg_ConnectToAssetProcessor=0" -depends-on = ["build-sim"] +depends-on = ["check-env", "build-sim"] description = "Launch O3DE simulation" [feature.sim.tasks.editor] cmd = "$O3DE_ENGINE_PATH/bin/Linux/profile/Default/Editor" -depends-on = ["build-sim"] +depends-on = ["check-env", "build-sim"] description = "Launch O3DE Editor from SDK (project must be registered and assets built first)" # ─── Feature: local-inference ─────────────────────────────────────────────────── diff --git a/ros2_ws.repos b/ros2_ws.repos index a4ad6b3..a05478b 100644 --- a/ros2_ws.repos +++ b/ros2_ws.repos @@ -1,8 +1,5 @@ repositories: - ros2_ws/src/packages/Universal_Robots_ROS2_Description: - type: git - url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git - version: 9490a115b941b1e8e978ee65d4881dbdca7bd2ea + # Robotnik vendor packages — not published on RoboStack, built from source. ros2_ws/src/packages/robotnik_common: type: git url: https://github.com/RobotnikAutomation/robotnik_common.git @@ -15,48 +12,32 @@ repositories: type: git url: https://github.com/RobotnikAutomation/robotnik_sensors.git version: e639e55ae2554dd5ec7f082c12cc5ab5add7b6d7 - ros2_ws/src/packages/simulation_interfaces: - type: git - url: https://github.com/ros-simulation/simulation_interfaces.git - version: 1.5.1 + + # RobotecAI custom interfaces — tracks a feature branch, never a released binary. ros2_ws/src/packages/rai_interfaces: type: git url: https://github.com/RobotecAI/rai_interfaces.git version: feat/nav2-ai - ros2_ws/src/packages/control_msgs: - type: git - url: https://github.com/ros-controls/control_msgs.git - version: ecfc5df44b2490faf80f3650f62b55c549393c1a - ros2_ws/src/packages/control_toolbox: - type: git - url: https://github.com/ros-controls/control_toolbox.git - version: 689ec6f911f1f5cb9ef29d9fd9a0abfc769c7224 - ros2_ws/src/packages/kinematics_interface: - type: git - url: https://github.com/ros-controls/kinematics_interface.git - version: fe60f651628ea97a5ca295aa5088e965220af244 - ros2_ws/src/packages/moveit2: - type: git - url: https://github.com/moveit/moveit2.git - version: 2d780de168dc8e1dff597191066209351f5581ee - ros2_ws/src/packages/moveit_msgs: - type: git - url: https://github.com/moveit/moveit_msgs.git - version: 8daca8c56914e9cb8bd31d3332e71dd93dde5cc6 - ros2_ws/src/packages/realtime_tools: - type: git - url: https://github.com/ros-controls/realtime_tools.git - version: 6ea36e1bae2983bdf250134e46ae9c01ff5a6a16 - ros2_ws/src/packages/ros2_control: - type: git - url: https://github.com/ros-controls/ros2_control.git - version: 324966525b7e0c7b47a1b6f52cb87017b9d0cc58 - ros2_ws/src/packages/ros2_controllers: - type: git - url: https://github.com/ros-controls/ros2_controllers - version: 9e7dc558404ef98de7191af68b7922d07d358f67 - ros2_ws/src/packages/srdfdom: + # simulation_interfaces: built from source because the O3DE SimulationInterfaces + # gem requires >= 1.4.0, but robostack-jazzy only ships 1.2.0. Pinned to 1.5.1 + # to match the apt version and supply a single consistent version to both the + # agents and the O3DE build. + ros2_ws/src/packages/simulation_interfaces: type: git - url: https://github.com/moveit/srdfdom.git - version: 94b4a92760d0ff58d8931f686f2aebe71e88fb84 + url: https://github.com/ros-simulation/simulation_interfaces.git + version: 1.5.1 + +# NOTE: The following packages were removed on migration to RoboStack — they are +# now installed as conda packages via pixi.toml instead of being vcs-imported and +# colcon-built: +# Universal_Robots_ROS2_Description -> ros-jazzy-ur-description +# control_msgs -> ros-jazzy-control-msgs +# control_toolbox -> ros-jazzy-control-toolbox +# kinematics_interface -> ros-jazzy-kinematics-interface +# moveit2 -> ros-jazzy-moveit + ros-jazzy-moveit-py +# moveit_msgs -> ros-jazzy-moveit-msgs +# realtime_tools -> ros-jazzy-realtime-tools +# ros2_control -> ros-jazzy-ros2-control +# ros2_controllers -> ros-jazzy-ros2-controllers +# srdfdom -> ros-jazzy-srdfdom diff --git a/scripts/check_env.sh b/scripts/check_env.sh new file mode 100755 index 0000000..3afdd1e --- /dev/null +++ b/scripts/check_env.sh @@ -0,0 +1,21 @@ +#!/usr/bin/env bash +# Refuse to run if apt ROS 2 (/opt/ros) is sourced in the shell. It must not be +# mixed with this project's conda/RoboStack ROS 2: at build time apt prefixes get +# baked into the ros2_ws overlay, and at runtime apt's NumPy-1.x cv_bridge is +# loaded into the conda NumPy-2.x env — both break the stack. +# +# Wired as a `depends-on` of build and runtime ROS tasks so a failure is a clean +# task error instead of an activation failure (which makes pixi dump the entire +# environment, secrets included). +case ":${PATH}:${LD_LIBRARY_PATH:-}:${CMAKE_PREFIX_PATH:-}:" in + *:/opt/ros/*) + R='\033[1;31m'; Y='\033[33m'; B='\033[1m'; D='\033[2m'; N='\033[0m' + printf "\n${R} ✗ apt ROS 2 is sourced — refusing to run.${N}\n\n" >&2 + printf " This project uses ROS 2 from ${B}RoboStack (conda)${N}; mixing it with\n" >&2 + printf " apt ROS (${Y}/opt/ros${N}) corrupts the build and crashes the agents.\n\n" >&2 + printf " ${B}Fix${N} remove this line from your ${B}~/.bashrc${N}:\n" >&2 + printf " ${D}source /opt/ros/jazzy/setup.bash${N}\n" >&2 + printf " then open a fresh shell and re-run.\n\n" >&2 + exit 1 + ;; +esac From 18041e3af67fc0c8fdf335bbff7acb30f24953d9 Mon Sep 17 00:00:00 2001 From: Jan Hanca Date: Tue, 23 Jun 2026 16:05:45 +0200 Subject: [PATCH 41/69] Pre-commit hook changes Signed-off-by: Jan Hanca --- docs/setup_hil.md | 12 +- docs/setup_sim.md | 23 +- docs/setup_single_machine.md | 20 +- pixi.lock | 21829 ++++++++++++++++++++++++++++++++- 4 files changed, 21820 insertions(+), 64 deletions(-) diff --git a/docs/setup_hil.md b/docs/setup_hil.md index a57aaa7..479e85b 100644 --- a/docs/setup_hil.md +++ b/docs/setup_hil.md @@ -48,12 +48,12 @@ pixi run -e hil setup This runs: -| Step | pixi task | What it does | -| ---- | ---------------- | --------------------------------------- | -| 1 | `clone-ros2-ws` | `vcs import` for ROS 2 workspace | -| 2 | `rosdep-update` | `rosdep update` — refresh package index | -| 3 | `build-ros2` | `rosdep install` + `colcon build` | -| 4 | `sync` | `uv sync` — install Python dependencies | +| Step | pixi task | What it does | +| ---- | --------------- | --------------------------------------- | +| 1 | `clone-ros2-ws` | `vcs import` for ROS 2 workspace | +| 2 | `rosdep-update` | `rosdep update` — refresh package index | +| 3 | `build-ros2` | `rosdep install` + `colcon build` | +| 4 | `sync` | `uv sync` — install Python dependencies | --- diff --git a/docs/setup_sim.md b/docs/setup_sim.md index cbba52b..d25d02d 100644 --- a/docs/setup_sim.md +++ b/docs/setup_sim.md @@ -53,18 +53,17 @@ pixi run setup This single command runs the full build pipeline in the correct order: -| Step | pixi task | What it does | -| ---- | ------------------ | ----------------------------------------------------- | -| 1 | `clone-gems` | `vcs import` for local O3DE gems | -| 2 | `clone-ros2-ws` | `vcs import` for the ROS 2 workspace | -| 3 | `install-o3de` | Install the O3DE engine | -| 4 | `register-gems` | Register O3DE gems | -| 5 | `register-project` | Run `git lfs pull` and register the simulation project| -| 6 | `rosdep-update` | `rosdep update` — refresh package index | -| 7 | `build-ros2` | `rosdep install` + `colcon build` | -| 8 | `build-sim` | CMake configure + Ninja build (GameLauncher) | -| 9 | `sync` | `uv sync` — install Python dependencies | - +| Step | pixi task | What it does | +| ---- | ------------------ | ------------------------------------------------------ | +| 1 | `clone-gems` | `vcs import` for local O3DE gems | +| 2 | `clone-ros2-ws` | `vcs import` for the ROS 2 workspace | +| 3 | `install-o3de` | Install the O3DE engine | +| 4 | `register-gems` | Register O3DE gems | +| 5 | `register-project` | Run `git lfs pull` and register the simulation project | +| 6 | `rosdep-update` | `rosdep update` — refresh package index | +| 7 | `build-ros2` | `rosdep install` + `colcon build` | +| 8 | `build-sim` | CMake configure + Ninja build (GameLauncher) | +| 9 | `sync` | `uv sync` — install Python dependencies | --- diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index 8f5a1f3..cc02936 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -56,16 +56,16 @@ pixi run setup This single command runs the full build pipeline in the correct order: -| Step | pixi task | What it does | -| ---- | ------------------ | ----------------------------------------------------- | -| 1 | `clone` | `vcs import` for gems and the ROS 2 workspace | -| 2 | `install-o3de` | Install the O3DE engine | -| 3 | `register-gems` | Register O3DE gems | -| 4 | `register-project` | Run `git lfs pull` and register the simulation project| -| 5 | `rosdep-update` | `rosdep update` — refresh package index | -| 6 | `build-ros2` | `rosdep install` + `colcon build` | -| 7 | `build-sim` | CMake configure + Ninja build (GameLauncher) | -| 8 | `sync` | `uv sync` — install Python dependencies | +| Step | pixi task | What it does | +| ---- | ------------------ | ------------------------------------------------------ | +| 1 | `clone` | `vcs import` for gems and the ROS 2 workspace | +| 2 | `install-o3de` | Install the O3DE engine | +| 3 | `register-gems` | Register O3DE gems | +| 4 | `register-project` | Run `git lfs pull` and register the simulation project | +| 5 | `rosdep-update` | `rosdep update` — refresh package index | +| 6 | `build-ros2` | `rosdep install` + `colcon build` | +| 7 | `build-sim` | CMake configure + Ninja build (GameLauncher) | +| 8 | `sync` | `uv sync` — install Python dependencies | #### Local Inference (optional) diff --git a/pixi.lock b/pixi.lock index 6616505..145e803 100644 --- a/pixi.lock +++ b/pixi.lock @@ -1,17 +1,3835 @@ -version: 6 +version: 7 +platforms: +- name: linux-64 environments: default: channels: + - 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python + - ros-jazzy-ros-workspace + - ros2-distro-mutex 0.14.* jazzy_* + - zstd + - libstdcxx >=14 + - libgcc >=14 + - __glibc >=2.17,<3.0.a0 + - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - numpy >=1.23,<3 + - python_abi 3.12.* *_cp312 + - zstd >=1.5.7,<1.6.0a0 + license: Apache-2.0 OR BSD-3-Clause + size: 23802 + timestamp: 1771181919932 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-distro-mutex-0.14.0-jazzy_16.conda + sha256: 1403aad956b039813e19bf600d1af15acb6e45eac9a1da365ff5eba35c0913d9 + md5: 05725f6f4ec3e017f1dc8b1a435b29a4 + constrains: + - libboost 1.88.* + - libboost-devel 1.88.* + - pcl 1.15.1.* + - gazebo 11.* + - libprotobuf 6.31.1.* + - vtk 9.5.2.* + license: BSD-3-Clause + size: 2334 + timestamp: 1771181243372 From 1f78c575e227a274a31b3f5d266b272845c41059 Mon Sep 17 00:00:00 2001 From: Jan Hanca Date: Tue, 23 Jun 2026 22:49:56 +0200 Subject: [PATCH 42/69] Add dev pixi env for pre-commit Signed-off-by: Jan Hanca --- docs/setup_single_machine.md | 4 ++-- pixi.lock | 24 ++++++++++++++++++++++++ pixi.toml | 9 +++++++++ 3 files changed, 35 insertions(+), 2 deletions(-) diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index cc02936..610f00a 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -99,13 +99,13 @@ We use conventional commits to ensure that the commit messages are consistent an ### Pre-commit ```bash -pixi run pre-commit-install +pixi run -e dev pre-commit-install ``` To run hooks manually: ```bash -pixi run lint +pixi run -e dev lint ``` # Next Steps diff --git a/pixi.lock b/pixi.lock index 145e803..4faa2b0 100644 --- a/pixi.lock +++ b/pixi.lock @@ -959,6 +959,17 @@ environments: - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-yaml-cpp-vendor-9.0.1-np2py312h2ed9cc7_16.conda - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-zstd-vendor-0.26.9-np2py312h2ed9cc7_16.conda - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-distro-mutex-0.14.0-jazzy_16.conda + dev: + channels: + - url: https://conda.anaconda.org/robostack-jazzy/ + - url: https://conda.anaconda.org/conda-forge/ + packages: + linux-64: + - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-15.2.0-he0feb66_19.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-15.2.0-he0feb66_19.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_19.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/uv-0.11.24-h26efc2c_0.conda hil: channels: - url: https://conda.anaconda.org/robostack-jazzy/ @@ -9446,6 +9457,19 @@ packages: run_exports: {} size: 19833024 timestamp: 1781912273818 +- conda: https://conda.anaconda.org/conda-forge/linux-64/uv-0.11.24-h26efc2c_0.conda + sha256: 3f3909e6c621031a6760f5f2de7017abcda19443fd902209adac9c09cef23fb0 + md5: 06bb4f32ead6e726690001ac8575a43b + depends: + - __glibc >=2.17,<3.0.a0 + - libstdcxx >=14 + - libgcc >=14 + constrains: + - __glibc >=2.17 + license: Apache-2.0 OR MIT + run_exports: {} + size: 19933397 + timestamp: 1782258135936 - conda: https://conda.anaconda.org/conda-forge/linux-64/viskores-1.1.1-cpu_hc82bd48_0.conda sha256: 2ebe8d6ae8c302ca5bf4aec532cd75ebfb00240db1c14dad9a91bace65aa083d md5: 24676eb7fd23ea3d8d69417f5f1224e0 diff --git a/pixi.toml b/pixi.toml index fc68c54..705d585 100644 --- a/pixi.toml +++ b/pixi.toml @@ -278,6 +278,14 @@ description = "Start full demo: sim → ros2 → inference → orchestrator (3 t cmd = "bash scripts/demo_stop.sh" description = "Stop all demo tmux sessions" +# ─── Feature: dev ─────────────────────────────────────────────────────────────── +# Lightweight environment for linting and pre-commit only (no ROS 2, no compiler). +# Use `pixi run -e dev ` for pre-commit-install, lint, and test so that +# pixi does not pull gcc/ROS 2 packages just to run Python tooling. + +[feature.dev.dependencies] +uv = ">=0.5" + # ─── Environments ─────────────────────────────────────────────────────────────── # Run `pixi run -e setup` to bootstrap the matching machine type. # Tasks from features not included in an environment are unavailable in it — @@ -288,3 +296,4 @@ default = {features = ["ros2", "sim", "profile-default"]} hil = {features = ["ros2", "profile-hil"]} hil-local = {features = ["ros2", "local-inference", "profile-hil-local"]} local = {features = ["ros2", "sim", "local-inference", "profile-local"]} +dev = {features = ["dev"], no-default-feature = true} From d29137a8b9095bfe1ca75b2cc6274b175248e3a1 Mon Sep 17 00:00:00 2001 From: Jan Hanca Date: Wed, 24 Jun 2026 10:37:12 +0200 Subject: [PATCH 43/69] Fix lint env Signed-off-by: Jan Hanca --- pixi.toml | 58 +++++++++++++++++++++++++++---------------------------- 1 file changed, 28 insertions(+), 30 deletions(-) diff --git a/pixi.toml b/pixi.toml index 705d585..5de1aa2 100644 --- a/pixi.toml +++ b/pixi.toml @@ -12,9 +12,6 @@ env = {DEMO_ROOT = "${PIXI_PROJECT_ROOT}"} scripts = ["scripts/setup_env.sh"] [dependencies] -# Python package manager for rai_app dependencies. -uv = ">=0.5" - # ─── ROS 2 Jazzy (RoboStack) ───────────────────────────────────────────────── # The full ROS 2 runtime comes from the robostack-jazzy conda channel. # pixi runs RoboStack's activation scripts automatically, so AMENT_PREFIX_PATH, @@ -54,31 +51,12 @@ pkg-config = "*" qt-main = "*" nlohmann_json = "*" -# ─── Workspace tasks (available in every environment) ─────────────────────────── +# ─── Workspace tasks ──────────────────────────────────────────────────────────── [tasks.check-env] cmd = "bash scripts/check_env.sh" description = "Fail fast if apt ROS 2 (/opt/ros) is sourced — must not be mixed with conda/RoboStack" -[tasks.sync] -cmd = "uv sync" -description = "Install Python dependencies" - -[tasks.pre-commit-install] -cmd = "uv run pre-commit install" -depends-on = ["sync"] -description = "Install pre-commit hooks" - -[tasks.lint] -cmd = "uv run pre-commit run --all-files" -depends-on = ["sync"] -description = "Run all linters and formatters" - -[tasks.test] -cmd = "uv run pytest" -depends-on = ["sync"] -description = "Run test suite" - [tasks.smoke-test] cmd = "bash scripts/smoke_test.sh" description = "Check if all LLM inference servers are up" @@ -279,21 +257,41 @@ cmd = "bash scripts/demo_stop.sh" description = "Stop all demo tmux sessions" # ─── Feature: dev ─────────────────────────────────────────────────────────────── -# Lightweight environment for linting and pre-commit only (no ROS 2, no compiler). -# Use `pixi run -e dev ` for pre-commit-install, lint, and test so that -# pixi does not pull gcc/ROS 2 packages just to run Python tooling. +# Lightweight feature for Python tooling (uv, pre-commit, pytest). +# Included in every environment so `pixi run sync/lint/test` works everywhere. +# Use `pixi run -e dev ` to avoid installing ROS 2 / compiler packages +# when all you need is linting or tests. [feature.dev.dependencies] uv = ">=0.5" +[feature.dev.tasks.sync] +cmd = "uv sync" +description = "Install Python dependencies" + +[feature.dev.tasks.pre-commit-install] +cmd = "uv run pre-commit install" +depends-on = ["sync"] +description = "Install pre-commit hooks" + +[feature.dev.tasks.lint] +cmd = "uv run pre-commit run --all-files" +depends-on = ["sync"] +description = "Run all linters and formatters" + +[feature.dev.tasks.test] +cmd = "uv run pytest" +depends-on = ["sync"] +description = "Run test suite" + # ─── Environments ─────────────────────────────────────────────────────────────── # Run `pixi run -e setup` to bootstrap the matching machine type. # Tasks from features not included in an environment are unavailable in it — # e.g. `build-sim` cannot be run in the `hil` environment. [environments] -default = {features = ["ros2", "sim", "profile-default"]} -hil = {features = ["ros2", "profile-hil"]} -hil-local = {features = ["ros2", "local-inference", "profile-hil-local"]} -local = {features = ["ros2", "sim", "local-inference", "profile-local"]} +default = {features = ["dev", "ros2", "sim", "profile-default"]} +hil = {features = ["dev", "ros2", "profile-hil"]} +hil-local = {features = ["dev", "ros2", "local-inference", "profile-hil-local"]} +local = {features = ["dev", "ros2", "sim", "local-inference", "profile-local"]} dev = {features = ["dev"], no-default-feature = true} From ded30608a0241ea23039185f52ec499e120bcb5d Mon Sep 17 00:00:00 2001 From: Jan Hanca Date: Wed, 24 Jun 2026 10:44:13 +0200 Subject: [PATCH 44/69] Code review fixes (AI-bloat) Signed-off-by: Jan Hanca --- pixi.toml | 31 ++++++------------------------- scripts/register_gems.sh | 2 +- 2 files changed, 7 insertions(+), 26 deletions(-) diff --git a/pixi.toml b/pixi.toml index 5de1aa2..fb313df 100644 --- a/pixi.toml +++ b/pixi.toml @@ -71,49 +71,40 @@ description = "Clone ROS 2 workspace repositories" cmd = "colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release" cwd = "ros2_ws" outputs = ["ros2_ws/install/"] -depends-on = ["check-env", "clone-ros2-ws"] description = "Build the ROS 2 workspace with colcon (deps provided by conda/RoboStack — no rosdep)" [feature.ros2.tasks.ros2] cmd = "bash scripts/run_ros2_stack.sh" -depends-on = ["check-env", "build-ros2"] description = "Launch full ROS 2 stack (robot, nav2, moveit2, scene, agents)" [feature.ros2.tasks.hmi] cmd = "ros2 launch mobile_manipulator_hmi hmi_launch.py" -depends-on = ["check-env", "build-ros2"] description = "Launch the Human-Machine Interface" [feature.ros2.tasks.orchestrator] cmd = "uv run python rai_app/agents/agent_orchestrator.py" -depends-on = ["check-env", "build-ros2", "sync"] description = "Launch the agent orchestrator" # Individual agents — use these instead of ros2 when debugging a specific component. [feature.ros2.tasks.nav2-agent] cmd = "uv run python rai_app/agents/nav2_agent.py" -depends-on = ["check-env", "build-ros2", "sync"] description = "Launch nav2 agent" [feature.ros2.tasks.moveit2-agent] cmd = "uv run python rai_app/agents/moveit2_agent.py" -depends-on = ["check-env", "build-ros2", "sync"] description = "Launch moveit2 agent" [feature.ros2.tasks.scene-agent] cmd = "uv run python rai_app/environment/scene_agent.py" -depends-on = ["check-env", "build-ros2", "sync"] description = "Launch scene agent" [feature.ros2.tasks.inspection-agent] cmd = "uv run python rai_app/agents/inspection_agent.py" -depends-on = ["check-env", "build-ros2", "sync"] description = "Launch inspection agent" [feature.ros2.tasks.safety-agent] cmd = "bash scripts/start_safety_agent.sh" -depends-on = ["check-env", "build-ros2", "sync"] description = "Launch safety agent (with RAG)" # ─── Feature: sim ─────────────────────────────────────────────────────────────── @@ -128,17 +119,15 @@ description = "Clone local O3DE gems" [feature.sim.tasks.pull-gems-lfs] cmd = "git lfs install && git lfs pull" cwd = "gems" -depends-on = ["clone-gems"] description = "Fetch LFS assets for gems (vcs import does not pull LFS objects automatically)" [feature.sim.tasks.register-gems] -cmd = "scripts/register_gems.sh" -depends-on = ["pull-gems-lfs", "install-o3de"] +cmd = "scripts/register_gems.sh && touch .gems-registered" +outputs = [".gems-registered"] [feature.sim.tasks.register-project] cmd = "$O3DE_ENGINE_PATH/scripts/o3de.sh register --project-path $DEMO_ROOT/sim --force" cwd = "gems" -depends-on = ["pull-gems-lfs", "install-o3de"] description = "Register the simulation project with the O3DE engine" [feature.sim.tasks.build-sim] @@ -153,17 +142,16 @@ cmake --build build/linux --config profile \ """ cwd = "sim" outputs = ["sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher"] -depends-on = ["check-env", "register-gems", "register-project", "build-ros2"] description = "Build O3DE GameLauncher and project assets" [feature.sim.tasks.sim] -cmd = "$DEMO_ROOT/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher -bg_ConnectToAssetProcessor=0" -depends-on = ["check-env", "build-sim"] +cmd = "env -u LD_LIBRARY_PATH $DEMO_ROOT/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher -bg_ConnectToAssetProcessor=0" +depends-on = ["register-gems", "register-project"] description = "Launch O3DE simulation" [feature.sim.tasks.editor] -cmd = "$O3DE_ENGINE_PATH/bin/Linux/profile/Default/Editor" -depends-on = ["check-env", "build-sim"] +cmd = "env -u LD_LIBRARY_PATH $O3DE_ENGINE_PATH/bin/Linux/profile/Default/Editor" +depends-on = ["register-gems", "register-project"] description = "Launch O3DE Editor from SDK (project must be registered and assets built first)" # ─── Feature: local-inference ─────────────────────────────────────────────────── @@ -179,7 +167,6 @@ cmake --build build --config Release -j $(nproc) """ cwd = "inference/llama.cpp" outputs = ["inference/llama.cpp/build/bin/llama-server"] -depends-on = ["clone-inference"] description = "Build llama.cpp with Vulkan backend" [feature.local-inference.tasks.download-models] @@ -193,30 +180,25 @@ description = "Download models for local inference" [feature.local-inference.tasks.serve-llm] cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $LLM_MODEL --no-prefill-assistant --port 8080" env = { LLM_MODEL = "$DEMO_ROOT/models/gpt-oss-20b-Q4_K_M.gguf" } -depends-on = ["build-llama"] description = "Serve GPT-OSS-20B on port 8080 (set LLM_MODEL to override path)" [feature.local-inference.tasks.serve-vlm] cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $VLM_MODEL --mmproj $VLM_MMPROJ --port 8081" env = { VLM_MODEL = "$DEMO_ROOT/models/LFM2-VL-3B-Q8_0.gguf", VLM_MMPROJ = "$DEMO_ROOT/models/mmproj-LFM2-VL-3B-Q8_0.gguf" } -depends-on = ["build-llama"] description = "Serve LFM2-VL-3B on port 8081 (set VLM_MODEL / VLM_MMPROJ to override paths)" [feature.local-inference.tasks.serve-embedding] cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $EMBEDDING_MODEL --embedding --pooling last -c 4096 -b 2048 -ub 2048 --port 8082" env = { EMBEDDING_MODEL = "$DEMO_ROOT/models/Qwen3-Embedding-0.6B-Q8_0.gguf" } -depends-on = ["build-llama"] description = "Serve Qwen3-Embedding-0.6b on port 8082" [feature.local-inference.tasks.serve-reranker] cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $RERANKER_MODEL --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083" env = { RERANKER_MODEL = "$DEMO_ROOT/models/qwen3-reranker-0.6b-q8_0.gguf" } -depends-on = ["build-llama"] description = "Serve Qwen3-Reranker-0.6B on port 8083" [feature.local-inference.tasks.serve-all] cmd = "bash scripts/serve_all.sh" -depends-on = ["build-llama"] description = "Launch all inference servers in a tmux session (2x2 grid)" # ─── Profile features ─────────────────────────────────────────────────────────── @@ -249,7 +231,6 @@ description = "Full setup including local llama.cpp inference" [feature.profile-local.tasks.demo] cmd = "bash scripts/demo.sh" -depends-on = ["build-ros2", "build-sim", "sync", "build-llama"] description = "Start full demo: sim → ros2 → inference → orchestrator (3 tmux sessions)" [feature.profile-local.tasks.demo-stop] diff --git a/scripts/register_gems.sh b/scripts/register_gems.sh index ef75d86..f3303b9 100644 --- a/scripts/register_gems.sh +++ b/scripts/register_gems.sh @@ -43,7 +43,7 @@ RELEASED_GEMS=( echo "=== Downloading O3DE Gems ===" for gem in "${RELEASED_GEMS[@]}"; do echo " Downloading: $gem" - "$O3DE_CLI" download --gem-name "$gem" -f + "$O3DE_CLI" download --gem-name "$gem" done # ── Step 3: Register local submodule gems ─────────────────────────────────── From f58eb968a662f4cb19357343f6fd74a0cf4c602c Mon Sep 17 00:00:00 2001 From: Jan Hanca Date: Wed, 24 Jun 2026 11:51:31 +0200 Subject: [PATCH 45/69] Mirror pixi setup from amrcv blueprint Signed-off-by: Jan Hanca --- .gitignore | 1 + docs/setup_sim.md | 22 ++++--- docs/setup_single_machine.md | 20 +++---- pixi.toml | 42 ++++++-------- scripts/fetch_gems.sh | 60 +++++++++++++++++++ scripts/install_o3de.sh | 109 +++++++++++++++++++++++++---------- scripts/register_gems.sh | 9 ++- scripts/setup_env.sh | 34 +++++++---- sim/CMakeLists.txt | 5 ++ sim/project.json | 7 +++ 10 files changed, 217 insertions(+), 92 deletions(-) create mode 100755 scripts/fetch_gems.sh diff --git a/.gitignore b/.gitignore index cf0fa88..40684b2 100644 --- a/.gitignore +++ b/.gitignore @@ -21,3 +21,4 @@ anomaly_images/ package_condition_images/ models/ *.bak0 +sim/user/ diff --git a/docs/setup_sim.md b/docs/setup_sim.md index d25d02d..fa9c978 100644 --- a/docs/setup_sim.md +++ b/docs/setup_sim.md @@ -48,22 +48,20 @@ Restart your shell or run `source ~/.bashrc` after installation. ### Build Everything ```shell -pixi run setup +pixi run -e default setup ``` This single command runs the full build pipeline in the correct order: -| Step | pixi task | What it does | -| ---- | ------------------ | ------------------------------------------------------ | -| 1 | `clone-gems` | `vcs import` for local O3DE gems | -| 2 | `clone-ros2-ws` | `vcs import` for the ROS 2 workspace | -| 3 | `install-o3de` | Install the O3DE engine | -| 4 | `register-gems` | Register O3DE gems | -| 5 | `register-project` | Run `git lfs pull` and register the simulation project | -| 6 | `rosdep-update` | `rosdep update` — refresh package index | -| 7 | `build-ros2` | `rosdep install` + `colcon build` | -| 8 | `build-sim` | CMake configure + Ninja build (GameLauncher) | -| 9 | `sync` | `uv sync` — install Python dependencies | +| Step | pixi task | What it does | +| ---- | --------------- | ------------------------------------------------- | +| 1 | `clone-gems` | `vcs import` + `git lfs pull` for local O3DE gems | +| 2 | `clone-ros2-ws` | `vcs import` for the ROS 2 workspace | +| 3 | `install-o3de` | Install the O3DE engine | +| 4 | `fetch-gems` | Clone o3de-extras locally, validate all gem paths | +| 6 | `build-ros2` | `colcon build` (deps provided by conda/RoboStack) | +| 7 | `build-sim` | CMake configure + Ninja build (GameLauncher) | +| 8 | `sync` | `uv sync` — install Python dependencies | --- diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index 610f00a..7a57f90 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -51,21 +51,19 @@ Restart your shell or run `source ~/.bashrc` after installation. ### Build Everything ```shell -pixi run setup +pixi run -e default setup ``` This single command runs the full build pipeline in the correct order: -| Step | pixi task | What it does | -| ---- | ------------------ | ------------------------------------------------------ | -| 1 | `clone` | `vcs import` for gems and the ROS 2 workspace | -| 2 | `install-o3de` | Install the O3DE engine | -| 3 | `register-gems` | Register O3DE gems | -| 4 | `register-project` | Run `git lfs pull` and register the simulation project | -| 5 | `rosdep-update` | `rosdep update` — refresh package index | -| 6 | `build-ros2` | `rosdep install` + `colcon build` | -| 7 | `build-sim` | CMake configure + Ninja build (GameLauncher) | -| 8 | `sync` | `uv sync` — install Python dependencies | +| Step | pixi task | What it does | +| ---- | -------------- | --------------------------------------------------- | +| 1 | `clone` | `vcs import` + `git lfs pull` for gems and ROS 2 ws | +| 2 | `install-o3de` | Install the O3DE engine | +| 3 | `fetch-gems` | Clone o3de-extras locally, validate all gem paths | +| 5 | `build-ros2` | `colcon build` (deps provided by conda/RoboStack) | +| 6 | `build-sim` | CMake configure + Ninja build (GameLauncher) | +| 7 | `sync` | `uv sync` — install Python dependencies | #### Local Inference (optional) diff --git a/pixi.toml b/pixi.toml index fb313df..3a8c8aa 100644 --- a/pixi.toml +++ b/pixi.toml @@ -65,6 +65,7 @@ description = "Check if all LLM inference servers are up" [feature.ros2.tasks.clone-ros2-ws] cmd = "vcs import --input ros2_ws.repos" +outputs = ["ros2_ws/src/packages/rai_interfaces"] description = "Clone ROS 2 workspace repositories" [feature.ros2.tasks.build-ros2] @@ -111,24 +112,18 @@ description = "Launch safety agent (with RAG)" [feature.sim.tasks.install-o3de] cmd = "scripts/install_o3de.sh" +outputs = ["/opt/O3DE/26.05/scripts/o3de.sh"] +description = "Install the O3DE engine SDK" [feature.sim.tasks.clone-gems] -cmd = "vcs import --input gems.repos" -description = "Clone local O3DE gems" +cmd = "vcs import --input gems.repos && git lfs install && (cd gems && vcs custom --git --args 'lfs pull')" +outputs = ["gems/robotec-warehouse-assets"] +description = "Clone local O3DE gems and fetch LFS assets" -[feature.sim.tasks.pull-gems-lfs] -cmd = "git lfs install && git lfs pull" -cwd = "gems" -description = "Fetch LFS assets for gems (vcs import does not pull LFS objects automatically)" - -[feature.sim.tasks.register-gems] -cmd = "scripts/register_gems.sh && touch .gems-registered" -outputs = [".gems-registered"] - -[feature.sim.tasks.register-project] -cmd = "$O3DE_ENGINE_PATH/scripts/o3de.sh register --project-path $DEMO_ROOT/sim --force" -cwd = "gems" -description = "Register the simulation project with the O3DE engine" +[feature.sim.tasks.fetch-gems] +cmd = "scripts/fetch_gems.sh" +outputs = ["external/o3de-extras"] +description = "Clone o3de-extras gems locally and validate all gem paths from project.json" [feature.sim.tasks.build-sim] cmd = """ @@ -145,19 +140,18 @@ outputs = ["sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher"] description = "Build O3DE GameLauncher and project assets" [feature.sim.tasks.sim] -cmd = "env -u LD_LIBRARY_PATH $DEMO_ROOT/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher -bg_ConnectToAssetProcessor=0" -depends-on = ["register-gems", "register-project"] +cmd = "$DEMO_ROOT/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher -bg_ConnectToAssetProcessor=0" description = "Launch O3DE simulation" [feature.sim.tasks.editor] -cmd = "env -u LD_LIBRARY_PATH $O3DE_ENGINE_PATH/bin/Linux/profile/Default/Editor" -depends-on = ["register-gems", "register-project"] -description = "Launch O3DE Editor from SDK (project must be registered and assets built first)" +cmd = "$O3DE_ENGINE_PATH/bin/Linux/profile/Default/Editor --project-path $DEMO_ROOT/sim" +description = "Launch O3DE Editor from SDK (project must be built first)" # ─── Feature: local-inference ─────────────────────────────────────────────────── [feature.local-inference.tasks.clone-inference] cmd = "vcs import --input inference.repos" +outputs = ["inference/llama.cpp"] description = "Clone llama.cpp (required for local inference)" [feature.local-inference.tasks.build-llama] @@ -210,15 +204,15 @@ depends-on = ["clone-gems", "clone-ros2-ws"] description = "Clone all repositories (gems and ROS 2 workspace)" [feature.profile-default.tasks.setup] -depends-on = ["build-ros2", "build-sim", "sync"] +depends-on = ["clone", "install-o3de", "fetch-gems", "build-ros2", "build-sim", "sync"] description = "Full setup (O3DE + ROS 2 + Python)" [feature.profile-hil.tasks.setup] -depends-on = ["build-ros2", "sync"] +depends-on = ["clone-ros2-ws", "build-ros2", "sync"] description = "Setup HIL machine (ROS 2 + Python, no O3DE)" [feature.profile-hil-local.tasks.setup] -depends-on = ["build-ros2", "sync", "build-llama"] +depends-on = ["clone-ros2-ws", "clone-inference", "build-ros2", "sync", "build-llama"] description = "Setup HIL machine with local llama.cpp inference" [feature.profile-local.tasks.clone] @@ -226,7 +220,7 @@ depends-on = ["clone-gems", "clone-ros2-ws"] description = "Clone all repositories (gems and ROS 2 workspace)" [feature.profile-local.tasks.setup] -depends-on = ["build-ros2", "build-sim", "sync", "build-llama"] +depends-on = ["clone", "install-o3de", "fetch-gems", "build-ros2", "build-sim", "sync", "build-llama"] description = "Full setup including local llama.cpp inference" [feature.profile-local.tasks.demo] diff --git a/scripts/fetch_gems.sh b/scripts/fetch_gems.sh new file mode 100755 index 0000000..de9f896 --- /dev/null +++ b/scripts/fetch_gems.sh @@ -0,0 +1,60 @@ +#!/usr/bin/env bash +# Clone o3de-extras (ROS2, SimulationInterfaces, etc.) into external/o3de-extras +# at a pinned ref, project-local. No o3de.sh calls — gems are registered purely +# via external_subdirectories in sim/project.json. +# Idempotent: skips the clone if already at the pinned ref. + +set -euo pipefail + +REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)" +O3DE_EXTRAS_URL="${O3DE_EXTRAS_URL:-https://github.com/o3de/o3de-extras.git}" +O3DE_EXTRAS_REF="${O3DE_EXTRAS_REF:-2942b796c4fe4a8b9e255be1b315df79393d9c39}" +O3DE_EXTRAS_PATH="${O3DE_EXTRAS_PATH:-$REPO_ROOT/external/o3de-extras}" +PROJECT_JSON="$REPO_ROOT/sim/project.json" + +# ── Clone / reconcile o3de-extras ─────────────────────────────────────────── +if [[ -d "$O3DE_EXTRAS_PATH/.git" ]]; then + CURRENT_REF=$(git -C "$O3DE_EXTRAS_PATH" rev-parse HEAD) + EXPECTED_REF=$(git -C "$O3DE_EXTRAS_PATH" rev-parse "$O3DE_EXTRAS_REF" 2>/dev/null || echo "") + if [[ "$CURRENT_REF" == "$EXPECTED_REF" && -n "$EXPECTED_REF" ]]; then + echo "o3de-extras at pinned ref ${O3DE_EXTRAS_REF:0:12} ($O3DE_EXTRAS_PATH)" + else + if ! git -C "$O3DE_EXTRAS_PATH" diff --quiet HEAD --; then + echo "ERROR: o3de-extras has uncommitted changes at $O3DE_EXTRAS_PATH." >&2 + echo "Commit/stash them or move the clone aside, then re-run." >&2 + exit 1 + fi + echo "o3de-extras HEAD (${CURRENT_REF:0:12}) != pinned (${O3DE_EXTRAS_REF:0:12}); reconciling..." + git -C "$O3DE_EXTRAS_PATH" fetch --quiet origin "$O3DE_EXTRAS_REF" || \ + git -C "$O3DE_EXTRAS_PATH" fetch --quiet origin + git -C "$O3DE_EXTRAS_PATH" checkout --quiet "$O3DE_EXTRAS_REF" + fi +else + echo "Cloning o3de-extras into $O3DE_EXTRAS_PATH..." + mkdir -p "$(dirname "$O3DE_EXTRAS_PATH")" + git clone "$O3DE_EXTRAS_URL" "$O3DE_EXTRAS_PATH" + git -C "$O3DE_EXTRAS_PATH" checkout "$O3DE_EXTRAS_REF" +fi + +# ── Validate all external_subdirectories exist ────────────────────────────── +# Fail here with a clear message rather than silently mid-CMake-configure. +echo "Validating gem paths from sim/project.json..." +while IFS= read -r rel; do + gem_path="$REPO_ROOT/sim/$rel" + if [[ ! -d "$gem_path" ]]; then + echo "ERROR: gem path not found: $gem_path" >&2 + if [[ "$gem_path" == *"o3de-extras"* ]]; then + echo " Check O3DE_EXTRAS_REF — the pinned commit may not contain this gem." >&2 + else + echo " Run 'pixi run clone-gems' first to clone local gems." >&2 + fi + exit 1 + fi +done < <(python3 -c ' +import json, sys +proj = json.load(open(sys.argv[1])) +for d in proj.get("external_subdirectories", []): + print(d) +' "$PROJECT_JSON") + +echo "All gem paths verified. o3de-extras ready: $O3DE_EXTRAS_PATH" diff --git a/scripts/install_o3de.sh b/scripts/install_o3de.sh index 2a034ce..bb1511d 100644 --- a/scripts/install_o3de.sh +++ b/scripts/install_o3de.sh @@ -1,55 +1,100 @@ #!/usr/bin/env bash +# Download and install the O3DE SDK, scoped to this project. +# Idempotent — skips steps that are already done. -# O3DE SDK .deb download URL. Override with the O3DE_DEB_URL env var. +set -euo pipefail + +O3DE_VERSION="${O3DE_VERSION:-26.05}" O3DE_DEB_URL="${O3DE_DEB_URL:-https://o3debinaries.org/main/Latest/Linux/o3de_2605_0.deb}" -O3DE_REQUIRED_VERSION="26.05" +O3DE_ENGINE="/opt/O3DE/$O3DE_VERSION" + +PROJECT_ROOT="${PIXI_PROJECT_ROOT:-$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)}" + +# Container builds run as root and ship no sudo binary. +SUDO="" +if [[ "${EUID:-$(id -u)}" -ne 0 ]]; then + SUDO="sudo" +fi -# ── Step 1: Install the .deb package ──────────────────────────────────────── +# ── Step 1: Unpack the .deb into /opt/O3DE/ ──────────────────────── +# Use dpkg-deb -x (payload only, no apt database entry, no postinst) so the +# install does not create a system package record. SDK binaries use +# $ORIGIN-relative RUNPATHs and run from the install path without further patching. -# Check whether the required version is already installed. There may be -# multiple versions under /opt/O3DE/; only a directory whose name contains -# the required version string (e.g. "26.05") satisfies the check. -if ls -d /opt/O3DE/*/ &>/dev/null && \ - ls -d /opt/O3DE/*/ | grep -q "$O3DE_REQUIRED_VERSION"; then - echo "O3DE SDK $O3DE_REQUIRED_VERSION already installed: $(ls -d /opt/O3DE/*/ | grep "$O3DE_REQUIRED_VERSION")" +if [[ -d "$O3DE_ENGINE" ]]; then + echo "O3DE SDK already installed at $O3DE_ENGINE." else - if ls -d /opt/O3DE/*/ &>/dev/null; then - echo "O3DE SDK found but version $O3DE_REQUIRED_VERSION is required. Installed: $(ls -d /opt/O3DE/*/)" - fi echo "Downloading O3DE SDK from: $O3DE_DEB_URL" TMP_DEB=$(mktemp --suffix=.deb) - trap 'rm -f "$TMP_DEB"' EXIT + TMP_EXTRACT=$(mktemp -d) + trap 'rm -rf "$TMP_DEB" "$TMP_EXTRACT"' EXIT curl -fsSL -o "$TMP_DEB" "$O3DE_DEB_URL" - chmod 644 "$TMP_DEB" - echo "Installing O3DE SDK (requires sudo)..." - sudo apt-get install -y "$TMP_DEB" + echo "Unpacking O3DE SDK into /opt/O3DE..." + dpkg-deb -x "$TMP_DEB" "$TMP_EXTRACT" + + # Locate the engine root by engine.json rather than trusting the version string. + src_engine=$(dirname "$(find "$TMP_EXTRACT/opt/O3DE" -maxdepth 2 -name engine.json 2>/dev/null | head -1)") + if [[ ! -f "$src_engine/engine.json" ]]; then + echo "ERROR: no engine.json found in the .deb payload under opt/O3DE." >&2 + exit 1 + fi + + $SUDO mkdir -p /opt/O3DE + $SUDO cp -a "$src_engine" "$O3DE_ENGINE" + echo "O3DE SDK installed: $O3DE_ENGINE" - echo "O3DE SDK installed: $(ls -d /opt/O3DE/*/)" + # Install the SDK's declared system dependencies. dpkg-deb -x skips dependency + # resolution, so install them explicitly from the .deb metadata. + deps=$(dpkg-deb -f "$TMP_DEB" Depends | tr ',' '\n' | sed 's/([^)]*)//g' | xargs) + echo "Installing SDK system dependencies: $deps" + $SUDO apt-get install -y --no-install-recommends $deps fi -O3DE_ENGINE=$(ls -d /opt/O3DE/*/ | grep "$O3DE_REQUIRED_VERSION" | head -1 | sed 's:/$::') +# ── Fix editable-install egg-info dirs ────────────────────────────────────── +# CMake configure runs `pip install -e` against three engine-bundled Python +# packages. setuptools writes a .egg-info/ directory next to the source +# as a side effect. The .deb installs the engine root-owned, so a non-root pip +# either fails to create the dir or can't update its mtime. Making the three +# parent dirs world-writable lets any user create their own egg-info without +# chowning the engine tree (which would break shared machines). +# Remove any root-owned egg-info residue first so setuptools doesn't hit a +# permission error on an existing directory it doesn't own. +# Upstream issue: o3de/o3de#19752. +EDITABLE_DIRS=( + "$O3DE_ENGINE/Tools/LyTestTools" + "$O3DE_ENGINE/Tools/RemoteConsole/ly_remote_console" + "$O3DE_ENGINE/scripts/o3de" +) +for dir in "${EDITABLE_DIRS[@]}"; do + [[ -d "$dir" ]] || continue + if [[ -n "$(find "$dir" -maxdepth 1 -type d -name '*.egg-info' -uid 0 2>/dev/null)" ]]; then + $SUDO find "$dir" -maxdepth 1 -type d -name '*.egg-info' -uid 0 \ + -exec rm -rf {} + 2>/dev/null || true + fi + if [[ ! -w "$dir" ]]; then + echo "Making $dir world-writable..." + $SUDO chmod o+w "$dir" + fi +done # ── Step 2: Bootstrap O3DE's bundled Python ───────────────────────────────── -# The .deb does not ship Python; get_python.sh downloads it and creates a -# venv. Needed before o3de.sh (which is a Python wrapper) can run. - -if [[ -d "$HOME/.o3de/Python/packages" ]]; then - echo "O3DE Python already bootstrapped." +# Probe via the python.sh wrapper so a stale packages dir from a removed engine +# doesn't cause us to skip venv creation for this engine. +if "$O3DE_ENGINE/python/python.sh" -c 'pass' &>/dev/null; then + echo "O3DE Python already bootstrapped for $O3DE_ENGINE." else echo "Bootstrapping O3DE Python..." "$O3DE_ENGINE/python/get_python.sh" fi -# ── Step 3: Register the engine ───────────────────────────────────────────── -# Makes the SDK discoverable by cmake and o3de.sh project commands. - -if grep -q "$O3DE_ENGINE" ~/.o3de/o3de_manifest.json 2>/dev/null; then - echo "O3DE engine already registered." -else - echo "Registering O3DE engine..." - "$O3DE_ENGINE/scripts/o3de.sh" register --this-engine -fi +# ── Step 3: Record engine path in sim/user/project.json ───────────────────── +# EngineFinder.cmake Option 2 reads engine_path from this file, so engine +# selection stays project-local and nothing is written to ~/.o3de. +USER_PROJECT_JSON="$PROJECT_ROOT/sim/user/project.json" +mkdir -p "$(dirname "$USER_PROJECT_JSON")" +printf '{\n "engine_path": "%s"\n}\n' "$O3DE_ENGINE" > "$USER_PROJECT_JSON" +echo "Engine path recorded in $USER_PROJECT_JSON" echo "O3DE SDK ready: $O3DE_ENGINE" diff --git a/scripts/register_gems.sh b/scripts/register_gems.sh index f3303b9..2cd1423 100644 --- a/scripts/register_gems.sh +++ b/scripts/register_gems.sh @@ -42,8 +42,13 @@ RELEASED_GEMS=( echo "=== Downloading O3DE Gems ===" for gem in "${RELEASED_GEMS[@]}"; do - echo " Downloading: $gem" - "$O3DE_CLI" download --gem-name "$gem" + gem_name="${gem%%==*}" + if grep -q "/Gems/$gem_name/" "$HOME/.o3de/o3de_manifest.json" 2>/dev/null; then + echo " Already registered, skipping: $gem" + else + echo " Downloading: $gem" + "$O3DE_CLI" download --gem-name "$gem" -f + fi done # ── Step 3: Register local submodule gems ─────────────────────────────────── diff --git a/scripts/setup_env.sh b/scripts/setup_env.sh index d3dd7ce..5e983e7 100644 --- a/scripts/setup_env.sh +++ b/scripts/setup_env.sh @@ -1,24 +1,36 @@ #!/usr/bin/env bash # Sourced by pixi on environment activation. -# Sets up ROS 2 Jazzy paths so that pixi shell / pixi run tasks have a full -# ROS 2 environment without needing manual `source` calls. +# Sets up O3DE and ROS 2 environment variables automatically. -# O3DE SDK path — resolved in order: -# 1. Caller-set env var (native dev workflow) -# 2. Discovered from /opt/O3DE/ (set by install_o3de.sh or container build) -if [[ -z "$O3DE_ENGINE_PATH" ]]; then - discovered=$(ls -d /opt/O3DE/*/ 2>/dev/null | sort -V | tail -1 | sed 's:/$::') - [[ -n "$discovered" ]] && export O3DE_ENGINE_PATH="$discovered" +# ── O3DE engine path ───────────────────────────────────────────────────────── +# Resolved in order: +# 1. Caller-set O3DE_ENGINE_PATH (CI override / native dev workflow) +# 2. engine_path from sim/user/project.json — written by install_o3de.sh, +# mirrors what EngineFinder.cmake (Option 2) uses at configure time +# 3. /opt/O3DE/ fallback for a fresh checkout before install runs +if [[ -z "${O3DE_ENGINE_PATH:-}" ]]; then + user_project_json="${PIXI_PROJECT_ROOT:-.}/sim/user/project.json" + if [[ -f "$user_project_json" ]]; then + O3DE_ENGINE_PATH=$(python3 -c "import json,sys; d=json.load(open(sys.argv[1])); print(d.get('engine_path',''))" "$user_project_json" 2>/dev/null || true) + fi + export O3DE_ENGINE_PATH="${O3DE_ENGINE_PATH:-/opt/O3DE/26.05}" fi -# Base ROS 2 installation -if [ -f "/opt/ros/jazzy/local_setup.sh" ]; then +# ── LD_LIBRARY_PATH: O3DE bundled libs take precedence over conda ──────────── +# Pixi/conda activation injects conda's lib dir into LD_LIBRARY_PATH. O3DE +# ships its own patched Qt5 and other runtime libs; when conda's copies shadow +# them the linker resolves mismatched ABIs (e.g. Qt_5_PRIVATE_API undefined +# symbol). Prepending the O3DE lib dir ensures the bundled libs always win. +export LD_LIBRARY_PATH="$O3DE_ENGINE_PATH/bin/Linux/profile/Default${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}" + +# ── ROS 2 setup ────────────────────────────────────────────────────────────── +if [[ -f "/opt/ros/jazzy/local_setup.sh" ]]; then # shellcheck source=/dev/null source "/opt/ros/jazzy/local_setup.sh" fi # Project ROS 2 workspace (available after `pixi run build-ros2`) -if [ -f "${PIXI_PROJECT_ROOT}/ros2_ws/install/local_setup.sh" ]; then +if [[ -f "${PIXI_PROJECT_ROOT}/ros2_ws/install/local_setup.sh" ]]; then # shellcheck source=/dev/null source "${PIXI_PROJECT_ROOT}/ros2_ws/install/local_setup.sh" fi diff --git a/sim/CMakeLists.txt b/sim/CMakeLists.txt index 39cdc22..841b769 100644 --- a/sim/CMakeLists.txt +++ b/sim/CMakeLists.txt @@ -2,6 +2,11 @@ if(NOT PROJECT_NAME) cmake_minimum_required(VERSION 3.22) + # Use only external_subdirectories from project.json; skip ~/.o3de manifest + # gem resolution entirely. Without this, cmake.py queries the manifest and + # may pick incompatible or stale gem copies registered globally. + set(O3DE_DISABLE_GEM_DEPENDENCY_RESOLUTION TRUE CACHE BOOL "" FORCE) + # Utility function to look for an optional 'engine_finder_cmake_path'setting function(get_engine_finder_cmake_path project_json_file_path path_value) if(NOT ${path_value} AND EXISTS "${project_json_file_path}") diff --git a/sim/project.json b/sim/project.json index ddb651a..01488b3 100644 --- a/sim/project.json +++ b/sim/project.json @@ -16,6 +16,13 @@ "engine": "o3de-sdk", "external_subdirectories": [ "Gem", + "../external/o3de-extras/Gems/ROS2", + "../external/o3de-extras/Gems/ROS2Sensors", + "../external/o3de-extras/Gems/ROS2Controllers", + "../external/o3de-extras/Gems/ROS2SampleRobots", + "../external/o3de-extras/Gems/SimulationInterfaces", + "../external/o3de-extras/Gems/LevelGeoreferencing", + "../external/o3de-extras/Gems/WarehouseAssets", "../gems/o3de-humanworker-gem", "../gems/o3de-ur-robots-gem", "../gems/robotec-o3de-tools/Gems/RobotecSpectatorCamera", From a765e4dc64d0516ba453a82b9337523333ccf19a Mon Sep 17 00:00:00 2001 From: Jan Hanca Date: Wed, 24 Jun 2026 13:45:12 +0200 Subject: [PATCH 46/69] Fix pixi issues: Editor and GameLauncher work Signed-off-by: Jan Hanca --- .gitignore | 1 + docs/setup_sim.md | 17 ++++++++--------- pixi.lock | 10 ++++++++++ pixi.toml | 5 ++++- scripts/fetch_gems.sh | 33 ++++++++++++++++++++++----------- 5 files changed, 45 insertions(+), 21 deletions(-) diff --git a/.gitignore b/.gitignore index 40684b2..477fb9c 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,6 @@ gems/ engine/ +external/ inference/ ros2_ws/install ros2_ws/build diff --git a/docs/setup_sim.md b/docs/setup_sim.md index fa9c978..8f7bcaa 100644 --- a/docs/setup_sim.md +++ b/docs/setup_sim.md @@ -53,15 +53,14 @@ pixi run -e default setup This single command runs the full build pipeline in the correct order: -| Step | pixi task | What it does | -| ---- | --------------- | ------------------------------------------------- | -| 1 | `clone-gems` | `vcs import` + `git lfs pull` for local O3DE gems | -| 2 | `clone-ros2-ws` | `vcs import` for the ROS 2 workspace | -| 3 | `install-o3de` | Install the O3DE engine | -| 4 | `fetch-gems` | Clone o3de-extras locally, validate all gem paths | -| 6 | `build-ros2` | `colcon build` (deps provided by conda/RoboStack) | -| 7 | `build-sim` | CMake configure + Ninja build (GameLauncher) | -| 8 | `sync` | `uv sync` — install Python dependencies | +| Step | pixi task | What it does | +| ---- | -------------- | --------------------------------------------------- | +| 1 | `clone` | `vcs import` + `git lfs pull` for gems and ROS 2 ws | +| 2 | `install-o3de` | Install the O3DE engine | +| 3 | `fetch-gems` | Clone o3de-extras locally, validate all gem paths | +| 4 | `build-ros2` | `colcon build` (deps provided by conda/RoboStack) | +| 5 | `build-sim` | CMake configure + Ninja build (GameLauncher) | +| 6 | `sync` | `uv sync` — install Python dependencies | --- diff --git a/pixi.lock b/pixi.lock index 4faa2b0..9c32427 100644 --- a/pixi.lock +++ b/pixi.lock @@ -74,6 +74,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/gflags-2.2.2-h5888daf_1005.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/ghostscript-10.07.1-hecca717_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/giflib-5.2.2-hd590300_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/git-lfs-3.7.1-hd3da7ce_2.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/gl2ps-1.4.2-h36e74d4_2.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/glew-2.3.0-h71661d4_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/glib-2.88.1-hd810c12_2.conda @@ -2956,6 +2957,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/gflags-2.2.2-h5888daf_1005.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/ghostscript-10.07.1-hecca717_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/giflib-5.2.2-hd590300_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/git-lfs-3.7.1-hd3da7ce_2.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/gl2ps-1.4.2-h36e74d4_2.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/glew-2.3.0-h71661d4_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/glib-2.88.1-hd810c12_2.conda @@ -4933,6 +4935,14 @@ packages: - giflib >=5.2.2,<5.3.0a0 size: 77248 timestamp: 1712692454246 +- conda: https://conda.anaconda.org/conda-forge/linux-64/git-lfs-3.7.1-hd3da7ce_2.conda + sha256: 244db394018bd2ae18e4d833af566ac98ec7e98d967e3c70839765dc1c27a189 + md5: 2319a87ec34c4d02c2a02711228fba26 + license: MIT + license_family: MIT + run_exports: {} + size: 4957399 + timestamp: 1781207228441 - conda: https://conda.anaconda.org/conda-forge/linux-64/gl2ps-1.4.2-h36e74d4_2.conda sha256: e28a214c71590a09f75f1aaccf5795bbcfb99b00c2d6ef55d34320b4f47485bd md5: 787c780ff43f9f79d78d01e476b81a7c diff --git a/pixi.toml b/pixi.toml index 3a8c8aa..acd8c23 100644 --- a/pixi.toml +++ b/pixi.toml @@ -110,13 +110,16 @@ description = "Launch safety agent (with RAG)" # ─── Feature: sim ─────────────────────────────────────────────────────────────── +[feature.sim.dependencies] +git-lfs = "*" + [feature.sim.tasks.install-o3de] cmd = "scripts/install_o3de.sh" outputs = ["/opt/O3DE/26.05/scripts/o3de.sh"] description = "Install the O3DE engine SDK" [feature.sim.tasks.clone-gems] -cmd = "vcs import --input gems.repos && git lfs install && (cd gems && vcs custom --git --args 'lfs pull')" +cmd = "vcs import --input gems.repos && git lfs install && bash -c 'for repo in gems/*/; do git -C \"$repo\" lfs pull; done'" outputs = ["gems/robotec-warehouse-assets"] description = "Clone local O3DE gems and fetch LFS assets" diff --git a/scripts/fetch_gems.sh b/scripts/fetch_gems.sh index de9f896..47b3f88 100755 --- a/scripts/fetch_gems.sh +++ b/scripts/fetch_gems.sh @@ -2,21 +2,33 @@ # Clone o3de-extras (ROS2, SimulationInterfaces, etc.) into external/o3de-extras # at a pinned ref, project-local. No o3de.sh calls — gems are registered purely # via external_subdirectories in sim/project.json. -# Idempotent: skips the clone if already at the pinned ref. +# Shallow clone (--depth 1): only the working tree at the pinned commit. +# Idempotent: skips the fetch if HEAD already matches the pinned ref. set -euo pipefail REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)" O3DE_EXTRAS_URL="${O3DE_EXTRAS_URL:-https://github.com/o3de/o3de-extras.git}" -O3DE_EXTRAS_REF="${O3DE_EXTRAS_REF:-2942b796c4fe4a8b9e255be1b315df79393d9c39}" +O3DE_EXTRAS_TAG="${O3DE_EXTRAS_TAG:-2605.0}" +O3DE_EXTRAS_REF="${O3DE_EXTRAS_REF:-8e7f0f049772a61756ecf46b4319a14ff27710da}" O3DE_EXTRAS_PATH="${O3DE_EXTRAS_PATH:-$REPO_ROOT/external/o3de-extras}" PROJECT_JSON="$REPO_ROOT/sim/project.json" +_shallow_fetch() { + git -C "$O3DE_EXTRAS_PATH" fetch --depth 1 origin "refs/tags/$O3DE_EXTRAS_TAG" + git -C "$O3DE_EXTRAS_PATH" checkout FETCH_HEAD + ACTUAL=$(git -C "$O3DE_EXTRAS_PATH" rev-parse HEAD) + if [[ "$ACTUAL" != "$O3DE_EXTRAS_REF" ]]; then + echo "ERROR: tag $O3DE_EXTRAS_TAG resolved to $ACTUAL, expected $O3DE_EXTRAS_REF" >&2 + echo " Update O3DE_EXTRAS_REF in this script if the tag was intentionally moved." >&2 + exit 1 + fi +} + # ── Clone / reconcile o3de-extras ─────────────────────────────────────────── if [[ -d "$O3DE_EXTRAS_PATH/.git" ]]; then CURRENT_REF=$(git -C "$O3DE_EXTRAS_PATH" rev-parse HEAD) - EXPECTED_REF=$(git -C "$O3DE_EXTRAS_PATH" rev-parse "$O3DE_EXTRAS_REF" 2>/dev/null || echo "") - if [[ "$CURRENT_REF" == "$EXPECTED_REF" && -n "$EXPECTED_REF" ]]; then + if [[ "$CURRENT_REF" == "$O3DE_EXTRAS_REF" ]]; then echo "o3de-extras at pinned ref ${O3DE_EXTRAS_REF:0:12} ($O3DE_EXTRAS_PATH)" else if ! git -C "$O3DE_EXTRAS_PATH" diff --quiet HEAD --; then @@ -25,15 +37,14 @@ if [[ -d "$O3DE_EXTRAS_PATH/.git" ]]; then exit 1 fi echo "o3de-extras HEAD (${CURRENT_REF:0:12}) != pinned (${O3DE_EXTRAS_REF:0:12}); reconciling..." - git -C "$O3DE_EXTRAS_PATH" fetch --quiet origin "$O3DE_EXTRAS_REF" || \ - git -C "$O3DE_EXTRAS_PATH" fetch --quiet origin - git -C "$O3DE_EXTRAS_PATH" checkout --quiet "$O3DE_EXTRAS_REF" + _shallow_fetch fi else - echo "Cloning o3de-extras into $O3DE_EXTRAS_PATH..." - mkdir -p "$(dirname "$O3DE_EXTRAS_PATH")" - git clone "$O3DE_EXTRAS_URL" "$O3DE_EXTRAS_PATH" - git -C "$O3DE_EXTRAS_PATH" checkout "$O3DE_EXTRAS_REF" + echo "Cloning o3de-extras into $O3DE_EXTRAS_PATH (shallow, no LFS)..." + mkdir -p "$O3DE_EXTRAS_PATH" + git init "$O3DE_EXTRAS_PATH" + git -C "$O3DE_EXTRAS_PATH" remote add origin "$O3DE_EXTRAS_URL" + _shallow_fetch fi # ── Validate all external_subdirectories exist ────────────────────────────── From 726adcedccade7e0d08f297ceb63e8c551e05f6d Mon Sep 17 00:00:00 2001 From: Jan Hanca Date: Wed, 24 Jun 2026 15:11:16 +0200 Subject: [PATCH 47/69] Remove unused level Signed-off-by: Jan Hanca --- sim/Levels/DefaultLevel/DefaultLevel.prefab | 493 -------------------- 1 file changed, 493 deletions(-) delete mode 100755 sim/Levels/DefaultLevel/DefaultLevel.prefab diff --git a/sim/Levels/DefaultLevel/DefaultLevel.prefab b/sim/Levels/DefaultLevel/DefaultLevel.prefab deleted file mode 100755 index 102b292..0000000 --- a/sim/Levels/DefaultLevel/DefaultLevel.prefab +++ /dev/null @@ -1,493 +0,0 @@ -{ - 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], - "Rotate": [ - 0.0, - 0.0, - 93.44083404541016 - ] - } - } - } - } - } -} \ No newline at end of file From 6f8437293c2f664cc1291cb561554103243f722d Mon Sep 17 00:00:00 2001 From: maciejmajek Date: Thu, 25 Jun 2026 14:35:38 +0200 Subject: [PATCH 48/69] Code review fixes Signed-off-by: Jan Hanca --- pixi.toml | 28 ++++++++++++++++++---------- scripts/build_sim.sh | 43 +++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 61 insertions(+), 10 deletions(-) create mode 100755 scripts/build_sim.sh diff --git a/pixi.toml b/pixi.toml index acd8c23..4cebd22 100644 --- a/pixi.toml +++ b/pixi.toml @@ -72,6 +72,7 @@ description = "Clone ROS 2 workspace repositories" cmd = "colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release" cwd = "ros2_ws" outputs = ["ros2_ws/install/"] +depends-on = ["clone-ros2-ws"] description = "Build the ROS 2 workspace with colcon (deps provided by conda/RoboStack — no rosdep)" [feature.ros2.tasks.ros2] @@ -126,20 +127,27 @@ description = "Clone local O3DE gems and fetch LFS assets" [feature.sim.tasks.fetch-gems] cmd = "scripts/fetch_gems.sh" outputs = ["external/o3de-extras"] +# clone-gems must run first: fetch_gems.sh validates every external_subdirectory +# in project.json, including the ../gems/* paths that clone-gems provides. +depends-on = ["clone-gems"] description = "Clone o3de-extras gems locally and validate all gem paths from project.json" +# Runs via scripts/build_sim.sh rather than an inline cmake invocation: pixi +# activates the environment once, at the start of a `pixi run`, so on a clean +# tree the ros2_ws overlay (built by build-ros2 during the same run) is not yet +# sourced. The script sources it at build time so the O3DE SimulationInterfaces +# gem's find_package(simulation_interfaces) resolves on the FIRST run, not only +# the second. (It also pins CMAKE_CXX_STANDARD=20.) [feature.sim.tasks.build-sim] -cmd = """ -cmake -B build/linux -G "Ninja Multi-Config" \ - -DCMAKE_MODULE_PATH=$O3DE_ENGINE_PATH/cmake \ - -DLY_DISABLE_TEST_MODULES=ON \ - -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ - -DLY_STRIP_DEBUG_SYMBOLS=ON && -cmake --build build/linux --config profile \ - --target MobileManipulatorDemo.Assets MobileManipulatorDemo.GameLauncher -""" -cwd = "sim" +# No cwd override: the script path is project-root-relative and the script cd's +# into $DEMO_ROOT/sim itself. +cmd = "bash scripts/build_sim.sh" outputs = ["sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher"] +# All gems are registered project-locally via external_subdirectories in +# sim/project.json, so the gem source trees must exist before cmake configure. +# fetch-gems (transitively clone-gems) clones them; depend on it so a clean +# checkout — and the Docker o3de build — fetch gems before building. +depends-on = ["fetch-gems"] description = "Build O3DE GameLauncher and project assets" [feature.sim.tasks.sim] diff --git a/scripts/build_sim.sh b/scripts/build_sim.sh new file mode 100755 index 0000000..431f6d1 --- /dev/null +++ b/scripts/build_sim.sh @@ -0,0 +1,43 @@ +#!/usr/bin/env bash +# Build the O3DE GameLauncher and project assets. +# +# Why this is a script and not an inline pixi task: +# The O3DE SimulationInterfaces gem does find_package(simulation_interfaces), +# which is source-built into ros2_ws/install by `build-ros2`. pixi computes the +# environment activation ONCE at the start of a `pixi run`, so on a clean tree +# `scripts/setup_env.sh` can't source the overlay (it doesn't exist yet) and +# build-sim — even though it runs after build-ros2 — never sees it. cmake then +# fails with "Could not find a package configuration file provided by +# simulation_interfaces", and only a *second* run works. Sourcing the overlay +# here, at build time, makes a clean `pixi run -e default setup` succeed on the +# first try. +set -eo pipefail # no -u: ROS setup scripts reference unbound vars + +# Source the ros2_ws overlay built by build-ros2 so the source-built packages +# (simulation_interfaces, robotnik_*, rai_interfaces) are on CMAKE_PREFIX_PATH. +overlay="$DEMO_ROOT/ros2_ws/install/local_setup.bash" +if [ ! -f "$overlay" ]; then + echo "ERROR: $overlay not found — run 'pixi run build-ros2' first." >&2 + exit 1 +fi +# colcon's setup script can return nonzero mid-source; don't let errexit abort. +set +e +# shellcheck source=/dev/null +source "$overlay" +set -e + +cd "$DEMO_ROOT/sim" + +# O3DE 26.05 requires C++20 (AzCore headers use `requires`-clauses). The engine +# only sets CMAKE_CXX_STANDARD=20 as a non-FORCE cache default, so a stale build +# dir that cached 17 silently wins and the build fails with "unknown type name +# 'requires'". Pin it explicitly so every configure forces 20. +cmake -B build/linux -G "Ninja Multi-Config" \ + -DCMAKE_MODULE_PATH="$O3DE_ENGINE_PATH/cmake" \ + -DCMAKE_CXX_STANDARD=20 \ + -DLY_DISABLE_TEST_MODULES=ON \ + -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ + -DLY_STRIP_DEBUG_SYMBOLS=ON + +cmake --build build/linux --config profile \ + --target MobileManipulatorDemo.Assets MobileManipulatorDemo.GameLauncher From c9dfd9e38fefbdf7eb0ff27db19d1d8b05eba5cf Mon Sep 17 00:00:00 2001 From: Jan Hanca Date: Thu, 25 Jun 2026 21:05:23 +0200 Subject: [PATCH 49/69] Add .dockerignore Signed-off-by: Jan Hanca --- .dockerignore | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) create mode 100644 .dockerignore diff --git a/.dockerignore b/.dockerignore new file mode 100644 index 0000000..d010b00 --- /dev/null +++ b/.dockerignore @@ -0,0 +1,23 @@ +# Build artefacts — contain hardcoded host paths (CMakeCache.txt etc.) +sim/build/ +sim/user/ +ros2_ws/build/ +ros2_ws/install/ +ros2_ws/log/ + +# Cloned at image-build time by pixi tasks — exclude to keep context small +gems/ +external/ +inference/ + +# Pixi environment cache +.pixi/ + +# Large model files +models/ + +# Developer files +.vscode/ +.env +*.egg-info/ +__pycache__/ From 2056c53f469d1502cff538658daefe9b1920d978 Mon Sep 17 00:00:00 2001 From: Jan Hanca Date: Tue, 30 Jun 2026 12:09:45 +0200 Subject: [PATCH 50/69] chore: bump WheelAnimTool dependency (#33) * Bump robotec-o3de-tools submodule Signed-off-by: Jan Hanca * Update kairos prefab to new WheelAnimTool Signed-off-by: Jan Hanca --------- Signed-off-by: Jan Hanca --- gems.repos | 2 +- .../KairosPlus/Assets/rbkairos_plus.prefab | 17 +++++++++-------- 2 files changed, 10 insertions(+), 9 deletions(-) diff --git a/gems.repos b/gems.repos index 90d9c4b..5560567 100644 --- a/gems.repos +++ b/gems.repos @@ -10,7 +10,7 @@ repositories: ./gems/robotec-o3de-tools: type: git url: https://github.com/RobotecAI/robotec-o3de-tools.git - version: f8ff72cc2fd249f77c16c5cf43d4341dccc29633 + version: b814f8d73403a431ebb967e98706be58145c2187 ./gems/robotec-warehouse-assets: type: git url: https://github.com/RobotecAI/robotec-warehouse-assets.git diff --git a/project_gems/KairosPlus/Assets/rbkairos_plus.prefab b/project_gems/KairosPlus/Assets/rbkairos_plus.prefab index 18d3a50..0597023 100755 --- a/project_gems/KairosPlus/Assets/rbkairos_plus.prefab +++ b/project_gems/KairosPlus/Assets/rbkairos_plus.prefab @@ -6455,21 +6455,22 @@ "RollerDirections": [ [ 1.0, - -1.0 - ], - [ - -1.0, 1.0 ], [ 1.0, - 1.0 + -1.0 ], [ - -1.0, + 1.0, -1.0 + ], + [ + 1.0, + 1.0 ] - ] + ], + "WheelRadius": 0.12700000405311584 } } } @@ -7853,4 +7854,4 @@ ] } } -} +} \ No newline at end of file From 60b34afe1946a4d3428fade0593c637437ae9e1e Mon Sep 17 00:00:00 2001 From: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> Date: Tue, 30 Jun 2026 13:56:41 +0200 Subject: [PATCH 51/69] chore: freeze deps versions (#31) --- pixi.lock | 17812 +++++++++++++++++++++++++++++------------------- pixi.toml | 47 +- ros2_ws.repos | 10 +- 3 files changed, 10747 insertions(+), 7122 deletions(-) diff --git a/pixi.lock b/pixi.lock index 9c32427..e553b7a 100644 --- a/pixi.lock +++ b/pixi.lock @@ -8,19 +8,39 @@ environments: - 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fmt - python @@ -14444,21 +17895,20 @@ packages: - ros-jazzy-ros-workspace - ros-jazzy-trajectory-msgs - ros-jazzy-urdf - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* - __glibc >=2.17,<3.0.a0 - - libgcc >=14 - libstdcxx >=14 - libgcc >=14 - - python_abi 3.12.* *_cp312 + - numpy >=1.25,<3 - fmt >=12.1.0,<12.2.0a0 - - numpy >=1.23,<3 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - python_abi 3.12.* *_cp312 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 license: Apache-2.0 - size: 140743 - timestamp: 1771187726577 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-joint-state-broadcaster-4.37.0-np2py312h2ed9cc7_16.conda - sha256: 9c79ef4954949577124c61b5620dcb67e3b799e4ab3e6c9ae21021bad6ae5847 - md5: 34b1718db7732a5b76b14402c8df8059 + size: 147482 + timestamp: 1782304279185 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-joint-state-broadcaster-4.40.0-np2py312h2ed9cc7_18.conda + sha256: e5d61e8915bb62eddf3017687e1659c5a752afce2eac257a6a7d53a573da2f7f + md5: 1bff8ebcabe8dcbbec68f78baa791cef depends: - 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python @@ -15412,21 +18862,20 @@ packages: - ros-jazzy-rclcpp - ros-jazzy-ros-workspace - ros-jazzy-tf2-eigen - - ros2-distro-mutex 0.14.* jazzy_* - - __glibc >=2.17,<3.0.a0 - - libgcc >=14 + - ros2-distro-mutex 0.15.* jazzy_* - libstdcxx >=14 - libgcc >=14 - - numpy >=1.23,<3 - - libboost >=1.88.0,<1.89.0a0 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - __glibc >=2.17,<3.0.a0 + - numpy >=1.25,<3 - python_abi 3.12.* *_cp312 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - libboost >=1.90.0,<1.91.0a0 license: BSD-3-Clause - size: 369500 - timestamp: 1771236750977 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-ros-move-group-2.12.4-np2py312h2c89a96_16.conda - sha256: 8be2756c9c0b3b433c5698bce41377185b5c69097cdeb70ee04b61363178bb26 - md5: 4ea1791724190d13af68453bc0fd25ba + size: 370700 + timestamp: 1782441450507 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-ros-move-group-2.12.4-np2py312h2c89a96_18.conda + sha256: e8c2d0c033e8c7174515a111a31eb2084c8e558aebd3532e64f544120874ee07 + md5: f5ef98d4d2bed7a90d01db6bb0750e9e depends: - fmt - python @@ -15443,23 +18892,23 @@ packages: - ros-jazzy-tf2 - ros-jazzy-tf2-geometry-msgs - ros-jazzy-tf2-ros - - ros2-distro-mutex 0.14.* jazzy_* - - libgcc >=14 + - ros2-distro-mutex 0.15.* jazzy_* - libstdcxx >=14 - libgcc >=14 - __glibc >=2.17,<3.0.a0 - - fmt >=12.1.0,<12.2.0a0 - - numpy >=1.23,<3 + - numpy >=1.25,<3 - python_abi 3.12.* *_cp312 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - fmt >=12.1.0,<12.2.0a0 license: BSD-3-Clause - size: 627264 - timestamp: 1771236593444 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-ros-occupancy-map-monitor-2.12.4-np2py312h2ed9cc7_16.conda - sha256: 7f0e7f1878faf34d6b24cbbbcd800cc55c7470146031ded561ea005581f0b954 - md5: 411951137200f09158498a1906920cc2 + size: 626652 + timestamp: 1782441325245 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-ros-occupancy-map-monitor-2.12.4-np2py312h13839b9_18.conda + sha256: 224bde8613807ef7a332d38e899c31a64c0c320c0553b8d2083bed2790fc05b0 + md5: 8e159d76ee9c9269b2a33d80688dc432 depends: - 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fmt - python @@ -15622,20 +19073,20 @@ packages: - ros-jazzy-tf2-eigen - ros-jazzy-tf2-ros - ros-jazzy-warehouse-ros - - ros2-distro-mutex 0.14.* jazzy_* - - __glibc >=2.17,<3.0.a0 + - ros2-distro-mutex 0.15.* jazzy_* - libstdcxx >=14 - libgcc >=14 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - fmt >=12.1.0,<12.2.0a0 - - numpy >=1.23,<3 + - __glibc >=2.17,<3.0.a0 + - numpy >=1.25,<3 - python_abi 3.12.* *_cp312 + - fmt >=12.1.0,<12.2.0a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 license: BSD-3-Clause - size: 721232 - timestamp: 1771236345994 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-setup-app-plugins-2.12.4-np2py312h2ed9cc7_16.conda - sha256: 12254ad8a7fe9e45ca111969629f4fa1489ac3dcde7d54d10b79dc0f98e37758 - md5: b0df250a4656129ebccf87a2ad7f2540 + size: 721496 + timestamp: 1782397970764 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-setup-app-plugins-2.12.4-np2py312h2ed9cc7_18.conda + sha256: 55d8187f45d405feb090429aa3b9630938d7930d9d9cc68961629eb5fa7d99fb + md5: 0e0c2986c30dad25b99bf1f2fec57f15 depends: - 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python - ros-jazzy-ament-index-cpp @@ -15726,22 +19174,21 @@ packages: - ros-jazzy-ros-workspace - ros-jazzy-srdfdom - ros-jazzy-urdf - - ros2-distro-mutex 0.14.* jazzy_* - - libgcc >=14 - - __glibc >=2.17,<3.0.a0 + - ros2-distro-mutex 0.15.* jazzy_* - libstdcxx >=14 - libgcc >=14 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - python_abi 3.12.* *_cp312 - - numpy >=1.23,<3 - - libopengl >=1.7.0,<2.0a0 + - __glibc >=2.17,<3.0.a0 - libgl >=1.7.0,<2.0a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - libopengl >=1.7.0,<2.0a0 + - numpy >=1.25,<3 + - python_abi 3.12.* *_cp312 license: BSD-3-Clause - size: 149133 - timestamp: 1771240600920 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-setup-framework-2.12.4-np2py312h2c89a96_16.conda - sha256: b58c6659a57f5c84c2ec59b289b2d8694df05fc2043c29ddb2fccb0b7df359e1 - md5: 4744f08be679e31a56afc2dbd0aa73b5 + size: 150480 + timestamp: 1782443585406 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-setup-framework-2.12.4-np2py312h2c89a96_18.conda + sha256: 5f295401281cc4ffec70fc4aa66bb9a0a87ecc9b50df3c527cc671e68a064a5d + md5: b4fe584bdea93a9781c3f34662ddcdef depends: - fmt - python @@ -15757,43 +19204,42 @@ packages: - ros-jazzy-rviz-rendering - ros-jazzy-srdfdom - ros-jazzy-urdf - - ros2-distro-mutex 0.14.* jazzy_* - - __glibc >=2.17,<3.0.a0 + - ros2-distro-mutex 0.15.* jazzy_* - libstdcxx >=14 - libgcc >=14 - - numpy >=1.23,<3 - - python_abi 3.12.* *_cp312 - - libopengl >=1.7.0,<2.0a0 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - __glibc >=2.17,<3.0.a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 - libgl >=1.7.0,<2.0a0 + - libopengl >=1.7.0,<2.0a0 - fmt >=12.1.0,<12.2.0a0 + - python_abi 3.12.* *_cp312 + - numpy >=1.25,<3 license: BSD-3-Clause - size: 343415 - timestamp: 1771240248312 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-setup-srdf-plugins-2.12.4-np2py312h2ed9cc7_16.conda - sha256: 700b5726f1ce515f6c59bbc18363fe6545e2933883d5e7dc00fbfa24a03447d3 - md5: 488cdbf042032e49a1b72c50b3393b26 + size: 345578 + timestamp: 1782443252938 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-setup-srdf-plugins-2.12.4-np2py312h2ed9cc7_18.conda + sha256: 6d0431a7eb6f0ff236c89953bfaeb7e7f7fbd56cd61689feaf6fa98786df20fb + md5: 817e6d8f598a65564f0a8e906a480105 depends: - 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python - ros-jazzy-geometry-msgs @@ -15848,20 +19293,19 @@ packages: - ros-jazzy-std-msgs - ros-jazzy-tf2 - ros-jazzy-tf2-geometry-msgs - - ros2-distro-mutex 0.14.* jazzy_* - - libgcc >=14 + - ros2-distro-mutex 0.15.* jazzy_* - __glibc >=2.17,<3.0.a0 - libstdcxx >=14 - libgcc >=14 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - numpy >=1.25,<3 - python_abi 3.12.* *_cp312 - - numpy >=1.23,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 license: BSD-3-Clause - size: 63561 - timestamp: 1771189414411 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav-msgs-5.3.6-np2py312h2ed9cc7_16.conda - sha256: fead9138b90a64ce092b0a27a1ce6391199312ccb1483df73fe541bedb203503 - md5: d1d350c81efeef8c306e48ac25b99327 + size: 63772 + timestamp: 1782306020519 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav-msgs-5.3.7-np2py312h2ed9cc7_18.conda + sha256: 6e9abae4fb82f12c42cf2364e4264b7bb50f96ae4976a6285c36b75dbcea9fbd + md5: e63f21ce61b78ee9a81274fcc47bd851 depends: - python - ros-jazzy-builtin-interfaces @@ -15869,19 +19313,19 @@ packages: - ros-jazzy-ros-workspace - ros-jazzy-rosidl-default-runtime - ros-jazzy-std-msgs - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* + - __glibc >=2.17,<3.0.a0 - libstdcxx >=14 - libgcc >=14 - - __glibc >=2.17,<3.0.a0 - - numpy >=1.23,<3 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - numpy >=1.25,<3 - python_abi 3.12.* *_cp312 license: Apache-2.0 - size: 316823 - timestamp: 1771184803763 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-amcl-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 4853814118fc28dd217fe24572a169640a88e64d9abfcc97054a96b5f5496b74 - md5: feca2341bf206d66f35d805dd73baac8 + size: 350496 + timestamp: 1782301913874 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-amcl-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 48cea009ef4e54bf409c30f10d369071f5ddb79bbc16617714b90c24e3921c94 + md5: 6e088bfd55ee0802dc98e994e8f06ea2 depends: - python - ros-jazzy-geometry-msgs @@ -15899,20 +19343,19 @@ packages: - ros-jazzy-tf2 - ros-jazzy-tf2-geometry-msgs - ros-jazzy-tf2-ros - - ros2-distro-mutex 0.14.* jazzy_* - - __glibc >=2.17,<3.0.a0 + - ros2-distro-mutex 0.15.* jazzy_* - libgcc >=14 - libstdcxx >=14 - - libgcc >=14 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - __glibc >=2.17,<3.0.a0 - python_abi 3.12.* *_cp312 - - numpy >=1.23,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - numpy >=1.25,<3 license: LGPL-2.1-or-later - size: 543348 - timestamp: 1771188700348 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-behavior-tree-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 6e0ceea0b2d32c25f0eec2811a773ff39345f42f3d8e3c0b2725365329d5d0bc - md5: b31dcc03780aba9468fc238e39d7000f + size: 542561 + timestamp: 1782305244029 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-behavior-tree-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 8abf914e784b85c790eba7cd34f1b2a6453c1c1d9e5627ba8ca9b9fd7f990f98 + md5: 7f6185df83caaa054ad3054d43d0cffa depends: - python - ros-jazzy-behaviortree-cpp @@ -15932,19 +19375,19 @@ packages: - ros-jazzy-tf2 - ros-jazzy-tf2-geometry-msgs - ros-jazzy-tf2-ros - - ros2-distro-mutex 0.14.* jazzy_* - - libstdcxx >=14 + - ros2-distro-mutex 0.15.* jazzy_* - libgcc >=14 + - libstdcxx >=14 - __glibc >=2.17,<3.0.a0 - python_abi 3.12.* *_cp312 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - numpy >=1.23,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - numpy >=1.25,<3 license: Apache-2.0 - size: 2475704 - timestamp: 1771188658244 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-behaviors-1.3.11-np2py312h2ed9cc7_16.conda - sha256: a5bc182dc8074cc33aa1c474774fae6808508be148b85802543484d720d9d3ee - md5: 056086cff6d7b9cbbb9782bc8a1cf625 + size: 2668931 + timestamp: 1782305208079 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-behaviors-1.3.12-np2py312h2ed9cc7_18.conda + sha256: d1dbb0cc13ffe5e4e1220206fdcc4148b3a9076014c48b0ea4526ee9b5d3995e + md5: ddc50979ee49b43dd64acf591819b0f8 depends: - python - ros-jazzy-geometry-msgs @@ -15959,20 +19402,46 @@ packages: - ros-jazzy-rclcpp-action - ros-jazzy-rclcpp-lifecycle - ros-jazzy-ros-workspace - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* + - libstdcxx >=14 - libgcc >=14 - __glibc >=2.17,<3.0.a0 - - libstdcxx >=14 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - python_abi 3.12.* *_cp312 + - numpy >=1.25,<3 + license: Apache-2.0 + size: 729516 + timestamp: 1782374891167 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-bringup-1.3.12-np2py312h2ed9cc7_18.conda + sha256: ef861a5b50876601f5ac8594d23a382f326c431693f71b1a7a0cd4cc7c518631 + md5: a5af61f33426e963888feb05012ddc45 + depends: + - python + - ros-jazzy-diff-drive-controller + - ros-jazzy-joint-state-broadcaster + - ros-jazzy-launch-ros + - ros-jazzy-nav2-common + - ros-jazzy-nav2-minimal-tb3-sim + - ros-jazzy-nav2-minimal-tb4-sim + - ros-jazzy-navigation2 + - ros-jazzy-ros-gz-bridge + - ros-jazzy-ros-gz-sim + - ros-jazzy-ros-workspace + - ros-jazzy-slam-toolbox + - ros-jazzy-xacro + - ros2-distro-mutex 0.15.* jazzy_* + - __glibc >=2.17,<3.0.a0 - libgcc >=14 + - libstdcxx >=14 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 - python_abi 3.12.* *_cp312 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - numpy >=1.23,<3 + - numpy >=1.25,<3 license: Apache-2.0 - size: 735462 - timestamp: 1771190423175 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-bt-navigator-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 6d0a4028b265dee580ef17be0d84ffac2cc0b4cc57462186c7b4bf4b7b4d6d18 - md5: 06a7673c713f1769b3b4117a0afa16de + size: 132877 + timestamp: 1782397830722 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-bt-navigator-1.3.12-np2py312h2ed9cc7_18.conda + sha256: ca371a6ab852c4095c3997963759accf2d65f2d5ac981ada9e2f373927d03c85 + md5: 0a02bc63be393a15c17238be8c3ac1fb depends: - python - ros-jazzy-behaviortree-cpp @@ -15989,20 +19458,19 @@ packages: - ros-jazzy-ros-workspace - ros-jazzy-std-msgs - ros-jazzy-tf2-ros - - ros2-distro-mutex 0.14.* jazzy_* - - __glibc >=2.17,<3.0.a0 - - libgcc >=14 + - ros2-distro-mutex 0.15.* jazzy_* - libstdcxx >=14 - libgcc >=14 + - __glibc >=2.17,<3.0.a0 + - numpy >=1.25,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 - python_abi 3.12.* *_cp312 - - numpy >=1.23,<3 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 license: Apache-2.0 - size: 644769 - timestamp: 1771190361534 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-collision-monitor-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 0d5b96a45774e1600ac54360051959881a9212daddd2cf828c4abc080bc62f8d - md5: 78f790c1213ac4d5a1e7600c82d4c889 + size: 647285 + timestamp: 1782374839287 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-collision-monitor-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 88a2bd9352f22a905fefc92f09d9080a4d35d1468cd7c52208abe0a2a7d9ea24 + md5: 1187f1b64975bac9d0d6b8e5d01d9fcb depends: - python - ros-jazzy-geometry-msgs @@ -16019,19 +19487,19 @@ packages: - 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python - ros-jazzy-angles @@ -16097,20 +19563,19 @@ packages: - ros-jazzy-rclcpp-action - ros-jazzy-ros-workspace - ros-jazzy-std-msgs - - ros2-distro-mutex 0.14.* jazzy_* - - libgcc >=14 + - ros2-distro-mutex 0.15.* jazzy_* - libstdcxx >=14 - libgcc >=14 - __glibc >=2.17,<3.0.a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - numpy >=1.25,<3 - python_abi 3.12.* *_cp312 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - numpy >=1.23,<3 license: Apache-2.0 - size: 483049 - timestamp: 1771190404039 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-core-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 0dee11bcc140a807c1969a74a286a4e5d18a60e296089d8c36cd6b90071f36dc - md5: 6fdab27a4eca9e91ee7d83e08b331b6a + size: 481876 + timestamp: 1782374870428 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-core-1.3.12-np2py312h2ed9cc7_18.conda + sha256: fb76029d0011f07b9ea356e41ca67e16ea0288b32f456aff6106994656cc2b6d + md5: 420cbf8a2e681a43f083178888db1665 depends: - python - ros-jazzy-geometry-msgs @@ -16124,20 +19589,19 @@ packages: - ros-jazzy-ros-workspace - ros-jazzy-std-msgs - ros-jazzy-tf2-ros - - ros2-distro-mutex 0.14.* jazzy_* - - __glibc >=2.17,<3.0.a0 + - ros2-distro-mutex 0.15.* jazzy_* - libgcc >=14 + - __glibc >=2.17,<3.0.a0 - libstdcxx >=14 - - libgcc >=14 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - numpy >=1.23,<3 - python_abi 3.12.* *_cp312 + - numpy >=1.25,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 license: Apache-2.0 - size: 53641 - timestamp: 1771189915798 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-costmap-2d-1.3.11-np2py312h2ed9cc7_16.conda - sha256: cd764bd06a849ec4948b90115e91d22106c20e7c4c89b5e3bb37a39749b04e36 - md5: 5488d1775b44343efd418ada27301d91 + size: 54168 + timestamp: 1782374445561 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-costmap-2d-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 077cffb1568fcbdb6c0c833eb70e4658edf2f7dadfa08b56b7285d945a83eaf2 + md5: 02d8227810f555889f26fa5dd32d890a depends: - python - ros-jazzy-angles @@ -16161,19 +19625,19 @@ packages: - ros-jazzy-tf2-ros - ros-jazzy-tf2-sensor-msgs - ros-jazzy-visualization-msgs - - ros2-distro-mutex 0.14.* jazzy_* - - libstdcxx >=14 + - ros2-distro-mutex 0.15.* jazzy_* - libgcc >=14 + - libstdcxx >=14 - __glibc >=2.17,<3.0.a0 - - numpy >=1.23,<3 - python_abi 3.12.* *_cp312 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - numpy >=1.25,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 license: BSD-3-Clause OR Apache-2.0 - size: 1450811 - timestamp: 1771189534426 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-dwb-controller-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 5d5383bdb568fa9e05219ab75486a6bfa27710f628a8bfa609a78576bc9ea98e - md5: 61743089f4260fd9d3b872175ffa547e + size: 1443238 + timestamp: 1782374191752 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-dwb-controller-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 31209e54277c8580f451d3bbcff6c78b6d901bd3f5090a0fe5c1e24543a2ee30 + md5: 39f6679bcdc9f4ae292bfd6438e8fc65 depends: - python - ros-jazzy-costmap-queue @@ -16184,19 +19648,19 @@ packages: - ros-jazzy-nav-2d-msgs - ros-jazzy-nav-2d-utils - ros-jazzy-ros-workspace - - ros2-distro-mutex 0.14.* jazzy_* - - __glibc >=2.17,<3.0.a0 - - libstdcxx >=14 + - ros2-distro-mutex 0.15.* jazzy_* - libgcc >=14 - - numpy >=1.23,<3 + - libstdcxx >=14 + - __glibc >=2.17,<3.0.a0 - python_abi 3.12.* *_cp312 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - numpy >=1.25,<3 license: Apache-2.0 - size: 43764 - timestamp: 1771235585792 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-graceful-controller-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 33b213322f7190e0dcf51016c41e4cf4cdd5d152fd9495ac4112186d3a9b83ed - md5: 7631084d26bea46584cb1b6f09544565 + size: 44198 + timestamp: 1782375882942 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-graceful-controller-1.3.12-np2py312h2ed9cc7_18.conda + sha256: ac75b026626ba4ca18db106ecb6b9c316f5bbdf362321886a0e6ae213eada01c + md5: 425e485bac76618c8b96fd0d096199fe depends: - python - ros-jazzy-angles @@ -16212,20 +19676,19 @@ packages: - ros-jazzy-ros-workspace - ros-jazzy-tf2 - ros-jazzy-tf2-geometry-msgs - - ros2-distro-mutex 0.14.* jazzy_* - - libstdcxx >=14 - - libgcc >=14 + - ros2-distro-mutex 0.15.* jazzy_* - __glibc >=2.17,<3.0.a0 + - libstdcxx >=14 - libgcc >=14 - - numpy >=1.23,<3 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 - python_abi 3.12.* *_cp312 + - numpy >=1.25,<3 license: Apache-2.0 - size: 178955 - timestamp: 1771190689198 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-lifecycle-manager-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 74ed59c0fab1cfc74c686c25bdd93f381b4a0db73ed6a6164cc52b1d19d23f49 - md5: 747a2d243893548b8bf4a68f4f33e2a5 + size: 178007 + timestamp: 1782375175330 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-lifecycle-manager-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 55479a8481872e34d5dc70f7d24e4d26f5cd8c0092d03da4e455e090b449c971 + md5: fd46b41e14e660fdc60f6f0ed667d185 depends: - python - ros-jazzy-bondcpp @@ -16240,19 +19703,19 @@ packages: - ros-jazzy-std-msgs - ros-jazzy-std-srvs - ros-jazzy-tf2-geometry-msgs - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* + - libgcc >=14 - __glibc >=2.17,<3.0.a0 - libstdcxx >=14 - - libgcc >=14 - python_abi 3.12.* *_cp312 - - numpy >=1.23,<3 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - numpy >=1.25,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 license: Apache-2.0 - size: 156166 - timestamp: 1771188740176 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-map-server-1.3.11-np2py312h2ed9cc7_16.conda - sha256: bb0a893258faeef4b9433f650b8d32ac739597ab05be0aa52528c83f58b54107 - md5: 523a32af3cb2fdec122247c8f015f47f + size: 156426 + timestamp: 1782305299633 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-map-server-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 0616f8182bc0b41bc63b54addb5e7cbcdef73c62d53daaf167d0d711abbdc375 + md5: 41ad8fabf1c878bb786108f38f5be233 depends: - graphicsmagick - python @@ -16267,20 +19730,84 @@ packages: - ros-jazzy-std-msgs - ros-jazzy-tf2 - ros-jazzy-yaml-cpp-vendor - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* + - libgcc >=14 - libstdcxx >=14 + - __glibc >=2.17,<3.0.a0 + - numpy >=1.25,<3 + - python_abi 3.12.* *_cp312 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + license: Apache-2.0 OR BSD-3-Clause + size: 340892 + timestamp: 1782305264096 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-minimal-tb3-sim-1.0.1-np2py312h2ed9cc7_18.conda + sha256: 535192d1e323d33947139fccb8673892d0e5a94382fbf0ee73d6268c8608ee96 + md5: cdb7e30d7e73f22fa1bd840749c85fe2 + depends: + - python + - ros-jazzy-robot-state-publisher + - ros-jazzy-ros-gz-bridge + - ros-jazzy-ros-gz-image + - ros-jazzy-ros-gz-interfaces + - ros-jazzy-ros-gz-sim + - ros-jazzy-ros-workspace + - ros-jazzy-xacro + - ros2-distro-mutex 0.15.* jazzy_* + - __glibc >=2.17,<3.0.a0 - libgcc >=14 + - libstdcxx >=14 + - python_abi 3.12.* *_cp312 + - numpy >=1.25,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + license: Apache-2.0 + size: 134966 + timestamp: 1782304754934 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-minimal-tb4-description-1.0.1-np2py312h2ed9cc7_18.conda + sha256: b59203baff2f288d7af8a0d149643eb6c24a27dcc3cf29d31918be4bd2b2da15 + md5: c74b9f69edb63232042e85c7dc4621a5 + depends: + - python + - ros-jazzy-joint-state-publisher + - ros-jazzy-robot-state-publisher + - ros-jazzy-ros-workspace + - ros-jazzy-urdf + - ros-jazzy-xacro + - ros2-distro-mutex 0.15.* jazzy_* - __glibc >=2.17,<3.0.a0 + - libstdcxx >=14 - libgcc >=14 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 - python_abi 3.12.* *_cp312 - - numpy >=1.23,<3 - license: Apache-2.0 OR BSD-3-Clause - size: 343203 - timestamp: 1771188707083 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-mppi-controller-1.3.11-np2py312h2ed9cc7_16.conda - sha256: fb495c18a867f290c0e05ea326deeaf0b5638dae0e09d820b1fd14f66fd4d074 - md5: 5474bfe7dca567363a25689d526343d3 + - numpy >=1.25,<3 + license: Apache-2.0 + size: 5732419 + timestamp: 1782304852893 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-minimal-tb4-sim-1.0.1-np2py312h2ed9cc7_18.conda + sha256: 5aacef1557750d2fa91020fd11ca584bf33fc542cda007f3d4030259e5a9c3dd + md5: bcee8b06cc52bcf37c27374bb11751b9 + depends: + - python + - ros-jazzy-nav2-minimal-tb4-description + - ros-jazzy-robot-state-publisher + - ros-jazzy-ros-gz-bridge + - ros-jazzy-ros-gz-image + - ros-jazzy-ros-gz-interfaces + - ros-jazzy-ros-gz-sim + - ros-jazzy-ros-workspace + - ros-jazzy-xacro + - ros2-distro-mutex 0.15.* jazzy_* + - libstdcxx >=14 + - libgcc >=14 + - __glibc >=2.17,<3.0.a0 + - python_abi 3.12.* *_cp312 + - numpy >=1.25,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + license: Apache-2.0 + size: 100140 + timestamp: 1782305327163 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-mppi-controller-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 4cea3e6ba3804b0418cb8efd0c081e5a09a1f8eede21367404e7d2c9895eaa75 + md5: a8d3d6f6fe9f505d76683f6627f9a5bc depends: - benchmark - libgomp @@ -16300,23 +19827,22 @@ packages: - ros-jazzy-tf2-geometry-msgs - ros-jazzy-tf2-ros - ros-jazzy-visualization-msgs - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* - xsimd - xtensor - libstdcxx >=14 - libgcc >=14 - __glibc >=2.17,<3.0.a0 - - libgcc >=14 - _openmp_mutex >=4.5 - - numpy >=1.23,<3 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - numpy >=1.25,<3 - python_abi 3.12.* *_cp312 license: MIT - size: 687207 - timestamp: 1771190539186 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-msgs-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 4d7e562491d4d0e366ee4489387666f8c283b6a031656f5e04b9bcbb119ebc5a - md5: 1613a0f0c8d71cad26022192a7dc4031 + size: 688167 + timestamp: 1782375013168 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-msgs-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 4c698503e2a5a18858ad075e01e5cbc9fadcd3966eea21ab66a867ba9c59dd3b + md5: 6a0abce465641ec81f83f71068723b7f depends: - python - ros-jazzy-action-msgs @@ -16328,20 +19854,19 @@ packages: - ros-jazzy-ros-workspace - ros-jazzy-rosidl-default-generators - ros-jazzy-std-msgs - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* - libgcc >=14 - - __glibc >=2.17,<3.0.a0 - libstdcxx >=14 - - libgcc >=14 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - numpy >=1.23,<3 + - __glibc >=2.17,<3.0.a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 - python_abi 3.12.* *_cp312 + - numpy >=1.25,<3 license: Apache-2.0 - size: 2486222 - timestamp: 1771187478125 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-navfn-planner-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 58a8d36862b4905187ffb950203c24c7f82ac9cd59365d4bfc7d0a571c9b60dd - md5: 9765d44724a59f805b3b6a5af571099b + size: 2537421 + timestamp: 1782304041454 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-navfn-planner-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 160521d0f66eaae2bb76d21717a7dd90a1b5835db62de08be83c8a708e92a449 + md5: a7e505625b016a4a156961d62b11795e depends: - python - ros-jazzy-builtin-interfaces @@ -16359,20 +19884,19 @@ packages: - ros-jazzy-ros-workspace - ros-jazzy-tf2-ros - ros-jazzy-visualization-msgs - - ros2-distro-mutex 0.14.* jazzy_* - - libstdcxx >=14 - - libgcc >=14 + - ros2-distro-mutex 0.15.* jazzy_* - __glibc >=2.17,<3.0.a0 - libgcc >=14 + - libstdcxx >=14 - python_abi 3.12.* *_cp312 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - numpy >=1.23,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - numpy >=1.25,<3 license: Apache-2.0 OR BSD-3-Clause - size: 98000 - timestamp: 1771190525100 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-planner-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 107351efffff911d87b756fb28073d92dc7e715ac2b830c5a2148ace79992e9f - md5: 5a148de2e9ecd44f2ec27053f01185a3 + size: 98339 + timestamp: 1782374999113 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-planner-1.3.12-np2py312h2ed9cc7_18.conda + sha256: dfc5d5990748916b3588d5ab612b70c82a5cfc1f26e3a08c1fc940d2f0d14d85 + md5: f92c1e4a39c39baf994713f56443fce0 depends: - python - ros-jazzy-builtin-interfaces @@ -16390,20 +19914,19 @@ packages: - ros-jazzy-ros-workspace - ros-jazzy-tf2-ros - ros-jazzy-visualization-msgs - - ros2-distro-mutex 0.14.* jazzy_* - - libgcc >=14 + - ros2-distro-mutex 0.15.* jazzy_* + - __glibc >=2.17,<3.0.a0 - libstdcxx >=14 - libgcc >=14 - - __glibc >=2.17,<3.0.a0 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - numpy >=1.23,<3 - python_abi 3.12.* *_cp312 + - numpy >=1.25,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 license: Apache-2.0 - size: 310689 - timestamp: 1771190496665 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-regulated-pure-pursuit-controller-1.3.11-np2py312h2ed9cc7_16.conda - sha256: a420363bdb750bf30a3798241f1388b3cfe5bd67510537037032993d3a12114c - md5: 6789d5b265acf64fc89b9dba506ec5e6 + size: 309924 + timestamp: 1782374969825 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-regulated-pure-pursuit-controller-1.3.12-np2py312h2ed9cc7_18.conda + sha256: fcd54489141d9d867a017de0f0a470ce78539b80808d1af4a994cb24b6d07232 + md5: 5b482eb46e48a2e7f0a2ab110a322081 depends: - python - ros-jazzy-angles @@ -16418,20 +19941,19 @@ packages: - ros-jazzy-ros-workspace - ros-jazzy-tf2 - ros-jazzy-tf2-geometry-msgs - - ros2-distro-mutex 0.14.* jazzy_* - - libstdcxx >=14 + - ros2-distro-mutex 0.15.* jazzy_* - libgcc >=14 + - libstdcxx >=14 - __glibc >=2.17,<3.0.a0 - - libgcc >=14 - - numpy >=1.23,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 - python_abi 3.12.* *_cp312 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - numpy >=1.25,<3 license: Apache-2.0 - size: 182585 - timestamp: 1771190547835 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-rotation-shim-controller-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 2f65805de65cad94200d7fa7a24fc8858267df29b4d152156c0dab69f87e4cd9 - md5: 218569e5d2641737c9b639b8396ea8ee + size: 181896 + timestamp: 1782375017261 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-rotation-shim-controller-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 2c2077ca91bd9c992ebf47652e140843e9658d879b5d7f7507a07be444d7aaba + md5: 20133c07b438fd9da05a6fcb819fd719 depends: - python - ros-jazzy-angles @@ -16446,20 +19968,19 @@ packages: - ros-jazzy-rclcpp - ros-jazzy-ros-workspace - ros-jazzy-tf2 - - ros2-distro-mutex 0.14.* jazzy_* - - libstdcxx >=14 + - ros2-distro-mutex 0.15.* jazzy_* - libgcc >=14 - __glibc >=2.17,<3.0.a0 - - libgcc >=14 - - numpy >=1.23,<3 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - libstdcxx >=14 + - numpy >=1.25,<3 - python_abi 3.12.* *_cp312 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 license: Apache-2.0 - size: 182866 - timestamp: 1771190789961 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-route-1.3.11-np2py312h2ed9cc7_16.conda - sha256: c52e71f2ff746415718b45bdd3a9790ee327af0c0ac01f0b8558f6e9826a7f6c - md5: 4e27f6edd293f5c604e060f6613f6f96 + size: 183136 + timestamp: 1782375272643 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-route-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 0543275cb913cde7e6743b9a31809f53fe966fe93b1f3ac6b96b3cac9ab29f70 + md5: adfdb1276934da495e1104e1e1ba51ef depends: - nanoflann - nlohmann_json @@ -16480,19 +20001,19 @@ packages: - ros-jazzy-tf2 - ros-jazzy-tf2-ros - ros-jazzy-visualization-msgs - - ros2-distro-mutex 0.14.* jazzy_* - - __glibc >=2.17,<3.0.a0 + - ros2-distro-mutex 0.15.* jazzy_* - libstdcxx >=14 - libgcc >=14 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - numpy >=1.23,<3 + - __glibc >=2.17,<3.0.a0 - python_abi 3.12.* *_cp312 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - numpy >=1.25,<3 license: Apache-2.0 - size: 849427 - timestamp: 1771190444885 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-rviz-plugins-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 4b246be310d0a6b2a0cc57468d0948088af1f1b874d609b75e78285bb16f380f - md5: 9ea270a3cfe954d67680ea09b039ac0e + size: 852877 + timestamp: 1782374914904 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-rviz-plugins-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 307c1e274decccd005830ae3f37359e061035f4018224b46d3280c9421f33b02 + md5: 391a51b545c699cd3b7ba86277879b76 depends: - libgl-devel - libopengl-devel @@ -16518,23 +20039,22 @@ packages: - ros-jazzy-urdf - ros-jazzy-visualization-msgs - ros-jazzy-yaml-cpp-vendor - - ros2-distro-mutex 0.14.* jazzy_* - - libstdcxx >=14 + - ros2-distro-mutex 0.15.* jazzy_* - libgcc >=14 - __glibc >=2.17,<3.0.a0 - - libgcc >=14 - - python_abi 3.12.* *_cp312 - - libopengl >=1.7.0,<2.0a0 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - qt-main >=5.15.15,<5.16.0a0 + - libstdcxx >=14 - libgl >=1.7.0,<2.0a0 - - numpy >=1.23,<3 + - qt-main >=5.15.15,<5.16.0a0 + - numpy >=1.25,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - libopengl >=1.7.0,<2.0a0 + - python_abi 3.12.* *_cp312 license: Apache-2.0 - size: 870133 - timestamp: 1771190690413 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-simple-commander-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 3b25129ab770ddad3e82d4054218043080dd6f3f6cd71a399bda1eec9623bf8c - md5: e0403ae93eab84413a0961ba37a08b5d + size: 869792 + timestamp: 1782375178038 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-simple-commander-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 4ed843aa487cfe50b8ef606edd6fc9cc6ceabbf0e21320e9a56d2daa02b943da + md5: 80b8974ac9aec8afb787b9928ca1fef5 depends: - python - ros-jazzy-action-msgs @@ -16543,21 +20063,22 @@ packages: - ros-jazzy-nav2-msgs - ros-jazzy-rclpy - ros-jazzy-ros-workspace - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* - __glibc >=2.17,<3.0.a0 - - libstdcxx >=14 - libgcc >=14 + - libstdcxx >=14 - python_abi 3.12.* *_cp312 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - numpy >=1.23,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - numpy >=1.25,<3 license: Apache-2.0 - size: 63986 - timestamp: 1771187821755 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-smac-planner-1.3.11-np2py312h2ed9cc7_16.conda - sha256: d7b2995190eae5a337c13a30527d444a6d41ae85043ddc8b541fabbc75cd6b88 - md5: baa93ed810f90dca10038b0e02047353 + size: 63948 + timestamp: 1782304358196 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-smac-planner-1.3.12-np2py312h13839b9_18.conda + sha256: 0cf077195cceb1921422585db034d4d0d9bd18db387876e504329765961bb508 + md5: 72eb82b2965a5bfc767a351b496aac64 depends: - eigen + - eigen-abi-devel - nlohmann_json - python - ros-jazzy-angles @@ -16578,22 +20099,22 @@ packages: - ros-jazzy-ros-workspace - ros-jazzy-tf2-ros - ros-jazzy-visualization-msgs - - ros2-distro-mutex 0.14.* jazzy_* - - __glibc >=2.17,<3.0.a0 + - ros2-distro-mutex 0.15.* jazzy_* - libgcc >=14 - libstdcxx >=14 - - libgcc >=14 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - numpy >=1.23,<3 + - __glibc >=2.17,<3.0.a0 - ompl >=1.7.0,<1.8.0a0 + - numpy >=1.25,<3 + - eigen-abi >=5.0.1.80,<5.0.1.81.0a0 - python_abi 3.12.* *_cp312 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 - libode >=0.16.6,<0.16.7.0a0 license: Apache-2.0 - size: 745780 - timestamp: 1771190361051 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-smoother-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 36639d0c4c4f409397cc11d7256f7ab22dd9b372ecb1561cbdef1ab4a3e2966c - md5: be467bb06e94b5e525bd1d70112ae360 + size: 744342 + timestamp: 1782374840753 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-smoother-1.3.12-np2py312h2ed9cc7_18.conda + sha256: c9d9e81798403aff97787e24850f5de2ac336985c23a935f1c264808fb07cd4a + md5: 196ceb8684a75008121af6c57127cf97 depends: - python - ros-jazzy-angles @@ -16608,20 +20129,19 @@ packages: - ros-jazzy-rclcpp-components - ros-jazzy-ros-workspace - ros-jazzy-std-msgs - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* - libgcc >=14 - __glibc >=2.17,<3.0.a0 - libstdcxx >=14 - - libgcc >=14 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - numpy >=1.23,<3 - python_abi 3.12.* *_cp312 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - numpy >=1.25,<3 license: Apache-2.0 - size: 406574 - timestamp: 1771190535809 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-theta-star-planner-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 7c7f1f9430416a16922d02619525ae14da20cd3a08d4b2ab0403b030cdf6498c - md5: a11b4c319cb1388b4dacabe094de7236 + size: 406213 + timestamp: 1782374990335 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-theta-star-planner-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 3a164bf5ec3ce8eac3570437efb44260a068a8ef6fcfc02ef2a1de31127e447c + md5: 88938d933664f93c6d4a545d8de27a31 depends: - python - ros-jazzy-builtin-interfaces @@ -16636,20 +20156,19 @@ packages: - ros-jazzy-rclcpp-lifecycle - ros-jazzy-ros-workspace - ros-jazzy-tf2-ros - - ros2-distro-mutex 0.14.* jazzy_* - - __glibc >=2.17,<3.0.a0 - - libgcc >=14 + - ros2-distro-mutex 0.15.* jazzy_* - libstdcxx >=14 - libgcc >=14 + - __glibc >=2.17,<3.0.a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 - python_abi 3.12.* *_cp312 - - numpy >=1.23,<3 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - numpy >=1.25,<3 license: Apache-2.0 - size: 89923 - timestamp: 1771190519752 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-util-1.3.11-np2py312h2ed9cc7_16.conda - sha256: f9e86e931df350da403c1bfebf71202fb21f29044faba722b43eec5d0c3e3e11 - md5: ac95b5c8efbbc495c240864cb8920b6d + size: 90103 + timestamp: 1782374974885 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-util-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 66275c8c81380ea4540378ced2eeeec90ed1a94356ba16db0a2040f003be5bf8 + md5: 90f7b5415d19262f706ab20811a367da depends: - python - ros-jazzy-bond @@ -16670,21 +20189,20 @@ packages: - ros-jazzy-tf2-geometry-msgs - ros-jazzy-tf2-msgs - ros-jazzy-tf2-ros - - ros2-distro-mutex 0.14.* jazzy_* - - libstdcxx >=14 - - libgcc >=14 + - ros2-distro-mutex 0.15.* jazzy_* - __glibc >=2.17,<3.0.a0 - libgcc >=14 - - numpy >=1.23,<3 - - libboost >=1.88.0,<1.89.0a0 + - libstdcxx >=14 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - numpy >=1.25,<3 - python_abi 3.12.* *_cp312 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - libboost >=1.90.0,<1.91.0a0 license: Apache-2.0 OR BSD-3-Clause - size: 267488 - timestamp: 1771188199494 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-velocity-smoother-1.3.11-np2py312h2ed9cc7_16.conda - sha256: b81b3e33907161d544c4458884a922b920616cbe759ad3241c0744e64f7e9177 - md5: d687ecdd76a765bd784f0b2c0a7b3c47 + size: 266779 + timestamp: 1782304703941 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-velocity-smoother-1.3.12-np2py312h2ed9cc7_18.conda + sha256: bee209047f4a0a55d6e642d38a8a7098292cf7d9ba553b1869457b93cd3de795 + md5: ca29f1741ddb377635216d824d3d969e depends: - python - ros-jazzy-geometry-msgs @@ -16692,37 +20210,36 @@ packages: - ros-jazzy-rclcpp - ros-jazzy-rclcpp-components - ros-jazzy-ros-workspace - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* + - __glibc >=2.17,<3.0.a0 - libstdcxx >=14 - libgcc >=14 - - __glibc >=2.17,<3.0.a0 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - numpy >=1.25,<3 - python_abi 3.12.* *_cp312 - - numpy >=1.23,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 license: Apache-2.0 - size: 242979 - timestamp: 1771188658834 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-voxel-grid-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 62df2b07afb279fa7504a5d4dc0ecef1b9061aec3cff80166c0f22979247e027 - md5: db1373fd711dc8acdc758b6fd9fbeae0 + size: 242501 + timestamp: 1782305204927 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-voxel-grid-1.3.12-np2py312h2ed9cc7_18.conda + sha256: a2917c983216d44679038ac076f72b7487adb704022379a3afc2e84616deaa0c + md5: 2cbfb7c908b9bd4ac72df100a593726e depends: - python - ros-jazzy-rclcpp - ros-jazzy-ros-workspace - - ros2-distro-mutex 0.14.* jazzy_* - - libgcc >=14 - - __glibc >=2.17,<3.0.a0 + - ros2-distro-mutex 0.15.* jazzy_* - libstdcxx >=14 - libgcc >=14 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - __glibc >=2.17,<3.0.a0 - python_abi 3.12.* *_cp312 - - numpy >=1.23,<3 + - numpy >=1.25,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 license: BSD-3-Clause - size: 54422 - timestamp: 1771187672566 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-waypoint-follower-1.3.11-np2py312h2ed9cc7_16.conda - sha256: df002d88742f9409f31a5866f4fa35e59f97adbfbc72e732fbfa1322dbb39239 - md5: 572e3d024255822bba41703825ac274f + size: 54368 + timestamp: 1782304231445 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav2-waypoint-follower-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 90b99cca8a74324cf67cae5a766e68ca8644af3dcbfc30ff8cd02d8f1723bcab + md5: 89c5ed1ed65fa9be26cabf10486cc315 depends: - python - ros-jazzy-cv-bridge @@ -16740,20 +20257,19 @@ packages: - ros-jazzy-robot-localization - ros-jazzy-ros-workspace - ros-jazzy-tf2-ros - - ros2-distro-mutex 0.14.* jazzy_* - - libgcc >=14 + - ros2-distro-mutex 0.15.* jazzy_* - libstdcxx >=14 - libgcc >=14 - __glibc >=2.17,<3.0.a0 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - numpy >=1.25,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 - python_abi 3.12.* *_cp312 - - numpy >=1.23,<3 license: Apache-2.0 - size: 528340 - timestamp: 1771190463201 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-navigation2-1.3.11-np2py312h2ed9cc7_16.conda - sha256: 984b5314f1f59777973052dbfba78a252efdde1d9ed911d12443e9c8e320b0a9 - md5: 6328d44286f7d812d592265463f37432 + size: 528335 + timestamp: 1782374929889 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-navigation2-1.3.12-np2py312h2ed9cc7_18.conda + sha256: 76fae37803ca06a5a83e8b492ab856e9a1b8f91cbf0d062b963393e6e83c618a + md5: 43dac792d3151bc0487f34ef9a93b538 depends: - python - ros-jazzy-nav2-amcl @@ -16789,20 +20305,19 @@ packages: - 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python - ros-jazzy-action-msgs @@ -16812,42 +20327,41 @@ packages: - ros-jazzy-sensor-msgs - ros-jazzy-shape-msgs - ros-jazzy-std-msgs - - ros2-distro-mutex 0.14.* jazzy_* - - __glibc >=2.17,<3.0.a0 - - libgcc >=14 + - ros2-distro-mutex 0.15.* jazzy_* - libstdcxx >=14 - libgcc >=14 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - __glibc >=2.17,<3.0.a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - numpy >=1.25,<3 - python_abi 3.12.* *_cp312 - - numpy >=1.23,<3 license: BSD-3-Clause - size: 347662 - timestamp: 1771185218605 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-octomap-msgs-2.0.1-np2py312h2ed9cc7_16.conda - sha256: c1af5d7bdc6cbee1e3e5ebf70b5ae8cafe8fe203747f67e265d3b0ee72384082 - md5: 47e189acc96287b9cd82dee26490181a + size: 355248 + timestamp: 1782302344090 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-octomap-msgs-2.0.1-np2py312h2ed9cc7_18.conda + sha256: 2a8bb4a3f2fc92449258b463227ae2a7e1843687cd07657774c3bf6f6eaeac06 + md5: 143cf39add310c65c4f6f19756da69fd depends: - 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eigen + - eigen-abi-devel - python - ros-jazzy-controller-interface - ros-jazzy-generate-parameter-library @@ -16861,41 +20375,42 @@ packages: - ros-jazzy-ros-workspace - ros-jazzy-tf2 - ros-jazzy-tf2-msgs - - ros2-distro-mutex 0.14.* jazzy_* - - libgcc >=14 + - ros2-distro-mutex 0.15.* jazzy_* - libstdcxx >=14 - libgcc >=14 - __glibc >=2.17,<3.0.a0 - - numpy >=1.23,<3 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + - eigen-abi >=5.0.1.80,<5.0.1.81.0a0 + - numpy >=1.25,<3 - python_abi 3.12.* *_cp312 license: Apache-2.0 - size: 396926 - timestamp: 1771189933833 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ompl-1.7.0-py312hbd645f5_16.conda - sha256: 70a700332d84a303d2203170a4e5a193f11b2fe19f151b0b5675733e45472037 - md5: 77cba721e40dda1dcf1593305de86d21 + size: 421521 + timestamp: 1782374438754 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ompl-1.7.0-py312hccc70de_18.conda + sha256: 0847a2c761e0aa4f9a2d0c15b652c8b68bc64a941470ae6474b442ad1396f468 + md5: f64515f8084548e78bde1eb288c6baae depends: - 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python - ros-jazzy-ament-cmake-core @@ -19399,20 +22974,19 @@ packages: - ros-jazzy-rosidl-parser - ros-jazzy-rosidl-pycommon - ros-jazzy-rosidl-runtime-cpp - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* - __glibc >=2.17,<3.0.a0 - - libgcc >=14 - libstdcxx >=14 - libgcc >=14 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - python_abi 3.12.* *_cp312 - - numpy >=1.23,<3 + - numpy >=1.25,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 license: Apache-2.0 - size: 50055 - timestamp: 1771183415246 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-generator-py-0.22.2-np2py312h2ed9cc7_16.conda - sha256: 77c68305f3104ac92831017054f2fc203624f795a8bd624213c83caeb289ba21 - md5: f1678e28dd61b6c07830a24c52516497 + size: 50081 + timestamp: 1782300917059 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-generator-py-0.22.2-np2py312h2ed9cc7_18.conda + sha256: da5054c4de994256bb975de6f89dd4ad79107e2536c25e6ae3eac012c607af76 + md5: c8db4e0facc612b429f98e95e46941cf depends: - numpy - python @@ -19434,20 +23008,42 @@ packages: - ros-jazzy-rosidl-typesupport-c - ros-jazzy-rosidl-typesupport-interface - ros-jazzy-rpyutils - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* - __glibc >=2.17,<3.0.a0 - libgcc >=14 - libstdcxx >=14 + - numpy >=1.25,<3 + - python_abi 3.12.* *_cp312 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 + license: Apache-2.0 + size: 60224 + timestamp: 1782301350547 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-generator-rs-0.4.12-np2py312h2ed9cc7_18.conda + sha256: 423bc469a560cb75bd72532fffcada2882db12e5cfd1d01850d1b165e957ac0d + md5: 7e4661ef79ef35a06c4d1b263c4b3829 + depends: + - python + - ros-jazzy-ament-cmake + - ros-jazzy-ros-environment + - ros-jazzy-ros-workspace + - ros-jazzy-rosidl-generator-c + - ros-jazzy-rosidl-parser + - ros-jazzy-rosidl-pycommon + - ros-jazzy-rosidl-typesupport-c + - ros-jazzy-rosidl-typesupport-interface + - ros2-distro-mutex 0.15.* jazzy_* - libgcc >=14 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - 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- ros2-distro-mutex >=0.14.0,<0.15.0a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 - python_abi 3.12.* *_cp312 license: BSD-3-Clause - size: 7384 - timestamp: 1771186804066 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-velocity-controllers-4.37.0-np2py312h2ed9cc7_16.conda - sha256: 64d66ab1338111123f7f3c26205671fcd4ff89b82061c9314b4fd0ca4200bc0e - md5: 3051165fb6d9cbc1dc0027f46be4f137 + size: 7313 + timestamp: 1782303425709 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-velocity-controllers-4.40.0-np2py312h2ed9cc7_18.conda + sha256: e0588299780b380689ec28fe8ad149f7b5d60af01ccd1859606a64f289e0e459 + md5: 31374ef8ae2c593a2ba7d61ffe96ef1b depends: - python - ros-jazzy-backward-ros @@ -21713,39 +25355,38 @@ packages: - ros-jazzy-pluginlib - ros-jazzy-rclcpp - ros-jazzy-ros-workspace - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* + - libgcc >=14 - __glibc >=2.17,<3.0.a0 - libstdcxx >=14 - - libgcc >=14 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - 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- numpy >=1.23,<3 + - __glibc >=2.17,<3.0.a0 - python_abi 3.12.* *_cp312 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - numpy >=1.25,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 license: Apache-2.0 - size: 375661 - timestamp: 1771185254437 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-warehouse-ros-2.0.5-np2py312h2ed9cc7_16.conda - sha256: e51b09d6ccb13ba53890d92f5f3c34c2865068ab90a1b600bb934da55aa7809d - md5: a02e3fbf21605d7a9ba51790465728cb + size: 384207 + timestamp: 1782302370459 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-warehouse-ros-2.0.5-np2py312h2ed9cc7_18.conda + sha256: b14aa315a3b3a3b3dd67ba3673ed0a438363c0689d8b3954ec1503cd497eadbe + md5: 71dbe20135189ce70cb07a9e7cf0e936 depends: - libboost-devel - libboost-python-devel @@ -21781,85 +25421,83 @@ packages: - ros-jazzy-tf2 - ros-jazzy-tf2-geometry-msgs - ros-jazzy-tf2-ros - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* - libstdcxx >=14 - libgcc >=14 - 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ros-jazzy-ros-workspace - - ros2-distro-mutex 0.14.* jazzy_* - - libstdcxx >=14 + - ros2-distro-mutex 0.15.* jazzy_* - libgcc >=14 - __glibc >=2.17,<3.0.a0 - - numpy >=1.23,<3 + - libstdcxx >=14 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 - python_abi 3.12.* *_cp312 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 + - numpy >=1.25,<3 license: BSD-3-Clause - size: 76059 - timestamp: 1771181918623 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-yaml-cpp-vendor-9.0.1-np2py312h2ed9cc7_16.conda - sha256: f1521fd4a5f7f4a18d7d0fd8de01cecfef9db760ba41e52330ed36b5ce2b0808 - md5: 0cc176abf0fa25a05d7bea4d78eba1f0 + size: 76061 + timestamp: 1782299265244 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-yaml-cpp-vendor-9.0.1-np2py312h2ed9cc7_18.conda + sha256: 53bbc7efe94f550b127686ed1fa285af4505bde9a2945e24acbc6965ce76ec94 + md5: c1a016868319319729d214fafc9967e8 depends: - python - ros-jazzy-ros-workspace - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* - yaml-cpp - - libgcc >=14 - __glibc >=2.17,<3.0.a0 - libstdcxx >=14 - libgcc >=14 - - numpy >=1.23,<3 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - yaml-cpp >=0.8.0,<0.9.0a0 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 - python_abi 3.12.* *_cp312 + - numpy >=1.25,<3 + - yaml-cpp >=0.8.0,<0.9.0a0 license: Apache-2.0 OR MIT - size: 22886 - timestamp: 1771181913744 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-zstd-vendor-0.26.9-np2py312h2ed9cc7_16.conda - sha256: 11507808714705693a1593179aaa9def400e87484888265ab62f9959762586a5 - md5: 3b3bd8db83417e605aa4d04743b879e3 + size: 22931 + timestamp: 1782299250849 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-zstd-vendor-0.26.10-np2py312h2ed9cc7_18.conda + sha256: 51e685483f2c457b2973268f1757ffeb778adc15f263bf3270cd31ca09a8e631 + md5: 1688cc3602805557d8a80648fd6910e2 depends: - python - ros-jazzy-ros-workspace - - ros2-distro-mutex 0.14.* jazzy_* + - ros2-distro-mutex 0.15.* jazzy_* - zstd + - __glibc >=2.17,<3.0.a0 - libstdcxx >=14 - libgcc >=14 - - __glibc >=2.17,<3.0.a0 - - ros2-distro-mutex >=0.14.0,<0.15.0a0 - - numpy >=1.23,<3 - python_abi 3.12.* *_cp312 + - numpy >=1.25,<3 + - ros2-distro-mutex >=0.15.0,<0.16.0a0 - zstd >=1.5.7,<1.6.0a0 license: Apache-2.0 OR BSD-3-Clause - size: 23802 - timestamp: 1771181919932 -- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-distro-mutex-0.14.0-jazzy_16.conda - sha256: 1403aad956b039813e19bf600d1af15acb6e45eac9a1da365ff5eba35c0913d9 - md5: 05725f6f4ec3e017f1dc8b1a435b29a4 + size: 23823 + timestamp: 1782299256144 +- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-distro-mutex-0.15.0-jazzy_18.conda + sha256: 4b56553bb42ebdfb3f8becb8f3ffdd2bcdc0d275977f8bd5870cc16a7a654510 + md5: 449841fe6ce0deab1a875e1a3cc38496 constrains: - - libboost 1.88.* - - libboost-devel 1.88.* + - libboost 1.90.* + - libboost-devel 1.90.* - pcl 1.15.1.* - gazebo 11.* - - libprotobuf 6.31.1.* - - vtk 9.5.2.* + - libprotobuf 6.33.* + - vtk 9.6.2.* license: BSD-3-Clause - size: 2334 - timestamp: 1771181243372 + size: 2365 + timestamp: 1782298667746 diff --git a/pixi.toml b/pixi.toml index 4cebd22..f7b533a 100644 --- a/pixi.toml +++ b/pixi.toml @@ -14,35 +14,30 @@ scripts = ["scripts/setup_env.sh"] [dependencies] # ─── ROS 2 Jazzy (RoboStack) ───────────────────────────────────────────────── # The full ROS 2 runtime comes from the robostack-jazzy conda channel. -# pixi runs RoboStack's activation scripts automatically, so AMENT_PREFIX_PATH, -# PYTHONPATH, etc. are set up on `pixi shell` / `pixi run`. -# -# NOTE: nav2-bringup is deliberately omitted — it transitively pulls -# ros-gz-sim → simulation_interfaces 1.2.0, which clashes with the source-built -# 1.5.1 overlay required by the O3DE SimulationInterfaces gem. -ros-jazzy-desktop = "*" -ros-jazzy-navigation2 = "*" -ros-jazzy-interactive-marker-twist-server = "*" -ros-jazzy-vision-msgs = "*" -ros-jazzy-moveit = "2.12.*" -ros-jazzy-moveit-py = "2.12.*" -ros-jazzy-tf-transformations = "*" -ros-jazzy-ros2-control = "*" -ros-jazzy-ros2-controllers = "*" - -# Previously vcs-imported and colcon-built; now binary conda packages. -# (See ros2_ws.repos for the full migration note.) -ros-jazzy-ur-description = "*" -ros-jazzy-control-msgs = "*" -ros-jazzy-control-toolbox = "*" -ros-jazzy-kinematics-interface = "*" -ros-jazzy-moveit-msgs = "*" -ros-jazzy-realtime-tools = "*" -ros-jazzy-srdfdom = "*" + +ros-jazzy-desktop = "0.11.0.*" +ros-jazzy-navigation2 = "1.3.12.*" +ros-jazzy-interactive-marker-twist-server = "2.1.1.*" +ros-jazzy-vision-msgs = "4.1.1.*" +ros-jazzy-moveit = "2.12.4.*" +ros-jazzy-moveit-py = "2.12.4.*" +ros-jazzy-tf-transformations = "1.1.1.*" +ros-jazzy-ros2-control = "4.45.1.*" +ros-jazzy-ros2-controllers = "4.40.0.*" + +ros-jazzy-ur-description = "3.5.1.*" +ros-jazzy-control-msgs = "5.9.0.*" +ros-jazzy-control-toolbox = "4.11.0.*" +ros-jazzy-kinematics-interface = "1.7.0.*" +ros-jazzy-moveit-msgs = "2.6.0.*" +ros-jazzy-realtime-tools = "3.11.0.*" +ros-jazzy-srdfdom = "2.0.7.*" + +ros-jazzy-simulation-interfaces = "1.5.1.*" +ros-jazzy-nav2-bringup = "1.3.12.*" # ─── Build toolchain (for source packages remaining in ros2_ws/src) ────────── # Use conda compilers so source packages stay ABI-compatible with the RoboStack -# binaries they link against. O3DE is built outside this env (system toolchain). colcon-common-extensions = "*" vcstool = "*" c-compiler = "*" diff --git a/ros2_ws.repos b/ros2_ws.repos index a05478b..2df02ec 100644 --- a/ros2_ws.repos +++ b/ros2_ws.repos @@ -19,15 +19,6 @@ repositories: url: https://github.com/RobotecAI/rai_interfaces.git version: feat/nav2-ai - # simulation_interfaces: built from source because the O3DE SimulationInterfaces - # gem requires >= 1.4.0, but robostack-jazzy only ships 1.2.0. Pinned to 1.5.1 - # to match the apt version and supply a single consistent version to both the - # agents and the O3DE build. - ros2_ws/src/packages/simulation_interfaces: - type: git - url: https://github.com/ros-simulation/simulation_interfaces.git - version: 1.5.1 - # NOTE: The following packages were removed on migration to RoboStack — they are # now installed as conda packages via pixi.toml instead of being vcs-imported and # colcon-built: @@ -41,3 +32,4 @@ repositories: # ros2_control -> ros-jazzy-ros2-control # ros2_controllers -> ros-jazzy-ros2-controllers # srdfdom -> ros-jazzy-srdfdom +# simulation_interfaces -> ros-jazzy-simulation-interfaces (1.5.1) From af2dee144aa7f2dd4e41507726530587b77823b9 Mon Sep 17 00:00:00 2001 From: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> Date: Wed, 1 Jul 2026 15:30:30 +0200 Subject: [PATCH 52/69] feat: npu workflow (#34) --- .gitignore | 2 +- .gitmodules | 8 + README.md | 6 + cloud_config.toml | 95 +- config.toml | 103 +- docker/Dockerfile.agents | 15 - docker/Dockerfile.demo | 71 + docker/Dockerfile.llama | 5 - docker/Dockerfile.o3de | 12 +- docker/Dockerfile.ros2 | 43 +- docker/compose.yaml | 228 +- docker/start_sim.sh | 7 - docs/dependencies.md | 24 +- docs/inspection_agent.md | 31 +- docs/quickstart.md | 97 +- docs/repo_overview.md | 4 +- docs/running.md | 46 +- docs/running_hil_sim_hmi.md | 35 +- docs/safety_agent_with_rag.md | 4 +- docs/setup.md | 4 +- docs/setup_hil.md | 45 +- docs/setup_hil_sim_hmi.md | 35 +- docs/setup_hmi.md | 15 +- docs/setup_sim.md | 10 +- docs/setup_single_machine.md | 55 +- docs/sim_overview.md | 5 +- inference.repos | 5 - inference/FastFlowLM | 1 + inference/llama.cpp | 1 + monitoring/README.md | 2 +- pixi.lock | 2904 ++++++++++++++++- pixi.toml | 220 +- rai_app/README.md | 4 +- rai_app/agents/agent_orchestrator.py | 3 +- rai_app/agents/inspection_agent.py | 12 +- rai_app/agents/safety_agent.py | 4 + rai_app/agents/tools.py | 4 +- rai_app/inference/__init__.py | 14 + rai_app/inference/serve.py | 570 ++++ rai_app/initialization/llms.py | 134 +- rai_app/initialization/structured.py | 121 + rai_app/warehouse_regulations_agent/rag.py | 3 + .../warehouse_safety_agent.py | 12 +- scripts/build_fastflowlm.sh | 53 + scripts/build_sim.sh | 2 +- scripts/demo.sh | 116 +- scripts/demo_stop.sh | 4 - scripts/download_models.sh | 41 - scripts/find_runnables.sh | 20 + scripts/kill_sessions.sh | 9 + scripts/run_agents.sh | 43 + scripts/run_ros2_stack.sh | 7 +- scripts/serve_all.sh | 26 - scripts/smoke_test.sh | 43 +- scripts/tmux_run.sh | 25 + 55 files changed, 4648 insertions(+), 760 deletions(-) create mode 100644 .gitmodules delete mode 100644 docker/Dockerfile.agents create mode 100644 docker/Dockerfile.demo delete mode 100644 docker/Dockerfile.llama delete mode 100755 docker/start_sim.sh delete mode 100644 inference.repos create mode 160000 inference/FastFlowLM create mode 160000 inference/llama.cpp create mode 100644 rai_app/inference/__init__.py create mode 100644 rai_app/inference/serve.py create mode 100644 rai_app/initialization/structured.py create mode 100755 scripts/build_fastflowlm.sh delete mode 100755 scripts/demo_stop.sh delete mode 100755 scripts/download_models.sh create mode 100755 scripts/find_runnables.sh create mode 100644 scripts/kill_sessions.sh create mode 100755 scripts/run_agents.sh delete mode 100755 scripts/serve_all.sh create mode 100644 scripts/tmux_run.sh diff --git a/.gitignore b/.gitignore index 477fb9c..294f5a2 100644 --- a/.gitignore +++ b/.gitignore @@ -1,7 +1,6 @@ gems/ engine/ external/ -inference/ ros2_ws/install ros2_ws/build ros2_ws/src/packages @@ -23,3 +22,4 @@ package_condition_images/ models/ *.bak0 sim/user/ +backtrace.log diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..e5b385c --- /dev/null +++ b/.gitmodules @@ -0,0 +1,8 @@ +[submodule "inference/llama.cpp"] + path = inference/llama.cpp + url = https://github.com/ggml-org/llama.cpp.git + shallow = true +[submodule "inference/FastFlowLM"] + path = inference/FastFlowLM + url = https://github.com/RobotecAI/FastFlowLM.git + shallow = true diff --git a/README.md b/README.md index 77541a7..cb9f52c 100644 --- a/README.md +++ b/README.md @@ -5,6 +5,11 @@ _Physical AI for Warehouse Robotics_
![Small warehouse featuring Robotnik Kairos](docs/images/demo_comp.jpg) + +![CPU: ready](https://img.shields.io/badge/CPU-ready-ED1C24?style=for-the-badge&logo=amd&logoColor=white&labelColor=000000) +![GPU: ready](https://img.shields.io/badge/GPU-ready-ED1C24?style=for-the-badge&logo=amd&logoColor=white&labelColor=000000) +![NPU: ready](https://img.shields.io/badge/NPU-ready-ED1C24?style=for-the-badge&logo=amd&logoColor=white&labelColor=000000) + ![Static Badge](https://img.shields.io/badge/AgenticAI-darkred) ![Static Badge](https://img.shields.io/badge/EmbodiedAI-black) ![Static Badge](https://img.shields.io/badge/LLM-darkred) @@ -41,6 +46,7 @@ Backup video link: https://vimeo.com/1138627688/dbfa881a27 - Hardware platform: **AMD Ryzen™ AI** processor hosting robotics stack and embodied agentic AI multi-agent system - Model stack: [**Liquid AI's LFM2-VL**](https://www.liquid.ai/) (Vision-Language Model) optimized for AMD hardware - Local LLM (gpt-oss-20b) for planning, instruction parsing, and dialogue +- Local inference across **CPU, GPU (llama.cpp / Vulkan) and the AMD Ryzen™ AI NPU (FastFlowLM)** — the safety VLM runs on the NPU, freeing the GPU for the LLM and perception VLM - Robot platform: Mobile manipulator (Robotnik Kairos) in ROS 2 simulated warehouse environment - Simulation setup: Hardware-in-the-loop mirrors real-world deployment for safe testing - Benefits: On-device reasoning, low latency, privacy, and seamless simulation-to-hardware transition diff --git a/cloud_config.toml b/cloud_config.toml index b6279db..560da77 100644 --- a/cloud_config.toml +++ b/cloud_config.toml @@ -1,51 +1,82 @@ +# ════════════════════════════════════════════════════════════════════════════ +# Cloud variant of the inference SSOT (see config.toml for the full schema). +# +# Here the chat/vision endpoints are remote (backend = "openai") and therefore +# NOT served locally — `pixi run inference` skips backend = "openai". Only the +# RAG embedding/reranker run in-cluster (separate llama.cpp containers), so they +# carry an explicit base_url pointing at those services. +# +# Because cloud agents use several distinct remote models, endpoints are split +# per model (chat_mini / vlm_mini / vlm_nano) and agents reference the right one. +# ════════════════════════════════════════════════════════════════════════════ + +# ─── Endpoints ────────────────────────────────────────────────────────────── + +[endpoints.chat_mini] +type = "llm" +backend = "openai" +model = "gpt-5-mini" +base_url = "https://api.openai.com/v1" + +[endpoints.vlm_mini] +type = "vlm" +backend = "openai" +model = "gpt-5-mini" +base_url = "https://api.openai.com/v1" + +[endpoints.vlm_nano] +type = "vlm" +backend = "openai" +model = "gpt-5-nano" +base_url = "https://api.openai.com/v1" + +# RAG models served by dedicated llama.cpp containers (see docker/compose.yaml). +# Start the EMBEDDING model with: +# llama-server -m Qwen3-Embedding-0.6b_Q8_0.gguf --embedding --pooling last \ +# -c 4096 -b 2048 -ub 2048 --port 8082 --host 0.0.0.0 +# Start the RERANKER model with: +# llama-server -m Qwen3-Reranker-0.6B_BF16.gguf --embedding --pooling rank \ +# -c 4096 -b 2048 -ub 2048 --port 8083 --host 0.0.0.0 +[endpoints.embeddings] +type = "embedding" +backend = "gpu" +model = "qwen3-embedding:0.6b" +base_url = "http://safety-embeddings:8082/v1" + +# NOTE: The reranker and the embedding model are two separate models! +[endpoints.reranker] +type = "reranker" +backend = "gpu" +model = "qwen3-reranker:0.6b" +base_url = "http://safety-reranker:8083/v1/reranking" + +# ─── Agents ───────────────────────────────────────────────────────────────── + [general] -llm_model = "gpt-5-mini" -llm_base_url = "https://api.openai.com/v1" +llm = "chat_mini" +vlm = "vlm_mini" llm_reasoning = false -vlm_model = "gpt-5-mini" -vlm_base_url = "https://api.openai.com/v1" vlm_reasoning = false -# megamind agent utilizes llm for task delegation -# to agents using both llm and vlm for task execution [megamind_agent] -llm_model = "gpt-5-mini" -llm_base_url = "https://api.openai.com/v1" -vlm_model = "gpt-5-mini" -vlm_base_url = "https://api.openai.com/v1" +llm = "chat_mini" +vlm = "vlm_mini" llm_reasoning = false vlm_reasoning = false -# inspection agent uses vlm to determine anomalies in the image [inspection_agent] -vlm_model = "gpt-5-nano" -vlm_base_url = "https://api.openai.com/v1" +vlm = "vlm_nano" vlm_reasoning = false vlm_temperature = 0.0 [condition_agent] -vlm_model = "gpt-5-mini" -vlm_base_url = "https://api.openai.com/v1" +vlm = "vlm_mini" vlm_reasoning = false vlm_temperature = 0.1 -# safety agent uses vlm to determine anomalies in the image -# and embeddings to determine OSHA safety violations [safety_agent] -vlm_model = "gpt-5-nano" -vlm_base_url = "https://api.openai.com/v1" +vlm = "vlm_nano" vlm_reasoning = false vlm_temperature = 0.0 - -embeddings_model = "qwen3-embedding:0.6b" -embeddings_base_url = "http://safety-embeddings:8082/v1" -# NOTE: The reranker and the embedding model are two separate models! -reranker_base_url = "http://safety-reranker:8083/v1/reranking" - -# INFO: -# Start the EMBEDDING model in llama.cpp using the following command: -# ./llama-server -m /home/user/llamas/gguf/custom_ggufs/Qwen3-Embedding-0.6b_Q8_0.gguf --embedding --pooling last -c 4096 -b 2048 -ub 2048 --port 8082 - -# INFO: -# Start the RERANKER model in llama.cpp using the following command: -# ./llama-server -m /home/user/llamas/gguf/custom_ggufs/Qwen3-Reranker-0.6B_BF16.gguf --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083 +embeddings = "embeddings" +reranker = "reranker" diff --git a/config.toml b/config.toml index 86990a8..14df6e1 100644 --- a/config.toml +++ b/config.toml @@ -1,44 +1,105 @@ +# ════════════════════════════════════════════════════════════════════════════ +# Inference SSOT — single source of truth for every model the demo serves. +# +# [endpoints.*] define each served model EXACTLY ONCE: which backend runs it, +# on which host/port, and from which weights. `pixi run inference` reads these, +# routes each endpoint to the right backend, and launches it: +# +# backend = "gpu" | "cpu" → llama.cpp (built in inference/llama.cpp) +# backend = "npu" → FastFlowLM (`flm serve`, AMD Ryzen AI NPU) +# backend = "openai" → remote API, NOT served locally (see cloud_config.toml) +# +# Agent sections below reference endpoints by name (e.g. `llm = "main_llm"`). +# rai_app/initialization/llms.py resolves those references into model + base_url, +# so changing a port, moving a model gpu↔npu, or swapping weights happens HERE, +# in one place — not scattered across pixi tasks, smoke_test.sh, etc. +# ════════════════════════════════════════════════════════════════════════════ + +# ─── Endpoints ────────────────────────────────────────────────────────────── + +[endpoints.main_llm] +type = "llm" +backend = "gpu" # llama.cpp, Vulkan build +model = "gpt-oss-20b" # name advertised to OpenAI-compatible clients +host = "localhost" +port = 8080 +model_path = "${DEMO_ROOT}/models/gpt-oss-20b-Q4_K_M.gguf" +model_url = "https://huggingface.co/unsloth/gpt-oss-20b-GGUF/resolve/main/gpt-oss-20b-Q4_K_M.gguf?download=true" +extra_args = ["--no-prefill-assistant"] + +# safety agent VLM — FastFlowLM (npu) +[endpoints.vlm_safety] +type = "vlm" +backend = "npu" +host = "localhost" +port = 8081 +model = "gemma3:4b" +flm_model = "gemma3:4b" + +# inspection/general/megamind/condition VLM — LFM2-VL on llama.cpp (gpu) +[endpoints.vlm_inspection] +type = "vlm" +backend = "gpu" +host = "localhost" +port = 8084 +model = "LFM2-VL-3B" +model_path = "${DEMO_ROOT}/models/LFM2-VL-3B-Q8_0.gguf" +mmproj_path = "${DEMO_ROOT}/models/mmproj-LFM2-VL-3B-Q8_0.gguf" +model_url = "https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/LFM2-VL-3B-Q8_0.gguf?download=true" +mmproj_url = "https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/mmproj-LFM2-VL-3B-Q8_0.gguf?download=true" + +[endpoints.embeddings] +type = "embedding" +backend = "gpu" +model = "qwen3-embedding:0.6b" +host = "localhost" +port = 8082 +model_path = "${DEMO_ROOT}/models/Qwen3-Embedding-0.6B-Q8_0.gguf" +model_url = "https://huggingface.co/Qwen/Qwen3-Embedding-0.6B-GGUF/resolve/main/Qwen3-Embedding-0.6B-Q8_0.gguf?download=true" + +[endpoints.reranker] +type = "reranker" +backend = "gpu" +model = "qwen3-reranker:0.6b" +host = "localhost" +port = 8083 +model_path = "${DEMO_ROOT}/models/qwen3-reranker-0.6b-q8_0.gguf" +model_url = "https://huggingface.co/ggml-org/Qwen3-Reranker-0.6B-Q8_0-GGUF/resolve/main/qwen3-reranker-0.6b-q8_0.gguf?download=true" + +# ─── Agents ───────────────────────────────────────────────────────────────── +# Each agent references endpoints by name. `*_reasoning` / `*_temperature` are +# client-side decoding settings and stay with the agent, not the endpoint. + [general] -llm_model = "gpt-oss-20b" -llm_base_url = "http://localhost:8080/v1" +llm = "main_llm" +vlm = "vlm_inspection" llm_reasoning = false -vlm_model = "lfm2-vl" -vlm_base_url = "http://localhost:8081/v1" vlm_reasoning = false # megamind agent utilizes llm for task delegation # to agents using both llm and vlm for task execution [megamind_agent] -llm_model = "gpt-oss-20b" -llm_base_url = "http://localhost:8080/v1" -vlm_model = "lfm2-vl" -vlm_base_url = "http://localhost:8081/v1" +llm = "main_llm" +vlm = "vlm_inspection" llm_reasoning = false vlm_reasoning = false # inspection agent uses vlm to determine anomalies in the image [inspection_agent] -vlm_model = "lfm2-vl" -vlm_base_url = "http://localhost:8081/v1" +vlm = "vlm_inspection" vlm_reasoning = false vlm_temperature = 0.0 [condition_agent] -vlm_model = "lfm2-vl" -vlm_base_url = "http://localhost:8081/v1" +vlm = "vlm_inspection" vlm_reasoning = false vlm_temperature = 0.1 # safety agent uses vlm to determine anomalies in the image -# and embeddings to determine OSHA safety violations +# and embeddings + reranker to determine OSHA safety violations [safety_agent] -vlm_model = "lfm2-vl" -vlm_base_url = "http://localhost:8081/v1" +vlm = "vlm_safety" vlm_reasoning = false vlm_temperature = 0.0 - -embeddings_model = "qwen3-embedding:0.6b" -embeddings_base_url = "http://localhost:8082/v1" -# NOTE: The reranker and the embedding model are two separate models! -reranker_base_url = "http://localhost:8083/v1/reranking" - +embeddings = "embeddings" +reranker = "reranker" diff --git a/docker/Dockerfile.agents b/docker/Dockerfile.agents deleted file mode 100644 index 1f02ee8..0000000 --- a/docker/Dockerfile.agents +++ /dev/null @@ -1,15 +0,0 @@ -FROM base_image - -WORKDIR /root/MobileManipulatorDemo -ENV DEMO_ROOT=/root/MobileManipulatorDemo - -COPY pixi.toml pixi.lock ./ -COPY pyproject.toml uv.lock ./ -COPY rai_app/ rai_app/ -COPY scripts/ scripts/ -COPY tests/ tests/ -COPY regulations_db/ regulations_db/ -COPY monitoring/ monitoring/ -COPY config.toml ./ - -RUN pixi run sync diff --git a/docker/Dockerfile.demo b/docker/Dockerfile.demo new file mode 100644 index 0000000..85d1b81 --- /dev/null +++ b/docker/Dockerfile.demo @@ -0,0 +1,71 @@ +# Single-PC demo image: the O3DE+ROS 2 base (sim already built) plus the Python +# agent app and the local inference engines. `pixi run demo` brings the whole +# stack up in tmux, exactly as on a developer's single-pc machine. +# +# base_image = the `o3de` compose service (FROM ros2 -> sim + ROS 2 workspace +# built, full pixi env already solved). See docker/compose.yaml. +FROM base_image + +WORKDIR /root/MobileManipulatorDemo +ENV DEMO_ROOT=/root/MobileManipulatorDemo + +# Build target. WITH_NPU=1 (default) is the single-pc-gpu-and-npu setup: it builds +# the FastFlowLM fork for the NPU endpoints. WITH_NPU=0 is GPU-only — llama.cpp +# (Vulkan) alone — skipping the NPU apt deps and the FastFlowLM compile. +ARG WITH_NPU=1 + +# tmux is always required: demo.sh runs each component in its own tmux session. +RUN apt-get update && apt-get install -y --no-install-recommends tmux \ + && apt-get clean && rm -rf /var/lib/apt/lists/* + +# NPU build deps (WITH_NPU=1 only). FastFlowLM links the host XRT/NPU libs with +# the system gcc, not pixi's conda toolchain (see build_fastflowlm.sh): XRT dev +# headers + the NPU userspace runtime come from the lemonade PPA. The amdxdna +# *kernel* driver stays on the host; the NPU enters via /dev/accel/accel0. +RUN if [ "$WITH_NPU" = "1" ]; then \ + apt-get update && apt-get install -y --no-install-recommends \ + software-properties-common gnupg \ + && add-apt-repository -y ppa:lemonade-team/stable \ + && apt-get update && apt-get install -y --no-install-recommends \ + build-essential \ + libxrt-dev libxrt-npu2 \ + libavformat-dev libavutil-dev libavcodec-dev \ + libswresample-dev libswscale-dev \ + libfftw3-dev \ + uuid-dev libdrm-dev \ + && apt-get clean && rm -rf /var/lib/apt/lists/* ; \ + fi + +# Python agent app + inference SSOT + RAG corpus + monitoring. Refresh pixi +# manifests and scripts/ too so this layer's `pixi run` tasks (e.g. the renamed +# init-submodules) and runtime helpers (demo.sh, ...) match this checkout rather +# than the snapshot baked into the o3de base. +COPY pixi.toml pixi.lock ./ +COPY pyproject.toml uv.lock ./ +COPY config.toml ./ +COPY .gitmodules ./ +COPY rai_app/ rai_app/ +COPY regulations_db/ regulations_db/ +COPY monitoring/ monitoring/ +COPY scripts/ scripts/ +RUN pixi run sync + +# Local inference engines built from the pinned submodules. llama.cpp (Vulkan, +# gpu/cpu endpoints) is always built; init-submodules needs .git (inherited from +# the o3de base) + .gitmodules (copied above). +RUN pixi run init-submodules && pixi run build-llama + +# FastFlowLM (npu endpoints), WITH_NPU=1 only. Its tokenizers-cpp vendors a Rust +# static lib (libtokenizers_c.a), so the build needs cargo. Install via rustup +# (latest stable — Ubuntu's apt cargo can be too old for the pinned crate) and +# source it so cmake's find_program(cargo) succeeds at configure time. +RUN if [ "$WITH_NPU" = "1" ]; then \ + curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y --profile minimal \ + && . "$HOME/.cargo/env" \ + && pixi run build-fastflowlm ; \ + fi + +# Brings up sim -> stack -> inference -> agents -> hmi, one tmux session each. +# AMM_KEEP_ALIVE (set in compose) holds this process open so the container — and +# the detached tmux sessions it owns — stay alive after demo.sh finishes launching. +ENTRYPOINT ["pixi", "run", "demo"] diff --git a/docker/Dockerfile.llama b/docker/Dockerfile.llama deleted file mode 100644 index 560fc80..0000000 --- a/docker/Dockerfile.llama +++ /dev/null @@ -1,5 +0,0 @@ -FROM ghcr.io/ggml-org/llama.cpp:server - -ADD custom_ggufs /custom_ggufs - - diff --git a/docker/Dockerfile.o3de b/docker/Dockerfile.o3de index 20d14cb..b201403 100644 --- a/docker/Dockerfile.o3de +++ b/docker/Dockerfile.o3de @@ -1,7 +1,8 @@ FROM base_image -# Install O3DE build dependencies and the 26.05 SDK -# Note: git, git-lfs, ninja-build, ros-dev-tools, pixi are inherited from base image +# Install O3DE build dependencies and the 26.05 SDK. +# Note: git, git-lfs, pixi are inherited from the base image; ROS/colcon/cmake/ +# ninja come from the conda env. clang is O3DE's compiler, hence apt here. RUN apt update && apt install -y \ cmake \ libstdc++-12-dev \ @@ -37,8 +38,11 @@ COPY .git .git/ COPY project_gems/ project_gems/ COPY sim/ sim/ -RUN pixi run install-o3de -RUN apt install -y git-lfs && git lfs install --force +# install_o3de.sh apt-installs the SDK's system deps (ninja-build, pkg-config, +# ...) without running `apt-get update` itself, so refresh the lists here — the +# ros2 base strips them to stay small. +RUN apt-get update && pixi run install-o3de && apt-get clean && rm -rf /var/lib/apt/lists/* +RUN git lfs install --force RUN pixi run build-sim WORKDIR /root/MobileManipulatorDemo diff --git a/docker/Dockerfile.ros2 b/docker/Dockerfile.ros2 index f628de6..8089462 100644 --- a/docker/Dockerfile.ros2 +++ b/docker/Dockerfile.ros2 @@ -1,20 +1,29 @@ -FROM ros:jazzy-ros-core - -RUN apt update && apt install -y --no-install-recommends \ - curl \ - python3-vcstool \ - git \ - git-lfs \ - ninja-build \ - ros-dev-tools \ - lsb-release \ - wget \ - gnupg - -RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg -RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null -RUN apt update -RUN apt install -y libgz-math7-dev +# RoboStack ships the entire ROS 2 Jazzy runtime through pixi, so the base is +# plain Ubuntu — NOT ros:jazzy-ros-core. Mixing apt ROS (/opt/ros) with conda +# RoboStack is exactly what scripts/check_env.sh forbids; an Ubuntu base keeps the +# container a pure-pixi environment, identical to a native checkout. +FROM ubuntu:24.04 + +# colcon/ROS want a UTF-8 locale; C.UTF-8 ships with glibc (no `locales` package). +ENV LANG=C.UTF-8 LC_ALL=C.UTF-8 DEBIAN_FRONTEND=noninteractive + +# Only host-level tooling pixi can't bootstrap itself: the pixi installer plus +# git/LFS for `vcs import` and submodules. Compilers, colcon, vcstool, cmake and +# ninja all come from the conda env (see pixi.toml). gz-math is the one system +# build dep some ros2_ws source packages link against, from the OSRF apt repo. +RUN apt-get update && apt-get install -y --no-install-recommends \ + ca-certificates \ + curl \ + wget \ + git \ + git-lfs \ + gnupg \ + lsb-release \ + && wget -qO /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg https://packages.osrfoundation.org/gazebo.gpg \ + && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" > /etc/apt/sources.list.d/gazebo-stable.list \ + && apt-get update && apt-get install -y --no-install-recommends \ + libgz-math7-dev \ + && apt-get clean && rm -rf /var/lib/apt/lists/* RUN curl -fsSL https://pixi.sh/install.sh | PIXI_HOME=/usr/local bash diff --git a/docker/compose.yaml b/docker/compose.yaml index 2938085..8e9c3fc 100644 --- a/docker/compose.yaml +++ b/docker/compose.yaml @@ -1,174 +1,86 @@ -x-ros2-stack: &stack - image: robotecai/mobile-manipulator-demo-agents:latest - build: - context: .. - dockerfile: docker/Dockerfile.agents - additional_contexts: - base_image: service:ros2 - environment: - - DISPLAY=${DISPLAY} - - QT_X11_NO_MITSHM=1 - - OPENAI_API_KEY=${OPENAI_API_KEY} - entrypoint: /ros_entrypoint.sh - devices: - - /dev/kfd:/dev/kfd - - /dev/dri:/dev/dri - volumes: - - /tmp/.X11-unix:/tmp/.X11-unix - - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - networks: - - ros2_bridge +# Dockerised single-PC demo. The image is built in three cacheable layers, each a +# separately-taggable service so the heavy, rarely-changing bases (ROS 2 workspace, +# O3DE SDK + sim) can be pushed/pulled and reused: +# +# ros2 → o3de → demo +# +# Only `demo` is run. It is the whole single-pc stack in one container; its +# entrypoint, `pixi run demo`, launches sim → stack → inference → agents → hmi +# each in its own tmux session — identical to running the demo natively. +# +# Build everything: docker compose -f docker/compose.yaml build +# Run the demo: xhost +local:root && docker compose -f docker/compose.yaml up demo +# Attach to a session: docker exec -it $(docker ps -qf ancestor=robotecai/mobile-manipulator-demo:latest) tmux attach -t agentic-mobile-manipulator-sim +# (sessions: -sim -stack -llm-servers -agents -hmi) +# +# Target is single-pc-gpu-and-npu (the default). For a GPU-only image — llama.cpp +# (Vulkan) only, no FastFlowLM/NPU — build with: +# WITH_NPU=0 docker compose -f docker/compose.yaml build +# A GPU-only image additionally needs, at run time: drop the /dev/accel device and +# the memlock ulimit below, and supply a config.toml whose vlm_safety endpoint is +# on a gpu backend (not npu) — otherwise `pixi run inference` aborts on the missing +# NPU engine. +# +# Prerequisites on the host (an AMD Ryzen AI box): +# - GPU + NPU exposed via the devices below (amdxdna kernel driver loaded on host) +# - model weights present in ../models (pixi run download-models), bind-mounted in services: - sim: + # ── Base: RoboStack ROS 2 + built workspace ──────────────────────────────── + ros2: + image: robotecai/mobile-manipulator-demo-ros2:latest + build: + context: .. + dockerfile: docker/Dockerfile.ros2 + + # ── Base: + O3DE SDK and built simulation ────────────────────────────────── + o3de: image: robotecai/mobile-manipulator-demo-o3de:latest build: context: .. dockerfile: docker/Dockerfile.o3de additional_contexts: base_image: service:ros2 + + # ── The demo: + agents, local inference engines; runs the whole stack ─────── + demo: + image: robotecai/mobile-manipulator-demo:latest + build: + context: .. + dockerfile: docker/Dockerfile.demo + additional_contexts: + base_image: service:o3de + args: + # 1 = gpu-and-npu (default); 0 = gpu-only. `WITH_NPU=0 docker compose build`. + WITH_NPU: ${WITH_NPU:-1} + entrypoint: ["pixi", "run", "demo"] environment: - DISPLAY=${DISPLAY} - QT_X11_NO_MITSHM=1 + - OPENAI_API_KEY=${OPENAI_API_KEY:-} + - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-42} + # Hold demo.sh open as PID 1 so the detached tmux sessions outlive its launch. + - AMM_KEEP_ALIVE=1 + # Keep NPU (FastFlowLM) weights inside the mounted models/ dir instead of + # flm's default ~/.config/flm, so they persist via the bind mount. + - FLM_MODEL_PATH=/root/MobileManipulatorDemo/models/flm devices: - - /dev/kfd:/dev/kfd - - /dev/dri:/dev/dri - volumes: - - /tmp/.X11-unix:/tmp/.X11-unix - - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - entrypoint: /ros_entrypoint.sh - command: > - sh -c 'find /root/MobileManipulatorDemo/sim/Cache -type f -exec sh -c '"'"'cat "$@" > /dev/null'"'"' sh {} + && pixi run sim' - networks: - - ros2_bridge - depends_on: - ros2-stack: - condition: service_started - - ros2: - image: robotecai/mobile-manipulator-demo-ros2:latest - build: - context: .. - dockerfile: docker/Dockerfile.ros2 - - ros2-stack: - <<: *stack + - /dev/kfd:/dev/kfd # AMD GPU compute (ROCm) + - /dev/dri:/dev/dri # AMD GPU render (Vulkan) + - /dev/accel/accel0:/dev/accel/accel0 # Ryzen AI NPU (amdxdna) + # The NPU pins memory; without unlimited memlock FastFlowLM fails to allocate. + ulimits: + memlock: + soft: -1 + hard: -1 volumes: - /tmp/.X11-unix:/tmp/.X11-unix - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - ../config.toml:/root/MobileManipulatorDemo/config.toml - command: pixi run ros2 - - # hmi: - # <<: *stack - # volumes: - # - /tmp/.X11-unix:/tmp/.X11-unix - # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - # - ../config.toml:/root/MobileManipulatorDemo/config.toml - # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 launch mobile_manipulator_hmi hmi_launch.py" - - # kairos: - # <<: *stack - # volumes: - # - /tmp/.X11-unix:/tmp/.X11-unix - # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - # - ../config.toml:/root/MobileManipulatorDemo/config.toml - # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 launch robotec_kairos_ur10 robotec_launch.py" - - # utilization_node: - # <<: *stack - # volumes: - # - /tmp/.X11-unix:/tmp/.X11-unix - # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - # - ../config.toml:/root/MobileManipulatorDemo/config.toml - # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 run manipulator_hmi utilization_node" - - # nav2_agent: - # <<: *stack - # volumes: - # - /tmp/.X11-unix:/tmp/.X11-unix - # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - # - ../config.toml:/root/MobileManipulatorDemo/config.toml - # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/nav2_agent.py" - - # moveit2_agent: - # <<: *stack - # volumes: - # - /tmp/.X11-unix:/tmp/.X11-unix - # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - # - ../config.toml:/root/MobileManipulatorDemo/config.toml - # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/moveit2_agent.py" - - # scene_agent: - # <<: *stack - # volumes: - # - /tmp/.X11-unix:/tmp/.X11-unix - # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - # - ../config.toml:/root/MobileManipulatorDemo/config.toml - # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/environment/scene_agent.py" - - # nav_lifecycle_node: - # <<: *stack - # volumes: - # - /tmp/.X11-unix:/tmp/.X11-unix - # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - # - ../config.toml:/root/MobileManipulatorDemo/config.toml - # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && ros2 run nav2_lifecycle_manager nav_lifecycle_node" - - # inspection_agent: - # <<: *stack - # volumes: - # - /tmp/.X11-unix:/tmp/.X11-unix - # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - # - ../config.toml:/root/MobileManipulatorDemo/config.toml - # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && uv run python rai_app/agents/inspection_agent.py" - - # safety_agent: - # <<: *stack - # volumes: - # - /tmp/.X11-unix:/tmp/.X11-unix - # - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - # - ../config.toml:/root/MobileManipulatorDemo/config.toml - # command: /bin/bash -c "source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash && cd /root/MobileManipulatorDemo && ./scripts/start_safety_agent.sh" - - agents: - image: robotecai/mobile-manipulator-demo-agents:latest - build: - context: .. - dockerfile: docker/Dockerfile.agents - additional_contexts: - base_image: service:ros2 - environment: - - OPENAI_API_KEY=${OPENAI_API_KEY} - devices: - - /dev/kfd:/dev/kfd - - /dev/dri:/dev/dri - volumes: - - ../cloud_config.toml:/root/MobileManipulatorDemo/config.toml - entrypoint: /ros_entrypoint.sh - command: pixi run orchestrator - networks: - - ros2_bridge - depends_on: - ros2-stack: - condition: service_started - - # safety-embeddings: - # image: robotecai/mobile-manipulator-demo-llama:latest - # build: - # dockerfile: Dockerfile.llama - # command: -m /custom_ggufs/Qwen3-Embedding-0.6b_BF16.gguf --embedding -c 4096 -b 2048 -ub 2048 --pooling last --port 8082 --host 0.0.0.0 - # networks: - # - ros2_bridge - - # safety-reranker: - # image: robotecai/mobile-manipulator-demo-llama:latest - # build: - # dockerfile: Dockerfile.llama - # command: -m /custom_ggufs/Qwen3-Reranker-0.6B_16BF.gguf --embedding --pooling rank -fa on -c 4096 -b 2048 -ub 2048 --port 8083 --host 0.0.0.0 - # networks: - # - ros2_bridge - -networks: - ros2_bridge: - driver: bridge + # All weights live under the repo's models/: llama ggufs in models/, NPU + # models in models/flm (FLM_MODEL_PATH below). `pixi run download-models` + # fetches both. No host-home (~/.config/flm) coupling. + - ../models:/root/MobileManipulatorDemo/models + # Single host: ROS 2 DDS + every inference endpoint talk over localhost, and + # host networking lets RViz/ros2 on the host introspect the running demo. + network_mode: host diff --git a/docker/start_sim.sh b/docker/start_sim.sh deleted file mode 100755 index 9c59022..0000000 --- a/docker/start_sim.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/usr/bin/env bash -set -e - -source /root/MobileManipulatorDemo/ros2_ws/install/setup.bash - -exec /root/MobileManipulatorDemo/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher \ - -bg_ConnectToAssetProcessor=0 diff --git a/docs/dependencies.md b/docs/dependencies.md index 672cc90..44715b4 100644 --- a/docs/dependencies.md +++ b/docs/dependencies.md @@ -46,13 +46,23 @@ ## Inference -| Inference Engine | Repository URL | -| ---------------- | ----------------------------------------- | -| llama.cpp | https://github.com/ggml-org/llama.cpp.git | +| Inference Engine | Backend | Repository URL | +| ---------------- | ---------------- | ------------------------------------------- | +| llama.cpp | GPU (Vulkan)/CPU | https://github.com/ggml-org/llama.cpp.git | +| FastFlowLM | AMD Ryzen AI NPU | https://github.com/RobotecAI/FastFlowLM.git | ## Models -| Model name | Type | Repository URL | -| ----------- | ---- | ----------------------------------------- | -| LFM2-VL | VLM | https://www.liquid.ai/ | -| gpt-oss-20b | LLM | https://huggingface.co/openai/gpt-oss-20b | +`config.toml` is the single source of truth for which models are served, on which +backend, and from which weights. The endpoints it defines today: + +| Model name | Type | Backend | Source | +| -------------------- | --------- | ---------------- | ------------------------------------------------ | +| gpt-oss-20b | LLM | GPU (llama.cpp) | https://huggingface.co/openai/gpt-oss-20b | +| LFM2-VL-3B | VLM | GPU (llama.cpp) | https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF | +| gemma3:4b | VLM | NPU (FastFlowLM) | https://huggingface.co/google/gemma-3-4b-it | +| Qwen3-Embedding-0.6B | Embedding | GPU (llama.cpp) | https://huggingface.co/Qwen/Qwen3-Embedding-0.6B | +| Qwen3-Reranker-0.6B | Reranker | GPU (llama.cpp) | https://huggingface.co/Qwen/Qwen3-Reranker-0.6B | + +LFM2-VL-3B serves the inspection, general, megamind, and condition agents; gemma3:4b +serves the safety agent on the NPU. diff --git a/docs/inspection_agent.md b/docs/inspection_agent.md index 4d9f73e..da0eda0 100644 --- a/docs/inspection_agent.md +++ b/docs/inspection_agent.md @@ -10,9 +10,11 @@ It continuously monitors camera feed to identify objects that are not probable i ## Usage ```bash -uv run python rai_app/agents/inspection_agent.py +pixi run inspection-agent ``` +This wraps `uv run python rai_app/agents/inspection_agent.py`, so you can run that directly if you need to pass extra flags. + ## Architecture ### Core Components @@ -44,6 +46,7 @@ The main agent class that orchestrates the inspection process. | `--camera-topic` | `/rgbd_camera/camera_image_color` | ROS2 camera topic | | `--ego-source-frame` | `egobase_footprint` | Robot base frame | | `--ego-target-frame` | `odom` | Target coordinate frame | +| `--no-images-saving` | off | Don't save anomaly images to disk | | `--anomaly-images-dir` | `./anomaly_images` | Directory to save anomaly images | | `--anomalies-topic` | `/inspection_result` | ROS2 topic for anomaly reports | | `--n-seconds` | `5` | Minimum interval between VLM processing | @@ -59,11 +62,11 @@ The main agent class that orchestrates the inspection process. ### Output Topics -| Topic | Message Type | Description | -| -------------------- | ------------------------------------ | -------------------------------------------------------- | -| `/inspection_result` | `robotec_kairos_ur10/msg/Anomaly` | Anomaly detection results | -| `/marker` | `visualization_msgs/msg/MarkerArray` | Optional debug markers for RViz2 enabled using `--debug` | -| `vlm_description` | `demo_msgs/msg/VlmDescription` | Visual descriptions for HMI | +| Topic | Message Type | Description | +| -------------------- | ------------------------------------ | --------------------------------------------- | +| `/inspection_result` | `robotec_kairos_ur10/msg/Anomaly` | Anomaly detection results | +| `/marker` | `visualization_msgs/msg/MarkerArray` | Debug markers for RViz2, published by default | +| `/vlm_topic` | `demo_msgs/msg/VlmDescription` | Visual descriptions for HMI | ### Message Types @@ -72,18 +75,20 @@ The main agent class that orchestrates the inspection process. ```python class Anomaly: pose: geometry_msgs.msg.Pose # Object location - obstacle_type: str # "box" or "trash" + obstacle_type: str # "box", "trash", or "other" anomaly_description: str # Human-readable description filename: str # Saved image filename (optional) ``` #### AnomalyDescription (VLM Output) +The VLM returns this structured output. There is no separate detected flag: an +`obstacle_type` of `"nothing"` means the VLM saw no anomaly. + ```python class AnomalyDescription(BaseModel): - anomaly_detected: bool # True if obstacle detected - obstacle_type: Literal["box", "trash"] # Object classification - anomaly_description: str # Description (max 20 chars) + obstacle_type: Literal["box", "trash", "nothing", "other"] # Object classification + anomaly_description: str # Description, max 20 chars, empty if no obstacle ``` ## Troubleshooting @@ -102,8 +107,10 @@ class AnomalyDescription(BaseModel): ### Debug Mode -Enable debug mode to see additional logging and visualization: +Debug logging and RViz2 markers are on by default (`debug=True` in the +`VlmWarehouseInspector` constructor). There is no CLI flag for this; construct the +inspector with `debug=False` to turn it off: ```python -inspector = VlmWarehouseInspector(debug=True, ...) +inspector = VlmWarehouseInspector(debug=False, ...) ``` diff --git a/docs/quickstart.md b/docs/quickstart.md index cc37b77..9a91f77 100644 --- a/docs/quickstart.md +++ b/docs/quickstart.md @@ -1,66 +1,93 @@ -# Quickstart Guide +# Quickstart: Docker Compose -This guide will help you get the **Mobile Manipulator Demo** up and running quickly using Docker Compose. - -> [!IMPORTANT] -> This guide is designed for running the demo with cloud-based models for a smooth and easy setup. -> If you’d like to use local models instead, please refer to the [Setup Guide](./setup.md). _Note:_ Running local models requires approximately 48GB of VRAM. +Run the full **Mobile Manipulator Demo** — simulation, ROS 2 stack, local inference, agents, and HMI — in a single container, with all models served locally on an AMD GPU + AMD Ryzen™ AI NPU. ## Prerequisites -- AMD GPU | AMD Ryzen™ AI -- [Docker Engine](https://docs.docker.com/engine/install/) installed. -- **For AMD GPUs**: [ROCm Docker prerequisites](https://rocm.docs.amd.com/projects/install-on-linux/en/latest/how-to/docker.html#prerequisites). - -## 1. Prepare the environment +- **AMD GPU** (ROCm/Vulkan) **and AMD Ryzen™ AI NPU** for the default build. +- The host's **amdxdna** driver loaded: check with `ls /dev/accel/accel0`. +- [Docker Engine](https://docs.docker.com/engine/install/) + [ROCm Docker prerequisites](https://rocm.docs.amd.com/projects/install-on-linux/en/latest/how-to/docker.html#prerequisites). +- A running X server (the O3DE simulation and HMI open windows on your display). +- ~60 GB free disk for the image, plus room under `models/` for the weights. -### 1.1 Clone the repository +## 1. Clone the repository ```bash git clone https://github.com/RobotecAI/agentic-mobile-manipulator.git cd agentic-mobile-manipulator ``` -### 1.2 Configure the LLM/VLM +## 2. Build the image + +```bash +docker compose -f docker/compose.yaml build +``` + +This builds three cacheable layers — `…-ros2` (RoboStack ROS 2 + workspace) → `…-o3de` (O3DE SDK + simulation) → `…demo` (Python agents + llama.cpp + FastFlowLM). The O3DE layer is large, so the first build takes a while; later rebuilds reuse the cached bases. + +## 3. Download the model weights + +Weights are **not** baked into the image. They are downloaded into the repo's `models/` directory, bind-mounted at run time. `config.toml` is the single source of truth for which models are fetched. Pull them once into `models/` by running: + +```bash +docker compose -f docker/compose.yaml run --rm --entrypoint "" demo pixi run download-models +``` + +This writes the llama.cpp GGUFs to `models/` and the NPU model to `models/flm/` (via `flm pull`). It only fetches what's missing, so it's safe to re-run. > [!TIP] -> The repository contains two configuration files: -> -> - config.toml: Configuration for the LLM/VLM models. -> - cloud_config.toml: Configuration for the cloud LLM/VLM models. +> If you have pixi installed natively you can instead run `FLM_MODEL_PATH="$PWD/models/flm" pixi run download-models`. -The cloud_config.toml file is used to configure the LLM/VLM models. By default, the demo uses OpenAI. -If you want to use other models, modify the config.toml and compose.yaml (vendor api key environment variable) accordingly. +## 4. Run the demo -## 2. Run the demo +Allow local connections to your X server, then start the `demo` service: -### 2.1 Allow local connections to your X server +```bash +xhost +local:root +docker compose -f docker/compose.yaml up demo +``` + +## What to expect + +![Demo Windows](demo_windows.jpg) + +1. **Simulation Window**: the O3DE warehouse environment. Use _Control → Simulation Scenarios_ to spawn objects, and _Control → On demand predefined tasks_ to run tasks — or publish your own to the `/user_tasks` topic. +2. **HMI**: a window/terminal showing the Human-Machine Interface. +3. **Agents**: the autonomous agents run in the background, driving the robot. -Before launching the containers, you need to allow local connections to your X server so the GUI applications (O3DE simulation and HMI) can display on your screen. +## Inspecting a component -Run the following command in your terminal: +Each component runs in its own tmux session inside the container. Attach to one (e.g. the simulation) from the host: ```bash -xhost +local:docker +docker exec -it $(docker ps -qf ancestor=robotecai/mobile-manipulator-demo:latest) \ + tmux attach -t agentic-mobile-manipulator-sim ``` -### 2.2 Run the demo +Swap the session for any of `-sim`, `-stack`, `-llm-servers`, `-agents`, `-hmi` (all prefixed `agentic-mobile-manipulator-`). Inside tmux, `Ctrl-b s` lists/switches sessions and `Ctrl-b d` detaches. + +## Stopping ```bash -docker compose -f docker/compose.yaml up +docker compose -f docker/compose.yaml down ``` -## What to Expect +## GPU-only build -![Demo Windows](demo_windows.jpg) +If the host has no NPU, build without FastFlowLM (llama.cpp/Vulkan only): + +```bash +WITH_NPU=0 docker compose -f docker/compose.yaml build +``` + +Before running a GPU-only image, edit `docker/compose.yaml` to: -1. **Simulation Window**: The O3DE simulation window will appear, showing the warehouse environment. Use "Control -> Simulation Scenarios" to spawn objects in the warehouse. Use "Control -> On demand predefined tasks" to run predefined tasks. Alternatively, publish your own tasks to the `/user_tasks` topic. -2. **HMI**: A separate window or terminal output indicating the HMI is running will appear. Spawn -3. **Agents**: The autonomous agents will start in the background. +- remove the `/dev/accel/accel0` device and the `memlock` ulimit (NPU-only), and +- point `config.toml`'s `vlm_safety` endpoint at a `gpu` backend — otherwise `pixi run inference` aborts on the missing NPU engine. ## Troubleshooting -- **O3DE Doesn't start**: Please make sure your GPU drivers and container toolkit are properly installed. For more information about what might be going wrong, try running `docker compose -f docker/compose.yaml up sim` to check the logs. If the issue persists, perform a _graceful shutdown_ of the container/docker compose and then restart it. -- **Display Issues**: If windows don't appear, ensure you ran `xhost +local:docker` and that your `DISPLAY` environment variable is set correctly (`echo $DISPLAY`). -- **GPU Access**: If the simulation runs slowly or crashes, check your GPU drivers and container toolkit installation. -- **AMD GPU Access**: Ensure you have passed the correct devices. For more details on running ROCm Docker containers, see the [official AMD documentation](https://rocm.docs.amd.com/projects/install-on-linux/en/latest/how-to/docker.html). +- **O3DE doesn't start / no windows appear**: ensure you ran `xhost +local:root` and that `DISPLAY` is set (`echo $DISPLAY`). Verify your AMD GPU drivers + ROCm container prerequisites are installed. +- **NPU errors / FastFlowLM fails to start**: confirm `/dev/accel/accel0` exists on the host and that the `memlock` ulimit and the device mapping are present in `docker/compose.yaml` (both are required for the NPU). +- **Inference health check fails**: make sure step 3 completed and `models/` (and `models/flm/`) contain the weights `config.toml` references. +- **GPU access / slow or crashing sim**: check your GPU drivers and the [ROCm Docker docs](https://rocm.docs.amd.com/projects/install-on-linux/en/latest/how-to/docker.html). diff --git a/docs/repo_overview.md b/docs/repo_overview.md index a08ea2f..637f96d 100644 --- a/docs/repo_overview.md +++ b/docs/repo_overview.md @@ -23,9 +23,9 @@ The repository is organized into several key directories: ### Infrastructure & Simulation -- **`docker/`**: Deployment files. Contains `docker-compose` configurations for AMD GPUs and AMD Ryzen™ AI, and Dockerfiles for different components. +- **`docker/`**: Deployment files for AMD GPU + AMD Ryzen™ AI. A layered build (`ros2` → `o3de` → `demo`) produces a single container that runs the whole demo via `pixi run demo`. See the [Quickstart Guide](./quickstart.md). - **`project_gems/`**: Assets and configurations for the **O3DE (Open 3D Engine)** simulation environment. -- **`config.toml`**: The central configuration file for defining which LLMs and VLMs are used by the agents. +- **`config.toml`**: The central configuration file for the agents' LLMs and VLMs. Each endpoint declares a local backend — CPU/GPU via llama.cpp (Vulkan) or the **AMD Ryzen™ AI NPU** via FastFlowLM — so models can be moved across CPU, GPU and NPU in one place. ## 2. Key Components diff --git a/docs/running.md b/docs/running.md index a76ee2e..91074fa 100644 --- a/docs/running.md +++ b/docs/running.md @@ -3,7 +3,7 @@ ## Run all at once ```shell -pixi run -e local demo +pixi run -e single-pc-gpu demo ``` ## Run separately @@ -17,7 +17,7 @@ pixi run sim ### ROS 2 ```shell -pixi run ros2 +pixi run stack ``` ### HMI @@ -26,35 +26,45 @@ pixi run ros2 pixi run hmi ``` -### Local inference (llama.cpp) +### Local inference -Models default to `$DEMO_ROOT/models/`. Override with env vars if your models are elsewhere. +Every inference endpoint is declared once in [`config.toml`](../config.toml) under +`[endpoints.*]` (model, backend, port, weights). `pixi run inference` reads that +SSOT and launches each server on its backend — `gpu`/`cpu` via llama.cpp, `npu` +via FastFlowLM — in a tmux grid: ```shell -# GPT-OSS-20B — port 8080 -pixi run -e local serve-llm +pixi run -e single-pc-gpu inference # launch all local endpoints (tmux grid) +pixi run -e single-pc-gpu smoke-test # health-check them +``` -# LFM2-VL-3B — port 8081 -pixi run -e local serve-vlm +To start a single endpoint (e.g. for debugging), launch it by its endpoint name: -# Qwen3-Embedding-0.6b — port 8082 -pixi run -e local serve-embedding +```shell +pixi run -e single-pc-gpu serve-llm # endpoints.main_llm → port 8080 +pixi run -e single-pc-gpu serve-vlm-safety # endpoints.vlm_safety → port 8081 (NPU) +pixi run -e single-pc-gpu serve-vlm-inspection # endpoints.vlm_inspection → port 8084 (GPU) +pixi run -e single-pc-gpu serve-embedding # endpoints.embeddings → port 8082 +pixi run -e single-pc-gpu serve-reranker # endpoints.reranker → port 8083 +``` -# Qwen3-Reranker-0.6B — port 8083 -pixi run -e local serve-reranker +To change a weight path, backend, or port, edit the endpoint in `config.toml` +(e.g. set `model_path`, or flip the VLM `backend` between `gpu` and `npu`) — there +are no per-server env vars anymore. Preview the resolved launch commands without +starting anything: + +```shell +pixi run -e single-pc-gpu inference --print ``` -To use a custom path: +### Agents ```shell -LLM_MODEL=/path/to/gpt-oss-20b-Q4_K_M.gguf pixi run -e local serve-llm -VLM_MODEL=/path/to/LFM2-VL-3B-Q8_0.gguf VLM_MMPROJ=/path/to/mmproj.gguf pixi run -e local serve-vlm -EMBEDDING_MODEL=/path/to/embedding.gguf pixi run -e local serve-embedding -RERANKER_MODEL=/path/to/reranker.gguf pixi run -e local serve-reranker +pixi run agents ``` ### Agent Orchestrator ```shell -pixi run orchestrator +pixi run orchestrator-agent ``` diff --git a/docs/running_hil_sim_hmi.md b/docs/running_hil_sim_hmi.md index 7ba78ec..e319f97 100644 --- a/docs/running_hil_sim_hmi.md +++ b/docs/running_hil_sim_hmi.md @@ -15,29 +15,38 @@ pixi run sim ### ROS 2 ```shell -pixi run ros2 +pixi run stack ``` ### Inference +Endpoints (model, backend, port, weights) are declared once in `config.toml` +under `[endpoints.*]`. Launch them all from that SSOT, or one at a time by name: + ```shell -pixi run -e hil-local serve-llm # GPT-OSS-20B → port 8080 -pixi run -e hil-local serve-vlm # LFM2-VL-3B → port 8081 -pixi run -e hil-local serve-embedding # Qwen3-Embedding → port 8082 -pixi run -e hil-local serve-reranker # Qwen3-Reranker → port 8083 +pixi run -e hil inference # all local endpoints (tmux grid) + +pixi run -e hil serve-llm # endpoints.main_llm → port 8080 +pixi run -e hil serve-vlm-safety # endpoints.vlm_safety → port 8081 (NPU) +pixi run -e hil serve-vlm-inspection # endpoints.vlm_inspection → port 8084 (GPU) +pixi run -e hil serve-embedding # endpoints.embeddings → port 8082 +pixi run -e hil serve-reranker # endpoints.reranker → port 8083 ``` -Models default to `$DEMO_ROOT/models/`. Override with env vars if your models are elsewhere: +To use different weights, backend, or ports, edit the endpoint in `config.toml` +(`model_path`, `backend`, `port`, …). Preview without launching: +`pixi run -e hil inference --print`. + +### Agents ```shell -LLM_MODEL=/path/to/model.gguf pixi run -e hil-local serve-llm -VLM_MODEL=/path/to/vlm.gguf VLM_MMPROJ=/path/to/mmproj.gguf pixi run -e hil-local serve-vlm +pixi run agents ``` ### Agent Orchestrator ```shell -pixi run orchestrator +pixi run orchestrator-agent ``` ## HMI Machine @@ -48,9 +57,9 @@ pixi run hmi --- -## Individual ROS 2 Components +## Individual Agents -Use these when you want to run components separately instead of `pixi run ros2`: +Use these when you want to run an agent separately instead of `pixi run agents`: ```shell pixi run nav2-agent @@ -65,6 +74,6 @@ pixi run safety-agent These are only required when running the safety agent with RAG. See `docs/safety_agent_with_rag.md`. ```shell -pixi run -e hil-local serve-embedding -pixi run -e hil-local serve-reranker +pixi run -e hil serve-embedding +pixi run -e hil serve-reranker ``` diff --git a/docs/safety_agent_with_rag.md b/docs/safety_agent_with_rag.md index 5a29b23..3c8efda 100644 --- a/docs/safety_agent_with_rag.md +++ b/docs/safety_agent_with_rag.md @@ -83,7 +83,7 @@ The default ranges focus on warehouse safety-relevant regulations: ### Step 3: Build Vector Database ```bash -uv run rai_app/warehouse_regulations_agent/build_vector_db.py --source processed_regulations --out regulations_db +uv run rai_app/warehouse_regulations_agent/build_vector_db.py --source processed_regulations --output regulations_db ``` **Build Script Options:** @@ -128,7 +128,7 @@ uv run rai_app/warehouse_regulations_agent/scrapper.py --output regulations uv run rai_app/warehouse_regulations_agent/process_regulations.py --source regulations --dest processed_regulations --ranges "1-40,66-68,132-140,155-165,176,212,335" # Step 3: Build the vector database -uv run rai_app/warehouse_regulations_agent/build_vector_db.py --source processed_regulations --out regulations_db +uv run rai_app/warehouse_regulations_agent/build_vector_db.py --source processed_regulations --output regulations_db # Step 4: (Optional) Test the performance of the Warehouse Safety Agent uv run rai_app/warehouse_regulations_agent/rag.py --vector-db regulations_db --images-dir images diff --git a/docs/setup.md b/docs/setup.md index 7b3b7a5..32933a3 100644 --- a/docs/setup.md +++ b/docs/setup.md @@ -7,7 +7,7 @@ This repository is compatible with the following system: - System: Ubuntu 24.04 -- ROS 2: Jazzy with development tools installed [link](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional) +- ROS 2: Jazzy, provided by pixi via RoboStack (no separate ROS 2 install needed) - Python: 3.12 - OpenAI-compatible Endpoint for GenAI inference (llama.cpp) @@ -22,7 +22,7 @@ Run HMI, agents and simulation on one computer > [!IMPORTANT] > Please note that this setup is intended for systems with approximately 48GB of available VRAM. -> If your system does not meet this requirement, you may opt to use cloud-based models by following the instructions in the [Quickstart Guide](./quickstart.md). +> If your system does not meet this requirement, you can configure the agents to use cloud-based models instead via `cloud_config.toml`. [Single-machine setup](./setup_single_machine.md) diff --git a/docs/setup_hil.md b/docs/setup_hil.md index 479e85b..bc4dff4 100644 --- a/docs/setup_hil.md +++ b/docs/setup_hil.md @@ -3,7 +3,7 @@ This repository is compatible with the following system: - System: Ubuntu 24.04 -- ROS 2: Jazzy with development tools installed [link](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Real-Time-Kernel-Tuning-Guide.html) +- ROS 2: Jazzy, provided by pixi via RoboStack (no separate ROS 2 install needed) - Python: 3.12 ## Building the Project @@ -13,7 +13,7 @@ This repository is compatible with the following system: #### Clone the Repository ```shell -git clone git@github.com:RobotecAI/agentic-mobile-manipulator.git +git clone https://github.com/RobotecAI/agentic-mobile-manipulator.git cd agentic-mobile-manipulator ``` @@ -24,10 +24,6 @@ sudo apt update sudo apt install git git-lfs python3-vcstool ``` -> [!NOTE] -> ROS 2 Jazzy with dev tools (including `colcon`, `rosdep`) must also be installed. -> See the [ROS 2 installation guide](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional). - #### Install pixi [pixi](https://pixi.sh) orchestrates all build steps and sets environment variables automatically. @@ -46,44 +42,39 @@ Restart your shell or run `source ~/.bashrc` after installation. pixi run -e hil setup ``` -This runs: +This runs, in order: -| Step | pixi task | What it does | -| ---- | --------------- | --------------------------------------- | -| 1 | `clone-ros2-ws` | `vcs import` for ROS 2 workspace | -| 2 | `rosdep-update` | `rosdep update` — refresh package index | -| 3 | `build-ros2` | `rosdep install` + `colcon build` | -| 4 | `sync` | `uv sync` — install Python dependencies | +| Step | pixi task | What it does | +| ---- | ----------------- | ------------------------------------------------------------------ | +| 1 | `clone-ros2-ws` | `vcs import` clones the ROS 2 workspace repositories | +| 2 | `init-submodules` | Check out the pinned llama.cpp and FastFlowLM submodules | +| 3 | `build-ros2` | `colcon build` (dependencies come from conda/RoboStack, no rosdep) | +| 4 | `sync` | `uv sync` installs the Python dependencies | +| 5 | `build-llama` | Build llama.cpp with the Vulkan backend | --- -## Setting Up llama.cpp (optional) +## Rebuilding llama.cpp -llama.cpp is used as the default local GenAI inference engine. Skip this section if using a cloud API. +`pixi run -e hil setup` already builds llama.cpp with the Vulkan backend as its last step, so you normally don't run anything here. Use this section only to install the Vulkan SDK by hand or to rebuild llama.cpp on its own. -### Prerequisites +### Vulkan SDK -Install Vulkan SDK: [link](https://vulkan.lunarg.com/doc/sdk/1.4.321.1/linux/getting_started.html) +The llama.cpp build uses the Vulkan backend. Install the Vulkan SDK: [link](https://vulkan.lunarg.com/doc/sdk/1.4.321.1/linux/getting_started.html) -Verify Vulkan SDK is installed: +Verify it: ```shell vulkaninfo ``` -### Build llama.cpp +### Build llama.cpp on its own ```shell -pixi run -e hil-local build-llama +pixi run -e hil build-llama ``` -This clones llama.cpp and builds it with Vulkan backend. - -Or, to run the full HIL setup including llama.cpp in one command: - -```shell -pixi run -e hil-local setup -``` +This checks out the llama.cpp submodule if needed and builds it with the Vulkan backend. ### Download Models diff --git a/docs/setup_hil_sim_hmi.md b/docs/setup_hil_sim_hmi.md index 108b99f..667eae4 100644 --- a/docs/setup_hil_sim_hmi.md +++ b/docs/setup_hil_sim_hmi.md @@ -16,18 +16,21 @@ Make sure that all machines are reachable by their ip addresses and hostnames. Y Verify bandwidth and latency between machines to ensure they meet the requirements for real-time communication. This demo requires at least 60 Mbps bandwidth. -Perform a simple bandwidth test using `iperf3`: - -1. On the Simulation machine (server): -2. ```bash - iperf3 -s - ``` -3. On the HIL machine (client): -4. ````bash - iperf3 -c 192.168.1.1 - ``` - You should see a bandwidth of at least 900 Mbps for 1 GBps transfer. If not, check your network configuration (cables, switches, etc.). - ```` +Perform a simple bandwidth test using `iperf3`. + +On the Simulation machine (server): + +```bash +iperf3 -s +``` + +On the HIL machine (client): + +```bash +iperf3 -c 192.168.1.1 +``` + +On a 1 Gbps wired link you should see close to 900 Mbps. If it comes in far below that, check your cabling, switches, and NIC settings. ## DDS Configuration @@ -63,10 +66,10 @@ Create a `cyclonedds.xml` file in the specified location with the following cont - - - - + + + + auto diff --git a/docs/setup_hmi.md b/docs/setup_hmi.md index 70b84cd..f0106dc 100644 --- a/docs/setup_hmi.md +++ b/docs/setup_hmi.md @@ -7,22 +7,29 @@ This repository is compatible with the following system: - System: Ubuntu 24.04 -- ROS 2: Jazzy with development tools installed [link](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional) +- ROS 2: Jazzy, provided by pixi via RoboStack (no separate ROS 2 install needed) - Python: 3.12 ## Building the GUI ```shell -cd ${DEMO_ROOT}/ros2_ws/ -colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release +pixi run -e hmi setup ``` +This clones the ROS 2 workspace, builds it with colcon, and syncs the Python +dependencies. pixi activates the ROS 2 environment for you, so there's no separate +ROS 2 install or manual sourcing to do. + ## Running the GUI ```shell -ros2 launch mobile_manipulator_hmi hmi_launch.py +pixi run -e hmi hmi ``` +This launches the HMI in its own tmux session. To run it in the foreground +instead, use `pixi run -e hmi hmi-fg`, which calls +`ros2 launch mobile_manipulator_hmi hmi_launch.py` directly. + ## ROS2 interfaces provided by the GUI ### 📨 Subscriptions diff --git a/docs/setup_sim.md b/docs/setup_sim.md index 8f7bcaa..6059bc6 100644 --- a/docs/setup_sim.md +++ b/docs/setup_sim.md @@ -3,7 +3,7 @@ This repository is compatible with the following system: - System: Ubuntu 24.04 -- ROS 2: Jazzy with development tools installed [link](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional) +- ROS 2: Jazzy, provided by pixi via RoboStack (no separate ROS 2 install needed) - Python: 3.12 ## Building the Project @@ -13,7 +13,7 @@ This repository is compatible with the following system: #### Clone the Repository ```shell -git clone git@github.com:RobotecAI/agentic-mobile-manipulator.git +git clone https://github.com/RobotecAI/agentic-mobile-manipulator.git cd agentic-mobile-manipulator ``` @@ -29,10 +29,6 @@ sudo apt install git git-lfs python3-vcstool ninja-build \ mesa-common-dev libunwind-dev libzstd-dev tix ``` -> [!NOTE] -> ROS 2 Jazzy with dev tools (including `colcon`, `rosdep`) must also be installed. -> See the [ROS 2 installation guide](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional). - #### Install pixi [pixi](https://pixi.sh) orchestrates all build steps and sets environment variables automatically. @@ -48,7 +44,7 @@ Restart your shell or run `source ~/.bashrc` after installation. ### Build Everything ```shell -pixi run -e default setup +pixi run -e sim setup ``` This single command runs the full build pipeline in the correct order: diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index 7a57f90..230d4ca 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -14,7 +14,7 @@ This repository is compatible with the following system: ```shell cd /home/${USER} -git clone git@github.com:RobotecAI/agentic-mobile-manipulator.git +git clone https://github.com/RobotecAI/agentic-mobile-manipulator.git cd agentic-mobile-manipulator ``` @@ -32,10 +32,6 @@ sudo apt install git git-lfs python3-vcstool ninja-build \ mesa-common-dev libunwind-dev libzstd-dev tix ``` -> [!NOTE] -> ROS 2 Jazzy with dev tools (including `colcon`, `rosdep`) must also be installed. -> See the [ROS 2 installation guide](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional). - #### Install pixi [pixi](https://pixi.sh) orchestrates all build steps and sets environment variables automatically. @@ -51,30 +47,51 @@ Restart your shell or run `source ~/.bashrc` after installation. ### Build Everything ```shell -pixi run -e default setup +pixi run -e single-pc-gpu setup ``` This single command runs the full build pipeline in the correct order: -| Step | pixi task | What it does | -| ---- | -------------- | --------------------------------------------------- | -| 1 | `clone` | `vcs import` + `git lfs pull` for gems and ROS 2 ws | -| 2 | `install-o3de` | Install the O3DE engine | -| 3 | `fetch-gems` | Clone o3de-extras locally, validate all gem paths | -| 5 | `build-ros2` | `colcon build` (deps provided by conda/RoboStack) | -| 6 | `build-sim` | CMake configure + Ninja build (GameLauncher) | -| 7 | `sync` | `uv sync` — install Python dependencies | +| Step | pixi task | What it does | +| ---- | ---------------- | --------------------------------------------------- | +| 1 | `clone` | `vcs import` + `git lfs pull` for gems and ROS 2 ws | +| 2 | `install-o3de` | Install the O3DE engine | +| 3 | `fetch-gems` | Clone o3de-extras locally, validate all gem paths | +| 4 | `build-ros2` | `colcon build` (deps provided by conda/RoboStack) | +| 5 | `build-sim` | CMake configure + Ninja build (GameLauncher) | +| 6 | `sync` | `uv sync` installs the Python dependencies | +| 7 | `build-llama` | Build llama.cpp with the Vulkan backend | +| 8 | `find-runnables` | List the built runnables (GameLauncher, llama.cpp) | + +#### Local Inference + +Setup already checks out the inference submodules and builds llama.cpp (Vulkan) as +part of the pipeline above. To serve models locally you still need to download the +weights: + +```shell +pixi run -e single-pc-gpu download-models # downloads every weight referenced in config.toml; or grab them manually below +``` -#### Local Inference (optional) +`config.toml` is the single source of truth for inference: each `[endpoints.*]` +table fixes a model's backend, port, and weights, and the agents reference those +endpoints by name. `pixi run inference` launches them all. See +[Running the demo](running.md#local-inference). -If you want to run models locally via llama.cpp instead of cloud APIs: +##### NPU backend (AMD Ryzen AI, optional) + +To run an endpoint on the NPU instead of the GPU, set its `backend = "npu"` in +`config.toml` and build FastFlowLM. The [RobotecAI/FastFlowLM](https://github.com/RobotecAI/FastFlowLM) +fork (pinned as a submodule) includes GBNF grammar-constrained sampling, so the +NPU path can produce the structured/JSON output the agents rely on: ```shell -pixi run -e local clone-inference -pixi run -e local build-llama # this step is hardware specific. By default, it builds with Vulkan backend. Check for better solutions for your hardware. -pixi run -e local download-models # or download the models manually, check the links below +pixi run -e single-pc-gpu build-fastflowlm # builds FastFlowLM; needs the amdxdna driver + XRT dev stack to serve ``` +The NPU VLM endpoint serves a FastFlowLM vision tag (default `gemma3:4b`); see +`[endpoints.vlm_safety]` in `config.toml`. + --- ### Download Models diff --git a/docs/sim_overview.md b/docs/sim_overview.md index 61c6ce8..aa6d8a1 100644 --- a/docs/sim_overview.md +++ b/docs/sim_overview.md @@ -19,7 +19,7 @@ Opensource gems that are maintained by the O3DE community: Open source gems that are maintained by Robotec.AI: -- **ROS2 Scripts Integration**: Gem that allows to publish and subscribe to a limited set of ROS 2 messages using ScriptCanvas or LUA scripting language. +- **ROS2ScriptIntegration**: Gem that allows to publish and subscribe to a limited set of ROS 2 messages using ScriptCanvas or LUA scripting language. - **RobotecWarehouseLaddersStairsAssets**: Gem that provides warehouse assets including ladders and stairs for building simulation environments. - **RobotecWarehouseMiscAssets**: Gem that provides miscellaneous warehouse assets for building simulation environments. - **RobotecWarehouseBuildingAssets**: Gem that provides building assets for constructing warehouse environments. @@ -31,7 +31,6 @@ Open source gems that are maintained by Robotec.AI: - **HumanWorker**: Gem that provides human worker models for simulating human-robot interactions in warehouse settings. - **RobotecSpectatorCamera**: Gem that provides a spectator camera for better visualization of the simulation. - **WheelAnimTool**: Gem that provides tools for animating wheels on mobile robots. -- **WarehouseAssets**: Gem that provides a variety of warehouse assets for building simulation environments. Gems developed specifically for this demo: @@ -88,7 +87,7 @@ The latter is used to execute motion plans generated by MoveIt 2. The Articulation and simulated rigid body are connected using a `Fixed Joint` component from the `PhysX 5` gem. The LiDAR sensors are simulated using the `ROS2 LiDAR Sensor` component from the `ROS2 Sensors` gem. -This component simulates a 3D LiDAR sensor and publishes `sensor_msgs/LaserScan`. +This component is configured as a 2D LiDAR and publishes `sensor_msgs/LaserScan`. The RGB-D camera is simulated using the `ROS2 RGBD Camera` component from the `ROS2 Sensors` gem. This component simulates an RGB-D camera and publishes `sensor_msgs/Image` and `sensor_msgs/CameraInfo`. The vacuum gripper utilizes a gripper component from the `ROS2 Controllers` gem that simulates a simple vacuum gripper. diff --git a/inference.repos b/inference.repos deleted file mode 100644 index b1d73dc..0000000 --- a/inference.repos +++ /dev/null @@ -1,5 +0,0 @@ -repositories: - ./inference/llama.cpp: - type: git - url: https://github.com/ggml-org/llama.cpp.git - version: master diff --git a/inference/FastFlowLM b/inference/FastFlowLM new file mode 160000 index 0000000..5a9ee33 --- /dev/null +++ b/inference/FastFlowLM @@ -0,0 +1 @@ +Subproject commit 5a9ee3303abc7e64d4b3cf298a96678c8a741771 diff --git a/inference/llama.cpp b/inference/llama.cpp new file mode 160000 index 0000000..6f4f53f --- /dev/null +++ b/inference/llama.cpp @@ -0,0 +1 @@ +Subproject commit 6f4f53f2b7da54fcdbbecaaa734337c337ad6176 diff --git a/monitoring/README.md b/monitoring/README.md index a03f2e5..812757d 100644 --- a/monitoring/README.md +++ b/monitoring/README.md @@ -31,7 +31,7 @@ On **tested hardware**: 1. Install dependencies with poetry: ```bash - git clone git@github.com:RobotecAI/agentic-mobile-manipulator.git + git clone https://github.com/RobotecAI/agentic-mobile-manipulator.git cd agentic-mobile-manipulator/monitoring poetry install ``` diff --git a/pixi.lock b/pixi.lock index e553b7a..f0d7877 100644 --- a/pixi.lock +++ b/pixi.lock @@ -365,6 +365,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/lz4-4.4.5-py312h3d67a73_1.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/lz4-c-1.10.0-h5888daf_1.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/lzo-2.10-h280c20c_1002.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/make-4.4.1-hb9d3cd8_2.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/markupsafe-3.0.3-py312h8a5da7c_1.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/matplotlib-base-3.11.0-py312h1c5ec97_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/mesalib-26.0.3-h8cca3c9_0.conda @@ -380,6 +381,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/nanoflann-1.6.1-hff21bea_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.6-hdb14827_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/nettle-3.10.1-h4a9d5aa_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/ninja-1.13.2-h171cf75_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/nlohmann_json-3.12.0-h54a6638_1.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/nlopt-2.11.0-np2py312h0f77346_1.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/nspr-4.38-h29cc59b_0.conda @@ -438,6 +440,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/readline-8.3-h853b02a_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/rhash-1.4.6-hb9d3cd8_1.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/ruby-4.0.5-h95e6935_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/rust-1.96.0-h53717f1_0.conda - 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# ─── Feature: ros2 ────────────────────────────────────────────────────────────── [feature.ros2.tasks.clone-ros2-ws] @@ -70,19 +67,31 @@ outputs = ["ros2_ws/install/"] depends-on = ["clone-ros2-ws"] description = "Build the ROS 2 workspace with colcon (deps provided by conda/RoboStack — no rosdep)" -[feature.ros2.tasks.ros2] +[feature.ros2.tasks.stack] +cmd = "bash scripts/tmux_run.sh agentic-mobile-manipulator-stack pixi run stack-fg" +description = "Launch the barebones ROS 2 stack in its own tmux session (robot + supporting nodes, no agents)" + +[feature.ros2.tasks.stack-fg] cmd = "bash scripts/run_ros2_stack.sh" -description = "Launch full ROS 2 stack (robot, nav2, moveit2, scene, agents)" +description = "Launch the barebones ROS 2 stack in the foreground (no tmux)" + +[feature.ros2.tasks.agents] +cmd = "bash scripts/run_agents.sh" +description = "Start the rai agents + orchestrator in a tmux grid (nav2, moveit2, scene, inspection, safety, orchestrator)" [feature.ros2.tasks.hmi] +cmd = "bash scripts/tmux_run.sh agentic-mobile-manipulator-hmi pixi run hmi-fg" +description = "Launch the Human-Machine Interface in its own tmux session" + +[feature.ros2.tasks.hmi-fg] cmd = "ros2 launch mobile_manipulator_hmi hmi_launch.py" -description = "Launch the Human-Machine Interface" +description = "Launch the Human-Machine Interface in the foreground (no tmux)" -[feature.ros2.tasks.orchestrator] +[feature.ros2.tasks.orchestrator-agent] cmd = "uv run python rai_app/agents/agent_orchestrator.py" description = "Launch the agent orchestrator" -# Individual agents — use these instead of ros2 when debugging a specific component. +# Individual agents — use these instead of 'agents' when debugging a specific one. [feature.ros2.tasks.nav2-agent] cmd = "uv run python rai_app/agents/nav2_agent.py" @@ -146,8 +155,12 @@ depends-on = ["fetch-gems"] description = "Build O3DE GameLauncher and project assets" [feature.sim.tasks.sim] +cmd = "bash scripts/tmux_run.sh agentic-mobile-manipulator-sim pixi run sim-fg" +description = "Launch O3DE simulation in its own tmux session" + +[feature.sim.tasks.sim-fg] cmd = "$DEMO_ROOT/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher -bg_ConnectToAssetProcessor=0" -description = "Launch O3DE simulation" +description = "Launch O3DE simulation in the foreground (no tmux)" [feature.sim.tasks.editor] cmd = "$O3DE_ENGINE_PATH/bin/Linux/profile/Default/Editor --project-path $DEMO_ROOT/sim" @@ -155,87 +168,158 @@ description = "Launch O3DE Editor from SDK (project must be built first)" # ─── Feature: local-inference ─────────────────────────────────────────────────── -[feature.local-inference.tasks.clone-inference] -cmd = "vcs import --input inference.repos" -outputs = ["inference/llama.cpp"] -description = "Clone llama.cpp (required for local inference)" +[feature.local-inference.dependencies] +# Everything needed to BUILD + SERVE local inference, so the lightweight +# `inference` environment (no ROS, no O3DE) is self-sufficient. In the heavier +# `single-pc-gpu`/`hil` envs these merge harmlessly with the default-feature +# toolchain (same conda-forge packages). +python = "*" # runs the stdlib dispatcher (rai_app.inference.serve) +cmake = "*" +ninja = "*" # FastFlowLM's `cmake --preset linux-default` uses Ninja +make = "*" # llama.cpp default (Makefiles) generator +c-compiler = "*" +cxx-compiler = "*" +pkg-config = "*" +wget = "*" # download-models fetches ggufs +# Vulkan SDK pieces llama.cpp's GGML_VULKAN backend needs to BUILD: headers + +# loader for find_package(Vulkan), and glslc (from shaderc) to compile shaders. +# The runtime ICD is the system GPU driver (e.g. RADV for AMD), discovered by +# the loader at run time — not provided here. +libvulkan-headers = "*" +libvulkan-loader = "*" +shaderc = "*" # provides glslc (Vulkan COMPONENTS glslc) +spirv-headers = "*" # find_package(SPIRV-Headers) in ggml-vulkan + +# llama.cpp and FastFlowLM are git submodules pinned under inference/ — see +# .gitmodules. Their versions are tracked by commit, so bump them with +# `git submodule update --remote ` and commit the new pointer. +[feature.local-inference.tasks.init-submodules] +cmd = "git submodule update --init --recursive --depth 1 inference/llama.cpp inference/FastFlowLM" +outputs = ["inference/llama.cpp/CMakeLists.txt", "inference/FastFlowLM/src/CMakeLists.txt"] +description = "Check out the pinned llama.cpp + FastFlowLM submodules, shallow (required for local inference)" [feature.local-inference.tasks.build-llama] +# GGML_CCACHE=OFF: the conda env's ccache links against a libfmt ABI it doesn't +# ship (wants libfmt.so.9, env has .so.12), so leaving ccache on breaks every +# compile with Error 127. The build doesn't need ccache. +# Server-only minimal build: LLAMA_BUILD_UI=OFF skips the embedded webui's +# npm/PWA build (server API doesn't need it); tests/examples off too. The +# --target llama-server then builds only that binary + its deps. cmd = """ -cmake -B build -DGGML_VULKAN=1 && -cmake --build build --config Release -j $(nproc) +cmake -B build -DGGML_VULKAN=1 -DGGML_CCACHE=OFF \ + -DLLAMA_BUILD_UI=OFF -DLLAMA_BUILD_TESTS=OFF -DLLAMA_BUILD_EXAMPLES=OFF && +cmake --build build --config Release -j $(nproc) --target llama-server """ cwd = "inference/llama.cpp" +depends-on = ["init-submodules"] outputs = ["inference/llama.cpp/build/bin/llama-server"] -description = "Build llama.cpp with Vulkan backend" +description = "Build llama.cpp (Vulkan), server only — no webui/tests/examples" + +# ─── FastFlowLM (AMD Ryzen AI NPU backend) ─────────────────────────────────── +# The submodule (RobotecAI/FastFlowLM fork) already includes GBNF grammar- +# constrained sampling, needed for structured agent output on the NPU. Building +# needs the XRT/amdxdna dev headers (no NPU required to compile); only serving +# (`flm serve`) needs the NPU + amdxdna driver loaded. The build is install-free +# — the dispatcher runs the repo binary directly. + +[feature.local-inference.tasks.build-fastflowlm] +cmd = "bash scripts/build_fastflowlm.sh" +depends-on = ["init-submodules"] +outputs = ["inference/FastFlowLM/src/build/flm"] +description = "Build FastFlowLM from source, build-only/no install (needs XRT/amdxdna dev headers)" + +# ─── SSOT-driven inference (config.toml drives everything below) ───────────── +# rai_app/inference/serve.py reads config.toml's [endpoints.*] and routes each to +# its backend (gpu/cpu→llama.cpp, npu→FastFlowLM). Change a port/model/backend +# in config.toml — these tasks need no edits. [feature.local-inference.tasks.download-models] -cmd = "bash scripts/download_models.sh" -description = "Download models for local inference" +cmd = "python -m rai_app.inference.serve --download" +description = "Download weights for every local endpoint in config.toml (gguf via wget, NPU tags via `flm pull`)" -# Default model paths assume models are placed in $DEMO_ROOT/models/. -# Override by setting the env var before running, e.g.: -# LLM_MODEL=/path/to/gpt-oss-20b-Q4_K_M.gguf pixi run serve-llm +[feature.local-inference.tasks.inference] +cmd = "python -m rai_app.inference.serve" +description = "Launch every local endpoint from config.toml in a tmux grid (one pane per server)" +# Per-endpoint launchers (used by demo.sh and for debugging a single server). +# Each runs the command config.toml specifies for that endpoint. [feature.local-inference.tasks.serve-llm] -cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $LLM_MODEL --no-prefill-assistant --port 8080" -env = { LLM_MODEL = "$DEMO_ROOT/models/gpt-oss-20b-Q4_K_M.gguf" } -description = "Serve GPT-OSS-20B on port 8080 (set LLM_MODEL to override path)" +cmd = "python -m rai_app.inference.serve --only main_llm" +description = "Serve the 'main_llm' endpoint from config.toml" + +[feature.local-inference.tasks.serve-vlm-safety] +cmd = "python -m rai_app.inference.serve --only vlm_safety" +description = "Serve the safety agent's VLM from config.toml (npu/FastFlowLM)" -[feature.local-inference.tasks.serve-vlm] -cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $VLM_MODEL --mmproj $VLM_MMPROJ --port 8081" -env = { VLM_MODEL = "$DEMO_ROOT/models/LFM2-VL-3B-Q8_0.gguf", VLM_MMPROJ = "$DEMO_ROOT/models/mmproj-LFM2-VL-3B-Q8_0.gguf" } -description = "Serve LFM2-VL-3B on port 8081 (set VLM_MODEL / VLM_MMPROJ to override paths)" +[feature.local-inference.tasks.serve-vlm-inspection] +cmd = "python -m rai_app.inference.serve --only vlm_inspection" +description = "Serve the inspection agent's VLM from config.toml (gpu/llama.cpp, LFM2-VL)" [feature.local-inference.tasks.serve-embedding] -cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $EMBEDDING_MODEL --embedding --pooling last -c 4096 -b 2048 -ub 2048 --port 8082" -env = { EMBEDDING_MODEL = "$DEMO_ROOT/models/Qwen3-Embedding-0.6B-Q8_0.gguf" } -description = "Serve Qwen3-Embedding-0.6b on port 8082" +cmd = "python -m rai_app.inference.serve --only embeddings" +description = "Serve the 'embeddings' endpoint from config.toml" [feature.local-inference.tasks.serve-reranker] -cmd = "$DEMO_ROOT/inference/llama.cpp/build/bin/llama-server -m $RERANKER_MODEL --embedding --pooling rank -c 4096 -b 2048 -ub 2048 --port 8083" -env = { RERANKER_MODEL = "$DEMO_ROOT/models/qwen3-reranker-0.6b-q8_0.gguf" } -description = "Serve Qwen3-Reranker-0.6B on port 8083" +cmd = "python -m rai_app.inference.serve --only reranker" +description = "Serve the 'reranker' endpoint from config.toml" -[feature.local-inference.tasks.serve-all] -cmd = "bash scripts/serve_all.sh" -description = "Launch all inference servers in a tmux session (2x2 grid)" +[feature.local-inference.tasks.smoke-test] +cmd = "bash scripts/smoke_test.sh" +description = "Smoke-test inference: /health liveness + one real inference request per endpoint (config.toml SSOT)" # ─── Profile features ─────────────────────────────────────────────────────────── # One profile feature per environment. Each defines a `setup` entry point so # that `pixi run -e setup` builds exactly the components for that machine. -[feature.profile-default.tasks.clone] +[feature.profile-sim.tasks.clone] depends-on = ["clone-gems", "clone-ros2-ws"] description = "Clone all repositories (gems and ROS 2 workspace)" -[feature.profile-default.tasks.setup] +[feature.profile-sim.tasks.setup] depends-on = ["clone", "install-o3de", "fetch-gems", "build-ros2", "build-sim", "sync"] -description = "Full setup (O3DE + ROS 2 + Python)" +description = "Setup sim machine (O3DE + ROS 2)" -[feature.profile-hil.tasks.setup] +[feature.profile-hmi.tasks.setup] depends-on = ["clone-ros2-ws", "build-ros2", "sync"] -description = "Setup HIL machine (ROS 2 + Python, no O3DE)" +description = "Setup HMI machine (ROS 2)" -[feature.profile-hil-local.tasks.setup] -depends-on = ["clone-ros2-ws", "clone-inference", "build-ros2", "sync", "build-llama"] -description = "Setup HIL machine with local llama.cpp inference" +[feature.profile-hil.tasks.setup] +depends-on = ["clone-ros2-ws", "init-submodules", "build-ros2", "sync", "build-llama"] +description = "Setup HIL compute machine (ROS 2 + inference, GPU+NPU)" -[feature.profile-local.tasks.clone] +[feature.profile-single-pc.tasks.clone] depends-on = ["clone-gems", "clone-ros2-ws"] description = "Clone all repositories (gems and ROS 2 workspace)" -[feature.profile-local.tasks.setup] -depends-on = ["clone", "install-o3de", "fetch-gems", "build-ros2", "build-sim", "sync", "build-llama"] -description = "Full setup including local llama.cpp inference" - -[feature.profile-local.tasks.demo] +[feature.profile-single-pc.tasks.demo] cmd = "bash scripts/demo.sh" -description = "Start full demo: sim → ros2 → inference → orchestrator (3 tmux sessions)" - -[feature.profile-local.tasks.demo-stop] -cmd = "bash scripts/demo_stop.sh" -description = "Stop all demo tmux sessions" +description = "Start full demo: sim → stack → inference → agents+orchestrator → hmi (one tmux session each)" + +# ─── Single-PC setup variants: GPU (default) vs GPU+NPU ────────────────────────── +# Share clone/demo above; differ only in what `setup` builds and what +# find-runnables waits on. -gpu builds llama.cpp (Vulkan); -npu also builds +# FastFlowLM. Each env includes exactly one variant, so the duplicate +# `setup`/`find-runnables` names never collide. + +[feature.profile-single-pc-gpu.tasks.setup] +depends-on = ["clone", "install-o3de", "fetch-gems", "build-ros2", "build-sim", "sync", "build-llama", "find-runnables"] +description = "Single-PC setup: O3DE + ROS 2 + llama.cpp (Vulkan GPU)" + +# Runs last (depends on the builds it inventories) so setup ends by listing them. +[feature.profile-single-pc-gpu.tasks.find-runnables] +cmd = "bash scripts/find_runnables.sh" +depends-on = ["build-sim", "build-llama"] +description = "List built runnables (GameLauncher, llama.cpp, ...)" + +[feature.profile-single-pc-npu.tasks.setup] +depends-on = ["clone", "install-o3de", "fetch-gems", "build-ros2", "build-sim", "sync", "build-llama", "build-fastflowlm", "find-runnables"] +description = "Single-PC setup: O3DE + ROS 2 + llama.cpp (Vulkan GPU) + FastFlowLM (NPU)" + +# Waits on the NPU build too, so FastFlowLM reports as built. +[feature.profile-single-pc-npu.tasks.find-runnables] +cmd = "bash scripts/find_runnables.sh" +depends-on = ["build-sim", "build-llama", "build-fastflowlm"] +description = "List built runnables (GameLauncher, llama.cpp, FastFlowLM, ...)" # ─── Feature: dev ─────────────────────────────────────────────────────────────── # Lightweight feature for Python tooling (uv, pre-commit, pytest). @@ -246,6 +330,10 @@ description = "Stop all demo tmux sessions" [feature.dev.dependencies] uv = ">=0.5" +[feature.dev.tasks.kill] +cmd = "bash scripts/kill_sessions.sh" +description = "Kill all project tmux sessions (agentic-mobile-manipulator-*)" + [feature.dev.tasks.sync] cmd = "uv sync" description = "Install Python dependencies" @@ -271,8 +359,16 @@ description = "Run test suite" # e.g. `build-sim` cannot be run in the `hil` environment. [environments] -default = {features = ["dev", "ros2", "sim", "profile-default"]} -hil = {features = ["dev", "ros2", "profile-hil"]} -hil-local = {features = ["dev", "ros2", "local-inference", "profile-hil-local"]} -local = {features = ["dev", "ros2", "sim", "local-inference", "profile-local"]} -dev = {features = ["dev"], no-default-feature = true} +# `default` mirrors `single-pc-gpu` so a bare `pixi run ` (no -e) targets +# the one-PC GPU setup with no environment prompt. pixi always resolves bare tasks +# against the default env, so shared tasks (build-sim, install-o3de, …) stop being +# ambiguous. `single-pc-gpu-and-npu` adds the FastFlowLM NPU build on top. +# TODO: drop the default duplicate if pixi gains a way to alias default to a named env. +default = {features = ["dev", "ros2", "sim", "local-inference", "profile-single-pc", "profile-single-pc-gpu"]} +single-pc-gpu = {features = ["dev", "ros2", "sim", "local-inference", "profile-single-pc", "profile-single-pc-gpu"]} # one PC: llama.cpp Vulkan GPU +single-pc-gpu-and-npu = {features = ["dev", "ros2", "sim", "local-inference", "profile-single-pc", "profile-single-pc-npu"]} # one PC: GPU + FastFlowLM NPU +hil = {features = ["dev", "ros2", "local-inference", "profile-hil"]} # compute: ROS2 + inference (GPU+NPU) +sim = {features = ["dev", "ros2", "sim", "profile-sim"]} # O3DE simulation + ROS2 +hmi = {features = ["dev", "ros2", "profile-hmi"]} # operator interface +dev = {features = ["dev"], no-default-feature = true} # lint/test/format +inference = {features = ["dev", "local-inference"], no-default-feature = true} # headless inference host (no ROS2/O3DE) diff --git a/rai_app/README.md b/rai_app/README.md index e2b95a5..810491f 100644 --- a/rai_app/README.md +++ b/rai_app/README.md @@ -168,7 +168,7 @@ pixi run sim 4. Launch the robotic stack: ```bash -pixi run ros2 +pixi run stack ``` 5. Spawn objects in HMI, choosing from different scenarios @@ -176,7 +176,7 @@ pixi run ros2 6. Run orchestrator: ```bash -pixi run orchestrator +pixi run orchestrator-agent ``` 7. Send tasks via HMI diff --git a/rai_app/agents/agent_orchestrator.py b/rai_app/agents/agent_orchestrator.py index 49bf48a..dc7f4df 100644 --- a/rai_app/agents/agent_orchestrator.py +++ b/rai_app/agents/agent_orchestrator.py @@ -65,7 +65,7 @@ ) from rai_app.control.kairos_controller import KairosController from rai_app.environment import SceneManager -from rai_app.initialization.llms import get_llm_model, get_vlm_model +from rai_app.initialization.llms import get_llm_model, get_vlm_backend, get_vlm_model from scripts.populate_scene import load_rack_assignment TOPICS_TO_WAIT_FOR: list[str] = ["/wrist_camera/camera_image_color"] @@ -503,6 +503,7 @@ def main(): connector=connector, namespace_value="", vlm=condition_vlm, + vlm_backend=get_vlm_backend(config_name="condition_agent"), ) throw_trash_out_tool = ThrowTrashOutTool( connector=connector, diff --git a/rai_app/agents/inspection_agent.py b/rai_app/agents/inspection_agent.py index 88950c6..ce7cd1f 100644 --- a/rai_app/agents/inspection_agent.py +++ b/rai_app/agents/inspection_agent.py @@ -66,7 +66,8 @@ ) from rai_app.environment import SceneManager from rai_app.geometry_helpers import get_yaw_difference -from rai_app.initialization.llms import get_vlm_model +from rai_app.initialization.llms import get_vlm_backend, get_vlm_model +from rai_app.initialization.structured import vlm_structured class AnomalyDescription(BaseModel): @@ -148,6 +149,7 @@ def __init__( match_anomaly_max_yaw_degrees: float = 50.0, n_seconds: int = 1, debug: bool = True, + vlm_backend: str | None = None, ): self.camera_topic = camera_topic self.ego_target_frame = ego_target_frame @@ -170,6 +172,7 @@ def __init__( ) self.vlm = vlm + self.vlm_backend = vlm_backend self.n_seconds = n_seconds self.reported_anomalies: list[tuple[Anomaly, float]] = list() @@ -390,7 +393,7 @@ def detect_obstacle(self, b64_img: str) -> AnomalyDescription: ), ] - llm_structured = self.vlm.with_structured_output(InspectionOutput) + llm_structured = vlm_structured(self.vlm, InspectionOutput, self.vlm_backend) response: InspectionOutput = llm_structured.invoke(structured_task) self.get_logger().info(f"Inspection output: {response}") inspection_results = response.inspection_results @@ -406,7 +409,9 @@ def detect_obstacle(self, b64_img: str) -> AnomalyDescription: ] response = cast( AnomalyDescription, - self.vlm.with_structured_output(AnomalyDescription).invoke(final_task), + vlm_structured(self.vlm, AnomalyDescription, self.vlm_backend).invoke( + final_task + ), ) else: response = AnomalyDescription( @@ -463,6 +468,7 @@ def main(): inspector = VlmWarehouseInspector( vlm=vlm, + vlm_backend=get_vlm_backend(config_name="inspection_agent"), slots_file=args.slots_file, spawnables_file=args.spawnables_file, camera_topic=args.camera_topic, diff --git a/rai_app/agents/safety_agent.py b/rai_app/agents/safety_agent.py index d7ac48f..0b58148 100644 --- a/rai_app/agents/safety_agent.py +++ b/rai_app/agents/safety_agent.py @@ -41,6 +41,7 @@ from rai_app.initialization.llms import ( get_embeddings_model, get_reranker_model_url, + get_vlm_backend, get_vlm_model, ) @@ -113,6 +114,7 @@ def __init__( # Use same model as LLM for final assessment self.llm: BaseChatModel = self.vlm + self.vlm_backend = get_vlm_backend("safety_agent") # Build the regulation agent once self.agent = create_image_regulation_agent( @@ -121,6 +123,8 @@ def __init__( vector_store=self.vector_store, reranker_url=self.reranker_url, k=self.k, + vlm_backend=self.vlm_backend, + llm_backend=self.vlm_backend, ) # Ensure the camera topic is available before running diff --git a/rai_app/agents/tools.py b/rai_app/agents/tools.py index 4a24e89..7de1886 100644 --- a/rai_app/agents/tools.py +++ b/rai_app/agents/tools.py @@ -50,6 +50,7 @@ get_global_pose_from_origin, get_yaw_difference, ) +from rai_app.initialization.structured import vlm_structured class WarehouseTool(BaseROS2Tool): @@ -428,6 +429,7 @@ class IsPackageDamagedTool(BaseROS2Tool): namespace_value: str vlm: BaseChatModel + vlm_backend: str | None = None def _build_ros2_image(self, b64_img: str) -> Image: """Decode a base64-encoded RGB image and convert it to a ROS 2 ``Image``.""" @@ -474,7 +476,7 @@ def _run(self) -> bool: for msg in structured_task: structured_prompt += msg.pretty_repr() + "\n" - vlm = self.vlm.with_structured_output(BoxConditionOutput) + vlm = vlm_structured(self.vlm, BoxConditionOutput, self.vlm_backend) response = cast(BoxConditionOutput, vlm.invoke(structured_task)) logging.info(f"Package damaged = {response.box_condition}") ros2_image = self._build_ros2_image(b64_img) diff --git a/rai_app/inference/__init__.py b/rai_app/inference/__init__.py new file mode 100644 index 0000000..8f5de4f --- /dev/null +++ b/rai_app/inference/__init__.py @@ -0,0 +1,14 @@ +# Copyright (C) 2025 Advanced Micro Devices, Inc. +# Developed by Robotec.ai sp. z o.o. +# +# 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. diff --git a/rai_app/inference/serve.py b/rai_app/inference/serve.py new file mode 100644 index 0000000..0e5b3c2 --- /dev/null +++ b/rai_app/inference/serve.py @@ -0,0 +1,570 @@ +# Copyright (C) 2025 Advanced Micro Devices, Inc. +# Developed by Robotec.ai sp. z o.o. +# +# 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. + +"""Inference dispatcher — the single entry point that turns the SSOT config +(``config.toml`` / ``[endpoints.*]``) into running model servers. + +It reads each endpoint, routes it to the right backend, and builds the launch +command: + + backend = "gpu" | "cpu" → llama.cpp (inference/llama.cpp/build/bin/llama-server) + backend = "npu" → FastFlowLM (`flm serve`) + backend = "openai" → remote API, skipped (nothing to serve locally) + +Because every port / weight path / model tag lives in one file, the dispatcher +is also the source for the health checks (`--health`) and weight downloads +(`--download`), so smoke_test.sh and download_models.sh no longer hardcode them. + +Usage: + python -m rai_app.inference.serve # tmux grid of all local endpoints + python -m rai_app.inference.serve --only NAME # run ONE endpoint in the foreground + python -m rai_app.inference.serve --print # print resolved commands and exit + python -m rai_app.inference.serve --health # print health-check URLs and exit + python -m rai_app.inference.serve --check # send a real request to each running endpoint + python -m rai_app.inference.serve --download # fetch weights for all local endpoints + +Stdlib-only on purpose: the dispatcher must run under the bare pixi/conda env +(so the launched C++ servers inherit the Vulkan/XRT runtime), and must not drag +in the agent stack (langchain, etc.). +""" + +import argparse +import concurrent.futures +import json +import os +import shlex +import shutil +import subprocess +import sys +import urllib.error +import urllib.request +from pathlib import Path + +import tomllib + +# backends whose endpoints `pixi run inference` actually launches. +LOCAL_BACKENDS = {"gpu", "cpu", "npu"} +LLAMA_BACKENDS = {"gpu", "cpu"} + +TMUX_SESSION = "agentic-mobile-manipulator-llm-servers" + +# 1x1 PNG (red) as a data URI — enough to exercise the multimodal path in --check +# without shipping an image file. The check only asserts a non-empty reply. +_TEST_IMAGE_DATA_URI = ( + "data:image/png;base64," + "iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mP8z8BQDwAEhQGAhKmMIQAAAABJRU5ErkJggg==" +) + +# Extra llama.cpp flags implied by an endpoint's `type`. The embedding/reranker +# context flags mirror the values the demo has always served with. +LLAMA_TYPE_ARGS: dict[str, list[str]] = { + "llm": [], + "vlm": [], # --mmproj is added separately (it needs a path from the endpoint) + "embedding": [ + "--embedding", + "--pooling", + "last", + "-c", + "4096", + "-b", + "2048", + "-ub", + "2048", + ], + "reranker": [ + "--embedding", + "--pooling", + "rank", + "-c", + "4096", + "-b", + "2048", + "-ub", + "2048", + ], +} + + +def demo_root(config_path: str) -> str: + """Root used to expand ``${DEMO_ROOT}``. Falls back to the config's directory + so the dispatcher works even outside an activated pixi shell (e.g. --print).""" + return os.environ.get("DEMO_ROOT") or str(Path(config_path).resolve().parent) + + +def _expand(value: str, root: str) -> str: + return os.path.expanduser(os.path.expandvars(value.replace("${DEMO_ROOT}", root))) + + +def load_endpoints(config_path: str) -> dict[str, dict]: + with open(config_path, "rb") as f: + raw = tomllib.load(f) + endpoints = raw.get("endpoints") + if not endpoints: + raise SystemExit(f"{config_path}: no [endpoints.*] tables found") + return endpoints + + +def is_served_locally(ep: dict) -> bool: + """An endpoint is launched here only if it runs on a local backend AND has no + explicit base_url. An explicit base_url means it already lives elsewhere + (remote API, or a separate container) — this host just talks to it.""" + return ep.get("backend") in LOCAL_BACKENDS and not ep.get("base_url") + + +def local_endpoints(endpoints: dict[str, dict]) -> list[tuple[str, dict]]: + """Endpoints this host should serve.""" + return [(name, ep) for name, ep in endpoints.items() if is_served_locally(ep)] + + +def llama_server_bin(root: str) -> str: + return os.path.join(root, "inference", "llama.cpp", "build", "bin", "llama-server") + + +def flm_bin(root: str) -> str | None: + """The repo-built fork binary, or None if it hasn't been built. We deliberately + do NOT fall back to a `flm` on PATH: the global /usr/local/bin flm is the upstream + release with no GBNF grammar support, and BOTH report the same `flm version`, so a + PATH fallback would silently serve the wrong binary. Local or nothing.""" + repo_flm = os.path.join(root, "inference", "FastFlowLM", "src", "build", "flm") + return repo_flm if os.path.exists(repo_flm) else None + + +def build_command(name: str, ep: dict, root: str) -> list[str]: + """Resolve a single endpoint into its launch argv. Raises ValueError on a + misconfigured endpoint (missing weights, unknown backend, ...).""" + backend = ep.get("backend") + etype = ep.get("type") + host = ep.get("host", "localhost") + port = ep.get("port") + extra = list(ep.get("extra_args", [])) + + if port is None: + raise ValueError(f"endpoint '{name}': missing 'port'") + if etype not in LLAMA_TYPE_ARGS: + raise ValueError( + f"endpoint '{name}': unknown type '{etype}' " + f"(expected one of {sorted(LLAMA_TYPE_ARGS)})" + ) + + if backend in LLAMA_BACKENDS: + model_path = ep.get("model_path") + if not model_path: + raise ValueError( + f"endpoint '{name}': backend '{backend}' needs 'model_path'" + ) + cmd = [llama_server_bin(root), "-m", _expand(model_path, root)] + if etype == "vlm": + mmproj = ep.get("mmproj_path") + if not mmproj: + raise ValueError( + f"endpoint '{name}': a vlm on '{backend}' needs 'mmproj_path'" + ) + cmd += ["--mmproj", _expand(mmproj, root)] + cmd += LLAMA_TYPE_ARGS[etype] + if backend == "cpu": + cmd += ["-ngl", "0"] # force CPU even on the Vulkan build + cmd += ["--host", str(host), "--port", str(port)] + cmd += extra + return cmd + + if backend == "npu": + flm_model = ep.get("flm_model") + if not flm_model: + raise ValueError( + f"endpoint '{name}': backend 'npu' needs 'flm_model' (FastFlowLM tag)" + ) + flm = flm_bin(root) + if not flm: + raise ValueError( + f"endpoint '{name}': FastFlowLM not built at " + f"inference/FastFlowLM/src/build/flm — run 'pixi run build-fastflowlm'" + ) + # flm's --host wants a numeric IP: "localhost" fails with + # "Invalid argument [system:22]". llama.cpp accepts "localhost", so the + # SSOT keeps it; only flm needs the translation. Clients still reach it + # via localhost (resolves to 127.0.0.1). + flm_host = "127.0.0.1" if str(host) == "localhost" else str(host) + return [ + flm, + "serve", + flm_model, + "--host", + flm_host, + "--port", + str(port), + *extra, + ] + + raise ValueError(f"endpoint '{name}': backend '{backend}' is not launchable here") + + +def health_url(ep: dict) -> str: + host = ep.get("host", "localhost") + # flm (npu/FastFlowLM) has no /health route — its liveness signal is /v1/models. + # llama.cpp serves /health. + path = "/v1/models" if ep.get("backend") == "npu" else "/health" + return f"http://{host}:{ep['port']}{path}" + + +def _api_root(ep: dict) -> str: + return f"http://{ep.get('host', 'localhost')}:{ep['port']}" + + +def _post_json(url: str, payload: dict, timeout: float) -> dict: + """POST JSON and return the parsed JSON response (raises on HTTP/transport error).""" + data = json.dumps(payload).encode() + req = urllib.request.Request( + url, data=data, headers={"Content-Type": "application/json"}, method="POST" + ) + with urllib.request.urlopen(req, timeout=timeout) as resp: + return json.loads(resp.read().decode()) + + +def check_endpoint(name: str, ep: dict) -> tuple[bool, str]: + """Send one type-appropriate inference request and validate a real response. + Returns (ok, detail). First request may trigger a model load, so timeouts are + generous.""" + etype = ep.get("type") + model = ep.get("model", "") + root = _api_root(ep) + try: + if etype == "embedding": + r = _post_json( + f"{root}/v1/embeddings", {"model": model, "input": "hello world"}, 90 + ) + vec = r["data"][0]["embedding"] + return (len(vec) > 0, f"dim={len(vec)}") + + if etype == "reranker": + r = _post_json( + f"{root}/v1/reranking", + {"model": model, "query": "a cat", "documents": ["a cat", "a car"]}, + 90, + ) + results = r.get("results", []) + return ( + len(results) > 0 and "relevance_score" in results[0], + f"{len(results)} scored", + ) + + if etype in ("llm", "vlm"): + content: object = "Reply with the single word: pong." + if etype == "vlm": + content = [ + {"type": "text", "text": "Reply with the single word: pong."}, + {"type": "image_url", "image_url": {"url": _TEST_IMAGE_DATA_URI}}, + ] + r = _post_json( + f"{root}/v1/chat/completions", + { + "model": model, + "messages": [{"role": "user", "content": content}], + "max_tokens": 256, # reasoning models (gpt-oss) spend tokens on + # reasoning_content first; 16 left content empty + }, + 300, # a cold 20B load can be slow + ) + msg = r["choices"][0]["message"] + # A reasoning model may put its output in reasoning_content and leave + # content empty on a tight budget — either proves it's generating. + text = (msg.get("content") or msg.get("reasoning_content") or "").strip() + if not text: + return (False, "empty completion") + # NPU endpoints additionally exercise the fork's GBNF grammar support. + if ep.get("backend") == "npu": + g = _post_json( + f"{root}/v1/chat/completions", + { + "model": model, + "messages": [{"role": "user", "content": "yes or no?"}], + "max_tokens": 8, + "grammar": 'root ::= "yes" | "no"', + }, + 120, + ) + gtext = (g["choices"][0]["message"]["content"] or "").strip() + ok = gtext in ("yes", "no") + return (ok, f"chat ok; grammar={'ok' if ok else f'BAD({gtext!r})'}") + return (True, f"reply={text[:24]!r}") + + return (False, f"unknown type {etype!r}") + except (urllib.error.URLError, TimeoutError) as exc: + return (False, f"unreachable ({getattr(exc, 'reason', exc)})") + except (KeyError, IndexError, ValueError) as exc: + return (False, f"bad response ({exc})") + + +def framework(ep: dict) -> str: + """Serving framework implied by an endpoint's backend (from the SSOT).""" + backend = ep.get("backend") + if backend in LLAMA_BACKENDS: + return "llama.cpp" + if backend == "npu": + return "FastFlowLM" + return backend or "?" + + +def cmd_check(endpoints: dict[str, dict]) -> int: + serveable = local_endpoints(endpoints) + if not serveable: + print("no local endpoints to check (all remote?)") + return 0 + failed = 0 + print("=== Inference functional check ===") + for name, ep in serveable: + ok, detail = check_endpoint(name, ep) + mark = "PASS" if ok else "FAIL" + via = f"{framework(ep)}/{ep.get('backend')}" + print( + f" [{mark}] {name:<12} type={ep.get('type'):<9} {via:<15} " + f":{ep.get('port')} {detail}" + ) + failed += not ok + print(f" {len(serveable) - failed} passed, {failed} failed") + return 1 if failed else 0 + + +# ─── Modes ────────────────────────────────────────────────────────────────── + + +def cmd_print(endpoints: dict[str, dict], root: str) -> int: + serveable = local_endpoints(endpoints) + remote = [n for n, e in endpoints.items() if not is_served_locally(e)] + print(f"# DEMO_ROOT = {root}") + for name, ep in serveable: + backend = ep.get("backend") + try: + cmd = build_command(name, ep, root) + rendered = shlex.join(cmd) + except ValueError as exc: + rendered = f"!! {exc}" + print( + f"\n[{name}] type={ep.get('type')} backend={backend} port={ep.get('port')}" + ) + print(f" {rendered}") + if remote: + print(f"\n# remote (not served locally): {', '.join(remote)}") + return 0 + + +def cmd_health(endpoints: dict[str, dict]) -> int: + for _name, ep in local_endpoints(endpoints): + print(health_url(ep)) + return 0 + + +def cmd_download(endpoints: dict[str, dict], root: str) -> int: + # Collect every fetch up front, then run them concurrently so total + # throughput saturates the link instead of trickling one file at a time. + # Output streams live (bars from parallel jobs interleave — that's the cost + # of seeing progress while saturating the link). + jobs: list[tuple[str, list[str]]] = [] # (label, argv) + for name, ep in local_endpoints(endpoints): + if ep.get("backend") == "npu": + tag = ep.get("flm_model") + flm = flm_bin(root) + if not flm: + print( + f"[skip] {name}: FastFlowLM ('flm') not installed — run 'pixi run build-fastflowlm' on an NPU host" + ) + continue + jobs.append((f"{name}: {tag}", [flm, "pull", tag])) + continue + # llama.cpp backends: fetch the gguf(s) named in the SSOT. + targets = [(ep.get("model_url"), ep.get("model_path"))] + if ep.get("type") == "vlm": + targets.append((ep.get("mmproj_url"), ep.get("mmproj_path"))) + for url, dest in targets: + if not url or not dest: + continue + dest = _expand(dest, root) + if os.path.exists(dest): + print(f"[skip] {name}: {os.path.basename(dest)} already exists") + continue + os.makedirs(os.path.dirname(dest), exist_ok=True) + jobs.append( + ( + f"{name}: {os.path.basename(dest)}", + ["wget", "-q", "--show-progress", "-c", "-O", dest, url], + ) + ) + + if not jobs: + return 0 + + def fetch(job: tuple[str, list[str]]) -> tuple[str, int]: + label, argv = job + print(f"[download] {label}", flush=True) + return label, subprocess.call(argv) # inherit stdout/stderr -> live progress + + rc = 0 + with concurrent.futures.ThreadPoolExecutor(max_workers=len(jobs)) as pool: + for label, code in [f.result() for f in [pool.submit(fetch, j) for j in jobs]]: + print( + f"[done] {label}" if code == 0 else f"[FAIL] {label} (exit {code})", + file=sys.stderr, + ) + rc |= 1 if code else 0 + return rc + + +def cmd_only(endpoints: dict[str, dict], root: str, name: str) -> int: + if name not in endpoints: + raise SystemExit(f"unknown endpoint '{name}'. Known: {sorted(endpoints)}") + ep = endpoints[name] + if not is_served_locally(ep): + raise SystemExit( + f"endpoint '{name}' (backend={ep.get('backend')}) is not served locally" + ) + cmd = build_command(name, ep, root) + print(f"[{name}] exec: {shlex.join(cmd)}", file=sys.stderr) + os.execvp(cmd[0], cmd) # replace this process with the server + + +def _attach(session: str) -> int: + # Leave the grid detached when nested in tmux or when a caller (demo.sh) + # only wants it started, not attached. + if os.environ.get("TMUX") or os.environ.get("AMM_NO_ATTACH"): + return 0 + return subprocess.call(["tmux", "attach-session", "-t", session]) + + +def cmd_grid(endpoints: dict[str, dict], root: str) -> int: + serveable = local_endpoints(endpoints) + if not serveable: + raise SystemExit("no local endpoints to serve (all remote?)") + # Validate every endpoint up front so a typo fails fast, not pane-by-pane. + for name, ep in serveable: + build_command(name, ep, root) + if not shutil.which("tmux"): + raise SystemExit( + "tmux is required for `pixi run inference` (use --only NAME without it)" + ) + + if ( + subprocess.call( + ["tmux", "has-session", "-t", TMUX_SESSION], + stdout=subprocess.DEVNULL, + stderr=subprocess.DEVNULL, + ) + == 0 + ): + print(f"Session '{TMUX_SESSION}' already exists.") + return _attach(TMUX_SESSION) + + # Re-enter pixi per pane so each server gets the activated runtime, then run + # this same dispatcher in --only mode (which execs the server in-place). + def pane_cmd(name: str) -> str: + return f"pixi run inference --only {shlex.quote(name)}" + + first, *rest = serveable + subprocess.check_call( + [ + "tmux", + "new-session", + "-d", + "-s", + TMUX_SESSION, + "-n", + "inference", + "-x", + "220", + "-y", + "50", + ] + ) + subprocess.check_call( + [ + "tmux", + "send-keys", + "-t", + f"{TMUX_SESSION}:inference", + pane_cmd(first[0]), + "Enter", + ] + ) + for name, _ep in rest: + subprocess.check_call( + ["tmux", "split-window", "-t", f"{TMUX_SESSION}:inference"] + ) + subprocess.check_call( + ["tmux", "select-layout", "-t", f"{TMUX_SESSION}:inference", "tiled"] + ) + subprocess.check_call( + [ + "tmux", + "send-keys", + "-t", + f"{TMUX_SESSION}:inference", + pane_cmd(name), + "Enter", + ] + ) + subprocess.check_call( + ["tmux", "select-layout", "-t", f"{TMUX_SESSION}:inference", "tiled"] + ) + return _attach(TMUX_SESSION) + + +def main(argv: list[str] | None = None) -> int: + parser = argparse.ArgumentParser( + description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter + ) + parser.add_argument( + "--config", + default=os.environ.get("INFERENCE_CONFIG", "config.toml"), + help="path to the SSOT config (default: config.toml)", + ) + mode = parser.add_mutually_exclusive_group() + mode.add_argument( + "--only", metavar="NAME", help="run a single endpoint in the foreground" + ) + mode.add_argument( + "--print", + dest="do_print", + action="store_true", + help="print resolved commands and exit", + ) + mode.add_argument( + "--health", action="store_true", help="print health-check URLs and exit" + ) + mode.add_argument( + "--download", action="store_true", help="download weights for local endpoints" + ) + mode.add_argument( + "--check", + action="store_true", + help="send a real inference request to each running local endpoint and validate it", + ) + args = parser.parse_args(argv) + + endpoints = load_endpoints(args.config) + root = demo_root(args.config) + + if args.do_print: + return cmd_print(endpoints, root) + if args.health: + return cmd_health(endpoints) + if args.download: + return cmd_download(endpoints, root) + if args.check: + return cmd_check(endpoints) + if args.only: + return cmd_only(endpoints, root, args.only) + return cmd_grid(endpoints, root) + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/rai_app/initialization/llms.py b/rai_app/initialization/llms.py index 2343f1c..010ff34 100644 --- a/rai_app/initialization/llms.py +++ b/rai_app/initialization/llms.py @@ -28,6 +28,7 @@ class VLMConfig: base_url: str reasoning: bool = False temperature: float = 0.0 + backend: str | None = None # npu/gpu/cpu/openai; see structured.vlm_structured @dataclass @@ -86,63 +87,90 @@ class Config: condition_agent: ConditionAgentConfig -def load_config(config_path: str = "config.toml") -> Config: +def load_raw_config(config_path: str = "config.toml") -> dict: + """Load the SSOT config as a raw dict (endpoints + agent references).""" with open(config_path, "rb") as f: - config = tomli.load(f) + return tomli.load(f) + + +def endpoint_base_url(endpoint: dict) -> str: + """OpenAI-compatible base_url a client should call for an endpoint. + + An explicit ``base_url`` (remote/openai endpoints, or custom routing) wins; + otherwise it is derived from host/port. The reranker gets llama.cpp's + ``/v1/reranking`` path instead of ``/v1``. + """ + if endpoint.get("base_url"): + return endpoint["base_url"] + host = endpoint.get("host", "localhost") + port = endpoint["port"] + suffix = "/v1/reranking" if endpoint.get("type") == "reranker" else "/v1" + return f"http://{host}:{port}{suffix}" + + +def resolve_endpoint(raw: dict, agent: str, key: str) -> dict: + """Return the endpoint table referenced by ``raw[agent][key]``.""" + try: + ref = raw[agent][key] + except KeyError as exc: + raise KeyError(f"[{agent}] is missing required key '{key}'") from exc + endpoints = raw.get("endpoints", {}) + if ref not in endpoints: + raise KeyError( + f"[{agent}].{key} references unknown endpoint '{ref}'. " + f"Defined endpoints: {sorted(endpoints)}" + ) + return endpoints[ref] + + +def _llm_config(raw: dict, agent: str) -> LLMConfig: + endpoint = resolve_endpoint(raw, agent, "llm") + return LLMConfig( + model=endpoint["model"], + base_url=endpoint_base_url(endpoint), + reasoning=raw[agent].get("llm_reasoning", False), + ) + + +def _vlm_config(raw: dict, agent: str) -> VLMConfig: + endpoint = resolve_endpoint(raw, agent, "vlm") + return VLMConfig( + model=endpoint["model"], + base_url=endpoint_base_url(endpoint), + reasoning=raw[agent].get("vlm_reasoning", False), + temperature=raw[agent].get("vlm_temperature", 0.0), + backend=endpoint.get("backend"), + ) + + +def load_config(config_path: str = "config.toml") -> Config: + raw = load_raw_config(config_path) + embeddings_endpoint = resolve_endpoint(raw, "safety_agent", "embeddings") + reranker_endpoint = resolve_endpoint(raw, "safety_agent", "reranker") return Config( general=GeneralConfig( - llm=LLMConfig( - model=config["general"]["llm_model"], - base_url=config["general"]["llm_base_url"], - reasoning=config["general"]["llm_reasoning"], - ), - vlm=VLMConfig( - model=config["general"]["vlm_model"], - base_url=config["general"]["vlm_base_url"], - reasoning=config["general"]["vlm_reasoning"], - ), + llm=_llm_config(raw, "general"), + vlm=_vlm_config(raw, "general"), ), megamind_agent=MegamindConfig( - llm=LLMConfig( - model=config["megamind_agent"]["llm_model"], - base_url=config["megamind_agent"]["llm_base_url"], - reasoning=config["megamind_agent"]["llm_reasoning"], - ), - vlm=VLMConfig( - model=config["megamind_agent"]["vlm_model"], - base_url=config["megamind_agent"]["vlm_base_url"], - reasoning=config["megamind_agent"]["vlm_reasoning"], - ), + llm=_llm_config(raw, "megamind_agent"), + vlm=_vlm_config(raw, "megamind_agent"), ), inspection_agent=InspectionAgentConfig( - vlm=VLMConfig( - model=config["inspection_agent"]["vlm_model"], - base_url=config["inspection_agent"]["vlm_base_url"], - reasoning=config["inspection_agent"]["vlm_reasoning"], - temperature=config["inspection_agent"]["vlm_temperature"], - ) + vlm=_vlm_config(raw, "inspection_agent"), ), safety_agent=SafetyAgentConfig( - vlm=VLMConfig( - model=config["safety_agent"]["vlm_model"], - base_url=config["safety_agent"]["vlm_base_url"], - reasoning=config["safety_agent"]["vlm_reasoning"], - ), + vlm=_vlm_config(raw, "safety_agent"), embeddings=EmbeddingsConfig( - model=config["safety_agent"]["embeddings_model"], - base_url=config["safety_agent"]["embeddings_base_url"], + model=embeddings_endpoint["model"], + base_url=endpoint_base_url(embeddings_endpoint), ), reranker=RerankerConfig( - base_url=config["safety_agent"]["reranker_base_url"] + base_url=endpoint_base_url(reranker_endpoint), ), ), condition_agent=ConditionAgentConfig( - vlm=VLMConfig( - model=config["condition_agent"]["vlm_model"], - base_url=config["condition_agent"]["vlm_base_url"], - reasoning=config["condition_agent"]["vlm_reasoning"], - temperature=config["condition_agent"]["vlm_temperature"], - ) + vlm=_vlm_config(raw, "condition_agent"), ), ) @@ -179,9 +207,6 @@ def get_vlm_model( ) -> ChatOpenAI: config = load_config() openai_api_key = os.getenv("OPENAI_API_KEY") - print( - config_name, - ) if openai_api_key is None: openai_api_key = "xxx" # ChatOpenAPI does not initialize without an API key if config_name == "megamind_agent": @@ -219,6 +244,25 @@ def get_vlm_model( raise ValueError(f"Invalid config name: {config_name}") +def get_vlm_backend( + config_name: Literal[ + "megamind_agent", + "inspection_agent", + "safety_agent", + "general", + "condition_agent", + ], +) -> str | None: + """SSOT backend of an agent's VLM endpoint (npu/gpu/cpu/openai). Pass it to + ``rai_app.initialization.structured.vlm_structured`` so the right structured- + output mechanism is used (grammar for npu/FastFlowLM, response_format else).""" + config = load_config() + agent_cfg = getattr(config, config_name, None) + if agent_cfg is None or not hasattr(agent_cfg, "vlm"): + raise ValueError(f"Invalid config name: {config_name}") + return agent_cfg.vlm.backend + + def get_embeddings_model(config_name: Literal["safety_agent"]) -> OpenAIEmbeddings: config = load_config() openai_api_key = os.getenv("OPENAI_API_KEY") diff --git a/rai_app/initialization/structured.py b/rai_app/initialization/structured.py new file mode 100644 index 0000000..429152d --- /dev/null +++ b/rai_app/initialization/structured.py @@ -0,0 +1,121 @@ +# Copyright (C) 2025 Advanced Micro Devices, Inc. +# Developed by Robotec.ai sp. z o.o. +# +# 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. + +"""Backend-aware structured output. + +npu (FastFlowLM) has no response_format/function-calling: constrain output with a +top-level GBNF ``grammar`` field and parse the JSON. Other backends use +``with_structured_output``. ``vlm_structured`` returns a Runnable matching its +interface (``.invoke`` → schema, or the include_raw dict). +""" + +from __future__ import annotations + +import importlib.util +import json +from functools import lru_cache +from pathlib import Path +from typing import TypeVar + +from langchain_core.runnables import Runnable, RunnableLambda +from pydantic import BaseModel, ValidationError + +T = TypeVar("T", bound=BaseModel) + +# JSON-schema → GBNF converter from the llama.cpp submodule (stdlib-only). +_CONVERTER = ( + Path(__file__).resolve().parents[2] + / "inference" + / "llama.cpp" + / "examples" + / "json_schema_to_grammar.py" +) + + +@lru_cache(maxsize=1) +def _converter_module(): + if not _CONVERTER.exists(): + raise FileNotFoundError( + f"GBNF converter not found at {_CONVERTER}; check out the llama.cpp " + "submodule (`pixi run -e inference init-submodules`)." + ) + spec = importlib.util.spec_from_file_location( + "_flm_json_schema_to_grammar", _CONVERTER + ) + module = importlib.util.module_from_spec(spec) + spec.loader.exec_module(module) + return module + + +@lru_cache(maxsize=64) +def _schema_to_gbnf(schema_json: str) -> str: + mod = _converter_module() + converter = mod.SchemaConverter( + prop_order={}, allow_fetch=False, dotall=False, raw_pattern=False + ) + schema = converter.resolve_refs(json.loads(schema_json), "schema") + converter.visit(schema, "") # "" → start rule named 'root' + return converter.format_grammar() + + +def _flm_structured(model: Runnable, schema: type[T], include_raw: bool) -> Runnable: + gbnf = _schema_to_gbnf(json.dumps(schema.model_json_schema())) + bound = model.bind(extra_body={"grammar": gbnf, "grammar_root": "root"}) + + def parse(message): + text = getattr(message, "content", None) + text = text if isinstance(text, str) else str(message) + if not include_raw: + return schema.model_validate_json(text) + # Match with_structured_output(include_raw=True)'s shape. + try: + return { + "raw": message, + "parsed": schema.model_validate_json(text), + "parsing_error": None, + } + except ValidationError as exc: + return {"raw": message, "parsed": None, "parsing_error": exc} + + return bound | RunnableLambda(parse) + + +def vlm_structured( + model: Runnable, + schema: type[T], + backend: str | None, + *, + include_raw: bool = False, +) -> Runnable: + """Constrain ``model``'s output to ``schema``. ``npu`` uses GBNF grammar; + other backends use ``with_structured_output``.""" + if backend == "npu": + return _flm_structured(model, schema, include_raw) + return model.with_structured_output(schema, include_raw=include_raw) + + +def demo() -> None: + """Self-check: schema → GBNF produces a 'root' rule. Needs no server.""" + + class _Box(BaseModel): + damaged: bool + + g = _schema_to_gbnf(json.dumps(_Box.model_json_schema())) + assert "root ::=" in g, g + print("ok:\n" + g) + + +if __name__ == "__main__": + demo() diff --git a/rai_app/warehouse_regulations_agent/rag.py b/rai_app/warehouse_regulations_agent/rag.py index ed53250..8979aff 100644 --- a/rai_app/warehouse_regulations_agent/rag.py +++ b/rai_app/warehouse_regulations_agent/rag.py @@ -27,6 +27,7 @@ from rai_app.initialization.llms import ( get_embeddings_model, get_reranker_model_url, + get_vlm_backend, get_vlm_model, ) from rai_app.warehouse_regulations_agent.warehouse_safety_agent import ( @@ -99,6 +100,8 @@ def run_agent( vector_store=vector_store, reranker_url=reranker_url, k=k, + vlm_backend=get_vlm_backend("safety_agent"), + llm_backend=get_vlm_backend("safety_agent"), ) state = dict() diff --git a/rai_app/warehouse_regulations_agent/warehouse_safety_agent.py b/rai_app/warehouse_regulations_agent/warehouse_safety_agent.py index a18556d..9f8105f 100644 --- a/rai_app/warehouse_regulations_agent/warehouse_safety_agent.py +++ b/rai_app/warehouse_regulations_agent/warehouse_safety_agent.py @@ -29,6 +29,8 @@ from simulation_interfaces.msg import EntityState from simulation_interfaces.srv import GetEntitiesStates +from rai_app.initialization.structured import vlm_structured + class VisionObservation(BaseModel): """Intermediate vision-only description before retrieval.""" @@ -340,6 +342,8 @@ def create_image_regulation_agent( vector_store, reranker_url, k: int = 10, + vlm_backend: str | None = None, + llm_backend: str | None = None, ) -> Runnable[ImageRegAgentState, ImageRegAgentState]: """Create a 3-stage agent for image safety compliance assessment. @@ -350,12 +354,10 @@ def create_image_regulation_agent( if vector_store is None: raise ValueError("vector_store is required for retrieval stage") - vision_model = vlm.with_structured_output( - schema=VisionObservation, include_raw=True - ) + vision_model = vlm_structured(vlm, VisionObservation, vlm_backend, include_raw=True) - final_llm = llm.with_structured_output( - schema=FinalImageSafetyOutput, include_raw=True + final_llm = vlm_structured( + llm, FinalImageSafetyOutput, llm_backend, include_raw=True ) graph = StateGraph(ImageRegAgentState) diff --git a/scripts/build_fastflowlm.sh b/scripts/build_fastflowlm.sh new file mode 100755 index 0000000..93b3d1c --- /dev/null +++ b/scripts/build_fastflowlm.sh @@ -0,0 +1,53 @@ +#!/usr/bin/env bash +# Build and install FastFlowLM from source (per docs/linux-getting-started.md). +# +# NPU HOST ONLY. The build needs the XRT/NPU dev headers and `flm serve`/`flm run` +# need the amdxdna driver + NPU firmware at runtime. On a machine without an NPU, +# checking out the submodule (`pixi run init-submodules`) is all that will succeed. +# +# System prerequisites (Ubuntu, one-time, requires sudo + reboot): +# sudo add-apt-repository ppa:lemonade-team/stable +# sudo apt update +# sudo apt install ninja-build libavformat-dev libavutil-dev libavcodec-dev \ +# libswresample-dev libswscale-dev libxrt-dev uuid-dev libdrm-dev \ +# libxrt-npu2 amdxdna-dkms +# sudo reboot +set -euo pipefail + +SRC="${DEMO_ROOT:-$(pwd)}/inference/FastFlowLM/src" +if [ ! -d "$SRC" ]; then + echo "error: $SRC not found — run 'pixi run init-submodules' first." >&2 + exit 1 +fi + +cd "$SRC" + +# Build flm with the SYSTEM compiler, not pixi's conda toolchain. flm is a +# standalone binary (run directly, never linked into the RoboStack) that links +# the host's XRT + NPU libs built against the system glibc; the conda compiler's +# older glibc sysroot can't link them (undefined __libc_csu_init/fini at link). +# System gcc also finds the apt-installed XRT headers under /usr natively, so no +# XRT path overrides are needed. Override FLM_CC/FLM_CXX for a different compiler. +FLM_CC="${FLM_CC:-/usr/bin/gcc}" +FLM_CXX="${FLM_CXX:-/usr/bin/g++}" +[ -f /usr/include/xrt/xrt_bo.h ] || { echo "error: XRT dev headers missing — install libxrt-dev." >&2; exit 1; } + +# Switching toolchains invalidates the CMake cache, so configure fresh. +rm -rf build +echo "Configuring (cmake --preset linux-default, system $FLM_CXX) ..." +cmake --preset linux-default -DCMAKE_C_COMPILER="$FLM_CC" -DCMAKE_CXX_COMPILER="$FLM_CXX" +echo "Building (-j$(nproc)) ..." +cmake --build build -j"$(nproc)" + +# flm looks next to its executable for model_list.json (the model registry, used +# by `flm serve` and `flm pull`) and for xclbins/ (the per-model NPU kernels). +# We run the build-tree binary, so put both beside it: copy the small registry, +# symlink the large shipped xclbins dir rather than duplicating it. +cp model_list.json build/model_list.json +ln -sfn ../xclbins build/xclbins + +# Build-only — deliberately NO `sudo cmake --install`. The dispatcher runs the +# repo binary directly (inference/FastFlowLM/src/build/flm), so a system-wide +# install (which would clobber an existing /usr/local/bin/flm) is never needed. +echo "FastFlowLM built at: $SRC/build/flm" +echo "Verify the NPU with: $SRC/build/flm validate" diff --git a/scripts/build_sim.sh b/scripts/build_sim.sh index 431f6d1..9ec3ea8 100755 --- a/scripts/build_sim.sh +++ b/scripts/build_sim.sh @@ -9,7 +9,7 @@ # build-sim — even though it runs after build-ros2 — never sees it. cmake then # fails with "Could not find a package configuration file provided by # simulation_interfaces", and only a *second* run works. Sourcing the overlay -# here, at build time, makes a clean `pixi run -e default setup` succeed on the +# here, at build time, makes a clean `pixi run -e single-pc-gpu setup` succeed on the # first try. set -eo pipefail # no -u: ROS setup scripts reference unbound vars diff --git a/scripts/demo.sh b/scripts/demo.sh index 286cdd8..02de0f6 100755 --- a/scripts/demo.sh +++ b/scripts/demo.sh @@ -8,6 +8,17 @@ CYAN='\033[0;36m' BOLD='\033[1m' RESET='\033[0m' +# Each component runs in its own tmux session (created by its `pixi run` task). +# AMM_NO_ATTACH tells those launchers to start the session detached and return +# instead of attaching, so this script can drive them in sequence. +export AMM_NO_ATTACH=1 +SIM_SESSION="agentic-mobile-manipulator-sim" +STACK_SESSION="agentic-mobile-manipulator-stack" +INF_SESSION="agentic-mobile-manipulator-llm-servers" +AGENTS_SESSION="agentic-mobile-manipulator-agents" +HMI_SESSION="agentic-mobile-manipulator-hmi" +ALL_SESSIONS=("$SIM_SESSION" "$STACK_SESSION" "$INF_SESSION" "$AGENTS_SESSION" "$HMI_SESSION") + log() { echo -e " ${GREEN}●${RESET} $*"; } warn() { echo -e " ${YELLOW}!${RESET} $*"; } err() { echo -e " ${RED}✗${RESET} $*" >&2; } @@ -37,23 +48,19 @@ check_inference() { return 0 else echo "" - warn "Inference servers not healthy. Inspect with: pixi run serve-all" + warn "Inference servers not healthy. Inspect with: pixi run inference" return 1 fi } -stop_all() { - for s in simulation inference agent; do - tmux kill-session -t "$s" 2>/dev/null || true - done -} +stop_all() { bash "$DEMO_ROOT/scripts/kill_sessions.sh"; } # ── Guard ───────────────────────────────────────────────────────────────────── -for s in simulation inference agent; do +for s in "${ALL_SESSIONS[@]}"; do if tmux has-session -t "$s" 2>/dev/null; then warn "Session '$s' already exists." - warn "Run 'pixi run demo-stop' first, or attach with: tmux attach -t $s" + warn "Run 'pixi run kill' first, or attach with: tmux attach -t $s" exit 1 fi done @@ -63,56 +70,37 @@ trap 'echo; warn "Interrupted — cleaning up..."; stop_all; exit 1' INT TERM QU # ── 1. Simulation ───────────────────────────────────────────────────────────── section "Starting simulation..." - -# Create the session with a named first window so we don't rely on window index numbers -tmux new-session -d -s simulation -n "sim+ros2" -x 220 -y 50 -SIM_TOP_PANE=$(tmux display-message -p -t simulation:sim+ros2 "#{pane_id}") -SIM_BOTTOM_PANE=$(tmux split-window -v -P -F "#{pane_id}" -t "$SIM_TOP_PANE") - -# Send commands to the panes using pane IDs so pane-base-index does not matter -tmux send-keys -t "$SIM_TOP_PANE" "cd $DEMO_ROOT && pixi run sim" Enter -log "O3DE launched (simulation — top pane)" - +pixi run sim +log "O3DE launched ($SIM_SESSION)" wait_topic "/clock" 120 || { stop_all; exit 1; } # ── 2. ROS 2 Stack ──────────────────────────────────────────────────────────── section "Starting ROS 2 stack..." - -tmux send-keys -t "$SIM_BOTTOM_PANE" "cd $DEMO_ROOT && pixi run ros2" Enter -log "ROS 2 stack launched (simulation — bottom pane)" - +pixi run stack +log "ROS 2 stack launched ($STACK_SESSION)" wait_topic "/joint_states" 60 || { stop_all; exit 1; } # ── 3. Inference servers ────────────────────────────────────────────────────── section "Starting inference servers..." - -# Create inference session with a named window -tmux new-session -d -s inference -n models -x 220 -y 50 -INF_TOP_LEFT=$(tmux display-message -p -t inference:models "#{pane_id}") -INF_TOP_RIGHT=$(tmux split-window -h -P -F "#{pane_id}" -t "$INF_TOP_LEFT") -INF_BOTTOM_LEFT=$(tmux split-window -v -P -F "#{pane_id}" -t "$INF_TOP_LEFT") -INF_BOTTOM_RIGHT=$(tmux split-window -v -P -F "#{pane_id}" -t "$INF_TOP_RIGHT") -tmux select-layout -t inference:models tiled - -# Target panes by pane ID so the script works with any pane-base-index setting -tmux send-keys -t "$INF_TOP_LEFT" "cd $DEMO_ROOT && pixi run serve-llm" Enter -tmux send-keys -t "$INF_TOP_RIGHT" "cd $DEMO_ROOT && pixi run serve-embedding" Enter -tmux send-keys -t "$INF_BOTTOM_LEFT" "cd $DEMO_ROOT && pixi run serve-vlm" Enter -tmux send-keys -t "$INF_BOTTOM_RIGHT" "cd $DEMO_ROOT && pixi run serve-reranker" Enter -log "Inference session created (inference — 2×2 grid)" - +# One pane per local endpoint (config.toml SSOT). Both VLMs run: +# vlm_safety (npu) and vlm_inspection (gpu). +pixi run inference +log "Inference servers launched ($INF_SESSION)" check_inference || { stop_all; exit 1; } -# ── 4. Orchestrator ─────────────────────────────────────────────────────────── +# ── 4. Agents + Orchestrator ────────────────────────────────────────────────── -section "Starting orchestrator..." +section "Starting agents + orchestrator..." +pixi run agents +log "Agents + orchestrator launched ($AGENTS_SESSION)" -# Create agent session with a named window so we don't rely on index 0 -tmux new-session -d -s agent -n orchestrator -x 220 -y 50 -tmux send-keys -t agent:orchestrator "cd $DEMO_ROOT && pixi run orchestrator" Enter -log "Orchestrator launched (agent)" +# ── 5. HMI ──────────────────────────────────────────────────────────────────── + +section "Starting HMI..." +pixi run hmi +log "HMI launched ($HMI_SESSION)" # ── Final health check ─────────────────────────────────────────────────────── @@ -121,7 +109,7 @@ sleep 10 failed=false -for s in simulation inference agent; do +for s in "${ALL_SESSIONS[@]}"; do if tmux has-session -t "$s" 2>/dev/null; then ok "Session '$s' is running" else @@ -130,16 +118,15 @@ for s in simulation inference agent; do fi done -for port in 8080 8081 8082 8083; do - code=$(curl -s -o /dev/null -w "%{http_code}" --max-time 2 \ - "http://localhost:$port/health" 2>/dev/null || echo "000") +while read -r url; do + code=$(curl -s -o /dev/null -w "%{http_code}" --max-time 2 "$url" 2>/dev/null || echo "000") if [ "$code" = "200" ]; then - ok "Inference port $port — OK" + ok "Inference $url — OK" else - err "Inference port $port — not responding (HTTP $code)" + err "Inference $url — not responding (HTTP $code)" failed=true fi -done +done < <(python -m rai_app.inference.serve --health 2>/dev/null) for topic in /clock /joint_states; do if ros2 topic list 2>/dev/null | grep -q "^${topic}$"; then @@ -163,9 +150,28 @@ fi echo "" echo -e "${BOLD}${GREEN}=== Demo running ===${RESET}" echo "" -echo -e " ${CYAN}tmux attach -t simulation${RESET} — O3DE sim (top) + ROS 2 stack (bottom)" -echo -e " ${CYAN}tmux attach -t inference${RESET} — 4 inference servers (2×2 grid)" -echo -e " ${CYAN}tmux attach -t agent${RESET} — orchestrator" +echo -e " ${CYAN}tmux attach -t $SIM_SESSION${RESET} — O3DE simulation" +echo -e " ${CYAN}tmux attach -t $STACK_SESSION${RESET} — ROS 2 stack" +echo -e " ${CYAN}tmux attach -t $INF_SESSION${RESET} — inference servers (one pane each)" +echo -e " ${CYAN}tmux attach -t $AGENTS_SESSION${RESET} — agents + orchestrator (one pane each)" +echo -e " ${CYAN}tmux attach -t $HMI_SESSION${RESET} — HMI" echo "" -echo -e " Stop everything: ${YELLOW}pixi run demo-stop${RESET}" +echo -e " Stop everything: ${YELLOW}pixi run kill${RESET}" echo "" + +# When run as a container's PID 1 (AMM_KEEP_ALIVE=1), don't return: exiting lets +# the container stop and take the tmux sessions with it. Locally the var is unset +# and the script returns, leaving the sessions in the background. +# With a TTY (docker compose run) attach to tmux so PID 1 is a live client you can +# debug in — prefix+s switches between all sessions, prefix+d detaches and stops +# the demo. Without a TTY (detached compose up / CI) attach would exit instantly, +# so just block until the HMI session goes away. +if [ -n "${AMM_KEEP_ALIVE:-}" ]; then + if [ -t 0 ]; then + log "Attaching to tmux — prefix+s to switch sessions, prefix+d detaches (stops the demo)." + exec tmux attach -t "$HMI_SESSION" + fi + log "AMM_KEEP_ALIVE set — holding until the HMI session exits (Ctrl-C / 'pixi run kill' to stop)." + while tmux has-session -t "$HMI_SESSION" 2>/dev/null; do sleep 5; done + warn "HMI session gone — exiting." +fi diff --git a/scripts/demo_stop.sh b/scripts/demo_stop.sh deleted file mode 100755 index e1effe8..0000000 --- a/scripts/demo_stop.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/env bash -for s in simulation inference agent; do - tmux kill-session -t "$s" 2>/dev/null && echo " killed '$s'" || true -done diff --git a/scripts/download_models.sh b/scripts/download_models.sh deleted file mode 100755 index 256364b..0000000 --- a/scripts/download_models.sh +++ /dev/null @@ -1,41 +0,0 @@ -#!/usr/bin/env bash -set -e - -MODELS_DIR="${DEMO_ROOT}/models" -mkdir -p "$MODELS_DIR" - -download() { - local name="$1" - local url="$2" - local dest="$3" - if [ -f "$dest" ]; then - echo " [skip] $name — already exists" - else - echo " [download] $name" - wget -q --show-progress -c -O "$dest" "$url" - fi -} - -echo "" -echo "=== Downloading models to $MODELS_DIR ===" -echo "" - -download "GPT-OSS-20B (LLM)" \ - "https://huggingface.co/unsloth/gpt-oss-20b-GGUF/resolve/main/gpt-oss-20b-Q4_K_M.gguf?download=true" \ - "$MODELS_DIR/gpt-oss-20b-Q4_K_M.gguf" - -download "LFM2-VL-3B (VLM)" \ - "https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/LFM2-VL-3B-Q8_0.gguf?download=true" \ - "$MODELS_DIR/LFM2-VL-3B-Q8_0.gguf" - -download "LFM2-VL-3B mmproj" \ - "https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/mmproj-LFM2-VL-3B-Q8_0.gguf?download=true" \ - "$MODELS_DIR/mmproj-LFM2-VL-3B-Q8_0.gguf" - -download "Qwen3-Embedding-0.6B (Embed)" \ - "https://huggingface.co/Qwen/Qwen3-Embedding-0.6B-GGUF/resolve/main/Qwen3-Embedding-0.6B-Q8_0.gguf?download=true" \ - "$MODELS_DIR/Qwen3-Embedding-0.6B-Q8_0.gguf" - -download "Qwen3-Reranker-0.6B (Rerank)" \ - "https://huggingface.co/ggml-org/Qwen3-Reranker-0.6B-Q8_0-GGUF/resolve/main/qwen3-reranker-0.6b-q8_0.gguf?download=true" \ - "$MODELS_DIR/qwen3-reranker-0.6b-q8_0.gguf" diff --git a/scripts/find_runnables.sh b/scripts/find_runnables.sh new file mode 100755 index 0000000..5e64094 --- /dev/null +++ b/scripts/find_runnables.sh @@ -0,0 +1,20 @@ +#!/usr/bin/env bash +# Check the demo's built runnables and print OK/ERROR per component. Found via +# the build trees (robust to the build-config dir). Runs at the end of `single-pc-gpu` +# setup. Informational — never fails setup (FastFlowLM is a separate NPU step). +set -uo pipefail +ROOT="${DEMO_ROOT:-$(cd "$(dirname "$0")/.." && pwd)}" +green='\033[0;32m'; red='\033[0;31m'; reset='\033[0m' + +check() { # label search-root filename-glob + if find "$ROOT/$2" -type f -executable -name "$3" 2>/dev/null | grep -q .; then + printf " %-13s [${green}OK${reset}]\n" "$1" + else + printf " %-13s [${red}ERROR${reset}]\n" "$1" + fi +} + +echo "Checking for built runnables:" +check "llama.cpp" "inference/llama.cpp/build" "llama-server" +check "FastFlowLM" "inference/FastFlowLM/src/build" "flm" +check "GameLauncher" "sim/build" "*.GameLauncher" diff --git a/scripts/kill_sessions.sh b/scripts/kill_sessions.sh new file mode 100644 index 0000000..d8bab41 --- /dev/null +++ b/scripts/kill_sessions.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env bash +# Kill every tmux session this project starts. All session names share the +# `agentic-mobile-manipulator` prefix (see demo.sh, run_agents.sh, serve.py). +killed=false +while read -r s; do + [ -z "$s" ] && continue + tmux kill-session -t "$s" 2>/dev/null && echo " killed '$s'" && killed=true +done < <(tmux ls -F '#{session_name}' 2>/dev/null | grep '^agentic-mobile-manipulator') +$killed || echo " no agentic-mobile-manipulator sessions running" diff --git a/scripts/run_agents.sh b/scripts/run_agents.sh new file mode 100755 index 0000000..7dd04ae --- /dev/null +++ b/scripts/run_agents.sh @@ -0,0 +1,43 @@ +#!/usr/bin/env bash +# Start the rai agents + orchestrator (the AI layer driving the ROS 2 stack) in +# a tmux tiled grid, one pane each. Requires the barebones stack +# (`pixi run stack`) and the inference servers to be up. Any extra args +# ($@, e.g. --test-mode) are forwarded to the nav2 and moveit2 agents. +set -euo pipefail + +SESSION="agentic-mobile-manipulator-agents" +WINDOW="agents" +EXTRA="${*:-}" + +# Each pane re-enters pixi so it gets the activated runtime (a fresh tmux pane +# does not inherit this shell's environment). +PANES=( + "pixi run nav2-agent ${EXTRA}" + "pixi run moveit2-agent ${EXTRA}" + "pixi run scene-agent" + "pixi run inspection-agent" + "pixi run safety-agent" + "pixi run orchestrator-agent" +) + +if ! command -v tmux >/dev/null; then + echo "tmux is required for \`pixi run agents\` (run individual agents instead, e.g. \`pixi run nav2-agent\`)" >&2 + exit 1 +fi + +if tmux has-session -t "$SESSION" 2>/dev/null; then + echo "Session '$SESSION' already exists." +else + tmux new-session -d -s "$SESSION" -n "$WINDOW" -x 220 -y 50 + tmux send-keys -t "$SESSION:$WINDOW" "${PANES[0]}" Enter + for cmd in "${PANES[@]:1}"; do + tmux split-window -t "$SESSION:$WINDOW" + tmux select-layout -t "$SESSION:$WINDOW" tiled + tmux send-keys -t "$SESSION:$WINDOW" "$cmd" Enter + done + tmux select-layout -t "$SESSION:$WINDOW" tiled +fi + +# Leave detached when nested in tmux or when a caller (demo.sh) only wants it started. +[ -n "${TMUX:-}${AMM_NO_ATTACH:-}" ] && exit 0 +exec tmux attach-session -t "$SESSION" diff --git a/scripts/run_ros2_stack.sh b/scripts/run_ros2_stack.sh index b8d66d2..9e226d0 100755 --- a/scripts/run_ros2_stack.sh +++ b/scripts/run_ros2_stack.sh @@ -1,12 +1,9 @@ #!/usr/bin/env bash +# Barebones ROS 2 stack: robot bringup + supporting nodes. No agents — start +# those with `pixi run agents` (and `pixi run orchestrator-agent`) once this is up. ( ros2 launch robotec_kairos_ur10 robotec_launch.py & ros2 run mobile_manipulator_hmi utilization_node & - uv run python rai_app/agents/nav2_agent.py $1 & - uv run python rai_app/agents/moveit2_agent.py $1 & - uv run python rai_app/environment/scene_agent.py & uv run python rai_app/control/nav_lifecycle_node.py & - uv run python rai_app/agents/inspection_agent.py & - ./scripts/start_safety_agent.sh & wait ) diff --git a/scripts/serve_all.sh b/scripts/serve_all.sh deleted file mode 100755 index 0ec1467..0000000 --- a/scripts/serve_all.sh +++ /dev/null @@ -1,26 +0,0 @@ -#!/usr/bin/env bash -set -e - -SESSION="llm-servers" - -if tmux has-session -t "$SESSION" 2>/dev/null; then - echo "Session '$SESSION' already exists. Attaching..." - tmux attach-session -t "$SESSION" - exit 0 -fi - -tmux new-session -d -s "$SESSION" -n inference -x 220 -y 50 - -INF_TOP_LEFT=$(tmux display-message -p -t "$SESSION:inference" "#{pane_id}") -INF_TOP_RIGHT=$(tmux split-window -h -P -F "#{pane_id}" -t "$INF_TOP_LEFT") -INF_BOTTOM_LEFT=$(tmux split-window -v -P -F "#{pane_id}" -t "$INF_TOP_LEFT") -INF_BOTTOM_RIGHT=$(tmux split-window -v -P -F "#{pane_id}" -t "$INF_TOP_RIGHT") - -tmux send-keys -t "$INF_TOP_LEFT" "pixi run serve-llm" Enter -tmux send-keys -t "$INF_TOP_RIGHT" "pixi run serve-embedding" Enter -tmux send-keys -t "$INF_BOTTOM_LEFT" "pixi run serve-vlm" Enter -tmux send-keys -t "$INF_BOTTOM_RIGHT" "pixi run serve-reranker" Enter - -tmux select-layout -t "$SESSION:inference" tiled - -tmux attach-session -t "$SESSION" diff --git a/scripts/smoke_test.sh b/scripts/smoke_test.sh index 548b2c7..e2f714d 100755 --- a/scripts/smoke_test.sh +++ b/scripts/smoke_test.sh @@ -1,4 +1,7 @@ #!/usr/bin/env bash +# Health-check every local inference endpoint declared in the SSOT (config.toml). +# Endpoint list + ports come from `serve.py --health`, so this never hardcodes +# them — add/move a server in config.toml and the check follows. GREEN='\033[0;32m' RED='\033[0;31m' @@ -6,38 +9,50 @@ RESET='\033[0m' PASS=0 FAIL=0 +CONFIG="${INFERENCE_CONFIG:-config.toml}" check() { - local name="$1" - local url="$2" + local url="$1" local http_code - http_code=$(curl -s -o /dev/null -w "%{http_code}" --max-time 3 "$url" 2>/dev/null) - if [ "$http_code" = "200" ]; then - echo -e " ${GREEN}[OK] $name ($url)${RESET}" + echo -e " ${GREEN}[OK] $url${RESET}" PASS=$((PASS + 1)) else - echo -e " ${RED}[FAIL] $name ($url) — HTTP $http_code${RESET}" + echo -e " ${RED}[FAIL] $url — HTTP $http_code${RESET}" FAIL=$((FAIL + 1)) fi } +mapfile -t URLS < <(python -m rai_app.inference.serve --health --config "$CONFIG") + echo "" -echo "=== LLM Server Health Check ===" +echo "=== Inference Health Check ($CONFIG) ===" echo "" -check "LLM (GPT-OSS-20B)" "http://localhost:8080/health" -check "VLM (LFM2-VL-3B)" "http://localhost:8081/health" -check "Embed (Qwen3-Embedding-0.6b)" "http://localhost:8082/health" -check "Rerank (Qwen3-Reranker-0.6B)" "http://localhost:8083/health" +if [ "${#URLS[@]}" -eq 0 ]; then + echo " No local endpoints to check (all remote?)." + echo "" + exit 0 +fi + +for url in "${URLS[@]}"; do + check "$url" +done echo "" if [ "$FAIL" -eq 0 ]; then - echo -e " ${GREEN}$PASS passed, $FAIL failed${RESET}" + echo -e " ${GREEN}$PASS up, $FAIL down${RESET}" else - echo -e " ${RED}$PASS passed, $FAIL failed${RESET}" + echo -e " ${RED}$PASS up, $FAIL down${RESET}" fi echo "" -[ "$FAIL" -eq 0 ] +# Functional check: send a real, type-appropriate inference request to each +# endpoint (llm/vlm chat, embeddings vector, reranker scores, + GBNF grammar on +# NPU). Liveness alone doesn't prove the checkpoint actually serves. +python -m rai_app.inference.serve --check --config "$CONFIG" +CHECK_RC=$? + +# Overall pass requires both: all endpoints up AND all functional checks passed. +[ "$FAIL" -eq 0 ] && [ "$CHECK_RC" -eq 0 ] diff --git a/scripts/tmux_run.sh b/scripts/tmux_run.sh new file mode 100644 index 0000000..3df5a1f --- /dev/null +++ b/scripts/tmux_run.sh @@ -0,0 +1,25 @@ +#!/usr/bin/env bash +# Launch a command in its own project-prefixed tmux session (so `pixi run kill` +# can stop it). Used by the sim and stack tasks. +# tmux_run.sh SESSION CMD... +# CMD is a `pixi run ` so the pane gets the activated runtime — a fresh +# tmux pane does not inherit this shell's environment. +set -euo pipefail +session="$1"; shift + +if ! command -v tmux >/dev/null; then + echo "tmux is required; run the foreground task instead (e.g. \`pixi run sim-fg\`)" >&2 + exit 1 +fi + +if tmux has-session -t "$session" 2>/dev/null; then + echo "Session '$session' already exists." +else + tmux new-session -d -s "$session" -x 220 -y 50 + tmux send-keys -t "$session" "$*" Enter +fi + +# Leave the session detached when nested in tmux or when a caller (demo.sh) +# only wants it started, not attached. +[ -n "${TMUX:-}${AMM_NO_ATTACH:-}" ] && exit 0 +exec tmux attach-session -t "$session" From 2a812a5db2c4ac2f1b9c83d3c3fbde29c35d9689 Mon Sep 17 00:00:00 2001 From: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> Date: Thu, 2 Jul 2026 14:01:41 +0200 Subject: [PATCH 53/69] ci: build & publish & smoke test (#40) --- .github/workflows/build_and_push_docker.yaml | 60 +++++++++---------- docker/compose.yaml | 14 ++--- docs/quickstart.md | 19 +++++- pixi.toml | 4 ++ scripts/sim_smoke.sh | 61 ++++++++++++++++++++ 5 files changed, 113 insertions(+), 45 deletions(-) create mode 100644 scripts/sim_smoke.sh diff --git a/.github/workflows/build_and_push_docker.yaml b/.github/workflows/build_and_push_docker.yaml index 442dc07..1b35e23 100644 --- a/.github/workflows/build_and_push_docker.yaml +++ b/.github/workflows/build_and_push_docker.yaml @@ -7,12 +7,18 @@ on: - development workflow_dispatch: +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + jobs: build-and-push: - runs-on: self-hosted + runs-on: [self-hosted, cpu, heavy, gpu] steps: - name: Checkout code - uses: actions/checkout@v4 + uses: actions/checkout@v6 + with: + lfs: true - name: Log in to Docker Hub uses: docker/login-action@v3 @@ -20,36 +26,26 @@ jobs: username: ${{ secrets.DOCKERHUB_USERNAME }} password: ${{ secrets.DOCKERHUB_TOKEN }} - - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v3 + - name: Build and push all images + env: + AMM_IMG_SUFFIX: ${{ env.SUFFIX }} + run: | + docker compose -f docker/compose.yaml build + docker compose -f docker/compose.yaml push - - name: Build and push ROS 2 image - uses: docker/build-push-action@v6 - with: - context: . - file: docker/Dockerfile.ros2 - push: true - tags: | - robotecai/mobile-manipulator-demo-ros2${{ github.ref_name == 'development' && '-development' || '' }}:latest - - - name: Build and push Agents image - uses: docker/build-push-action@v6 + smoke-test: + needs: build-and-push + runs-on: [self-hosted, cpu, heavy, gpu] + steps: + - name: Log in to Docker Hub + uses: docker/login-action@v3 with: - context: . - file: docker/Dockerfile.agents - push: true - build-args: | - ROS2_IMAGE=robotecai/mobile-manipulator-demo-ros2${{ github.ref_name == 'development' && '-development' || '' }}:latest - tags: | - robotecai/mobile-manipulator-demo-agents${{ github.ref_name == 'development' && '-development' || '' }}:latest + username: ${{ secrets.DOCKERHUB_USERNAME }} + password: ${{ secrets.DOCKERHUB_TOKEN }} - - name: Build and push O3DE image - uses: docker/build-push-action@v6 - with: - context: . - file: docker/Dockerfile.o3de - push: true - build-args: | - ROS2_IMAGE=robotecai/mobile-manipulator-demo-ros2${{ github.ref_name == 'development' && '-development' || '' }}:latest - tags: | - robotecai/mobile-manipulator-demo-o3de${{ github.ref_name == 'development' && '-development' || '' }}:latest + - name: Headless sim smoke test (/clock) + run: | + IMAGE="robotecai/agentic-mobile-manipulator-o3de:latest" + docker pull "$IMAGE" + docker run --rm --entrypoint pixi "$IMAGE" run sim-smoke + diff --git a/docker/compose.yaml b/docker/compose.yaml index 8e9c3fc..d39b6e2 100644 --- a/docker/compose.yaml +++ b/docker/compose.yaml @@ -10,7 +10,7 @@ # # Build everything: docker compose -f docker/compose.yaml build # Run the demo: xhost +local:root && docker compose -f docker/compose.yaml up demo -# Attach to a session: docker exec -it $(docker ps -qf ancestor=robotecai/mobile-manipulator-demo:latest) tmux attach -t agentic-mobile-manipulator-sim +# Attach to a session: docker exec -it $(docker ps -qf ancestor=robotecai/agentic-mobile-manipulator:latest) tmux attach -t agentic-mobile-manipulator-sim # (sessions: -sim -stack -llm-servers -agents -hmi) # # Target is single-pc-gpu-and-npu (the default). For a GPU-only image — llama.cpp @@ -28,14 +28,14 @@ services: # ── Base: RoboStack ROS 2 + built workspace ──────────────────────────────── ros2: - image: robotecai/mobile-manipulator-demo-ros2:latest + image: robotecai/agentic-mobile-manipulator-ros2:latest build: context: .. dockerfile: docker/Dockerfile.ros2 # ── Base: + O3DE SDK and built simulation ────────────────────────────────── o3de: - image: robotecai/mobile-manipulator-demo-o3de:latest + image: robotecai/agentic-mobile-manipulator-o3de:latest build: context: .. dockerfile: docker/Dockerfile.o3de @@ -44,7 +44,7 @@ services: # ── The demo: + agents, local inference engines; runs the whole stack ─────── demo: - image: robotecai/mobile-manipulator-demo:latest + image: robotecai/agentic-mobile-manipulator:latest build: context: .. dockerfile: docker/Dockerfile.demo @@ -68,7 +68,6 @@ services: - /dev/kfd:/dev/kfd # AMD GPU compute (ROCm) - /dev/dri:/dev/dri # AMD GPU render (Vulkan) - /dev/accel/accel0:/dev/accel/accel0 # Ryzen AI NPU (amdxdna) - # The NPU pins memory; without unlimited memlock FastFlowLM fails to allocate. ulimits: memlock: soft: -1 @@ -77,10 +76,5 @@ services: - /tmp/.X11-unix:/tmp/.X11-unix - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - ../config.toml:/root/MobileManipulatorDemo/config.toml - # All weights live under the repo's models/: llama ggufs in models/, NPU - # models in models/flm (FLM_MODEL_PATH below). `pixi run download-models` - # fetches both. No host-home (~/.config/flm) coupling. - ../models:/root/MobileManipulatorDemo/models - # Single host: ROS 2 DDS + every inference endpoint talk over localhost, and - # host networking lets RViz/ros2 on the host introspect the running demo. network_mode: host diff --git a/docs/quickstart.md b/docs/quickstart.md index 9a91f77..4f92772 100644 --- a/docs/quickstart.md +++ b/docs/quickstart.md @@ -17,7 +17,9 @@ git clone https://github.com/RobotecAI/agentic-mobile-manipulator.git cd agentic-mobile-manipulator ``` -## 2. Build the image +## 2. Get the image: build _or_ pull + +**Build locally:** ```bash docker compose -f docker/compose.yaml build @@ -25,6 +27,14 @@ docker compose -f docker/compose.yaml build This builds three cacheable layers — `…-ros2` (RoboStack ROS 2 + workspace) → `…-o3de` (O3DE SDK + simulation) → `…demo` (Python agents + llama.cpp + FastFlowLM). The O3DE layer is large, so the first build takes a while; later rebuilds reuse the cached bases. +**Or pull the prebuilt images:** + +```bash +docker compose -f docker/compose.yaml pull +``` + +If you pull, remember to pass `--no-build` when starting the demo (see step 4). + ## 3. Download the model weights Weights are **not** baked into the image. They are downloaded into the repo's `models/` directory, bind-mounted at run time. `config.toml` is the single source of truth for which models are fetched. Pull them once into `models/` by running: @@ -44,9 +54,12 @@ Allow local connections to your X server, then start the `demo` service: ```bash xhost +local:root -docker compose -f docker/compose.yaml up demo +docker compose -f docker/compose.yaml up demo # if you built (step 2) +docker compose -f docker/compose.yaml up --no-build demo # if you pulled (step 2) ``` +> [!IMPORTANT] > `docker compose up` rebuilds any service that has a `build:` section — even when the image is already present locally. So after `pull`, a bare `up demo` ignores the pulled image and rebuilds `ros2 → o3de → demo`. Pass `--no-build` to run the pulled image as-is. + ## What to expect ![Demo Windows](demo_windows.jpg) @@ -60,7 +73,7 @@ docker compose -f docker/compose.yaml up demo Each component runs in its own tmux session inside the container. Attach to one (e.g. the simulation) from the host: ```bash -docker exec -it $(docker ps -qf ancestor=robotecai/mobile-manipulator-demo:latest) \ +docker exec -it $(docker ps -qf ancestor=robotecai/agentic-mobile-manipulator:latest) \ tmux attach -t agentic-mobile-manipulator-sim ``` diff --git a/pixi.toml b/pixi.toml index c21de34..e667135 100644 --- a/pixi.toml +++ b/pixi.toml @@ -162,6 +162,10 @@ description = "Launch O3DE simulation in its own tmux session" cmd = "$DEMO_ROOT/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher -bg_ConnectToAssetProcessor=0" description = "Launch O3DE simulation in the foreground (no tmux)" +[feature.sim.tasks.sim-smoke] +cmd = "bash scripts/sim_smoke.sh" +description = "Headless sim smoke test: boot with --rhi=null, pass if /clock ticks (no GPU/display)" + [feature.sim.tasks.editor] cmd = "$O3DE_ENGINE_PATH/bin/Linux/profile/Default/Editor --project-path $DEMO_ROOT/sim" description = "Launch O3DE Editor from SDK (project must be built first)" diff --git a/scripts/sim_smoke.sh b/scripts/sim_smoke.sh new file mode 100644 index 0000000..5c626a8 --- /dev/null +++ b/scripts/sim_smoke.sh @@ -0,0 +1,61 @@ +#!/usr/bin/env bash +# Headless smoke test for the O3DE sim. +# +# Boots the GameLauncher with the null renderer (--rhi=null) — no GPU, no X +# display needed — and passes if the simulation is actually *ticking*, proven by +# catching a message on /clock within a timeout. That single check exercises the +# whole cold path: binary runs, assets + level load, PhysX ticks, and the ROS 2 +# bridge publishes. +# +# NOT checked: camera / rendered sensors. Those need the Atom (Vulkan) renderer, +# which headless needs a DRI3-capable display for — Xvfb doesn't provide DRI3, so +# the GPU+Vulkan path wedges on swapchain creation. rhi=null has no renderer at +# all, so camera topics are advertised but never publish. Verifying rendered +# output headless is a separate, unsolved problem; keep it out of the fast gate. +# +# Run: pixi run sim-smoke +# In Docker: docker run --rm --entrypoint pixi run sim-smoke +# Tune: SIM_SMOKE_TIMEOUT=120 pixi run sim-smoke +# SIM_SMOKE_TOPIC=/joint_states SIM_SMOKE_TYPE=sensor_msgs/msg/JointState pixi run sim-smoke +set -uo pipefail + +# Hermetic: only ever see our own sim on loopback, so a neighbouring sim on a +# shared CI runner can't cause a false pass. +export ROS_LOCALHOST_ONLY=1 + +LAUNCHER="${DEMO_ROOT:-$PWD}/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher" +TIMEOUT="${SIM_SMOKE_TIMEOUT:-90}" # boot + first message; rhi=null is faster than Vulkan +TOPIC="${SIM_SMOKE_TOPIC:-/clock}" +# Type must be explicit: with no publisher up yet, `ros2 topic echo` can't infer +# the type from the graph and bails instantly instead of waiting. +TYPE="${SIM_SMOKE_TYPE:-rosgraph_msgs/msg/Clock}" +LOG="$(mktemp)" + +[ -x "$LAUNCHER" ] || { echo "[FAIL] launcher not built: $LAUNCHER"; exit 1; } + +# GameLauncher ignores SIGINT (won't stop on Ctrl+C), so hard-kill on exit. +# Kill the captured PID, plus a pkill by full command line as a fallback (the +# comm name isn't reliably set during early boot). pkill -f is safe: this shell's +# own argv is just "bash scripts/sim_smoke.sh", so it can't match itself. +LAUNCHER_PID="" +cleanup() { + [ -n "$LAUNCHER_PID" ] && kill -9 "$LAUNCHER_PID" 2>/dev/null + pkill -9 -f 'MobileManipulatorDemo.GameLauncher' 2>/dev/null +} +trap cleanup EXIT + +echo "[smoke] launching sim headless (--rhi=null)" +env -u DISPLAY "$LAUNCHER" -bg_ConnectToAssetProcessor=0 --rhi=null >"$LOG" 2>&1 & +LAUNCHER_PID=$! + +# /clock is published BEST_EFFORT; a default (reliable) subscriber gets nothing. +echo "[smoke] waiting up to ${TIMEOUT}s for a message on ${TOPIC} (${TYPE})" +if timeout "$TIMEOUT" ros2 topic echo --once --qos-reliability best_effort "$TOPIC" "$TYPE" >/dev/null 2>&1; then + echo "[PASS] ${TOPIC} is publishing — sim ticks headless" + exit 0 +fi + +echo "[FAIL] no message on ${TOPIC} within ${TIMEOUT}s" +echo "----- last 30 log lines -----" +tail -30 "$LOG" +exit 1 From febc2f4521f05976afeee6e6c27b743a7677eae0 Mon Sep 17 00:00:00 2001 From: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> Date: Sat, 4 Jul 2026 17:18:47 +0200 Subject: [PATCH 54/69] docs: update (#42) --- docs/demo.md | 6 +- docs/dependencies.md | 31 ++++---- docs/operating.md | 76 +++++++++++++++++++ docs/quickstart.md | 16 ++-- docs/repo_overview.md | 2 +- docs/running.md | 60 ++++++++++++--- docs/safety_agent_with_rag.md | 15 ++-- docs/setup.md | 8 +- docs/setup_hil_sim_hmi.md | 2 +- docs/setup_single_machine.md | 64 +++++++++------- docs/sim_overview.md | 2 +- docs/technical_overview.md | 2 +- .../src/mobile_manipulator_hmi/hmiWindow.ui | 2 +- 13 files changed, 199 insertions(+), 87 deletions(-) create mode 100644 docs/operating.md diff --git a/docs/demo.md b/docs/demo.md index 429ed93..1848a7c 100644 --- a/docs/demo.md +++ b/docs/demo.md @@ -2,13 +2,13 @@ Demo video: [https://vimeo.com/1128259690/68cf9430d1](https://vimeo.com/1128259690/68cf9430d1) -This demo showcases the Robotnik Kairos+ mobile manipulator operating in our warehouse facility. The full ROS 2 stack coordinates navigation, manipulation, and combined tasks, and the agent executes them end-to-end without manual intervention. +This demo runs the Robotnik Kairos+ mobile manipulator in a warehouse facility. The full ROS 2 stack coordinates navigation, manipulation, and combined tasks, and the agent executes them end-to-end without manual intervention. ![Various objects](images/kairos.jpg) -The warehouse layout mirrors the production-ready configuration, giving the robot ample space to navigate, avoid obstacles, and complete missions. The scene resembles a live operation floor, so the agent runs in conditions that match real deployments. +The warehouse layout mirrors a production configuration, with space for navigation, obstacle avoidance, and manipulation tasks. ![Various objects](images/scene.jpg) -We staged a diverse set of objects and anomalies - including spills, misplaced boxes, and damaged packaging - to validate perception, navigation resilience, and adaptive planning. +The scene includes a diverse set of objects and anomalies: spills, misplaced boxes, and damaged packaging. ![Various objects](images/objects.jpg) diff --git a/docs/dependencies.md b/docs/dependencies.md index 44715b4..bcd25d9 100644 --- a/docs/dependencies.md +++ b/docs/dependencies.md @@ -19,23 +19,20 @@ ## ROS 2 -| Package Name | Repository URL | -| --------------------------------- | ------------------------------------------------------------------------ | -| rai_interfaces | https://github.com/RobotecAI/rai_interfaces.git | -| Universal_Robots_ROS2_Description | https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git | -| control_msgs | https://github.com/ros-controls/control_msgs.git | -| control_toolbox | https://github.com/ros-controls/control_toolbox.git | -| kinematics_interface | https://github.com/ros-controls/kinematics_interface.git | -| moveit2 | https://github.com/moveit/moveit2.git | -| moveit_msgs | https://github.com/moveit/moveit_msgs.git | -| realtime_tools | https://github.com/ros-controls/realtime_tools.git | -| robotnik_common | https://github.com/RobotnikAutomation/robotnik_common.git | -| robotnik_description | https://github.com/RobotnikAutomation/robotnik_description.git | -| robotnik_sensors | https://github.com/RobotnikAutomation/robotnik_sensors.git | -| ros2_control | https://github.com/ros-controls/ros2_control.git | -| ros2_controllers | https://github.com/ros-controls/ros2_controllers | -| srdfdom | https://github.com/moveit/srdfdom.git | -| simulation_interfaces | https://github.com/ros-simulation/simulation_interfaces.git | +Most ROS 2 dependencies (MoveIt 2, Nav2, `ros2_control`, `control_msgs`, +`simulation_interfaces`, and the rest) come from the +[RoboStack](https://robostack.github.io) `robostack-jazzy` conda channel and are +installed automatically by pixi — see `[dependencies]` in `pixi.toml`. They are no +longer vcs-imported or built from source. + +These packages are built from source (see `ros2_ws.repos`): + +| Package Name | Repository URL | +| -------------------- | -------------------------------------------------------------- | +| robotnik_common | https://github.com/RobotnikAutomation/robotnik_common.git | +| robotnik_description | https://github.com/RobotnikAutomation/robotnik_description.git | +| robotnik_sensors | https://github.com/RobotnikAutomation/robotnik_sensors.git | +| rai_interfaces | https://github.com/RobotecAI/rai_interfaces.git | ## Python diff --git a/docs/operating.md b/docs/operating.md new file mode 100644 index 0000000..15cc4a6 --- /dev/null +++ b/docs/operating.md @@ -0,0 +1,76 @@ +# Operating the Demo + +This page explains how to drive the demo from the HMI once everything is running. +If the stack is not up yet, start it first. See [Running the demo](./running.md) +for a local run, or the [Quickstart](./quickstart.md) for Docker. Then come back +here. + +Populate the scene first, wait for the objects to finish spawning, then start a +mission. + +## The HMI at a glance + +The HMI window has three tabs: + +- **Control**: populate the scene, start missions, emergency stop, manual driving. +- **Status**: system tiles (CPU, GPU, NPU, RAM, Nav2, MoveIt2, agents) and logs. +- **Mission**: the mission observer, robot cameras, the map, the live agent task + list, and the VLM output. + +The window opens on the **Mission** tab. Click over to the **Control** tab to set +things up. + +## Step 1: Populate the scene first + +Populate the scene with objects before starting a mission. On the **Control** tab, +find the **Simulation Scenarios** group and click one of the scene recipes: + +- **Standard**: the usual starting point. Fills the racks with boxes, places + return packages on the tables. +- **Housekeeping**: a similar fill recipe. +- **Anomalies**: adds a few out-of-place objects and a stack of barrels, so the + inspection and safety agents have something to find. +- **Cleanup**: resets the simulation and clears the spawned objects. Use this to + start over. + +Spawning is not instant. It can take up to about 30 seconds, and you can watch the +objects appear one by one in the O3DE simulation window (or on the top view camera +on the **Mission** tab). Wait until spawning has finished before moving on. + +If you click a scene button and get a "Service not available" warning, the scene +agent is not running yet. Make sure the agents are up (see +[Running the demo](./running.md)) and try again. + +## Step 2: Start a mission + +Once the scene is populated, use the **On Demand predefined tasks** group on the +**Control** tab to give the robot a mission: + +- **Sort returns**: the robot sorts the return packages waiting on the tables based on their condition. +- **Housekeeping**: the robot tidies a rack. Each click targets the next rack in sequence, so pressing it repeatedly walks through the warehouse rack by rack. +- **Prepare shipment**: first tick the items you want (CPU, GPU, pipes, hammers, + nails, motherboard) in the shipment configuration, then click **Prepare + shipment**. The robot collects the selected items. + +The mission is handed to the orchestrator, which breaks it into steps and drives +the robot. You do not need to wait for one mission to fully finish before queueing +another; the orchestrator keeps a task queue. + +## Monitoring progress + +While a mission runs, the **Mission** tab shows: + +- The robot cameras (base and wrist, plus a top view). +- The map, with the robot pose and its current plan. +- The **Agent Task** panel, showing the current action, the current task, and the + queued and completed steps. +- The VLM output, showing what the vision models report. + +The **Status** tab shows live system utilization and the health of Nav2, MoveIt2, +and the agents, which is useful when something looks stuck. + +## Stopping and manual control + +- **STOP!** on the **Control** tab triggers an emergency stop. +- **Manual Control** on the **Control** tab drives the base directly with the + on-screen teleop buttons. diff --git a/docs/quickstart.md b/docs/quickstart.md index 4f92772..c410338 100644 --- a/docs/quickstart.md +++ b/docs/quickstart.md @@ -25,7 +25,7 @@ cd agentic-mobile-manipulator docker compose -f docker/compose.yaml build ``` -This builds three cacheable layers — `…-ros2` (RoboStack ROS 2 + workspace) → `…-o3de` (O3DE SDK + simulation) → `…demo` (Python agents + llama.cpp + FastFlowLM). The O3DE layer is large, so the first build takes a while; later rebuilds reuse the cached bases. +This builds three cacheable layers — `…-ros2` (RoboStack ROS 2 + workspace) → `…-o3de` (O3DE SDK + simulation) → `…demo` (Python agents + llama.cpp + FastFlowLM). The O3DE layer is large; later rebuilds reuse the cached bases. **Or pull the prebuilt images:** @@ -33,7 +33,7 @@ This builds three cacheable layers — `…-ros2` (RoboStack ROS 2 + workspace) docker compose -f docker/compose.yaml pull ``` -If you pull, remember to pass `--no-build` when starting the demo (see step 4). +If you pull, pass `--no-build` when starting the demo (see step 4). ## 3. Download the model weights @@ -45,9 +45,6 @@ docker compose -f docker/compose.yaml run --rm --entrypoint "" demo pixi run dow This writes the llama.cpp GGUFs to `models/` and the NPU model to `models/flm/` (via `flm pull`). It only fetches what's missing, so it's safe to re-run. -> [!TIP] -> If you have pixi installed natively you can instead run `FLM_MODEL_PATH="$PWD/models/flm" pixi run download-models`. - ## 4. Run the demo Allow local connections to your X server, then start the `demo` service: @@ -58,16 +55,19 @@ docker compose -f docker/compose.yaml up demo # if you built (step 2) docker compose -f docker/compose.yaml up --no-build demo # if you pulled (step 2) ``` -> [!IMPORTANT] > `docker compose up` rebuilds any service that has a `build:` section — even when the image is already present locally. So after `pull`, a bare `up demo` ignores the pulled image and rebuilds `ros2 → o3de → demo`. Pass `--no-build` to run the pulled image as-is. +> [!IMPORTANT] +> The `docker compose up` command rebuilds any service that has a `build:` section, even when the image is already present locally. So after `pull`, a bare `up demo` ignores the pulled image and rebuilds `ros2 → o3de → demo`. Pass `--no-build` to run the pulled image as-is. ## What to expect ![Demo Windows](demo_windows.jpg) -1. **Simulation Window**: the O3DE warehouse environment. Use _Control → Simulation Scenarios_ to spawn objects, and _Control → On demand predefined tasks_ to run tasks — or publish your own to the `/user_tasks` topic. -2. **HMI**: a window/terminal showing the Human-Machine Interface. +1. **Simulation Window**: the O3DE warehouse environment. Use _Control → Simulation Scenarios_ to spawn objects, and _Control → On Demand predefined tasks_ to run tasks — or publish your own to the `/user_tasks` topic. +2. **HMI**: a window showing the Human-Machine Interface. 3. **Agents**: the autonomous agents run in the background, driving the robot. +See how to operate the demo [Operating](operating.md) + ## Inspecting a component Each component runs in its own tmux session inside the container. Attach to one (e.g. the simulation) from the host: diff --git a/docs/repo_overview.md b/docs/repo_overview.md index 637f96d..6d2b089 100644 --- a/docs/repo_overview.md +++ b/docs/repo_overview.md @@ -47,7 +47,7 @@ The system is built on a multi-agent architecture orchestrated by a "MegaMind" a This file is the control center for your model backend. You can define: -- **LLM/VLM Endpoints**: Switch between local models or cloud providers (e.g., OpenAI). +- **LLM/VLM Endpoints**: Define the model, backend, and port each agent uses. - **Model Parameters**: Adjust reasoning capabilities or temperature for specific agents. - **RAG Settings**: Configure the embedding models used by the Safety Agent. diff --git a/docs/running.md b/docs/running.md index 91074fa..9f42d63 100644 --- a/docs/running.md +++ b/docs/running.md @@ -1,11 +1,48 @@ # Running the Demo +## What to expect + +![Demo Windows](demo_windows.jpg) + +1. **Simulation Window**: the O3DE warehouse environment. Use _Control → Simulation Scenarios_ to spawn objects, and _Control → On Demand predefined tasks_ to run tasks — or publish your own to the `/user_tasks` topic. +2. **HMI**: a window showing the Human-Machine Interface. +3. **Agents**: the autonomous agents run in the background, driving the robot. + +See how to operate the demo [Operating](operating.md) + ## Run all at once ```shell -pixi run -e single-pc-gpu demo +pixi run -e single-pc-gpu-and-npu demo +``` + +> [!TIP] +> If you have a system-installed ROS 2, pass the `--clean-env` flag to `pixi run`, or use Docker for clean isolation. Otherwise the demo may fail to start due to an API/ABI mismatch. + +## tmux sessions + +Each component runs in its own detached tmux session named +`agentic-mobile-manipulator-` (`-sim`, `-stack`, `-llm-servers`, +`-agents`, `-hmi`). `pixi run demo` starts all of them in the background and prints +the attach commands. Running a single task such as `pixi run sim` attaches you to +its session directly. + +Attach to a session from another terminal (swap the suffix for any component): + +```shell +tmux attach -t agentic-mobile-manipulator-sim +``` + +Inside tmux, `Ctrl-b s` lists and switches sessions and `Ctrl-b d` detaches. Stop +every session with: + +```shell +pixi run kill ``` +To run a component in the foreground instead (no tmux), use its `-fg` variant: +`pixi run sim-fg`, `pixi run stack-fg`, or `pixi run hmi-fg`. + ## Run separately ### O3DE @@ -34,27 +71,26 @@ SSOT and launches each server on its backend — `gpu`/`cpu` via llama.cpp, `npu via FastFlowLM — in a tmux grid: ```shell -pixi run -e single-pc-gpu inference # launch all local endpoints (tmux grid) -pixi run -e single-pc-gpu smoke-test # health-check them +pixi run -e single-pc-gpu-and-npu inference # launch all local endpoints (tmux grid) +pixi run -e single-pc-gpu-and-npu smoke-test # health-check them ``` To start a single endpoint (e.g. for debugging), launch it by its endpoint name: ```shell -pixi run -e single-pc-gpu serve-llm # endpoints.main_llm → port 8080 -pixi run -e single-pc-gpu serve-vlm-safety # endpoints.vlm_safety → port 8081 (NPU) -pixi run -e single-pc-gpu serve-vlm-inspection # endpoints.vlm_inspection → port 8084 (GPU) -pixi run -e single-pc-gpu serve-embedding # endpoints.embeddings → port 8082 -pixi run -e single-pc-gpu serve-reranker # endpoints.reranker → port 8083 +pixi run -e single-pc-gpu-and-npu serve-llm # endpoints.main_llm → port 8080 +pixi run -e single-pc-gpu-and-npu serve-vlm-safety # endpoints.vlm_safety → port 8081 (NPU) +pixi run -e single-pc-gpu-and-npu serve-vlm-inspection # endpoints.vlm_inspection → port 8084 (GPU) +pixi run -e single-pc-gpu-and-npu serve-embedding # endpoints.embeddings → port 8082 +pixi run -e single-pc-gpu-and-npu serve-reranker # endpoints.reranker → port 8083 ``` To change a weight path, backend, or port, edit the endpoint in `config.toml` -(e.g. set `model_path`, or flip the VLM `backend` between `gpu` and `npu`) — there -are no per-server env vars anymore. Preview the resolved launch commands without -starting anything: +(e.g. set `model_path`, or flip the VLM `backend` between `gpu` and `npu`). +Preview the resolved launch commands without starting anything: ```shell -pixi run -e single-pc-gpu inference --print +pixi run -e single-pc-gpu-and-npu inference --print ``` ### Agents diff --git a/docs/safety_agent_with_rag.md b/docs/safety_agent_with_rag.md index 3c8efda..59b58cf 100644 --- a/docs/safety_agent_with_rag.md +++ b/docs/safety_agent_with_rag.md @@ -70,15 +70,9 @@ uv run rai_app/warehouse_regulations_agent/process_regulations.py --source regul - `--overwrite-summaries`: Regenerate existing summaries - `--verbose, -v`: Verbose logging -The default ranges focus on warehouse safety-relevant regulations: - -- **1-40**: General safety standards, walking surfaces, exits -- **66-68**: Personal protective equipment basics -- **132-140**: Personal protective equipment details -- **155-165**: Respiratory protection, hearing protection -- **176**: Materials handling and storage -- **212**: General machinery safety -- **335**: Electrical safety +The default ranges (`1-40,66-68,132-140,155-165`) focus on warehouse +safety-relevant regulations: general safety standards, walking surfaces, exits, +and personal protective equipment. ### Step 3: Build Vector Database @@ -97,7 +91,8 @@ uv run rai_app/warehouse_regulations_agent/build_vector_db.py --source processed - `--chunk-overlap`: Chunk overlap for text splitting (default: 256) - `--test-query`: Optional test query to run after building the database -> [!NOTE] > `Recurisive` was chosen as the default split strategy to limit the size of a single document (some regulations are thousands of tokens in length), to prevent the injection of irrelevant excerpts into the context of the model, and to simplify the process of determining relevancy of passages. +> [!NOTE] +> The `Recursive` strategy was chosen as the default split strategy to limit the size of a single document (some regulations are thousands of tokens in length), to prevent the injection of irrelevant excerpts into the context of the model, and to simplify the process of determining relevancy of passages. ### Step 4: (Optional) Test the performance of the Warehouse Safety Agent diff --git a/docs/setup.md b/docs/setup.md index 32933a3..12d095f 100644 --- a/docs/setup.md +++ b/docs/setup.md @@ -2,7 +2,7 @@ > [!NOTE] > This setup guide describes the configuration used for the original demo presented at ROSCon 2025. -> The demo was run on an AMD Ryzen™ AI mini PC with 128GB of total RAM, 96GB of which was allocated to the GPU. +> The demo was run on an AMD Ryzen™ AI Max+ 395 with 128GB of total RAM, 96GB of which was allocated to the GPU. This repository is compatible with the following system: @@ -16,17 +16,17 @@ This repository is compatible with the following system: You can run the demo on either a single computer or across three separate machines. Choose the guide that matches your setup. -### Single Machine Setup +### Single Machine Setup (Recommended) Run HMI, agents and simulation on one computer > [!IMPORTANT] -> Please note that this setup is intended for systems with approximately 48GB of available VRAM. +> This setup targets systems with approximately 48GB of available VRAM. > If your system does not meet this requirement, you can configure the agents to use cloud-based models instead via `cloud_config.toml`. [Single-machine setup](./setup_single_machine.md) -### Three Machines +### Three Machines (Advanced) Setup from ROSCon2025, resembling a real-world scenario: diff --git a/docs/setup_hil_sim_hmi.md b/docs/setup_hil_sim_hmi.md index 667eae4..551dafb 100644 --- a/docs/setup_hil_sim_hmi.md +++ b/docs/setup_hil_sim_hmi.md @@ -5,7 +5,7 @@ ## Network Configuration Ensure that all three machines (HIL, Simulation, and HMI) are on the same network and can communicate with each other. You may need to configure firewall settings to allow necessary ports for ROS 2 communication. -We propose the following IP configuration: +The following IP configuration is used: | Machine | IP Address | Hostname | |------------|----------------|------------| | Simulation | 192.168.1.1 | sim | diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index 230d4ca..ca5a004 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -3,7 +3,7 @@ This repository is compatible with the following system: - System: Ubuntu 24.04 -- ROS 2: Jazzy with development tools installed [link](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional) +- ROS 2: Jazzy, provided by pixi via RoboStack (no separate ROS 2 install needed) - Python: 3.12 ## Building the Project @@ -13,7 +13,6 @@ This repository is compatible with the following system: #### Clone the Repository ```shell -cd /home/${USER} git clone https://github.com/RobotecAI/agentic-mobile-manipulator.git cd agentic-mobile-manipulator ``` @@ -47,30 +46,35 @@ Restart your shell or run `source ~/.bashrc` after installation. ### Build Everything ```shell -pixi run -e single-pc-gpu setup +pixi run -e single-pc-gpu-and-npu setup ``` This single command runs the full build pipeline in the correct order: -| Step | pixi task | What it does | -| ---- | ---------------- | --------------------------------------------------- | -| 1 | `clone` | `vcs import` + `git lfs pull` for gems and ROS 2 ws | -| 2 | `install-o3de` | Install the O3DE engine | -| 3 | `fetch-gems` | Clone o3de-extras locally, validate all gem paths | -| 4 | `build-ros2` | `colcon build` (deps provided by conda/RoboStack) | -| 5 | `build-sim` | CMake configure + Ninja build (GameLauncher) | -| 6 | `sync` | `uv sync` installs the Python dependencies | -| 7 | `build-llama` | Build llama.cpp with the Vulkan backend | -| 8 | `find-runnables` | List the built runnables (GameLauncher, llama.cpp) | +| Step | pixi task | What it does | +| ---- | ------------------ | -------------------------------------------------------------- | +| 1 | `clone` | `vcs import` + `git lfs pull` for gems and ROS 2 ws | +| 2 | `install-o3de` | Install the O3DE engine | +| 3 | `fetch-gems` | Clone o3de-extras locally, validate all gem paths | +| 4 | `build-ros2` | `colcon build` (deps provided by RoboStack) | +| 5 | `build-sim` | CMake configure + Ninja build (GameLauncher) | +| 6 | `sync` | `uv sync` installs the Python dependencies | +| 7 | `build-llama` | Build llama.cpp with the Vulkan backend (GPU) | +| 8 | `build-fastflowlm` | Build FastFlowLM for the AMD Ryzen AI NPU backend | +| 9 | `find-runnables` | List the built runnables (GameLauncher, llama.cpp, FastFlowLM) | + +> Prefer a GPU-only machine (no AMD Ryzen AI NPU)? Use `pixi run -e single-pc-gpu setup` +> instead — it skips step 8. You must also set `[endpoints.vlm_safety] backend = "gpu"` +> in `config.toml`; otherwise inference routes that endpoint to the NPU. #### Local Inference -Setup already checks out the inference submodules and builds llama.cpp (Vulkan) as -part of the pipeline above. To serve models locally you still need to download the -weights: +Setup already checks out the inference submodules and builds both backends — +llama.cpp (Vulkan, GPU) and FastFlowLM (NPU) — as part of the pipeline above. To +serve models locally you still need to download the weights: ```shell -pixi run -e single-pc-gpu download-models # downloads every weight referenced in config.toml; or grab them manually below +pixi run -e single-pc-gpu-and-npu download-models # downloads every weight referenced in config.toml (gguf via wget, NPU tags via `flm pull`); or grab them manually below ``` `config.toml` is the single source of truth for inference: each `[endpoints.*]` @@ -78,31 +82,35 @@ table fixes a model's backend, port, and weights, and the agents reference those endpoints by name. `pixi run inference` launches them all. See [Running the demo](running.md#local-inference). -##### NPU backend (AMD Ryzen AI, optional) +##### NPU backend (AMD Ryzen™ AI) -To run an endpoint on the NPU instead of the GPU, set its `backend = "npu"` in -`config.toml` and build FastFlowLM. The [RobotecAI/FastFlowLM](https://github.com/RobotecAI/FastFlowLM) +The `single-pc-gpu-and-npu` setup above builds FastFlowLM (step 8), so NPU +endpoints are served without extra configuration. The [RobotecAI/FastFlowLM](https://github.com/RobotecAI/FastFlowLM) fork (pinned as a submodule) includes GBNF grammar-constrained sampling, so the -NPU path can produce the structured/JSON output the agents rely on: +NPU path can produce the structured/JSON output the agents rely on. Which +endpoints run on the NPU is driven by `backend = "npu"` entries in `config.toml` +— the NPU VLM endpoint serves a FastFlowLM vision tag (default `gemma3:4b`); see +`[endpoints.vlm_safety]`. -```shell -pixi run -e single-pc-gpu build-fastflowlm # builds FastFlowLM; needs the amdxdna driver + XRT dev stack to serve -``` - -The NPU VLM endpoint serves a FastFlowLM vision tag (default `gemma3:4b`); see -`[endpoints.vlm_safety]` in `config.toml`. +Building FastFlowLM only needs the XRT/amdxdna dev headers, but **serving** on +the NPU requires an AMD Ryzen AI processor with the `amdxdna` driver loaded. On an +AMD machine without the NPU, use the GPU-only `single-pc-gpu` setup and switch +`[endpoints.vlm_safety]` to `backend = "gpu"` in `config.toml`, so every endpoint +runs on llama.cpp. --- ### Download Models -For every model configured in `config.toml`, download the GGUF file and place it in `$DEMO_ROOT/models/`: +For every GGUF-backed model in `config.toml`, download the file and place it in `$DEMO_ROOT/models/`: - [GPT-OSS-20B](https://huggingface.co/unsloth/gpt-oss-20b-GGUF/resolve/main/gpt-oss-20b-Q4_K_M.gguf?download=true) - [LFM2-VL-3B-GGUF](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/LFM2-VL-3B-Q8_0.gguf?download=true) + [mmproj](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/mmproj-LFM2-VL-3B-Q8_0.gguf?download=true) - [Qwen3-Embedding-0.6B](https://huggingface.co/Qwen/Qwen3-Embedding-0.6B-GGUF/resolve/main/Qwen3-Embedding-0.6B-Q8_0.gguf?download=true) - [Qwen3-Reranker-0.6B](https://huggingface.co/ggml-org/Qwen3-Reranker-0.6B-Q8_0-GGUF/resolve/main/qwen3-reranker-0.6b-q8_0.gguf?download=true) +The NPU `vlm_safety` model (`gemma3:4b`) has no GGUF; `flm pull` downloads it for you. + --- ## Developer Setup diff --git a/docs/sim_overview.md b/docs/sim_overview.md index aa6d8a1..55159e4 100644 --- a/docs/sim_overview.md +++ b/docs/sim_overview.md @@ -7,7 +7,7 @@ Learn more at the [O3DE website](https://www.o3de.org/). The simulation environment utilizes several O3DE Gems to enhance its capabilities: -- **ROS2**: Integrates ROS 2 with O3DE, allowing for seamless communication between the simulation and ROS 2 nodes. +- **ROS2**: Integrates ROS 2 with O3DE, allowing communication between the simulation and ROS 2 nodes. More on this gem can be found [here](https://www.docs.o3de.org/docs/user-guide/gems/reference/robotics/ros2/) Opensource gems that are maintained by the O3DE community: diff --git a/docs/technical_overview.md b/docs/technical_overview.md index ce00a37..e4f4903 100644 --- a/docs/technical_overview.md +++ b/docs/technical_overview.md @@ -1,6 +1,6 @@ # Technical Overview -This demo is built on top of RobotecAI's RAI framework, combining the open-source agent stack with our warehouse simulation assets to orchestrate LangChain-driven task planning, ROS 2 control, and perception workflows.[^rai-gh][^rai-docs] +This demo is built on top of RobotecAI's RAI framework, combining the open-source agent stack with the warehouse simulation assets to orchestrate LangChain-driven task planning, ROS 2 control, and perception workflows.[^rai-gh][^rai-docs] ## Platform Stack diff --git a/ros2_ws/src/mobile_manipulator_hmi/hmiWindow.ui b/ros2_ws/src/mobile_manipulator_hmi/hmiWindow.ui index 75e6a7b..1ad37b6 100644 --- a/ros2_ws/src/mobile_manipulator_hmi/hmiWindow.ui +++ b/ros2_ws/src/mobile_manipulator_hmi/hmiWindow.ui @@ -276,7 +276,7 @@ QGroupBox::title { - On Demand prefined tasks + On Demand predefined tasks Qt::AlignmentFlag::AlignCenter From 73e959bb163035588cf82c8d65a4816e13f1b9c3 Mon Sep 17 00:00:00 2001 From: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> Date: Sat, 4 Jul 2026 17:22:09 +0200 Subject: [PATCH 55/69] feat: agentic trace (#45) * feat: agentic trace * feat: pixi demo-trace task * refactor: demo trace * chore: increase inference server setup timeout * fix: demo trace log handling * docs: agentic trace --- .gitignore | 1 + docs/setup_single_machine.md | 59 ++++++++ pixi.toml | 4 + rai_app/agents/agent_orchestrator.py | 10 +- rai_app/agents/callbacks.py | 201 ++++++++++++++++++++++++++- scripts/demo.sh | 4 +- scripts/demo_trace.sh | 145 +++++++++++++++++++ 7 files changed, 419 insertions(+), 5 deletions(-) create mode 100755 scripts/demo_trace.sh diff --git a/.gitignore b/.gitignore index 294f5a2..615200d 100644 --- a/.gitignore +++ b/.gitignore @@ -20,6 +20,7 @@ imgui.ini anomaly_images/ package_condition_images/ models/ +runs/ *.bak0 sim/user/ backtrace.log diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index ca5a004..1e84ae0 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -113,6 +113,65 @@ The NPU `vlm_safety` model (`gemma3:4b`) has no GGUF; `flm pull` downloads it fo --- +## Verify your installation + +Once the build is done and the weights are downloaded, run one command to exercise +the whole stack end to end: + +```shell +pixi run -e single-pc-gpu-and-npu demo-trace +``` + +This brings up the full demo (sim, stack, inference, agents, HMI), populates the +scene, sends one task to the orchestrator (ship one CPU), waits for it to finish, +saves the agent trace, and shuts everything down. A successful run ends with: + +``` + ● Task complete (marker). + +=== Trace saved === + runs/ + log.txt human-readable conversation (orchestrator + subagents) + trace.jsonl one JSON record per event + agents_pane.log raw agents tmux output + manifest.txt task + timestamps +``` + +Open `runs//log.txt` to read the orchestrator and subagent conversation +for the task. + +Environment knobs: + +- `TASK`: the task string sent to the orchestrator (default: ship one CPU) +- `MAX_WAIT`: hard cap in seconds on task execution (default: 900) +- `IDLE`: treat this many seconds of trace inactivity as done (default: 180) +- `SKIP_SCENE=1`: skip scene population +- `TRACE_DIR`: output directory (default: `runs/`) + +On a GPU-only box, use `-e single-pc-gpu` and set +`[endpoints.vlm_safety] backend = "gpu"` in `config.toml` first (see above). + +The conversation trace is written on any agent run (default-on, to `runs//`); +`demo-trace` just automates a single task plus teardown. Set `AMM_TRACE=0` to +disable it. + +### Richer traces with Langfuse (optional) + +The orchestrator is already instrumented with a Langfuse callback. Point it at a +Langfuse instance (self-hosted or cloud) to get a full browsable trace, including +nested subagent spans and token usage, alongside the local `runs/` files: + +```shell +export LANGFUSE_PUBLIC_KEY=pk-... +export LANGFUSE_SECRET_KEY=sk-... +export LANGFUSE_HOST=http://localhost:3000 # your Langfuse server +``` + +Without these keys the callback stays inactive and only the local `runs/` trace is +written. + +--- + ## Developer Setup ### Conventional Commits diff --git a/pixi.toml b/pixi.toml index e667135..87f6f09 100644 --- a/pixi.toml +++ b/pixi.toml @@ -299,6 +299,10 @@ description = "Clone all repositories (gems and ROS 2 workspace)" cmd = "bash scripts/demo.sh" description = "Start full demo: sim → stack → inference → agents+orchestrator → hmi (one tmux session each)" +[feature.profile-single-pc.tasks.demo-trace] +cmd = "bash scripts/demo_trace.sh" +description = "Unattended trace run: start demo, send one task, dump the agent conversation to runs//, then kill everything" + # ─── Single-PC setup variants: GPU (default) vs GPU+NPU ────────────────────────── # Share clone/demo above; differ only in what `setup` builds and what # find-runnables waits on. -gpu builds llama.cpp (Vulkan); -npu also builds diff --git a/rai_app/agents/agent_orchestrator.py b/rai_app/agents/agent_orchestrator.py index dc7f4df..d7f0067 100644 --- a/rai_app/agents/agent_orchestrator.py +++ b/rai_app/agents/agent_orchestrator.py @@ -44,6 +44,7 @@ from rai_app.agents.callbacks import ( AgentActionsCallback, AgentProgressCallback, + ConversationFileCallback, OrchestratorTasksNotifier, ) from rai_app.agents.context_providers import WarehouseContext @@ -596,6 +597,13 @@ def main(): langfuse_handler = CallbackHandler() ros2_callback = AgentProgressCallback(connector) + callbacks: List[BaseCallbackHandler] = [langfuse_handler, ros2_callback] + # Full conversation trace (orchestrator + subagents) to runs//. + # Default-on; set AMM_TRACE=0 to disable or AMM_TRACE_DIR to relocate. + trace_callback = ConversationFileCallback.from_env() + if trace_callback is not None: + callbacks.append(trace_callback) + orchestrator = AgentOrchestrator( connector=connector, agent=agent, @@ -604,7 +612,7 @@ def main(): action_topic="/agent/current_action", initial_state_creator=get_initial_megamind_state, recursion_limit=100, - langchain_callbacks=[langfuse_handler, ros2_callback], + langchain_callbacks=callbacks, ) asyncio.run(orchestrator.orchestrator_loop()) diff --git a/rai_app/agents/callbacks.py b/rai_app/agents/callbacks.py index e75ddde..359a948 100644 --- a/rai_app/agents/callbacks.py +++ b/rai_app/agents/callbacks.py @@ -13,12 +13,16 @@ # See the License for the specific language governing permissions and # limitations under the License. +import functools import json import logging +import os import time -from typing import Any, Dict, List +from datetime import datetime +from pathlib import Path +from typing import Any, Dict, List, Optional -from langchain_core.callbacks import AsyncCallbackHandler +from langchain_core.callbacks import AsyncCallbackHandler, BaseCallbackHandler from rai.communication.ros2 import ROS2Connector, ROS2HRIMessage, ROS2Message @@ -220,3 +224,196 @@ def send_heartbeat(self): msg_type="std_msgs/msg/Header", target=self.heartbeat_topic, ) + + +def _stringify_content(content: Any) -> str: + """Flatten a message's content to text. Multimodal blocks (VLM image parts) + are summarized as ``[image]`` so the log stays readable and small.""" + if content is None: + return "" + if isinstance(content, str): + return content + if isinstance(content, list): + parts = [] + for block in content: + if isinstance(block, dict): + btype = block.get("type") + if btype == "text": + parts.append(block.get("text", "")) + elif btype in ("image_url", "image"): + parts.append("[image]") + else: + parts.append(f"[{btype or 'block'}]") + else: + parts.append(str(block)) + return "\n".join(p for p in parts if p) + return str(content) + + +def _guard(fn): + """Never let a tracing error break the agent run.""" + + @functools.wraps(fn) + def wrapper(self, *args, **kwargs): + try: + return fn(self, *args, **kwargs) + except Exception as exc: # noqa: BLE001 - tracing must not crash the agent + self.logger.warning(f"trace callback {fn.__name__} failed: {exc}") + + return wrapper + + +class ConversationFileCallback(BaseCallbackHandler): + """Dump the full LLM conversation (orchestrator + subagents) to a run directory. + + Register it in the orchestrator's ``langchain_callbacks`` list. That list is + passed to ``astream(config={"callbacks": ...}, subgraphs=True)``, and LangGraph + propagates config callbacks into every subgraph, so both the megamind + orchestrator and its executor subagents are captured in one place. + + Writes two files per run: + - ``log.txt`` human-readable transcript (messages, tool calls, results) + - ``trace.jsonl`` one JSON record per event (machine-readable) + + Enabled by default to ``runs//``. Override the directory with + ``AMM_TRACE_DIR``; disable entirely with ``AMM_TRACE=0``. + """ + + # Run inline on the event loop so concurrent subgraph events don't interleave + # partial lines in the files. + run_inline = True + + def __init__(self, out_dir: str | Path): + self.out_dir = Path(out_dir) + self.out_dir.mkdir(parents=True, exist_ok=True) + self.text_path = self.out_dir / "log.txt" + self.jsonl_path = self.out_dir / "trace.jsonl" + self.logger = logging.getLogger(__name__) + self.logger.info(f"Conversation trace -> {self.out_dir}") + + @classmethod + def from_env(cls) -> Optional["ConversationFileCallback"]: + """Build from env, or return None if disabled (``AMM_TRACE=0``).""" + if os.getenv("AMM_TRACE", "1") == "0": + return None + out_dir = os.getenv("AMM_TRACE_DIR") or os.path.join( + "runs", datetime.now().strftime("%Y-%m-%d_%H-%M-%S") + ) + return cls(out_dir) + + # ── writers ────────────────────────────────────────────────────────────── + @staticmethod + def _ts() -> str: + return datetime.now().strftime("%H:%M:%S") + + def _write_text(self, block: str) -> None: + with open(self.text_path, "a", encoding="utf-8") as f: + f.write(block.rstrip() + "\n") + + def _write_json(self, record: Dict[str, Any]) -> None: + record = {"ts": datetime.now().isoformat(timespec="seconds"), **record} + with open(self.jsonl_path, "a", encoding="utf-8") as f: + f.write(json.dumps(record, default=str) + "\n") + + @staticmethod + def _node(metadata: Any, tags: Any) -> str: + """Which graph node / subagent produced this event.""" + if isinstance(metadata, dict): + node = metadata.get("langgraph_node") + if node: + return str(node) + for tag in tags or []: + if isinstance(tag, str) and ":" in tag: + return tag + return "?" + + # ── callbacks ──────────────────────────────────────────────────────────── + @_guard + def on_chat_model_start( + self, serialized, messages, *, tags=None, metadata=None, **kwargs + ): + node = self._node(metadata, tags) + rendered = [] + for msg_list in messages: + for m in msg_list: + rendered.append( + { + "role": getattr(m, "type", m.__class__.__name__), + "content": _stringify_content(getattr(m, "content", "")), + } + ) + lines = [f"[{self._ts()}] [{node}] >> LLM input ({len(rendered)} msgs)"] + for r in rendered: + lines.append(f" {r['role']}: {r['content']}") + self._write_text("\n".join(lines)) + self._write_json({"event": "llm_start", "node": node, "messages": rendered}) + + @_guard + def on_llm_end(self, response, *, tags=None, metadata=None, **kwargs): + node = self._node(metadata, tags) + try: + gen = response.generations[0][0] + except (AttributeError, IndexError): + return + message = getattr(gen, "message", None) + content = _stringify_content( + getattr(message, "content", getattr(gen, "text", "")) + ) + tool_calls = getattr(message, "tool_calls", None) or [] + lines = [f"[{self._ts()}] [{node}] << LLM output"] + if content: + lines.append(f" {content}") + for tc in tool_calls: + args = json.dumps(tc.get("args", {}), default=str) + lines.append(f" tool_call: {tc.get('name')}({args})") + self._write_text("\n".join(lines)) + self._write_json( + { + "event": "llm_end", + "node": node, + "content": content, + "tool_calls": tool_calls, + } + ) + + @_guard + def on_tool_start( + self, serialized, input_str, *, tags=None, metadata=None, **kwargs + ): + name = (serialized or {}).get("name", "tool") + node = self._node(metadata, tags) + self._write_text(f"[{self._ts()}] [{node}] -> TOOL {name}({input_str})") + self._write_json( + {"event": "tool_start", "node": node, "tool": name, "input": input_str} + ) + + @_guard + def on_tool_end(self, output, *, tags=None, metadata=None, **kwargs): + node = self._node(metadata, tags) + text = _stringify_content(getattr(output, "content", output)) + self._write_text(f"[{self._ts()}] [{node}] <- TOOL result: {text}") + self._write_json({"event": "tool_end", "node": node, "output": text}) + + @_guard + def on_chain_start(self, serialized, inputs, *, parent_run_id=None, **kwargs): + # Only the root run (no parent) marks a task boundary; inner nodes/subgraphs + # start constantly and would be noise. + if parent_run_id is None: + self._write_text(f"[{self._ts()}] ===== TASK START =====") + self._write_json({"event": "task_start"}) + + @_guard + def on_chain_end(self, outputs, *, parent_run_id=None, **kwargs): + if parent_run_id is None: + self._write_text(f"[{self._ts()}] ===== TASK COMPLETE =====") + self._write_json({"event": "task_end"}) + + @_guard + def on_llm_error(self, error, **kwargs): + self._write_text(f"[{self._ts()}] !! LLM ERROR: {error}") + self._write_json({"event": "llm_error", "error": str(error)}) + + @_guard + def on_tool_error(self, error, **kwargs): + self._write_text(f"[{self._ts()}] !! TOOL ERROR: {error}") + self._write_json({"event": "tool_error", "error": str(error)}) diff --git a/scripts/demo.sh b/scripts/demo.sh index 02de0f6..8efe5f7 100755 --- a/scripts/demo.sh +++ b/scripts/demo.sh @@ -42,8 +42,8 @@ wait_topic() { } check_inference() { - log "Waiting 10s for inference servers to initialize..." - sleep 10 + log "Waiting 15s for inference servers to initialize..." + sleep 15 if bash "$DEMO_ROOT/scripts/smoke_test.sh"; then return 0 else diff --git a/scripts/demo_trace.sh b/scripts/demo_trace.sh new file mode 100755 index 0000000..e154ef9 --- /dev/null +++ b/scripts/demo_trace.sh @@ -0,0 +1,145 @@ +#!/usr/bin/env bash +# Unattended trace run: +# 1. bring up the full demo (sim + stack + inference + agents + HMI) +# 2. populate the scene +# 3. send ONE task to the orchestrator +# 4. wait for it to finish +# 5. leave the agentic conversation trace in a run dir, then kill everything +# +# The conversation itself is written by ConversationFileCallback inside the +# orchestrator process (rai_app/agents/callbacks.py), so this script only drives +# the lifecycle. Run it in the ROS env, e.g.: +# pixi run -e single-pc-gpu-and-npu demo-trace +# +# Env knobs: +# TASK task string sent to /user_tasks (default: prepare one CPU shipment) +# TRACE_DIR where the trace lands (default: runs/) +# MAX_WAIT hard cap in seconds on task execution (default: 900) +# IDLE seconds of trace inactivity treated as "done" fallback (default: 180) +# SKIP_SCENE set to 1 to skip scene population +set -euo pipefail + +DEMO_ROOT="${DEMO_ROOT:-$(pwd)}" +TASK="${TASK:-Prepare shipping of the following items: one CPU, }" +TS="$(date +%Y-%m-%d_%H-%M-%S)" +TRACE_DIR="${TRACE_DIR:-$DEMO_ROOT/runs/$TS}" +MAX_WAIT="${MAX_WAIT:-900}" +IDLE="${IDLE:-180}" +AGENTS_SESSION="agentic-mobile-manipulator-agents" + +GREEN='\033[0;32m'; YELLOW='\033[1;33m'; RED='\033[0;31m'; BOLD='\033[1m'; RESET='\033[0m' +log() { echo -e " ${GREEN}●${RESET} $*"; } +warn() { echo -e " ${YELLOW}!${RESET} $*"; } +err() { echo -e " ${RED}✗${RESET} $*" >&2; } +# Byte size of a file, or 0 if it doesn't exist yet (log.txt is created lazily on +# the orchestrator's first LLM event, i.e. only after the task starts). +filesize() { [ -f "$1" ] && wc -c <"$1" || echo 0; } + +# The orchestrator (a tmux pane that re-enters pixi) inherits its environment from +# the tmux server, which the demo's first `tmux new-session` starts with THIS +# script's env — so exporting the trace location here is enough. (Same mechanism +# demo.sh already uses for AMM_NO_ATTACH.) No tmux-server surgery needed. +export AMM_TRACE=1 +export AMM_TRACE_DIR="$TRACE_DIR" + +cleanup() { + warn "Tearing down..." + bash "$DEMO_ROOT/scripts/kill_sessions.sh" || true + # O3DE GameLauncher ignores SIGINT and can outlive its tmux session. + pkill -9 -f 'MobileManipulatorDemo.GameLauncher' 2>/dev/null || true +} +trap 'echo; warn "Interrupted"; cleanup; exit 1' INT TERM + +# ── 1. Full demo ──────────────────────────────────────────────────────────── +echo -e "${BOLD}Starting demo (trace -> $TRACE_DIR)${RESET}" +bash "$DEMO_ROOT/scripts/demo.sh" + +# The callback creates the trace dir on orchestrator startup. Prefer our +# predicted dir; if env somehow didn't propagate (e.g. a pre-existing tmux +# server), fall back to the newest runs/* dir. +resolve_trace_dir() { + if [ ! -d "$TRACE_DIR" ]; then + local dirs + shopt -s nullglob + dirs=("$DEMO_ROOT"/runs/*/) + shopt -u nullglob + if [ ${#dirs[@]} -gt 0 ]; then + # timestamp dir names sort chronologically; newest is last. + local newest + newest=$(printf '%s\n' "${dirs[@]}" | sort | tail -1) + TRACE_DIR="${newest%/}" + fi + fi + LOG="$TRACE_DIR/log.txt" +} + +# ── 2. Wait for the orchestrator to be ready to receive tasks ─────────────── +log "Waiting for orchestrator to subscribe to /user_tasks..." +ready=false +for _ in $(seq 1 60); do + if ros2 topic info /user_tasks 2>/dev/null | grep -qE "Subscription count: [1-9]"; then + ready=true; break + fi + sleep 2 +done +$ready || { err "Orchestrator never subscribed to /user_tasks"; cleanup; exit 1; } +log "Orchestrator ready." + +# ── 3. Populate the scene ─────────────────────────────────────────────────── +if [ "${SKIP_SCENE:-0}" != "1" ]; then + log "Populating scene (/rai/scene/standard)..." + ros2 service call /rai/scene/standard std_srvs/srv/Trigger "{}" >/dev/null + log "Scene populated." +fi + +# ── 4. Send the task ──────────────────────────────────────────────────────── +resolve_trace_dir +log "Sending task: $TASK" +before_size=$(filesize "$LOG") +ros2 topic pub --once /user_tasks std_msgs/msg/String "{data: '${TASK//\'/\'\\\'\'}'}" >/dev/null + +# ── 5. Wait for completion ────────────────────────────────────────────────── +# Prefer the precise marker the callback writes on the root chain end; fall back +# to trace inactivity, then to the hard MAX_WAIT cap. +log "Waiting for task to finish (max ${MAX_WAIT}s, idle ${IDLE}s)..." +started=false +waited=0 +while [ "$waited" -lt "$MAX_WAIT" ]; do + if grep -q "TASK COMPLETE" "$LOG" 2>/dev/null; then + log "Task complete (marker)."; break + fi + if tmux capture-pane -pJ -S - -t "$AGENTS_SESSION" 2>/dev/null | grep -q "Finished task:"; then + log "Task complete (orchestrator log)."; break + fi + cur_size=$(filesize "$LOG") + [ "$cur_size" -gt "$before_size" ] && started=true + if $started; then + last_mtime=$(stat -c %Y "$LOG" 2>/dev/null || echo 0) + now=$(date +%s) + if [ $((now - last_mtime)) -ge "$IDLE" ]; then + warn "No trace activity for ${IDLE}s — assuming done."; break + fi + fi + sleep 5; waited=$((waited + 5)) +done +[ "$waited" -ge "$MAX_WAIT" ] && warn "Hit MAX_WAIT (${MAX_WAIT}s) — dumping and stopping." + +# ── 6. Snapshot orchestrator pane, then tear down ─────────────────────────── +mkdir -p "$TRACE_DIR" +tmux capture-pane -pJ -S - -t "$AGENTS_SESSION" >"$TRACE_DIR/agents_pane.log" 2>/dev/null || true +{ + echo "task: $TASK" + echo "started: $TS" + echo "finished: $(date +%Y-%m-%d_%H-%M-%S)" +} >"$TRACE_DIR/manifest.txt" + +cleanup +trap - INT TERM + +echo "" +echo -e "${BOLD}${GREEN}=== Trace saved ===${RESET}" +echo -e " ${BOLD}$TRACE_DIR${RESET}" +echo " log.txt human-readable conversation (orchestrator + subagents)" +echo " trace.jsonl one JSON record per event" +echo " agents_pane.log raw agents tmux output" +echo " manifest.txt task + timestamps" From 449ca076f0f5c09d42c9271c60df6b8a99f32cc4 Mon Sep 17 00:00:00 2001 From: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> Date: Mon, 6 Jul 2026 11:07:41 +0200 Subject: [PATCH 56/69] feat: agentic trace (docker) (#46) --- docker/compose.yaml | 48 +++++++++++++++++++++++++++++++++++---------- docs/quickstart.md | 16 +++++++++++++++ 2 files changed, 54 insertions(+), 10 deletions(-) diff --git a/docker/compose.yaml b/docker/compose.yaml index d39b6e2..7d1da0c 100644 --- a/docker/compose.yaml +++ b/docker/compose.yaml @@ -25,6 +25,20 @@ # - GPU + NPU exposed via the devices below (amdxdna kernel driver loaded on host) # - model weights present in ../models (pixi run download-models), bind-mounted in +# Shared runtime for the demo image (image tag, GPU/NPU devices, memlock, host +# networking). Both `demo` (interactive) and `demo-trace` (one-shot) merge it in. +x-demo-runtime: &demo-runtime + image: robotecai/agentic-mobile-manipulator:latest + devices: + - /dev/kfd:/dev/kfd # AMD GPU compute (ROCm) + - /dev/dri:/dev/dri # AMD GPU render (Vulkan) + - /dev/accel/accel0:/dev/accel/accel0 # Ryzen AI NPU (amdxdna) + ulimits: + memlock: + soft: -1 + hard: -1 + network_mode: host + services: # ── Base: RoboStack ROS 2 + built workspace ──────────────────────────────── ros2: @@ -44,7 +58,7 @@ services: # ── The demo: + agents, local inference engines; runs the whole stack ─────── demo: - image: robotecai/agentic-mobile-manipulator:latest + <<: *demo-runtime build: context: .. dockerfile: docker/Dockerfile.demo @@ -64,17 +78,31 @@ services: # Keep NPU (FastFlowLM) weights inside the mounted models/ dir instead of # flm's default ~/.config/flm, so they persist via the bind mount. - FLM_MODEL_PATH=/root/MobileManipulatorDemo/models/flm - devices: - - /dev/kfd:/dev/kfd # AMD GPU compute (ROCm) - - /dev/dri:/dev/dri # AMD GPU render (Vulkan) - - /dev/accel/accel0:/dev/accel/accel0 # Ryzen AI NPU (amdxdna) - ulimits: - memlock: - soft: -1 - hard: -1 volumes: - /tmp/.X11-unix:/tmp/.X11-unix - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority - ../config.toml:/root/MobileManipulatorDemo/config.toml - ../models:/root/MobileManipulatorDemo/models - network_mode: host + + # ── One-shot trace run: start the stack, send one task, dump the agent ─────── + # conversation to ../runs/, then exit. Reuses the image built by `demo`. + # No AMM_KEEP_ALIVE, so demo.sh returns and demo_trace.sh drives the lifecycle. + # xhost +local:root + # docker compose -f docker/compose.yaml run --rm demo-trace + # Override the task with: -e TASK="Do Housekeeping of rack J01" + demo-trace: + <<: *demo-runtime + entrypoint: ["pixi", "run", "demo-trace"] + environment: + - DISPLAY=${DISPLAY} + - QT_X11_NO_MITSHM=1 + - OPENAI_API_KEY=${OPENAI_API_KEY:-} + - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-42} + - FLM_MODEL_PATH=/root/MobileManipulatorDemo/models/flm + volumes: + - /tmp/.X11-unix:/tmp/.X11-unix + - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority + - ../config.toml:/root/MobileManipulatorDemo/config.toml + - ../models:/root/MobileManipulatorDemo/models + # Trace output lands here on the host (root-owned; chown if needed). + - ../runs:/root/MobileManipulatorDemo/runs diff --git a/docs/quickstart.md b/docs/quickstart.md index c410338..64a6b19 100644 --- a/docs/quickstart.md +++ b/docs/quickstart.md @@ -68,6 +68,22 @@ docker compose -f docker/compose.yaml up --no-build demo # if you pulled (step See how to operate the demo [Operating](operating.md) +## Verify the install (one-shot trace run) + +Instead of the interactive `demo`, the `demo-trace` service runs the whole stack, +sends one task to the orchestrator, saves the agent conversation trace, and exits: + +```bash +xhost +local:root +docker compose -f docker/compose.yaml run --rm demo-trace +``` + +The trace is written to `runs//` on the host (bind-mounted from the +container; files are root-owned, `chown` if needed). Override the task with +`-e TASK="Do Housekeeping of rack J01"`. See +[Verify your installation](setup_single_machine.md#verify-your-installation) for +the full list of knobs and the Langfuse option. + ## Inspecting a component Each component runs in its own tmux session inside the container. Attach to one (e.g. the simulation) from the host: From abc211551b239c2677f5223725ae358ccd2e8f23 Mon Sep 17 00:00:00 2001 From: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> Date: Mon, 6 Jul 2026 12:17:17 +0200 Subject: [PATCH 57/69] fix: escaping chars in demo-trace (#55) --- scripts/demo_trace.sh | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/scripts/demo_trace.sh b/scripts/demo_trace.sh index e154ef9..bf831ce 100755 --- a/scripts/demo_trace.sh +++ b/scripts/demo_trace.sh @@ -96,7 +96,10 @@ fi resolve_trace_dir log "Sending task: $TASK" before_size=$(filesize "$LOG") -ros2 topic pub --once /user_tasks std_msgs/msg/String "{data: '${TASK//\'/\'\\\'\'}'}" >/dev/null +# ros2 parses the message arg with yaml.safe_load; JSON is valid YAML, so let +# json.dumps handle escaping (quotes, backslashes, newlines, unicode) for us. +ros2 topic pub --once /user_tasks std_msgs/msg/String \ + "$(python3 -c 'import json, sys; print(json.dumps({"data": sys.argv[1]}))' "$TASK")" >/dev/null # ── 5. Wait for completion ────────────────────────────────────────────────── # Prefer the precise marker the callback writes on the root chain end; fall back From 9f08b8985540167b5c52065283db49ce242b7b17 Mon Sep 17 00:00:00 2001 From: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> Date: Wed, 8 Jul 2026 15:49:29 +0200 Subject: [PATCH 58/69] docs: update (#56) --- cloud_config.toml | 40 +++++++++++++++++++++--------------- docs/operating.md | 9 ++++++++ docs/quickstart.md | 18 +++++++++++++++- docs/setup.md | 2 +- docs/setup_single_machine.md | 22 ++++++++++++++++++++ 5 files changed, 72 insertions(+), 19 deletions(-) diff --git a/cloud_config.toml b/cloud_config.toml index 560da77..0091612 100644 --- a/cloud_config.toml +++ b/cloud_config.toml @@ -3,8 +3,12 @@ # # Here the chat/vision endpoints are remote (backend = "openai") and therefore # NOT served locally — `pixi run inference` skips backend = "openai". Only the -# RAG embedding/reranker run in-cluster (separate llama.cpp containers), so they -# carry an explicit base_url pointing at those services. +# RAG embedding/reranker still run locally on llama.cpp, exactly as in +# config.toml. +# +# To use it: everything (agents, `pixi run inference`, download-models) reads +# config.toml, so swap this file in and provide the API key: +# cp cloud_config.toml config.toml && export OPENAI_API_KEY=sk-... # # Because cloud agents use several distinct remote models, endpoints are split # per model (chat_mini / vlm_mini / vlm_nano) and agents reference the right one. @@ -30,25 +34,27 @@ backend = "openai" model = "gpt-5-nano" base_url = "https://api.openai.com/v1" -# RAG models served by dedicated llama.cpp containers (see docker/compose.yaml). -# Start the EMBEDDING model with: -# llama-server -m Qwen3-Embedding-0.6b_Q8_0.gguf --embedding --pooling last \ -# -c 4096 -b 2048 -ub 2048 --port 8082 --host 0.0.0.0 -# Start the RERANKER model with: -# llama-server -m Qwen3-Reranker-0.6B_BF16.gguf --embedding --pooling rank \ -# -c 4096 -b 2048 -ub 2048 --port 8083 --host 0.0.0.0 +# RAG models are the only endpoints still served locally (backend = "gpu"): +# `pixi run inference` launches these two llama.cpp servers and skips the +# remote backend = "openai" endpoints above. Same specs as config.toml. [endpoints.embeddings] -type = "embedding" -backend = "gpu" -model = "qwen3-embedding:0.6b" -base_url = "http://safety-embeddings:8082/v1" +type = "embedding" +backend = "gpu" +model = "qwen3-embedding:0.6b" +host = "localhost" +port = 8082 +model_path = "${DEMO_ROOT}/models/Qwen3-Embedding-0.6B-Q8_0.gguf" +model_url = "https://huggingface.co/Qwen/Qwen3-Embedding-0.6B-GGUF/resolve/main/Qwen3-Embedding-0.6B-Q8_0.gguf?download=true" # NOTE: The reranker and the embedding model are two separate models! [endpoints.reranker] -type = "reranker" -backend = "gpu" -model = "qwen3-reranker:0.6b" -base_url = "http://safety-reranker:8083/v1/reranking" +type = "reranker" +backend = "gpu" +model = "qwen3-reranker:0.6b" +host = "localhost" +port = 8083 +model_path = "${DEMO_ROOT}/models/qwen3-reranker-0.6b-q8_0.gguf" +model_url = "https://huggingface.co/ggml-org/Qwen3-Reranker-0.6B-Q8_0-GGUF/resolve/main/qwen3-reranker-0.6b-q8_0.gguf?download=true" # ─── Agents ───────────────────────────────────────────────────────────────── diff --git a/docs/operating.md b/docs/operating.md index 15cc4a6..7535efe 100644 --- a/docs/operating.md +++ b/docs/operating.md @@ -56,6 +56,15 @@ The mission is handed to the orchestrator, which breaks it into steps and drives the robot. You do not need to wait for one mission to fully finish before queueing another; the orchestrator keeps a task queue. +### Custom tasks + +The predefined buttons publish to the `/user_tasks` topic, which you can also use +directly for free-form tasks: + +```bash +ros2 topic pub --once /user_tasks std_msgs/msg/String "data: 'Do Housekeeping of rack J01'" +``` + ## Monitoring progress While a mission runs, the **Mission** tab shows: diff --git a/docs/quickstart.md b/docs/quickstart.md index 64a6b19..2c5e6fa 100644 --- a/docs/quickstart.md +++ b/docs/quickstart.md @@ -8,7 +8,7 @@ Run the full **Mobile Manipulator Demo** — simulation, ROS 2 stack, local infe - The host's **amdxdna** driver loaded: check with `ls /dev/accel/accel0`. - [Docker Engine](https://docs.docker.com/engine/install/) + [ROCm Docker prerequisites](https://rocm.docs.amd.com/projects/install-on-linux/en/latest/how-to/docker.html#prerequisites). - A running X server (the O3DE simulation and HMI open windows on your display). -- ~60 GB free disk for the image, plus room under `models/` for the weights. +- **Disk & network**: ~60 GB free for the image (the prebuilt image is a ~18 GB compressed pull), plus ~20 GB under `models/` for the weights. On a slow connection the first pull + model download takes a while. ## 1. Clone the repository @@ -114,6 +114,22 @@ Before running a GPU-only image, edit `docker/compose.yaml` to: - remove the `/dev/accel/accel0` device and the `memlock` ulimit (NPU-only), and - point `config.toml`'s `vlm_safety` endpoint at a `gpu` backend — otherwise `pixi run inference` aborts on the missing NPU engine. +## Cloud models + +To run the agents on OpenAI-hosted models instead of local inference, swap in the +cloud config before starting (the compose bind-mounts `config.toml` and passes +`OPENAI_API_KEY` into the container): + +```bash +cp cloud_config.toml config.toml +export OPENAI_API_KEY=sk-... +``` + +Only the RAG embedding + reranker are still served locally, so step 3 downloads +just those two GGUFs. See +[Using cloud models](setup_single_machine.md#using-cloud-models-instead-low-vram-machines) +for details, including the required OpenAI model access. + ## Troubleshooting - **O3DE doesn't start / no windows appear**: ensure you ran `xhost +local:root` and that `DISPLAY` is set (`echo $DISPLAY`). Verify your AMD GPU drivers + ROCm container prerequisites are installed. diff --git a/docs/setup.md b/docs/setup.md index 12d095f..fa15dc3 100644 --- a/docs/setup.md +++ b/docs/setup.md @@ -22,7 +22,7 @@ Run HMI, agents and simulation on one computer > [!IMPORTANT] > This setup targets systems with approximately 48GB of available VRAM. -> If your system does not meet this requirement, you can configure the agents to use cloud-based models instead via `cloud_config.toml`. +> If your system does not meet this requirement, you can configure the agents to use cloud-based models instead via `cloud_config.toml` — see [Using cloud models](./setup_single_machine.md#using-cloud-models-instead-low-vram-machines). [Single-machine setup](./setup_single_machine.md) diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index 1e84ae0..1781a3c 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -113,6 +113,28 @@ The NPU `vlm_safety` model (`gemma3:4b`) has no GGUF; `flm pull` downloads it fo --- +### Using cloud models instead (low-VRAM machines) + +If the machine cannot serve the chat/vision models locally, switch the agents to +OpenAI-hosted models via `cloud_config.toml`: + +```shell +cp cloud_config.toml config.toml +export OPENAI_API_KEY=sk-... +``` + +Your OpenAI account must have access to the models it names (`gpt-5-mini`, +`gpt-5-nano`) — edit the `[endpoints.*]` `model` fields to use different ones. + +Everything reads `config.toml`, so the usual commands work unchanged: +`download-models` now fetches only the two RAG GGUFs (embedding + reranker, the +only endpoints still served locally) and `pixi run inference` launches just +those two llama.cpp servers, skipping the remote `backend = "openai"` endpoints. +The NPU is not used in this configuration, so the GPU-only `single-pc-gpu` +environment suffices. + +--- + ## Verify your installation Once the build is done and the weights are downloaded, run one command to exercise From 876d569c33c83295d11184e7921fd895d83a2173 Mon Sep 17 00:00:00 2001 From: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> Date: Wed, 8 Jul 2026 20:44:25 +0200 Subject: [PATCH 59/69] fix: adjust hardcoded model name ini HMI (#57) --- ros2_ws/src/mobile_manipulator_hmi/Config.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ros2_ws/src/mobile_manipulator_hmi/Config.h b/ros2_ws/src/mobile_manipulator_hmi/Config.h index 95186a3..82431f8 100644 --- a/ros2_ws/src/mobile_manipulator_hmi/Config.h +++ b/ros2_ws/src/mobile_manipulator_hmi/Config.h @@ -52,8 +52,8 @@ namespace HardcodedConfig { const static char UserPromptTopic[] = "/user_tasks"; const static char OrchestratorHeartbeat[] = "/orchestrator/heartbeat"; // TODO: Get actual topic names // - const static QString SelectedLLMModel = "gpt-5-mini"; - const static QString SelectedVLMModel = "gpt-5-mini"; + const static QString SelectedLLMModel = "gpt-oss-20B"; + const static QString SelectedVLMModel = "LFM2-VL-3B | Gemma4-4B"; const static char VLMTopic[] = "/vlm_topic"; const static char EmergencyStopTopic[] = "/emergency_stop"; From e9998ab4d2156101adee304ef930a06e9e4f1530 Mon Sep 17 00:00:00 2001 From: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> Date: Thu, 9 Jul 2026 10:31:36 +0200 Subject: [PATCH 60/69] docs: update hmi image (#58) --- docs/images/hmi.png | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/images/hmi.png b/docs/images/hmi.png index acb2c50..849b4c5 100644 --- a/docs/images/hmi.png +++ b/docs/images/hmi.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8c87df0a277b16597ebbb5ae06bbd3b433df02a97196e11365e231bdd65d1940 -size 252388 +oid sha256:48b52fe99e998f2b9da29bb5fc52eb53399fd673c61da143ed7eb38fb667457e +size 678496 From a9cd5d415153cdf960abf41c887ea906db848cba Mon Sep 17 00:00:00 2001 From: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> Date: Thu, 9 Jul 2026 10:32:08 +0200 Subject: [PATCH 61/69] ci: adjust dispatch (#59) --- .github/workflows/build_and_push_docker.yaml | 3 --- 1 file changed, 3 deletions(-) diff --git a/.github/workflows/build_and_push_docker.yaml b/.github/workflows/build_and_push_docker.yaml index 1b35e23..12c927a 100644 --- a/.github/workflows/build_and_push_docker.yaml +++ b/.github/workflows/build_and_push_docker.yaml @@ -4,7 +4,6 @@ on: push: branches: - main - - development workflow_dispatch: concurrency: @@ -27,8 +26,6 @@ jobs: password: ${{ secrets.DOCKERHUB_TOKEN }} - name: Build and push all images - env: - AMM_IMG_SUFFIX: ${{ env.SUFFIX }} run: | docker compose -f docker/compose.yaml build docker compose -f docker/compose.yaml push From 3784e4e3ed61e6f6f677aa4b591121a485da5968 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Fri, 10 Jul 2026 16:54:44 +0200 Subject: [PATCH 62/69] Fix pixi test command (#35) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- pixi.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pixi.toml b/pixi.toml index 87f6f09..225a7b0 100644 --- a/pixi.toml +++ b/pixi.toml @@ -357,7 +357,7 @@ depends-on = ["sync"] description = "Run all linters and formatters" [feature.dev.tasks.test] -cmd = "uv run pytest" +cmd = "PYTEST_DISABLE_PLUGIN_AUTOLOAD=1 uv run python -m pytest" depends-on = ["sync"] description = "Run test suite" From 28025dc5db8e2883bb660e0f0799923190e411a6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Fri, 10 Jul 2026 16:57:32 +0200 Subject: [PATCH 63/69] fix: housekeep tool and tests (#37) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Catch moveit errors in housekeep tool Signed-off-by: Kacper Dąbrowski * Reset simulation on housekeep fail Signed-off-by: Kacper Dąbrowski * pre-commit Signed-off-by: Kacper Dąbrowski --------- Signed-off-by: Kacper Dąbrowski --- rai_app/agents/tools.py | 4 ++++ rai_app/environment/scene_manager.py | 9 +++++++++ tests/test_housekeep.py | 1 + 3 files changed, 14 insertions(+) diff --git a/rai_app/agents/tools.py b/rai_app/agents/tools.py index 7de1886..e5d5466 100644 --- a/rai_app/agents/tools.py +++ b/rai_app/agents/tools.py @@ -887,6 +887,10 @@ def housekeep(self, rack: str): pos, collection_name=rack, approach_distance=self.approach_distance ) except RuntimeError as e: + if "arm" in str( + e + ): # don't count moveit related exceptions as "side not available" + raise e sides_not_available += 1 logging.warning(e) except Exception as e: diff --git a/rai_app/environment/scene_manager.py b/rai_app/environment/scene_manager.py index e7c5dda..f6771cc 100644 --- a/rai_app/environment/scene_manager.py +++ b/rai_app/environment/scene_manager.py @@ -317,6 +317,15 @@ def clear_scene(self): timeout_sec=3.0, ) + def reset_simulation(self): + wait_for_ros2_services(self.connector, ["/reset_simulation"]) + self.connector.call_service( + ROS2Message(payload={}), + target="/reset_simulation", + msg_type="simulation_interfaces/srv/ResetSimulation", + timeout_sec=10.0, + ) + def move_entity( self, entity_name, diff --git a/tests/test_housekeep.py b/tests/test_housekeep.py index 7a68782..016addf 100644 --- a/tests/test_housekeep.py +++ b/tests/test_housekeep.py @@ -79,4 +79,5 @@ def test_single_box_housekeeping( result = housekeep_tool._run(rack) assert "successfully" in result, f"HouseKeepTool failed: {result}" except Exception as e: + scene_manager.reset_simulation() pytest.fail(f"HouseKeepTool failed: {e}") From 12fc9fa0162be13b32acac5889bb752c08db10f6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Fri, 10 Jul 2026 17:13:41 +0200 Subject: [PATCH 64/69] fix: catch llm exceptions in ros2 agents (#36) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Catch llm errors Signed-off-by: Kacper Dąbrowski * pre-commit Signed-off-by: Kacper Dąbrowski * Use formulate prompt Signed-off-by: Kacper Dąbrowski --------- Signed-off-by: Kacper Dąbrowski --- rai_app/agents/moveit2_agent.py | 41 +++++++++++------ rai_app/agents/nav2_agent.py | 82 ++++++++++++++++++++------------- 2 files changed, 77 insertions(+), 46 deletions(-) diff --git a/rai_app/agents/moveit2_agent.py b/rai_app/agents/moveit2_agent.py index 32f7a54..152ef11 100644 --- a/rai_app/agents/moveit2_agent.py +++ b/rai_app/agents/moveit2_agent.py @@ -468,11 +468,16 @@ def move_arm(self, request: MoveArm.Request, response: MoveArm.Response): ) except Exception as e: response.success = False - llm_response = self.llm.invoke( - "The arm failed to move to the position. Check the logs and provide a short summary." - + str(e) - ) - response.report = llm_response.content + try: + llm_response = self.llm.invoke( + self.formulate_prompt( + "The arm failed to move to the position. Check the logs and provide a short summary.", + str(e), + ) + ) + response.report = llm_response.content + except Exception: + response.report = f"The arm failed to move to the position: {e}" return response if request.gripper_state == 0: @@ -486,10 +491,15 @@ def move_arm(self, request: MoveArm.Request, response: MoveArm.Response): except Exception as e: self.logger.error(f"Failed to open gripper: {e}") response.success = False - llm_response = self.llm.invoke( - self.formulate_prompt("The arm failed to open the gripper.", str(e)) - ) - response.report = llm_response.content + try: + llm_response = self.llm.invoke( + self.formulate_prompt( + "The arm failed to open the gripper.", str(e) + ) + ) + response.report = llm_response.content + except Exception: + response.report = f"The arm failed to open the gripper: {e}" return response elif request.gripper_state == 2: try: @@ -499,12 +509,15 @@ def move_arm(self, request: MoveArm.Request, response: MoveArm.Response): except Exception as e: self.logger.error(f"Failed to close gripper: {e}") response.success = False - llm_response = self.llm.invoke( - self.formulate_prompt( - "The arm failed to close the gripper.", str(e) + try: + llm_response = self.llm.invoke( + self.formulate_prompt( + "The arm failed to close the gripper.", str(e) + ) ) - ) - response.report = llm_response.content + response.report = llm_response.content + except Exception: + response.report = f"The arm failed to open the gripper: {e}" return response else: response.success = False diff --git a/rai_app/agents/nav2_agent.py b/rai_app/agents/nav2_agent.py index b2d5e06..88b48c8 100644 --- a/rai_app/agents/nav2_agent.py +++ b/rai_app/agents/nav2_agent.py @@ -158,15 +158,20 @@ def navigate_to_pose(self, goal_handle: ServerGoalHandle) -> str: elif result == TaskResult.FAILED: reason = self.navigator.result_future.result().result.error_code enum_name = decode_error_code(reason, Nav2NavigateToPose) - response = self.llm.invoke( - self.formulate_prompt( - f"Navigate to pose has failed with error code {enum_name}. Check the logs and provide a short summary.", - str(feedback), - request.pose, - ) - ) action_result.success = False - action_result.report = response.content + try: + response = self.llm.invoke( + self.formulate_prompt( + f"Navigate to pose has failed with error code {enum_name}. Check the logs and provide a short summary.", + str(feedback), + request.pose, + ) + ) + action_result.report = response.content + except Exception: + action_result.report = ( + f"Navigate to pose has failed with error code {enum_name}" + ) return action_result else: action_result.success = False @@ -213,15 +218,20 @@ def drive_on_heading(self, goal_handle: ServerGoalHandle): goal_handle.abort() reason = self.navigator.result_future.result().result.error_code enum_name = decode_error_code(reason, Nav2DriveOnHeading) - response = self.llm.invoke( - self.formulate_prompt( - f"Drive on heading has failed with error code {enum_name}. Check the logs and provide a short summary.", - str(feedback), - params, - ) - ) action_result.success = False - action_result.report = response.content + try: + response = self.llm.invoke( + self.formulate_prompt( + f"Drive on heading has failed with error code {enum_name}. Check the logs and provide a short summary.", + str(feedback), + params, + ) + ) + action_result.report = response.content + except Exception: + action_result.report = ( + f"Drive on heading has failed with error code {enum_name}" + ) return action_result else: action_result.success = False @@ -273,15 +283,18 @@ def spin(self, goal_handle: ServerGoalHandle): enum_name = decode_error_code(reason, Nav2Spin) goal_handle.abort() - response = self.llm.invoke( - self.formulate_prompt( - f"Turn (requested angle: {request.target_yaw} radians) has failed with error code {enum_name}. Check the logs and provide a short summary.", - str(feedback), - params, - ) - ) action_result.success = False - action_result.report = response.content + try: + response = self.llm.invoke( + self.formulate_prompt( + f"Turn (requested angle: {request.target_yaw} radians) has failed with error code {enum_name}. Check the logs and provide a short summary.", + str(feedback), + params, + ) + ) + action_result.report = response.content + except Exception: + action_result.report = f"Turn (requested angle: {request.target_yaw} radians) has failed with error code {enum_name}." return action_result else: action_result.success = False @@ -317,15 +330,20 @@ def follow_waypoints(self, goal_handle: ServerGoalHandle): enum_name = decode_error_code(reason, Nav2Spin) goal_handle.abort() - response = self.llm.invoke( - self.formulate_prompt( - f"Followed waypoints has failed with error code {enum_name}. Check the logs and provide a short summary.", - str(feedback), - request.poses, - ) - ) action_result.success = False - action_result.report = response.content + try: + response = self.llm.invoke( + self.formulate_prompt( + f"Followed waypoints has failed with error code {enum_name}. Check the logs and provide a short summary.", + str(feedback), + request.poses, + ) + ) + action_result.report = response.content + except Exception: + action_result.report = ( + f"Followed waypoints has failed with error code {enum_name}." + ) return action_result else: action_result.success = False From 480b25b5c36ff7a5ee63cc749f4e0d1d94b4f41b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Tue, 14 Jul 2026 14:41:15 +0200 Subject: [PATCH 65/69] feat: Populate scene using batch spawning (#41) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Populate scene using batch spawning Signed-off-by: Kacper Dąbrowski * Add custom spawn service handler for SpawnEntities Signed-off-by: Kacper Dąbrowski * pre-commit Signed-off-by: Kacper Dąbrowski * Remove unused dependency Signed-off-by: Kacper Dąbrowski * Use batch spawning in housekeep scenario Signed-off-by: Kacper Dąbrowski * Move random rotation to spawn function Signed-off-by: Kacper Dąbrowski * Remove magic number and use self.logger Signed-off-by: Kacper Dąbrowski * Use constant for spawn request timeout Signed-off-by: Kacper Dąbrowski * Recursive path for build-sim input files Signed-off-by: Kacper Dąbrowski * Add spawn_on_spot method back Signed-off-by: Kacper Dąbrowski * Bump llama.cpp submodule Signed-off-by: Kacper Dąbrowski --------- Signed-off-by: Kacper Dąbrowski --- inference/llama.cpp | 2 +- pixi.toml | 1 + rai_app/environment/scene_agent.py | 46 ++--- rai_app/environment/scene_manager.py | 123 +++++++++--- sim/Gem/MobileManipulatorDemo_files.cmake | 2 + .../MobileManipulatorDemoSystemComponent.cpp | 2 + .../Source/SpawnEntitiesServiceHandler.cpp | 179 ++++++++++++++++++ sim/Gem/Source/SpawnEntitiesServiceHandler.h | 38 ++++ sim/Gem/Source/SpawnEntityServiceHandler.cpp | 58 +----- sim/Gem/Source/SpawnServiceUtils.cpp | 56 ++++++ sim/Gem/Source/SpawnServiceUtils.h | 6 + sim/Gem/mobilemanipulatordemo_files.cmake | 2 + sim/Registry/ros2.setreg | 3 +- 13 files changed, 402 insertions(+), 116 deletions(-) create mode 100644 sim/Gem/Source/SpawnEntitiesServiceHandler.cpp create mode 100644 sim/Gem/Source/SpawnEntitiesServiceHandler.h diff --git a/inference/llama.cpp b/inference/llama.cpp index 6f4f53f..e920c52 160000 --- a/inference/llama.cpp +++ b/inference/llama.cpp @@ -1 +1 @@ -Subproject commit 6f4f53f2b7da54fcdbbecaaa734337c337ad6176 +Subproject commit e920c523e3b8a0163fe498af5bf90df35ff51d25 diff --git a/pixi.toml b/pixi.toml index 225a7b0..a7918cf 100644 --- a/pixi.toml +++ b/pixi.toml @@ -146,6 +146,7 @@ description = "Clone o3de-extras gems locally and validate all gem paths from pr # No cwd override: the script path is project-root-relative and the script cd's # into $DEMO_ROOT/sim itself. cmd = "bash scripts/build_sim.sh" +inputs = ["scripts/build_sim.sh", "sim/Gem/Source/**", "sim/Gem/Include/**", "sim/Gem/CMakeLists.txt", "sim/Gem/gem.json", "sim/Gem/*.cmake"] outputs = ["sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher"] # All gems are registered project-locally via external_subdirectories in # sim/project.json, so the gem source trees must exist before cmake configure. diff --git a/rai_app/environment/scene_agent.py b/rai_app/environment/scene_agent.py index d9906a3..86bd4c0 100644 --- a/rai_app/environment/scene_agent.py +++ b/rai_app/environment/scene_agent.py @@ -330,20 +330,15 @@ def housekeep_scenario(self, request: Trigger.Request, response: Trigger.Respons self.get_standard_objects_to_spawn(rack_fill=self.rack_fill) ) - for slot, entity_type, item in tqdm( - zip(spawn_slot_names, spawn_entity_types, items_stored), - desc="Spawning entities", - total=len(spawn_slot_names), - ): - self.spawn_on_spot( - slot_name=slot, - object_name=entity_type, - item_stored=item, - std_xy=0.01, - std_yaw=0.05, - rotate_90_degrees=True, - rotate_90_degrees_percentage=0.15, - ) + self.populate_scene( + spawn_slot_names, + spawn_entity_types, + items_stored, + std_xy=0.01, + std_yaw=0.05, + percent_of_rotated_objects=0.15, + ) + spawn_slot_names, spawn_entity_types, items_stored = ( self.get_returns_table_objects_to_spawn() ) @@ -362,20 +357,15 @@ def standard_scenario(self, request: Trigger.Request, response: Trigger.Response self.get_standard_objects_to_spawn(rack_fill=self.rack_fill) ) - for slot, entity_type, item in tqdm( - zip(spawn_slot_names, spawn_entity_types, items_stored), - desc="Spawning entities", - total=len(spawn_slot_names), - ): - self.spawn_on_spot( - slot_name=slot, - object_name=entity_type, - item_stored=item, - std_xy=0.01, - std_yaw=0.05, - rotate_90_degrees=True, - rotate_90_degrees_percentage=0.03, - ) + self.populate_scene( + spawn_slot_names, + spawn_entity_types, + items_stored, + std_xy=0.01, + std_yaw=0.05, + percent_of_rotated_objects=0.03, + ) + spawn_slot_names, spawn_entity_types, items_stored = ( self.get_returns_table_objects_to_spawn() ) diff --git a/rai_app/environment/scene_manager.py b/rai_app/environment/scene_manager.py index f6771cc..b5fbad6 100644 --- a/rai_app/environment/scene_manager.py +++ b/rai_app/environment/scene_manager.py @@ -32,12 +32,15 @@ wait_for_ros2_services, ) from rosidl_runtime_py.convert import message_to_ordereddict -from simulation_interfaces.msg import EntityState +from simulation_interfaces.msg import EntityState, Result +from simulation_interfaces.msg import SpawnEntity as SpawnEntityMsg from simulation_interfaces.srv import ( GetEntities, GetEntityState, SetEntityState, + SpawnEntities, SpawnEntity, + SpawnEntity_Request, ) from tf2_geometry_msgs import do_transform_pose from tf_transformations import euler_from_quaternion, quaternion_from_euler @@ -59,6 +62,9 @@ class Collection(Enum): FREE = "t3" +SPAWN_ENTITY_REQUEST_TIMEOUT = 3.0 + + class SceneManager: def __init__( self, @@ -192,40 +198,31 @@ def populate_scene( "Slots and object names must have the same length and items stored" ) - simulation_names: list[str] = [] - for slot, object_name, item in tqdm( - zip(slots, object_names, items_stored), - desc="Spawning entities", - total=len(slots), - ): - if np.isclose(offset_yaw, 0.0): - should_rotate = random.random() < percent_of_rotated_objects - if should_rotate: - # rotate additional 90 degrees - offset_yaw = random.choice([1.57, -1.57, 3.14]) - else: - offset_yaw = 0.0 - - simulation_name = self.spawn_on_spot( + reqs: list[SpawnEntityMsg] = [] + for slot, object_name, item in zip(slots, object_names, items_stored): + req = self.make_spawn_entity_msg_for_spot( slot_name=slot, object_name=object_name, item_stored=item, std_xy=std_xy, std_yaw=std_yaw, offset_yaw=offset_yaw, + rotate_90_degrees=not bool(np.isclose(0.0, percent_of_rotated_objects)), + rotate_90_degrees_percentage=percent_of_rotated_objects, ) - self.logger.info(f"Simulation name: {simulation_name}") - simulation_names.append(simulation_name) + reqs.append(req) + + simulation_names: list[str] = self.spawn_objects(reqs) return simulation_names - def spawn_object( + def init_spawn_entity_name_and_pose( self, + req: SpawnEntityMsg | SpawnEntity_Request, pose: Pose, object_name: str, item_stored: Optional[str] = None, frame: str = "odom", ): - wait_for_ros2_services(self.connector, ["/spawn_entity"]) # NOTE (jmatejcz) item stored will be added to name of object # and that's how it will be distinguished if item_stored: @@ -233,9 +230,7 @@ def spawn_object( else: name = object_name + str(uuid.uuid4())[:8] - req = SpawnEntity.Request() req.name = name - req.uri = self.spawnable_to_uri[object_name] req.initial_pose.header.frame_id = frame req.initial_pose.pose.position.x = pose.position.x req.initial_pose.pose.position.y = pose.position.y @@ -245,16 +240,63 @@ def spawn_object( req.initial_pose.pose.orientation.z = pose.orientation.z req.initial_pose.pose.orientation.w = pose.orientation.w - self.logger.debug(f"Spawning {name}") + return req + + def make_spawn_entity_msg( + self, + pose: Pose, + object_name: str, + item_stored: Optional[str] = None, + frame: str = "odom", + ) -> SpawnEntityMsg: + req = SpawnEntityMsg() + self.init_spawn_entity_name_and_pose(req, pose, object_name, item_stored, frame) + req.entity_resource.uri = self.spawnable_to_uri[object_name] + return req + + def spawn_object( + self, + pose: Pose, + object_name: str, + item_stored: Optional[str] = None, + frame: str = "odom", + ): + wait_for_ros2_services(self.connector, ["/spawn_entity"]) + + req = SpawnEntity.Request() + self.init_spawn_entity_name_and_pose(req, pose, object_name, item_stored, frame) + req.uri = self.spawnable_to_uri[object_name] + + self.logger.debug(f"Spawning {req.name}") result = self.connector.call_service( ROS2Message(payload=message_to_ordereddict(req)), target="/spawn_entity", msg_type="simulation_interfaces/srv/SpawnEntity", - timeout_sec=3.0, + timeout_sec=SPAWN_ENTITY_REQUEST_TIMEOUT, reuse_client=True, ).payload result = cast(SpawnEntity.Response, result) - return name + return req.name + + def spawn_objects(self, requests: list[SpawnEntityMsg]): + wait_for_ros2_services(self.connector, ["/spawn_entities"]) + + req = SpawnEntities.Request() + req.spawn_requests = requests + + self.logger.debug(f"Spawning {[request.name for request in requests]}") + result = self.connector.call_service( + ROS2Message(payload=message_to_ordereddict(req)), + target="/spawn_entities", + msg_type="simulation_interfaces/srv/SpawnEntities", + timeout_sec=SPAWN_ENTITY_REQUEST_TIMEOUT, + reuse_client=True, + ).payload + result = cast(SpawnEntities.Response, result) + for res in result.results: + if res.result.result != Result.RESULT_OK: + self.logger.debug(f"ERROR: {res.result.error_message}") + return [res.entity_name for res in result.results] def spawn_on_spot( self, @@ -266,7 +308,29 @@ def spawn_on_spot( offset_yaw: float = 0.0, frame: str = "odom", ): - wait_for_ros2_services(self.connector, ["/spawn_entity"]) + msg = self.make_spawn_entity_msg_for_spot( + slot_name, + object_name, + item_stored, + std_xy, + std_yaw, + offset_yaw=offset_yaw, + frame=frame, + ) + return self.spawn_objects([msg])[0] + + def make_spawn_entity_msg_for_spot( + self, + slot_name: str, + object_name: str, + item_stored: Optional[str] = None, + std_xy: float = 0.0, + std_yaw: float = 0.0, + rotate_90_degrees: bool = False, + rotate_90_degrees_percentage: float = 0.1, + offset_yaw: float = 0.0, + frame: str = "odom", + ) -> SpawnEntityMsg: pose: Pose = copy.deepcopy(self.slots[slot_name].origin_pose) # Add Gaussian noise to x, y pose.position.x += random.normalvariate(0, std_xy) @@ -278,6 +342,9 @@ def spawn_on_spot( # Add Gaussian noise to yaw yaw += random.normalvariate(0, std_yaw) + if rotate_90_degrees: + if random.random() < rotate_90_degrees_percentage: + yaw += random.choice([-np.pi / 2, np.pi / 2]) yaw += offset_yaw # Convert back to quaternion @@ -287,9 +354,7 @@ def spawn_on_spot( pose.orientation.z = q_new[2] pose.orientation.w = q_new[3] - return self.spawn_object( - pose=pose, object_name=object_name, item_stored=item_stored, frame=frame - ) + return self.make_spawn_entity_msg(pose, object_name, item_stored, frame) def clear_scene(self): wait_for_ros2_services(self.connector, ["/get_entities", "/delete_entity"]) diff --git a/sim/Gem/MobileManipulatorDemo_files.cmake b/sim/Gem/MobileManipulatorDemo_files.cmake index 87783bd..63c03e7 100644 --- a/sim/Gem/MobileManipulatorDemo_files.cmake +++ b/sim/Gem/MobileManipulatorDemo_files.cmake @@ -8,6 +8,8 @@ set(FILES Source/SpawnEntityServiceHandler.cpp Source/SpawnEntityServiceHandler.h + Source/SpawnEntitiesServiceHandler.cpp + Source/SpawnEntitiesServiceHandler.h Source/SpawnServiceUtils.cpp Source/SpawnServiceUtils.h ) diff --git a/sim/Gem/Source/MobileManipulatorDemoSystemComponent.cpp b/sim/Gem/Source/MobileManipulatorDemoSystemComponent.cpp index 0fd82a5..15e991b 100644 --- a/sim/Gem/Source/MobileManipulatorDemoSystemComponent.cpp +++ b/sim/Gem/Source/MobileManipulatorDemoSystemComponent.cpp @@ -7,6 +7,7 @@ #include #include "SpawnEntityServiceHandler.h" +#include "SpawnEntitiesServiceHandler.h" namespace MobileManipulatorDemo { @@ -82,6 +83,7 @@ namespace MobileManipulatorDemo } RegisterInterface(ros2Node); + RegisterInterface(ros2Node); } void MobileManipulatorDemoSystemComponent::DestroyHandlers() diff --git a/sim/Gem/Source/SpawnEntitiesServiceHandler.cpp b/sim/Gem/Source/SpawnEntitiesServiceHandler.cpp new file mode 100644 index 0000000..d05f153 --- /dev/null +++ b/sim/Gem/Source/SpawnEntitiesServiceHandler.cpp @@ -0,0 +1,179 @@ +// NOTE: this file is a slightly modified copy of SimulationInterfaces/Code/Source/Services/SpawnEntitiesServiceHandler.cpp + +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "SpawnEntitiesServiceHandler.h" +#include "SpawnServiceUtils.h" +#include +#include +#include +#include +#include +#include + +namespace MobileManipulatorDemo +{ + SpawnEntitiesServiceHandler::SpawnEntitiesServiceHandler() + { + ROS2SimulationInterfaces::ROS2SimulationInterfacesRequestBus::Broadcast( + &ROS2SimulationInterfaces::ROS2SimulationInterfacesRequests::AddSimulationFeatures, + AZStd::unordered_set{ + simulation_interfaces::msg::SimulatorFeatures::SPAWNING_ENTITIES }); + } + + AZStd::optional SpawnEntitiesServiceHandler::HandleServiceRequest( + const std::shared_ptr header, const Request& request) + { + const builtin_interfaces::msg::Time zeroTime = builtin_interfaces::msg::Time(); + const auto simulatorFrameId = ROS2SimulationInterfaces::RegistryUtilities::GetSimulatorROS2Frame(); + + Response response; + response.results.resize(request.spawn_requests.size()); + + AZStd::vector spawningEntities; + spawningEntities.reserve(request.spawn_requests.size()); + AZStd::vector spawnedRequestsIndices; + spawnedRequestsIndices.reserve(request.spawn_requests.size()); + + bool hasFailures = false; + for (size_t requestIdx = 0; requestIdx < request.spawn_requests.size(); ++requestIdx) + { + const auto& spawnRequest = request.spawn_requests[requestIdx]; + auto& spawnResult = response.results[requestIdx]; + + const AZStd::string_view name{ spawnRequest.name.c_str(), spawnRequest.name.size() }; + const AZStd::string_view uri{ spawnRequest.entity_resource.uri.c_str(), spawnRequest.entity_resource.uri.size() }; + const AZStd::string_view entityNamespace{ spawnRequest.entity_namespace.c_str(), spawnRequest.entity_namespace.size() }; + const AZStd::string_view messageFrameId{ spawnRequest.initial_pose.header.frame_id.c_str(), + spawnRequest.initial_pose.header.frame_id.size() }; + + if (!name.empty() && !SpawnServiceUtils::ValidateEntityName(name)) + { + spawnResult.result.result = simulation_interfaces::msg::SpawnResult::NAME_INVALID; + spawnResult.result.error_message = + "Invalid entity name. Entity names can only contain alphanumeric characters and underscores."; + hasFailures = true; + continue; + } + + if (!entityNamespace.empty() && !SpawnServiceUtils::ValidateNamespaceName(entityNamespace)) + { + spawnResult.result.result = simulation_interfaces::msg::SpawnResult::NAMESPACE_INVALID; + spawnResult.result.error_message = + "Invalid entity namespace. Entity namespaces can only contain alphanumeric characters and forward slashes."; + hasFailures = true; + continue; + } + + AZ::Transform transformOffset = AZ::Transform::CreateIdentity(); + if (!messageFrameId.empty() && simulatorFrameId != messageFrameId) + { + auto transformInterface = ROS2::TFInterface::Get(); + AZ_Assert(transformInterface, "TFInterface is not available, cannot set entity state without transform offset."); + const auto transformOutcome = transformInterface->GetTransform(simulatorFrameId, messageFrameId, zeroTime); + + if (transformOutcome.IsSuccess()) + { + transformOffset = transformOutcome.GetValue(); + } + else + { + spawnResult.result.result = simulation_interfaces::msg::Result::RESULT_OPERATION_FAILED; + spawnResult.result.error_message = transformOutcome.GetError().c_str(); + hasFailures = true; + continue; + } + } + + const AZ::Transform requestedPose = ROS2::ROS2Conversions::FromROS2Pose(spawnRequest.initial_pose.pose); + if (const auto poseValidation = SpawnServiceUtils::ValidateTransformNormalized(requestedPose); !poseValidation.IsSuccess()) + { + spawnResult.result.result = simulation_interfaces::msg::SpawnResult::INVALID_POSE; + spawnResult.result.error_message = poseValidation.GetError().c_str(); + hasFailures = true; + continue; + } + + const AZ::Transform initialPose = transformOffset * + AZ::Transform::CreateFromQuaternionAndTranslation( + requestedPose.GetRotation().GetNormalized(), requestedPose.GetTranslation()); + + SimulationInterfaces::SpawningEntity spawningEntity; + spawningEntity.name = AZStd::string(name); + spawningEntity.uri = AZStd::string(uri); + spawningEntity.entityNamespace = AZStd::string(entityNamespace); + spawningEntity.initialPose = initialPose; + spawningEntity.allowRename = spawnRequest.allow_renaming; + spawningEntity.preinsertionCb = + [](const AZ::Outcome&) + { + }; + spawningEntity.completedCb = [](const AZ::Outcome&) + { + }; + + spawningEntities.push_back(AZStd::move(spawningEntity)); + spawnedRequestsIndices.push_back(requestIdx); + } + + if (spawningEntities.empty()) + { + response.result.result = hasFailures ? simulation_interfaces::srv::SpawnEntities::Response::ENTITIES_SPAWN_FAILED + : simulation_interfaces::msg::Result::RESULT_OK; + if (hasFailures) + { + response.result.error_message = "One or more entity spawn requests failed."; + } + SendResponse(response); + return AZStd::nullopt; + } + + SimulationInterfaces::SimulationEntityManagerRequestBus::Broadcast( + &SimulationInterfaces::SimulationEntityManagerRequests::SpawnEntities, + spawningEntities, + [this, response, spawnedRequestsIndices, hasFailures](const SimulationInterfaces::BatchSpawnResult& batchResult) mutable + { + bool hasBatchFailures = hasFailures; + + for (size_t spawnedIdx = 0; spawnedIdx < batchResult.m_spawnResults.size() && spawnedIdx < spawnedRequestsIndices.size(); + ++spawnedIdx) + { + const size_t requestIdx = spawnedRequestsIndices[spawnedIdx]; + auto& spawnResult = response.results[requestIdx]; + const auto& outcome = batchResult.m_spawnResults[spawnedIdx]; + + if (outcome.IsSuccess()) + { + spawnResult.result.result = simulation_interfaces::msg::Result::RESULT_OK; + spawnResult.entity_name = outcome.GetValue().c_str(); + SpawnServiceUtils::RegisterChildGrippingPoints(outcome.GetValue()); + } + else + { + const auto& failedResult = outcome.GetError(); + spawnResult.result.result = failedResult.m_errorCode; + spawnResult.result.error_message = failedResult.m_errorString.c_str(); + hasBatchFailures = true; + } + } + + response.result.result = hasBatchFailures ? simulation_interfaces::srv::SpawnEntities::Response::ENTITIES_SPAWN_FAILED + : simulation_interfaces::msg::Result::RESULT_OK; + if (hasBatchFailures) + { + response.result.error_message = "One or more entity spawn requests failed."; + } + + SendResponse(response); + }); + + return AZStd::nullopt; + } + +} // namespace MobileManipulatorDemo diff --git a/sim/Gem/Source/SpawnEntitiesServiceHandler.h b/sim/Gem/Source/SpawnEntitiesServiceHandler.h new file mode 100644 index 0000000..6d9a902 --- /dev/null +++ b/sim/Gem/Source/SpawnEntitiesServiceHandler.h @@ -0,0 +1,38 @@ +// NOTE: this file is a slightly modified copy of SimulationInterfaces/Code/Source/Services/SpawnEntitiesServiceHandler.h + +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include "ROS2Service.h" +#include +#include + +namespace MobileManipulatorDemo +{ + class SpawnEntitiesServiceHandler + : public ROS2Service + { + public: + SpawnEntitiesServiceHandler(); + + AZStd::string_view GetTypeName() const override + { + return "SpawnEntities"; + } + + AZStd::string_view GetDefaultName() const override + { + return "spawn_entities"; + } + + AZStd::optional HandleServiceRequest(const std::shared_ptr header, const Request& request) override; + }; + +} // namespace MobileManipulatorDemo diff --git a/sim/Gem/Source/SpawnEntityServiceHandler.cpp b/sim/Gem/Source/SpawnEntityServiceHandler.cpp index 9ef8ce4..daef8f1 100644 --- a/sim/Gem/Source/SpawnEntityServiceHandler.cpp +++ b/sim/Gem/Source/SpawnEntityServiceHandler.cpp @@ -9,12 +9,8 @@ */ #include "SpawnEntityServiceHandler.h" -#include -#include -#include #include #include "SpawnServiceUtils.h" -#include #include #include #include @@ -25,58 +21,6 @@ namespace MobileManipulatorDemo { - AZStd::vector GetAllDescendants(AZ::EntityId parent) - { - AZStd::vector descendants; - AZ::TransformBus::EventResult( - descendants, - parent, - &AZ::TransformInterface::GetAllDescendants); - - return descendants; - } - - AZStd::string GetEntityName(AZ::EntityId entityId) - { - AZStd::string name; - AZ::ComponentApplicationBus::BroadcastResult( - name, - &AZ::ComponentApplicationRequests::GetEntityName, - entityId - ); - - return name; - } - - void RegisterChildGrippingPoints(const AZStd::string& rootName) - { - AZ::Outcome rootId; - SimulationInterfaces::SimulationEntityManagerRequestBus::BroadcastResult( - rootId, - &SimulationInterfaces::SimulationEntityManagerRequests::GetEntityRoot, - rootName - ); - - if (rootId.IsSuccess()) - { - for (auto& descendantId : GetAllDescendants(rootId.GetValue())) - { - auto descendantName = GetEntityName(descendantId); - - if (descendantName.contains("GrippingPoint")) - { - auto proposedName = rootName + "_" + descendantName; - AZ::Outcome result; - SimulationInterfaces::SimulationEntityManagerRequestBus::BroadcastResult( - result, - &SimulationInterfaces::SimulationEntityManagerRequests::RegisterNewSimulatedBody, - proposedName, - descendantId - ); - } - } - } - } SpawnEntityServiceHandler::SpawnEntityServiceHandler() { @@ -189,7 +133,7 @@ namespace MobileManipulatorDemo Response response; if (outcome.IsSuccess()) { - RegisterChildGrippingPoints(outcome.GetValue()); + SpawnServiceUtils::RegisterChildGrippingPoints(outcome.GetValue()); response.result.result = simulation_interfaces::msg::Result::RESULT_OK; response.entity_name = outcome.GetValue().c_str(); } diff --git a/sim/Gem/Source/SpawnServiceUtils.cpp b/sim/Gem/Source/SpawnServiceUtils.cpp index a36843e..c6e2533 100644 --- a/sim/Gem/Source/SpawnServiceUtils.cpp +++ b/sim/Gem/Source/SpawnServiceUtils.cpp @@ -11,6 +11,9 @@ #include "SpawnServiceUtils.h" #include #include +#include +#include +#include namespace MobileManipulatorDemo::SpawnServiceUtils { @@ -54,4 +57,57 @@ namespace MobileManipulatorDemo::SpawnServiceUtils return AZ::Success(); } + + AZStd::vector GetAllDescendants(AZ::EntityId parent) + { + AZStd::vector descendants; + AZ::TransformBus::EventResult( + descendants, + parent, + &AZ::TransformInterface::GetAllDescendants); + + return descendants; + } + + AZStd::string GetEntityName(AZ::EntityId entityId) + { + AZStd::string name; + AZ::ComponentApplicationBus::BroadcastResult( + name, + &AZ::ComponentApplicationRequests::GetEntityName, + entityId + ); + + return name; + } + + void RegisterChildGrippingPoints(const AZStd::string& rootName) + { + AZ::Outcome rootId; + SimulationInterfaces::SimulationEntityManagerRequestBus::BroadcastResult( + rootId, + &SimulationInterfaces::SimulationEntityManagerRequests::GetEntityRoot, + rootName + ); + + if (rootId.IsSuccess()) + { + for (auto& descendantId : GetAllDescendants(rootId.GetValue())) + { + auto descendantName = GetEntityName(descendantId); + + if (descendantName.contains("GrippingPoint")) + { + auto proposedName = rootName + "_" + descendantName; + AZ::Outcome result; + SimulationInterfaces::SimulationEntityManagerRequestBus::BroadcastResult( + result, + &SimulationInterfaces::SimulationEntityManagerRequests::RegisterNewSimulatedBody, + proposedName, + descendantId + ); + } + } + } + } } // namespace MobileManipulatorDemo::SpawnServiceUtils diff --git a/sim/Gem/Source/SpawnServiceUtils.h b/sim/Gem/Source/SpawnServiceUtils.h index 4045df2..834ffba 100644 --- a/sim/Gem/Source/SpawnServiceUtils.h +++ b/sim/Gem/Source/SpawnServiceUtils.h @@ -14,6 +14,8 @@ #include #include #include +#include +#include namespace MobileManipulatorDemo::SpawnServiceUtils { @@ -27,4 +29,8 @@ namespace MobileManipulatorDemo::SpawnServiceUtils //! @return Success when valid, Failure with a descriptive error message when not. AZ::Outcome ValidateTransformNormalized( const AZ::Transform& transform, float quaternionTolerance = 1e-3f, float maxTranslation = 1e7f); + + AZStd::vector GetAllDescendants(AZ::EntityId parent); + AZStd::string GetEntityName(AZ::EntityId entityId); + void RegisterChildGrippingPoints(const AZStd::string& rootName); } // namespace MobileManipulatorDemo::SpawnServiceUtils diff --git a/sim/Gem/mobilemanipulatordemo_files.cmake b/sim/Gem/mobilemanipulatordemo_files.cmake index 63d86a3..921a89d 100644 --- a/sim/Gem/mobilemanipulatordemo_files.cmake +++ b/sim/Gem/mobilemanipulatordemo_files.cmake @@ -7,6 +7,8 @@ set(FILES Source/SpawnEntityServiceHandler.cpp Source/SpawnEntityServiceHandler.h + Source/SpawnEntitiesServiceHandler.cpp + Source/SpawnEntitiesServiceHandler.h Source/SpawnServiceUtils.cpp Source/SpawnServiceUtils.h ) diff --git a/sim/Registry/ros2.setreg b/sim/Registry/ros2.setreg index 7670f4b..f1666e1 100644 --- a/sim/Registry/ros2.setreg +++ b/sim/Registry/ros2.setreg @@ -24,7 +24,8 @@ }, "HandlersNames": { - "SpawnEntity": "" + "SpawnEntity": "", + "SpawnEntities": "" } } } From 04a4910f672726b7a1010702b1ad0827ad418a0b Mon Sep 17 00:00:00 2001 From: Bartek Boczek Date: Tue, 14 Jul 2026 16:33:19 +0200 Subject: [PATCH 66/69] build: install `tmux` with `apt` (#61) --- docs/setup_single_machine.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md index 1781a3c..37a2099 100644 --- a/docs/setup_single_machine.md +++ b/docs/setup_single_machine.md @@ -28,7 +28,7 @@ sudo apt install git git-lfs python3-vcstool ninja-build \ libglu1-mesa-dev libxcb-randr0-dev libxcb-xinerama0 libxcb-xinput0 \ libxcb-xinput-dev libxcb-xfixes0-dev libxcb-xkb-dev libxkbcommon-dev \ libxkbcommon-x11-dev libfontconfig1-dev libpcre2-16-0 zlib1g-dev \ - mesa-common-dev libunwind-dev libzstd-dev tix + mesa-common-dev libunwind-dev libzstd-dev tix tmux ``` #### Install pixi From 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move_entity( self, diff --git a/sim/Levels/DemoLevel/DemoLevel.prefab b/sim/Levels/DemoLevel/DemoLevel.prefab index ac6c887..454f246 100755 --- a/sim/Levels/DemoLevel/DemoLevel.prefab +++ b/sim/Levels/DemoLevel/DemoLevel.prefab @@ -220,6 +220,88 @@ "op": "replace", "path": "/ContainerEntity/Components/TransformComponent/Parent Entity", "value": "../Entity_[1146574390643]" + }, + { + "op": "add", + "path": "/Entities/Entity_[211640413054656]/Components/EditorScriptCanvasComponent", + "value": { + "$type": "EditorScriptCanvasComponent", + "Id": 10872500690270102334, + "configuration": { + "sourceHandle": { + "id": "{C75ADE47-8B42-5008-9E83-7B097578841C}", + "path": "Assets/Scripts/SelfDestructService.scriptcanvas" + }, + "sourceName": "SelfDestructService.scriptcanvas", + "propertyOverrides": { + "source": { + "id": "{C75ADE47-8B42-5008-9E83-7B097578841C}", + "path": "Assets/Scripts/SelfDestructService.scriptcanvas" + }, + "variables": [ + { + "Datum": { + "isOverloadedStorage": false, + "scriptCanvasType": { + "m_type": 5, + "m_azType": "{00000000-0000-0000-0000-000000000000}" + }, + "isNullPointer": false, + "$type": "AZStd::string", + "value": "/self_destruct", + "label": "" + }, + "InputControlVisibility": { + "Value": 2755429085 + }, + "ExposureCategory": "", + "SortPriority": -1, + "ReplicaNetProps": { + "m_isSynchronized": false + }, + "VariableId": { + "m_id": "{66D06E5B-02F6-4828-91D0-3AE55145C1C2}" + }, + "VariableName": "Topic name", + "Scope": 0, + "InitialValueSource": 1 + } + ], + "entityId": [], + "overrides": [ + { + "Datum": { + "isOverloadedStorage": false, + "scriptCanvasType": { + "m_type": 5, + "m_azType": "{00000000-0000-0000-0000-000000000000}" + }, + "isNullPointer": false, + "$type": "AZStd::string", + "value": "/remove_humanworker", + "label": "" + }, + "InputControlVisibility": { + "Value": 850104567 + }, + "ExposureCategory": "", + "SortPriority": -1, + "ReplicaNetProps": { + "m_isSynchronized": false + }, + "VariableId": { + "m_id": "{66D06E5B-02F6-4828-91D0-3AE55145C1C2}" + }, + "VariableName": "Topic name", + "Scope": 0, + "InitialValueSource": 1 + } + ], + "overridesUnused": [], + "dependencies": [] + } + } + } } ] }, @@ -432,7 +514,7 @@ "Transform Data": { "Translate": [ -0.6043558120727539, - -0.09543037414550781, + -0.0954303741455078, 0.5401168465614319 ], "Rotate": [ diff --git a/tests/conftest.py b/tests/conftest.py index 455886d..adf3240 100644 --- a/tests/conftest.py +++ b/tests/conftest.py @@ -37,11 +37,13 @@ def connector(): @pytest.fixture(scope="session") def scene_manager(connector: ROS2Connector): - return SceneManager( + manager = SceneManager( slots_file="scripts/resources/slots.csv", spawnables_file="scripts/resources/spawnables.csv", connector=connector, ) + manager.remove_humanworker() + return manager @pytest.fixture(scope="session") diff --git a/tests/test_housekeep.py b/tests/test_housekeep.py index 016addf..0ddb56a 100644 --- a/tests/test_housekeep.py +++ b/tests/test_housekeep.py @@ -80,4 +80,5 @@ def test_single_box_housekeeping( assert "successfully" in result, f"HouseKeepTool failed: {result}" except Exception as e: scene_manager.reset_simulation() + scene_manager.remove_humanworker() pytest.fail(f"HouseKeepTool failed: {e}") From f59e0f91dc77ad224ed03914c87a5307eeb2f3dd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Wed, 15 Jul 2026 13:37:31 +0200 Subject: [PATCH 68/69] docs: Remove old notice about long spawning (#62) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- docs/operating.md | 4 ---- 1 file changed, 4 deletions(-) diff --git a/docs/operating.md b/docs/operating.md index 7535efe..d5d134b 100644 --- a/docs/operating.md +++ b/docs/operating.md @@ -33,10 +33,6 @@ find the **Simulation Scenarios** group and click one of the scene recipes: - **Cleanup**: resets the simulation and clears the spawned objects. Use this to start over. -Spawning is not instant. It can take up to about 30 seconds, and you can watch the -objects appear one by one in the O3DE simulation window (or on the top view camera -on the **Mission** tab). Wait until spawning has finished before moving on. - If you click a scene button and get a "Service not available" warning, the scene agent is not running yet. Make sure the agents are up (see [Running the demo](./running.md)) and try again. From b21dc83a9121ac8aefd12f65aff66e2c25cb5487 Mon Sep 17 00:00:00 2001 From: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> Date: Wed, 15 Jul 2026 16:21:34 +0200 Subject: [PATCH 69/69] feat: read config.toml in hmi (#63) --- pixi.lock | 45 ++++++++---- pixi.toml | 3 +- .../src/mobile_manipulator_hmi/CMakeLists.txt | 16 ++--- ros2_ws/src/mobile_manipulator_hmi/Config.h | 2 - .../mobile_manipulator_hmi/ModelConfig.cpp | 72 +++++++++++++++++++ .../src/mobile_manipulator_hmi/ModelConfig.h | 31 ++++++++ .../src/mobile_manipulator_hmi/hmiWindow.cpp | 6 +- 7 files changed, 149 insertions(+), 26 deletions(-) create mode 100644 ros2_ws/src/mobile_manipulator_hmi/ModelConfig.cpp create mode 100644 ros2_ws/src/mobile_manipulator_hmi/ModelConfig.h diff --git a/pixi.lock b/pixi.lock index f0d7877..36f23bd 100644 --- a/pixi.lock +++ b/pixi.lock @@ -382,7 +382,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.6-hdb14827_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/nettle-3.10.1-h4a9d5aa_0.conda - 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conda: https://conda.anaconda.org/conda-forge/linux-64/tinyxml2-11.0.0-h3f2d84a_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_h366c992_103.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/tomlplusplus-3.3.0-hcb278e6_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/tzcode-2026b-h280c20c_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/uncrustify-0.83.0-h54a6638_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/unicodedata2-17.0.1-py312h4c3975b_0.conda @@ -2603,7 +2605,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/nanoflann-1.6.1-hff21bea_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.6-hdb14827_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/nettle-3.10.1-h4a9d5aa_0.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/nlohmann_json-3.12.0-h54a6638_1.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/nlohmann_json-3.11.3-he02047a_1.conda - 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libgcc-ng >=12 + - libstdcxx-ng >=12 + license: MIT + license_family: MIT + run_exports: {} + size: 100241 + timestamp: 1675026801832 - conda: https://conda.anaconda.org/conda-forge/linux-64/tzcode-2026b-h280c20c_0.conda sha256: 35da5b89561ed93629f751f111a092abcaaa9fdc516e09e9b4ab9880756a1871 md5: 5c5f9b9bad2a0852ffa38833ba2a1c7d diff --git a/pixi.toml b/pixi.toml index a7918cf..ff2c4ca 100644 --- a/pixi.toml +++ b/pixi.toml @@ -44,7 +44,8 @@ c-compiler = "*" cxx-compiler = "*" pkg-config = "*" qt-main = "*" -nlohmann_json = "*" +nlohmann_json = "3.11.3.*" +tomlplusplus = "3.3.0.*" rust = ">=1.96.0,<1.97" # ─── Workspace tasks ──────────────────────────────────────────────────────────── diff --git a/ros2_ws/src/mobile_manipulator_hmi/CMakeLists.txt b/ros2_ws/src/mobile_manipulator_hmi/CMakeLists.txt index 7fc8168..50385c9 100644 --- a/ros2_ws/src/mobile_manipulator_hmi/CMakeLists.txt +++ b/ros2_ws/src/mobile_manipulator_hmi/CMakeLists.txt @@ -69,20 +69,19 @@ find_package(rai_interfaces REQUIRED) # custom Utilization message # add source directory to include path include_directories(${CMAKE_CURRENT_SOURCE_DIR}) -# --- nlohmann/json dependency --- -include(FetchContent) -FetchContent_Declare( - json - GIT_REPOSITORY https://github.com/nlohmann/json.git - GIT_TAG v3.11.3 # or latest -) -FetchContent_MakeAvailable(json) +# --- nlohmann/json dependency (from conda-forge) --- +find_package(nlohmann_json REQUIRED) + +# --- toml++ dependency (config.toml parsing, from conda-forge) --- +find_package(tomlplusplus REQUIRED) set(PROJECT_SOURCES main.cpp ZoomableGraphicsView.h ZoomableGraphicsView.cpp Config.h + ModelConfig.h + ModelConfig.cpp LogItemWidget.h LogItemWidget.cpp LogView.h @@ -127,6 +126,7 @@ target_link_libraries(MobileManipulatorHMI PRIVATE cv_bridge::cv_bridge ${OpenCV_LIBS} # OpenCV provides targets like OpenCV::Core, but ${OpenCV_LIBS} is usually set nlohmann_json::nlohmann_json + tomlplusplus::tomlplusplus ) # Install targets diff --git a/ros2_ws/src/mobile_manipulator_hmi/Config.h b/ros2_ws/src/mobile_manipulator_hmi/Config.h index 82431f8..c2ab8cf 100644 --- a/ros2_ws/src/mobile_manipulator_hmi/Config.h +++ b/ros2_ws/src/mobile_manipulator_hmi/Config.h @@ -52,8 +52,6 @@ namespace HardcodedConfig { const static char UserPromptTopic[] = "/user_tasks"; const static char OrchestratorHeartbeat[] = "/orchestrator/heartbeat"; // TODO: Get actual topic names // - const static QString SelectedLLMModel = "gpt-oss-20B"; - const static QString SelectedVLMModel = "LFM2-VL-3B | Gemma4-4B"; const static char VLMTopic[] = "/vlm_topic"; const static char EmergencyStopTopic[] = "/emergency_stop"; diff --git a/ros2_ws/src/mobile_manipulator_hmi/ModelConfig.cpp b/ros2_ws/src/mobile_manipulator_hmi/ModelConfig.cpp new file mode 100644 index 0000000..7afa445 --- /dev/null +++ b/ros2_ws/src/mobile_manipulator_hmi/ModelConfig.cpp @@ -0,0 +1,72 @@ +// Copyright (C) 2026 Advanced Micro Devices, Inc. +// Developed by Robotec.ai sp. z o.o. +// +// 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. + +#include "ModelConfig.h" + +#include +#include + +QString defaultModelConfigPath() +{ + const QString demoRoot = qEnvironmentVariable("DEMO_ROOT"); + if (!demoRoot.isEmpty()) { + return demoRoot + "/config.toml"; + } + return QStringLiteral("config.toml"); +} + +ModelNames loadModelNames(const QString &configPath) +{ + ModelNames names{QStringLiteral("unknown"), QStringLiteral("unknown")}; + + toml::table config; + try { + config = toml::parse_file(configPath.toStdString()); + } catch (const std::exception &) { + return names; + } + + const toml::table *endpoints = config["endpoints"].as_table(); + if (!endpoints) { + return names; + } + + // LLM: the endpoint referenced by [general].llm + if (auto llmRef = config["general"]["llm"].value()) { + if (auto model = (*endpoints)[*llmRef]["model"].value()) { + names.llm = QString::fromStdString(*model); + } + } + + // VLM: every distinct model served by an endpoint of type "vlm" + QStringList vlmModels; + for (const auto &[endpointName, node] : *endpoints) { + const toml::table *endpoint = node.as_table(); + if (!endpoint || (*endpoint)["type"].value_or(std::string{}) != "vlm") { + continue; + } + if (auto model = (*endpoint)["model"].value()) { + const QString modelName = QString::fromStdString(*model); + if (!vlmModels.contains(modelName)) { + vlmModels << modelName; + } + } + } + if (!vlmModels.isEmpty()) { + names.vlm = vlmModels.join(QStringLiteral(" | ")); + } + + return names; +} diff --git a/ros2_ws/src/mobile_manipulator_hmi/ModelConfig.h b/ros2_ws/src/mobile_manipulator_hmi/ModelConfig.h new file mode 100644 index 0000000..c0cbd06 --- /dev/null +++ b/ros2_ws/src/mobile_manipulator_hmi/ModelConfig.h @@ -0,0 +1,31 @@ +// Copyright (C) 2026 Advanced Micro Devices, Inc. +// Developed by Robotec.ai sp. z o.o. +// +// 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. + +#pragma once + +#include + +struct ModelNames { + QString llm; + QString vlm; +}; + +// $DEMO_ROOT/config.toml when DEMO_ROOT is set, otherwise ./config.toml +// (which may be a symlink placed next to the HMI's working directory). +QString defaultModelConfigPath(); + +// Reads the inference SSOT (config.toml) and returns the model names to +// display. Never throws: a missing or malformed file yields "unknown". +ModelNames loadModelNames(const QString &configPath); diff --git a/ros2_ws/src/mobile_manipulator_hmi/hmiWindow.cpp b/ros2_ws/src/mobile_manipulator_hmi/hmiWindow.cpp index 56cfdd2..2ade59e 100644 --- a/ros2_ws/src/mobile_manipulator_hmi/hmiWindow.cpp +++ b/ros2_ws/src/mobile_manipulator_hmi/hmiWindow.cpp @@ -26,6 +26,7 @@ #include #include #include "LogView.h" +#include "ModelConfig.h" #include "ParseRaiData.h" QString HRIMessageToString(const ParseRaiData::HRIMessage& msg) @@ -273,8 +274,9 @@ HMIWindow::HMIWindow(QWidget *parent) ui->graphicsViewMap->setDragMode(QGraphicsView::RubberBandDrag); ui->graphicsViewMap->setRenderHint(QPainter::Antialiasing); ui->graphicsViewMap->setTransformationAnchor(QGraphicsView::AnchorUnderMouse); - ui->llm_text_field->setText(HardcodedConfig::SelectedLLMModel); - ui->vlm_text_field->setText(HardcodedConfig::SelectedVLMModel); + const ModelNames models = loadModelNames(defaultModelConfigPath()); + ui->llm_text_field->setText(models.llm); + ui->vlm_text_field->setText(models.vlm); logView_ = new LogView(this); queueView_ = new LogView(this);