From 8250d60ea8ca9225ad8950552cd99e705b1096c5 Mon Sep 17 00:00:00 2001
From: Michael Wrock <michael.wrock@picknik.ai>
Date: Thu, 24 Oct 2024 14:52:04 -0700
Subject: [PATCH 01/16] Initial commit

---
 README.md | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 README.md

diff --git a/README.md b/README.md
new file mode 100644
index 000000000..4d53294bd
--- /dev/null
+++ b/README.md
@@ -0,0 +1 @@
+# moveit_pro_empty_ws
\ No newline at end of file

From 865257f68ed272cc28b83b5aeb73c992f6d9abee Mon Sep 17 00:00:00 2001
From: Michael Wrock <mike.wrock@gmail.com>
Date: Thu, 24 Oct 2024 15:06:35 -0700
Subject: [PATCH 02/16] added required files

---
 .github/workflows/ci.yaml     |  30 ++++++++
 .github/workflows/format.yaml |  17 +++++
 .pre-commit-config.yaml       |  85 +++++++++++++++++++++++
 .prettierrc.cjs               |   5 ++
 CONTRIBUTING.md               |   7 ++
 Dockerfile                    | 124 ++++++++++++++++++++++++++++++++++
 LICENSE                       |  29 ++++++++
 README.md                     |   8 ++-
 colcon-defaults.yaml          |  19 ++++++
 docker-compose.yaml           | 106 +++++++++++++++++++++++++++++
 10 files changed, 429 insertions(+), 1 deletion(-)
 create mode 100644 .github/workflows/ci.yaml
 create mode 100644 .github/workflows/format.yaml
 create mode 100644 .pre-commit-config.yaml
 create mode 100644 .prettierrc.cjs
 create mode 100644 CONTRIBUTING.md
 create mode 100644 Dockerfile
 create mode 100644 LICENSE
 create mode 100644 colcon-defaults.yaml
 create mode 100644 docker-compose.yaml

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
new file mode 100644
index 000000000..69ccf1f55
--- /dev/null
+++ b/.github/workflows/ci.yaml
@@ -0,0 +1,30 @@
+name: CI
+on:
+  push:
+    branches: [main]
+  pull_request:
+  workflow_dispatch:
+    inputs:
+      image_tag:
+        description: 'The tag of the image to use for the container'
+        required: false
+        default: ''
+  # Run every 6 hours Mon-Fri
+  schedule:
+    - cron: "0 */6 * * 1-5"
+
+jobs:
+  integration-test-in-studio-container:
+    uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@virtual-buffer
+    with:
+      image_tag: ${{ github.event.inputs.image_tag || null }}
+      colcon_test_args: "--executor sequential"
+    secrets: inherit
+
+  ensure-no-ssh-in-gitmodules:
+    name: Ensure no SSH URLs in .gitmodules
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Check .gitmodules file for Git-over-SSH URLs
+        run: "! grep 'git@' .gitmodules"
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
new file mode 100644
index 000000000..8107c1735
--- /dev/null
+++ b/.github/workflows/format.yaml
@@ -0,0 +1,17 @@
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  pre-commit:
+    name: pre-commit
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - uses: pre-commit/action@v3.0.0
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 000000000..23e59a05a
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,85 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-yaml
+        args: ["--unsafe"] # Fixes errors parsing custom YAML constructors like ur_description's !degrees
+      - id: debug-statements
+      - id: end-of-file-fixer
+        exclude: (\.(svg|stl|dae))$
+      - id: mixed-line-ending
+      - id: fix-byte-order-marker
+
+  - repo: https://github.com/psf/black
+    rev: 22.3.0
+    hooks:
+      - id: black
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.0.0
+    hooks:
+      - id: codespell
+        args: ["--write-changes", "-L", "atleast,inout,ether"] # Provide a comma-separated list of misspelled words that codespell should ignore (for example: '-L', 'word1,word2,word3').
+        exclude: \.(svg|pyc|stl|dae|lock)$
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
+    hooks:
+      - id: clang-format
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|m|proto|vert)$
+        # -i arg is included by default by the hook
+        args: ["-fallback-style=none"]
+
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.27.1
+    hooks:
+      - id: yamllint
+        args:
+          [
+            "--no-warnings",
+            "--config-data",
+            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}}}",
+          ]
+        types: [text]
+        files: \.(yml|yaml)$
+
+  - repo: https://github.com/tcort/markdown-link-check
+    rev: v3.10.3
+    hooks:
+      - id: markdown-link-check
+
+  # NOTE: Broken on arm64. Will need to bump once https://github.com/hadolint/hadolint/issues/840 is fixed.
+  - repo: https://github.com/hadolint/hadolint
+    rev: v2.10.0
+    hooks:
+      - id: hadolint-docker
+
+  - repo: https://github.com/pre-commit/mirrors-prettier
+    rev: "v3.1.0"
+    hooks:
+      # Use Prettier to lint XML files because, well.. its rules are prettier than most linters, as the name implies.
+      # Also we use it in the UI, so it's familiar.
+      - id: prettier
+        additional_dependencies:
+          - "prettier@3.1.0"
+          - "@prettier/plugin-xml@3.3.1"
+        files: \.(xml)$
diff --git a/.prettierrc.cjs b/.prettierrc.cjs
new file mode 100644
index 000000000..4e04acc26
--- /dev/null
+++ b/.prettierrc.cjs
@@ -0,0 +1,5 @@
+module.exports = {
+  plugins: [require.resolve("@prettier/plugin-xml")],
+  xmlWhitespaceSensitivity: "ignore",
+  xmlQuoteAttributes: "double"
+}
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
new file mode 100644
index 000000000..be449dc44
--- /dev/null
+++ b/CONTRIBUTING.md
@@ -0,0 +1,7 @@
+Any contribution that you make to this repository will
+be under the 3-Clause BSD License, as dictated by that
+[license](https://opensource.org/licenses/BSD-3-Clause).
+
+# Contributing to this Repository
+
+Thanks for getting involved! If you want to add to this repository, please reach out to support@picknik.ai.
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 000000000..8006e4e09
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,124 @@
+# Docker image for extending MoveIt Pro with a custom overlay.
+#
+# Example build command (with defaults):
+#
+# docker build -f ./Dockerfile .
+#
+
+# Specify the MoveIt Pro release to build on top of.
+ARG MOVEIT_STUDIO_BASE_IMAGE
+ARG USERNAME=studio-user
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+##################################################
+# Starting from the specified MoveIt Pro release #
+##################################################
+# The image tag is specified in the argument itself.
+# hadolint ignore=DL3006
+FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base
+
+# Create a non-root user
+ARG USERNAME
+ARG USER_UID
+ARG USER_GID
+
+# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+RUN mkdir -p ${USER_WS}/src ${USER_WS}/build ${USER_WS}/install ${USER_WS}/log
+COPY ./src ${USER_WS}/src
+
+# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
+WORKDIR $USER_WS
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    groupadd --gid $USER_GID ${USERNAME} && \
+    useradd --uid $USER_UID --gid $USER_GID --shell /bin/bash --create-home ${USERNAME} && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends sudo && \
+    echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME} && \
+    cp -r /etc/skel/. /home/${USERNAME} && \
+    mkdir -p \
+      /home/${USERNAME}/.ccache \
+      /home/${USERNAME}/.config \
+      /home/${USERNAME}/.ignition \
+      /home/${USERNAME}/.colcon \
+      /home/${USERNAME}/.ros && \
+    chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
+
+# IMPORTANT: Optionally install Nvidia drivers for improved simulator performance with Nvidia GPUs.
+# To do this you must
+# 1. Uncomment the ENV and RUN entries below
+# 2. Replace the 'nvidia-driver-555' apt package with the Nvidia driver version on your host, e.g. nvidia-driver-535, nvidia-driver-555. Use nvidia-smi on your host to determine the driver version.
+# After rebuilding via `moveit_pro build` verify the drivers are active in your container by running `nvidia_smi` inside of `moveit_pro shell`.
+# ENV DEBIAN_FRONTEND=noninteractive
+# RUN apt update && apt install -y software-properties-common
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#     --mount=type=cache,target=/var/lib/apt,sharing=locked \ 
+#    add-apt-repository ppa:graphics-drivers/ppa && \
+#    apt update && apt upgrade -y && apt install -y nvidia-driver-555
+
+# Install additional dependencies
+# You can also add any necessary apt-get install, pip install, etc. commands at this point.
+# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    . /opt/overlay_ws/install/setup.sh && \
+    apt-get update && \
+    rosdep install -q -y \
+      --from-paths src \
+      --ignore-src
+
+# Set up colcon defaults for the new user
+USER ${USERNAME}
+RUN colcon mixin add default \
+    https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update && \
+    colcon metadata add default \
+    https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+    colcon metadata update
+COPY colcon-defaults.yaml /home/${USERNAME}/.colcon/defaults.yaml
+
+# hadolint ignore=DL3002
+USER root
+
+###################################################################
+# Target for the developer build which does not compile any code. #
+###################################################################
+FROM base AS user-overlay-dev
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Install any additional packages for development work
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && \
+    apt-get install -y --no-install-recommends \
+        less \
+        gdb \
+        nano
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]
+
+#########################################
+# Target for compiled, deployable image #
+#########################################
+FROM base AS user-overlay
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Compile the workspace
+WORKDIR $USER_WS
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 000000000..7c2e04ebe
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2023 PickNik Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/README.md b/README.md
index 4d53294bd..bfa767723 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,7 @@
-# moveit_pro_empty_ws
\ No newline at end of file
+# MoveIt Pro Workspace
+
+This is a minimal user workspace that can be used to build customized MoveIt Pro workspaces.
+
+You may fork this repository and add the MoveIt Pro configurations and ROS 2 packages of your choosing to the `src` folder.
+
+For more information, refer to the [MoveIt Pro Documentation](https://docs.picknik.ai/).
diff --git a/colcon-defaults.yaml b/colcon-defaults.yaml
new file mode 100644
index 000000000..9aedbf87e
--- /dev/null
+++ b/colcon-defaults.yaml
@@ -0,0 +1,19 @@
+# Contains colcon default settings for user overlay containers.
+build:
+  # Enable this for bidirectional syncing from the UI
+  symlink-install: true
+  mixin:
+    # Enable ccache support
+    - ccache
+    # Multithreaded linker to speed up linking step during compilation
+    - lld
+    - compile-commands
+    # Debug info and build testing for dev workflows
+    - rel-with-deb-info
+    - build-testing-on
+    - coverage-gcc
+    - coverage-pytest
+test:
+  event-handlers:
+    - console_direct+
+    - desktop_notification+
diff --git a/docker-compose.yaml b/docker-compose.yaml
new file mode 100644
index 000000000..2c94baf98
--- /dev/null
+++ b/docker-compose.yaml
@@ -0,0 +1,106 @@
+# Docker Compose file for user overlays of the MoveIt Pro images.
+
+services:
+  # Sets common properties for other services. Should not be instantiated directly.
+  base:
+    # Extend the installed MoveIt Pro docker compose file.
+    # Change this to match your environment, if MoveIt Pro was installed to a different location.
+    extends:
+      file: /opt/moveit_pro/docker-compose.yaml
+      service: base
+    image: moveit-pro-overlay
+    build:
+      context: .
+      target: user-overlay
+      args:
+        - USER_UID=${STUDIO_USER_UID:-1000}
+        - USER_GID=${STUDIO_USER_GID:-1000}
+        - USERNAME=${STUDIO_USERNAME:-studio-user}
+        - MOVEIT_STUDIO_BASE_IMAGE=picknikciuser/moveit-studio:${STUDIO_DOCKER_TAG:-main}
+
+  # Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI
+  agent_bridge:
+    extends: base
+    privileged: true
+    # This service relies on cgroup_rules defined in base which allow the user to use the host's network video4linux and usb_device devices.
+    depends_on:
+      rest_api:
+        condition: service_healthy
+    volumes:
+      # Allow the user to run graphical programs from within the docker container.
+      - /tmp/.X11-unix:/tmp/.X11-unix:ro
+      # Allow access to host hardware e.g. RealSense cameras
+      - /dev:/dev
+    deploy:
+      restart_policy:
+        condition: any
+        delay: 2s
+    command: agent_bridge.app
+
+  # Starts the REST API for the Web UI.
+  rest_api:
+    extends: base
+    healthcheck:
+      test: "curl -f http://localhost:3200/objectives"
+      interval: 5s
+      timeout: 1m
+    command: rest_api.app
+
+  # Starts the robot drivers.
+  drivers:
+    extends: base
+    privileged: true
+    # Ensures the drivers container has RT priority
+    ulimits:
+      rtprio: 99
+    devices:
+      - "/dev/ttyUSB0:/dev/ttyUSB0"  # Allow access to the gripper.
+    command: robot.app
+
+  # Starts the web UI frontend.
+  web_ui:
+    image: picknikciuser/moveit-studio-frontend:${STUDIO_DOCKER_TAG:-main}
+    ports:
+      - "80:80"
+    network_mode: host
+
+  # Starts RViz for visualization.
+  rviz:
+    extends: base
+    profiles:
+      - rviz
+    command: bash -c "ros2 launch moveit_studio_agent developer_rviz.launch.py"
+
+  # Starts MoveIt Setup Assistant for creating MoveIt configurations.
+  setup_assistant:
+    extends: base
+    profiles:
+      - setup_assistant
+    command: bash -c "ros2 launch moveit_setup_assistant setup_assistant.launch.py"
+
+  # Developer specific configuration
+  dev:
+    extends: base
+    build:
+      target: user-overlay-dev
+    image: moveit-studio-overlay-dev
+    stdin_open: true
+    tty: true
+    privileged: true
+    volumes:
+      # Mount the source code, colcon generated artifacts, and ccache
+      - ./src/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/src:rw
+      - ./build/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/build:rw
+      - ./install/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/install:rw
+      - ./log/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/log:rw
+      - ./.ccache/:/home/${STUDIO_USERNAME:-studio-user}/.ccache:rw
+      - ${HOME}/.ros/log_moveit_pro:/home/${STUDIO_USERNAME:-studio-user}/.ros/log
+      # Allow access to host hardware e.g. RealSense cameras
+      - /dev:/dev
+    command: sleep infinity
+    # Making a separate profile prevents this service from being built when using `docker compose build`
+    # and launched when using `docker compose up`.
+    profiles: ["dev"]
+
+volumes:
+  ignition_resources:

From 7ed6cc3682c9025b25144b46203e21fdff79b389 Mon Sep 17 00:00:00 2001
From: David Sobek <david.sobek@picknik.ai>
Date: Wed, 4 Dec 2024 09:15:45 -0700
Subject: [PATCH 03/16] Template docker-compose.yaml for merging

---
 docker-compose.yaml | 99 ++++-----------------------------------------
 1 file changed, 8 insertions(+), 91 deletions(-)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 2c94baf98..48a13f7d9 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -1,106 +1,23 @@
-# Docker Compose file for user overlays of the MoveIt Pro images.
+# Docker Compose file that will be merged with /opt/moveit_pro/docker-compose.yaml.
+# For more details on how merging works, see https://docs.docker.com/compose/how-tos/multiple-compose-files/merge/#merging-rules.
 
+# Services that are listed under `/opt/moveit_pro/docker-compose.yaml` are mirrored here for merging.
+# Feel free to remove services here that are unmodified.
 services:
-  # Sets common properties for other services. Should not be instantiated directly.
+  # The base image that all MoveIt Pro services extend off of. Builds the user workspace.
   base:
-    # Extend the installed MoveIt Pro docker compose file.
-    # Change this to match your environment, if MoveIt Pro was installed to a different location.
-    extends:
-      file: /opt/moveit_pro/docker-compose.yaml
-      service: base
-    image: moveit-pro-overlay
     build:
-      context: .
-      target: user-overlay
+      # List any arguments for building the user workspace here.
       args:
-        - USER_UID=${STUDIO_USER_UID:-1000}
-        - USER_GID=${STUDIO_USER_GID:-1000}
-        - USERNAME=${STUDIO_USERNAME:-studio-user}
-        - MOVEIT_STUDIO_BASE_IMAGE=picknikciuser/moveit-studio:${STUDIO_DOCKER_TAG:-main}
 
-  # Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI
+  # Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI.
   agent_bridge:
-    extends: base
-    privileged: true
-    # This service relies on cgroup_rules defined in base which allow the user to use the host's network video4linux and usb_device devices.
-    depends_on:
-      rest_api:
-        condition: service_healthy
-    volumes:
-      # Allow the user to run graphical programs from within the docker container.
-      - /tmp/.X11-unix:/tmp/.X11-unix:ro
-      # Allow access to host hardware e.g. RealSense cameras
-      - /dev:/dev
-    deploy:
-      restart_policy:
-        condition: any
-        delay: 2s
-    command: agent_bridge.app
-
-  # Starts the REST API for the Web UI.
-  rest_api:
-    extends: base
-    healthcheck:
-      test: "curl -f http://localhost:3200/objectives"
-      interval: 5s
-      timeout: 1m
-    command: rest_api.app
 
   # Starts the robot drivers.
   drivers:
-    extends: base
-    privileged: true
-    # Ensures the drivers container has RT priority
-    ulimits:
-      rtprio: 99
-    devices:
-      - "/dev/ttyUSB0:/dev/ttyUSB0"  # Allow access to the gripper.
-    command: robot.app
 
   # Starts the web UI frontend.
   web_ui:
-    image: picknikciuser/moveit-studio-frontend:${STUDIO_DOCKER_TAG:-main}
-    ports:
-      - "80:80"
-    network_mode: host
-
-  # Starts RViz for visualization.
-  rviz:
-    extends: base
-    profiles:
-      - rviz
-    command: bash -c "ros2 launch moveit_studio_agent developer_rviz.launch.py"
-
-  # Starts MoveIt Setup Assistant for creating MoveIt configurations.
-  setup_assistant:
-    extends: base
-    profiles:
-      - setup_assistant
-    command: bash -c "ros2 launch moveit_setup_assistant setup_assistant.launch.py"
 
-  # Developer specific configuration
+  # Developer specific configuration when running `moveit_pro dev`.
   dev:
-    extends: base
-    build:
-      target: user-overlay-dev
-    image: moveit-studio-overlay-dev
-    stdin_open: true
-    tty: true
-    privileged: true
-    volumes:
-      # Mount the source code, colcon generated artifacts, and ccache
-      - ./src/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/src:rw
-      - ./build/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/build:rw
-      - ./install/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/install:rw
-      - ./log/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/log:rw
-      - ./.ccache/:/home/${STUDIO_USERNAME:-studio-user}/.ccache:rw
-      - ${HOME}/.ros/log_moveit_pro:/home/${STUDIO_USERNAME:-studio-user}/.ros/log
-      # Allow access to host hardware e.g. RealSense cameras
-      - /dev:/dev
-    command: sleep infinity
-    # Making a separate profile prevents this service from being built when using `docker compose build`
-    # and launched when using `docker compose up`.
-    profiles: ["dev"]
-
-volumes:
-  ignition_resources:

From 4e4fb8796e78e6f479ec749da047febf2f379c31 Mon Sep 17 00:00:00 2001
From: David Sobek <david.sobek@picknik.ai>
Date: Wed, 4 Dec 2024 09:55:17 -0700
Subject: [PATCH 04/16] remove docker compose yaml

---
 docker-compose.yaml | 106 --------------------------------------------
 1 file changed, 106 deletions(-)
 delete mode 100644 docker-compose.yaml

diff --git a/docker-compose.yaml b/docker-compose.yaml
deleted file mode 100644
index 2c94baf98..000000000
--- a/docker-compose.yaml
+++ /dev/null
@@ -1,106 +0,0 @@
-# Docker Compose file for user overlays of the MoveIt Pro images.
-
-services:
-  # Sets common properties for other services. Should not be instantiated directly.
-  base:
-    # Extend the installed MoveIt Pro docker compose file.
-    # Change this to match your environment, if MoveIt Pro was installed to a different location.
-    extends:
-      file: /opt/moveit_pro/docker-compose.yaml
-      service: base
-    image: moveit-pro-overlay
-    build:
-      context: .
-      target: user-overlay
-      args:
-        - USER_UID=${STUDIO_USER_UID:-1000}
-        - USER_GID=${STUDIO_USER_GID:-1000}
-        - USERNAME=${STUDIO_USERNAME:-studio-user}
-        - MOVEIT_STUDIO_BASE_IMAGE=picknikciuser/moveit-studio:${STUDIO_DOCKER_TAG:-main}
-
-  # Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI
-  agent_bridge:
-    extends: base
-    privileged: true
-    # This service relies on cgroup_rules defined in base which allow the user to use the host's network video4linux and usb_device devices.
-    depends_on:
-      rest_api:
-        condition: service_healthy
-    volumes:
-      # Allow the user to run graphical programs from within the docker container.
-      - /tmp/.X11-unix:/tmp/.X11-unix:ro
-      # Allow access to host hardware e.g. RealSense cameras
-      - /dev:/dev
-    deploy:
-      restart_policy:
-        condition: any
-        delay: 2s
-    command: agent_bridge.app
-
-  # Starts the REST API for the Web UI.
-  rest_api:
-    extends: base
-    healthcheck:
-      test: "curl -f http://localhost:3200/objectives"
-      interval: 5s
-      timeout: 1m
-    command: rest_api.app
-
-  # Starts the robot drivers.
-  drivers:
-    extends: base
-    privileged: true
-    # Ensures the drivers container has RT priority
-    ulimits:
-      rtprio: 99
-    devices:
-      - "/dev/ttyUSB0:/dev/ttyUSB0"  # Allow access to the gripper.
-    command: robot.app
-
-  # Starts the web UI frontend.
-  web_ui:
-    image: picknikciuser/moveit-studio-frontend:${STUDIO_DOCKER_TAG:-main}
-    ports:
-      - "80:80"
-    network_mode: host
-
-  # Starts RViz for visualization.
-  rviz:
-    extends: base
-    profiles:
-      - rviz
-    command: bash -c "ros2 launch moveit_studio_agent developer_rviz.launch.py"
-
-  # Starts MoveIt Setup Assistant for creating MoveIt configurations.
-  setup_assistant:
-    extends: base
-    profiles:
-      - setup_assistant
-    command: bash -c "ros2 launch moveit_setup_assistant setup_assistant.launch.py"
-
-  # Developer specific configuration
-  dev:
-    extends: base
-    build:
-      target: user-overlay-dev
-    image: moveit-studio-overlay-dev
-    stdin_open: true
-    tty: true
-    privileged: true
-    volumes:
-      # Mount the source code, colcon generated artifacts, and ccache
-      - ./src/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/src:rw
-      - ./build/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/build:rw
-      - ./install/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/install:rw
-      - ./log/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/log:rw
-      - ./.ccache/:/home/${STUDIO_USERNAME:-studio-user}/.ccache:rw
-      - ${HOME}/.ros/log_moveit_pro:/home/${STUDIO_USERNAME:-studio-user}/.ros/log
-      # Allow access to host hardware e.g. RealSense cameras
-      - /dev:/dev
-    command: sleep infinity
-    # Making a separate profile prevents this service from being built when using `docker compose build`
-    # and launched when using `docker compose up`.
-    profiles: ["dev"]
-
-volumes:
-  ignition_resources:

From 4ec060ad73159e9327af660eb40512f17fb64c07 Mon Sep 17 00:00:00 2001
From: Michael Wrock <mike.wrock@gmail.com>
Date: Wed, 1 Jan 2025 10:39:20 -0800
Subject: [PATCH 05/16] Update docker-compose.yaml

---
 docker-compose.yaml | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 48a13f7d9..7fe7e4edf 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -9,6 +9,13 @@ services:
     build:
       # List any arguments for building the user workspace here.
       args:
+        # IMPORTANT: Optionally install Nvidia drivers for improved simulator performance with Nvidia GPUs.
+        # To do this you must
+        # 1. Uncomment the BASE and NVIDIA_DRIVER_PACKAGE build args below
+        # 2. Replace the 'nvidia-driver-555' apt package with the Nvidia driver version on your host, e.g. nvidia-driver-535, nvidia-driver-555. Use nvidia-smi on your host to determine the driver version.
+        # After rebuilding via `moveit_pro build` verify the drivers are active in your container by running `nvidia_smi` inside of `moveit_pro shell`.
+        # - BASE=nvidia
+        # - NVIDIA_DRIVER_PACKAGE=nvidia-driver-555
 
   # Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI.
   agent_bridge:

From 488f7e47f1b8c517239f861d176367d073908f49 Mon Sep 17 00:00:00 2001
From: Sebastian Jahr <sebastian.jahr@picknik.ai>
Date: Mon, 27 Jan 2025 12:05:16 +0100
Subject: [PATCH 06/16] Add clang-format file (#12)

---
 .clang-format | 79 +++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 79 insertions(+)
 create mode 100644 .clang-format

diff --git a/.clang-format b/.clang-format
new file mode 100644
index 000000000..23011a85f
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,79 @@
+---
+BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+
+# Allow us to adhere to https://google.github.io/styleguide/cppguide.html#Names_and_Order_of_Includes
+IncludeBlocks: Preserve
+SortIncludes: true
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+
+AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: false
+
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+
+BinPackParameters: true
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
+PenaltyBreakString: 100
+PenaltyReturnTypeOnItsOwnLine: 50
+
+SpacesBeforeTrailingComments: 2
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping:
+    AfterCaseLabel: true
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
+IncludeBlocks: Preserve
+...

From ef69e397768b758cb33f5718b2c6e4ee8855b7ee Mon Sep 17 00:00:00 2001
From: Paul Gesel <paul.gesel@picknik.ai>
Date: Fri, 14 Feb 2025 10:22:13 -0700
Subject: [PATCH 07/16] Fix .gitattributes file

Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>
---
 .gitattributes | 12 ++++++++++++
 1 file changed, 12 insertions(+)
 create mode 100644 .gitattributes

diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 000000000..a17717cc6
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,12 @@
+# Add Git LFS support for common 3D file formats
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.stl filter=lfs diff=lfs merge=lfs -text
+*.STL filter=lfs diff=lfs merge=lfs -text
+*.obj filter=lfs diff=lfs merge=lfs -text
+*.fbx filter=lfs diff=lfs merge=lfs -text
+*.dae filter=lfs diff=lfs merge=lfs -text
+*.gltf filter=lfs diff=lfs merge=lfs -text
+*.glb filter=lfs diff=lfs merge=lfs -text
+*.ply filter=lfs diff=lfs merge=lfs -text
+*.3ds filter=lfs diff=lfs merge=lfs -text
+*.blend filter=lfs diff=lfs merge=lfs -text

From eee84be8be74fc366dc9b0913013a4e5ac03a8b0 Mon Sep 17 00:00:00 2001
From: Sebastian Jahr <sebastian.jahr@picknik.ai>
Date: Wed, 5 Mar 2025 10:03:38 +0100
Subject: [PATCH 08/16] Add src directory

---
 src/.gitkeep | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 src/.gitkeep

diff --git a/src/.gitkeep b/src/.gitkeep
new file mode 100644
index 000000000..e69de29bb

From 63041c38fd10e87ce02ca409af268e77114aae3e Mon Sep 17 00:00:00 2001
From: Sebastian Jahr <sebastian.jahr@picknik.ai>
Date: Fri, 7 Mar 2025 16:45:31 +0100
Subject: [PATCH 09/16] Create .gitignore

---
 .gitignore | 4 ++++
 1 file changed, 4 insertions(+)
 create mode 100644 .gitignore

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 000000000..d034d0064
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+build/
+install/
+log/
+.ccache/

From 22c3b6b09f3f013f17c10d5afbe05199f679f0db Mon Sep 17 00:00:00 2001
From: David Sobek <43018208+dsobek@users.noreply.github.com>
Date: Thu, 13 Mar 2025 12:01:09 -0600
Subject: [PATCH 10/16] Adjust yaml lint to allow for different sequence indent
 options

---
 .pre-commit-config.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 23e59a05a..e170af965 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -57,7 +57,7 @@ repos:
           [
             "--no-warnings",
             "--config-data",
-            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}}}",
+            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}, indentation: {spaces: consistent, indent-sequences: whatever}}}",
           ]
         types: [text]
         files: \.(yml|yaml)$

From fc683b0352318e3b82a60a1fb0f210c322b94b21 Mon Sep 17 00:00:00 2001
From: David Yackzan <dwyackzan@gmail.com>
Date: Thu, 8 May 2025 10:51:28 -0600
Subject: [PATCH 11/16] Make all docker-compose services mappings

It seems like in some version of docker-compose, the services must be
followed by an empty curly bracket `{}` to be valid syntax or
docker-compose will fail with an error message like `services must be a
mapping`.
---
 docker-compose.yaml | 20 +++++---------------
 1 file changed, 5 insertions(+), 15 deletions(-)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 7fe7e4edf..9988e5118 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -5,26 +5,16 @@
 # Feel free to remove services here that are unmodified.
 services:
   # The base image that all MoveIt Pro services extend off of. Builds the user workspace.
-  base:
-    build:
-      # List any arguments for building the user workspace here.
-      args:
-        # IMPORTANT: Optionally install Nvidia drivers for improved simulator performance with Nvidia GPUs.
-        # To do this you must
-        # 1. Uncomment the BASE and NVIDIA_DRIVER_PACKAGE build args below
-        # 2. Replace the 'nvidia-driver-555' apt package with the Nvidia driver version on your host, e.g. nvidia-driver-535, nvidia-driver-555. Use nvidia-smi on your host to determine the driver version.
-        # After rebuilding via `moveit_pro build` verify the drivers are active in your container by running `nvidia_smi` inside of `moveit_pro shell`.
-        # - BASE=nvidia
-        # - NVIDIA_DRIVER_PACKAGE=nvidia-driver-555
+  base: {}
 
   # Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI.
-  agent_bridge:
+  agent_bridge: {}
 
   # Starts the robot drivers.
-  drivers:
+  drivers: {}
 
   # Starts the web UI frontend.
-  web_ui:
+  web_ui: {}
 
   # Developer specific configuration when running `moveit_pro dev`.
-  dev:
+  dev: {}

From bc5980be71410c0a76b5454fa02f29bfa699b9d4 Mon Sep 17 00:00:00 2001
From: Ezra Brooks <ezra@brooks.cx>
Date: Wed, 30 Jul 2025 14:16:52 -0600
Subject: [PATCH 12/16] Fix caching of dependency steps in Docker build

`log` wasn't ignored in the build context and was causing cache busts.
---
 .dockerignore | 4 ++++
 1 file changed, 4 insertions(+)
 create mode 100644 .dockerignore

diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 000000000..5d4eed38d
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,4 @@
+.git
+build
+install
+log

From bf166bf5f718bad35bea41078e5ddad476970ef0 Mon Sep 17 00:00:00 2001
From: shaur-k <shaurkinthewater@gmail.com>
Date: Tue, 11 Mar 2025 00:06:44 -0600
Subject: [PATCH 13/16] fix(docker): build kit volume mounting

---
 Dockerfile | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index 8006e4e09..ab66b73fb 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -26,8 +26,6 @@ ARG USER_GID
 # Copy source code from the workspace's ROS 2 packages to a workspace inside the container
 ARG USER_WS=/home/${USERNAME}/user_ws
 ENV USER_WS=${USER_WS}
-RUN mkdir -p ${USER_WS}/src ${USER_WS}/build ${USER_WS}/install ${USER_WS}/log
-COPY ./src ${USER_WS}/src
 
 # Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
 WORKDIR $USER_WS
@@ -67,6 +65,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    --mount=type=bind,target=${USER_WS}/,source=. \
     . /opt/overlay_ws/install/setup.sh && \
     apt-get update && \
     rosdep install -q -y \

From f2f6fe9495e3b9db8e7f3b7cbf89523001391e81 Mon Sep 17 00:00:00 2001
From: Shaur Kumar <shaurkinthewater@gmail.com>
Date: Tue, 2 Sep 2025 10:44:30 -0600
Subject: [PATCH 14/16] fix: aligning the docker files from example ws

---
 .pre-commit-config.yaml |  11 +++-
 Dockerfile              | 140 ++++++++++++++++++++++++++++++++++++----
 2 files changed, 137 insertions(+), 14 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index e170af965..579519466 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -11,6 +11,7 @@
 #     pre-commit autoupdate
 #
 # See https://github.com/pre-commit/pre-commit
+exclude: ^src/external_dependencies/
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
@@ -57,7 +58,7 @@ repos:
           [
             "--no-warnings",
             "--config-data",
-            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}, indentation: {spaces: consistent, indent-sequences: whatever}}}",
+            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}, indentation: disable, empty-lines: {max-end: 0, max-start: 1}}}",
           ]
         types: [text]
         files: \.(yml|yaml)$
@@ -69,9 +70,13 @@ repos:
 
   # NOTE: Broken on arm64. Will need to bump once https://github.com/hadolint/hadolint/issues/840 is fixed.
   - repo: https://github.com/hadolint/hadolint
-    rev: v2.10.0
+    rev: v2.11.0
     hooks:
-      - id: hadolint-docker
+      - id: hadolint
+        name: "Lint Dockerfiles"
+        language: docker_image
+        types: ["dockerfile"]
+        entry: hadolint/hadolint:2.11.0 hadolint
 
   - repo: https://github.com/pre-commit/mirrors-prettier
     rev: "v3.1.0"
diff --git a/Dockerfile b/Dockerfile
index ab66b73fb..8a28fcbda 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -47,17 +47,9 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
       /home/${USERNAME}/.ros && \
     chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
 
-# IMPORTANT: Optionally install Nvidia drivers for improved simulator performance with Nvidia GPUs.
-# To do this you must
-# 1. Uncomment the ENV and RUN entries below
-# 2. Replace the 'nvidia-driver-555' apt package with the Nvidia driver version on your host, e.g. nvidia-driver-535, nvidia-driver-555. Use nvidia-smi on your host to determine the driver version.
-# After rebuilding via `moveit_pro build` verify the drivers are active in your container by running `nvidia_smi` inside of `moveit_pro shell`.
-# ENV DEBIAN_FRONTEND=noninteractive
-# RUN apt update && apt install -y software-properties-common
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-#     --mount=type=cache,target=/var/lib/apt,sharing=locked \ 
-#    add-apt-repository ppa:graphics-drivers/ppa && \
-#    apt update && apt upgrade -y && apt install -y nvidia-driver-555
+# Add user to dialout group to enable communication with serial USB devices (gripper, FTS, ...)
+# Add user to video group to enable communication with cameras
+RUN usermod -aG dialout,video ${USERNAME}
 
 # Install additional dependencies
 # You can also add any necessary apt-get install, pip install, etc. commands at this point.
@@ -121,3 +113,129 @@ WORKDIR $USER_WS
 
 # Set up the user's .bashrc file and shell.
 CMD ["/usr/bin/bash"]
+
+##################################################
+# Starting from the specified MoveIt Pro release with CUDA GPU #
+##################################################
+# The image tag is specified in the argument itself.
+# hadolint ignore=DL3006
+FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base-gpu
+
+# Create a non-root user
+ARG USERNAME
+ARG USER_UID
+ARG USER_GID
+
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get install wget -y -q --no-install-recommends && \
+    wget --progress=dot:giga https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb && \
+    dpkg -i cuda-keyring_1.1-1_all.deb && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends \
+      libcudnn9-cuda-12 \
+      libcudnn9-dev-cuda-12 \
+      libcublas-12-6 \
+      cuda-cudart-12-6 \
+      libcurand-12-6 \
+      libcufft-12-6 \
+      libnvinfer10 \
+      libnvinfer-plugin10 \
+      libnvonnxparsers10 \
+      libtree
+
+# Misleading name: onnxruntime_gpu is actually specifically the CUDA package. This is only shipped for x86-64
+RUN if [ "$(uname -m)" = "x86_64" ]; then pip3 install --no-cache-dir onnxruntime_gpu==1.19.0; fi
+
+# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
+WORKDIR $USER_WS
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    groupadd --gid $USER_GID ${USERNAME} && \
+    useradd --uid $USER_UID --gid $USER_GID --shell /bin/bash --create-home ${USERNAME} && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends sudo && \
+    echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME} && \
+    cp -r /etc/skel/. /home/${USERNAME} && \
+    mkdir -p \
+      /home/${USERNAME}/.ccache \
+      /home/${USERNAME}/.config \
+      /home/${USERNAME}/.ignition \
+      /home/${USERNAME}/.colcon \
+      /home/${USERNAME}/.ros && \
+    chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
+
+# Install additional dependencies
+# You can also add any necessary apt-get install, pip install, etc. commands at this point.
+# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    --mount=type=bind,target=${USER_WS}/,source=. \
+    . /opt/overlay_ws/install/setup.sh && \
+    apt-get update && \
+    rosdep install -q -y \
+      --from-paths src \
+      --ignore-src
+
+# Set up colcon defaults for the new user
+USER ${USERNAME}
+RUN colcon mixin add default \
+    https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update && \
+    colcon metadata add default \
+    https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+    colcon metadata update
+COPY colcon-defaults.yaml /home/${USERNAME}/.colcon/defaults.yaml
+
+# hadolint ignore=DL3002
+USER root
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]
+
+###################################################################
+# Target for the developer build which does not compile any code. #
+###################################################################
+FROM base-gpu  AS user-overlay-gpu-dev
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Install any additional packages for development work
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && \
+    apt-get install -y --no-install-recommends \
+        less \
+        gdb \
+        nano
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]
+
+#########################################
+# Target for compiled, deployable image with GPU support #
+#########################################
+FROM base-gpu AS user-overlay-gpu
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+ENV LD_LIBRARY_PATH=/usr/local/lib/python3.10/dist-packages/onnxruntime/capi:/usr/lib/x86_64-linux-gnu:/usr/local/cuda-12.6/targets/x86_64-linux/lib:$LD_LIBRARY_PATH
+
+# Compile the workspace
+WORKDIR $USER_WS
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]

From fd975dc9d9510257059ba1cf2ca1de8d9a27a8c1 Mon Sep 17 00:00:00 2001
From: Joshua Whitley <josh@electrifiedautonomy.com>
Date: Thu, 12 Feb 2026 18:44:50 -0700
Subject: [PATCH 15/16] Update Dockerfile and docker-compose to match
 example_ws (#53)

---
 Dockerfile          | 141 ++++----------------------------------------
 docker-compose.yaml |  12 +++-
 2 files changed, 20 insertions(+), 133 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index 8a28fcbda..5355ec61a 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -6,8 +6,8 @@
 #
 
 # Specify the MoveIt Pro release to build on top of.
-ARG MOVEIT_STUDIO_BASE_IMAGE
-ARG USERNAME=studio-user
+ARG MOVEIT_PRO_BASE_IMAGE=picknikciuser/moveit-studio:${MOVEIT_DOCKER_TAG:-main}-${MOVEIT_ROS_DISTRO:-humble}
+ARG USERNAME=moveit-pro-user
 ARG USER_UID=1000
 ARG USER_GID=1000
 
@@ -16,7 +16,7 @@ ARG USER_GID=1000
 ##################################################
 # The image tag is specified in the argument itself.
 # hadolint ignore=DL3006
-FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base
+FROM ${MOVEIT_PRO_BASE_IMAGE} AS base
 
 # Create a non-root user
 ARG USERNAME
@@ -51,13 +51,17 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 # Add user to video group to enable communication with cameras
 RUN usermod -aG dialout,video ${USERNAME}
 
+# Add user to the realtime group to enable RT limits
+RUN groupadd realtime && \
+    usermod -a -G realtime ${USERNAME}
+
 # Install additional dependencies
 # You can also add any necessary apt-get install, pip install, etc. commands at this point.
 # NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     --mount=type=cache,target=/var/lib/apt,sharing=locked \
-    --mount=type=bind,target=${USER_WS}/,source=. \
+    --mount=type=bind,target=${USER_WS}/src,source=./src \
     . /opt/overlay_ws/install/setup.sh && \
     apt-get update && \
     rosdep install -q -y \
@@ -94,7 +98,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     apt-get install -y --no-install-recommends \
         less \
         gdb \
-        nano
+        nano \
+        tmux
 
 # Set up the user's .bashrc file and shell.
 CMD ["/usr/bin/bash"]
@@ -113,129 +118,3 @@ WORKDIR $USER_WS
 
 # Set up the user's .bashrc file and shell.
 CMD ["/usr/bin/bash"]
-
-##################################################
-# Starting from the specified MoveIt Pro release with CUDA GPU #
-##################################################
-# The image tag is specified in the argument itself.
-# hadolint ignore=DL3006
-FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base-gpu
-
-# Create a non-root user
-ARG USERNAME
-ARG USER_UID
-ARG USER_GID
-
-# hadolint ignore=DL3008
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,target=/var/lib/apt,sharing=locked \
-    apt-get update && apt-get install wget -y -q --no-install-recommends && \
-    wget --progress=dot:giga https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb && \
-    dpkg -i cuda-keyring_1.1-1_all.deb && \
-    apt-get update && \
-    apt-get install -q -y --no-install-recommends \
-      libcudnn9-cuda-12 \
-      libcudnn9-dev-cuda-12 \
-      libcublas-12-6 \
-      cuda-cudart-12-6 \
-      libcurand-12-6 \
-      libcufft-12-6 \
-      libnvinfer10 \
-      libnvinfer-plugin10 \
-      libnvonnxparsers10 \
-      libtree
-
-# Misleading name: onnxruntime_gpu is actually specifically the CUDA package. This is only shipped for x86-64
-RUN if [ "$(uname -m)" = "x86_64" ]; then pip3 install --no-cache-dir onnxruntime_gpu==1.19.0; fi
-
-# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
-ARG USER_WS=/home/${USERNAME}/user_ws
-ENV USER_WS=${USER_WS}
-
-# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
-WORKDIR $USER_WS
-# hadolint ignore=DL3008
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,target=/var/lib/apt,sharing=locked \
-    groupadd --gid $USER_GID ${USERNAME} && \
-    useradd --uid $USER_UID --gid $USER_GID --shell /bin/bash --create-home ${USERNAME} && \
-    apt-get update && \
-    apt-get install -q -y --no-install-recommends sudo && \
-    echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && \
-    chmod 0440 /etc/sudoers.d/${USERNAME} && \
-    cp -r /etc/skel/. /home/${USERNAME} && \
-    mkdir -p \
-      /home/${USERNAME}/.ccache \
-      /home/${USERNAME}/.config \
-      /home/${USERNAME}/.ignition \
-      /home/${USERNAME}/.colcon \
-      /home/${USERNAME}/.ros && \
-    chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
-
-# Install additional dependencies
-# You can also add any necessary apt-get install, pip install, etc. commands at this point.
-# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
-# hadolint ignore=SC1091
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,target=/var/lib/apt,sharing=locked \
-    --mount=type=bind,target=${USER_WS}/,source=. \
-    . /opt/overlay_ws/install/setup.sh && \
-    apt-get update && \
-    rosdep install -q -y \
-      --from-paths src \
-      --ignore-src
-
-# Set up colcon defaults for the new user
-USER ${USERNAME}
-RUN colcon mixin add default \
-    https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
-    colcon mixin update && \
-    colcon metadata add default \
-    https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
-    colcon metadata update
-COPY colcon-defaults.yaml /home/${USERNAME}/.colcon/defaults.yaml
-
-# hadolint ignore=DL3002
-USER root
-
-# Set up the user's .bashrc file and shell.
-CMD ["/usr/bin/bash"]
-
-###################################################################
-# Target for the developer build which does not compile any code. #
-###################################################################
-FROM base-gpu  AS user-overlay-gpu-dev
-
-ARG USERNAME
-ARG USER_WS=/home/${USERNAME}/user_ws
-ENV USER_WS=${USER_WS}
-
-# Install any additional packages for development work
-# hadolint ignore=DL3008
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,target=/var/lib/apt,sharing=locked \
-    apt-get update && \
-    apt-get install -y --no-install-recommends \
-        less \
-        gdb \
-        nano
-
-# Set up the user's .bashrc file and shell.
-CMD ["/usr/bin/bash"]
-
-#########################################
-# Target for compiled, deployable image with GPU support #
-#########################################
-FROM base-gpu AS user-overlay-gpu
-
-ARG USERNAME
-ARG USER_WS=/home/${USERNAME}/user_ws
-ENV USER_WS=${USER_WS}
-
-ENV LD_LIBRARY_PATH=/usr/local/lib/python3.10/dist-packages/onnxruntime/capi:/usr/lib/x86_64-linux-gnu:/usr/local/cuda-12.6/targets/x86_64-linux/lib:$LD_LIBRARY_PATH
-
-# Compile the workspace
-WORKDIR $USER_WS
-
-# Set up the user's .bashrc file and shell.
-CMD ["/usr/bin/bash"]
diff --git a/docker-compose.yaml b/docker-compose.yaml
index 9988e5118..ce6e08906 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -3,7 +3,9 @@
 
 # Services that are listed under `/opt/moveit_pro/docker-compose.yaml` are mirrored here for merging.
 # Feel free to remove services here that are unmodified.
+#
 services:
+
   # The base image that all MoveIt Pro services extend off of. Builds the user workspace.
   base: {}
 
@@ -11,10 +13,16 @@ services:
   agent_bridge: {}
 
   # Starts the robot drivers.
-  drivers: {}
+  drivers:
+    volumes:
+      # Allow access to host hardware e.g. RealSense cameras
+      - /dev:/dev
 
   # Starts the web UI frontend.
   web_ui: {}
 
   # Developer specific configuration when running `moveit_pro dev`.
-  dev: {}
+  dev:
+    volumes:
+      # Allow access to host hardware e.g. RealSense cameras
+      - /dev:/dev

From 9fa9e0f07cf6c9796937093f70575393e5ad7d77 Mon Sep 17 00:00:00 2001
From: Joshua Whitley <josh.whitley@picknik.ai>
Date: Fri, 15 May 2026 12:25:52 -0600
Subject: [PATCH 16/16] Update main With Changes from example_ws (#54)

---
 .gitattributes          |  4 ++++
 .pre-commit-config.yaml | 16 ++++++++--------
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/.gitattributes b/.gitattributes
index a17717cc6..c66085013 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -10,3 +10,7 @@
 *.ply filter=lfs diff=lfs merge=lfs -text
 *.3ds filter=lfs diff=lfs merge=lfs -text
 *.blend filter=lfs diff=lfs merge=lfs -text
+*.gtlf filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 579519466..954131d01 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -15,7 +15,7 @@ exclude: ^src/external_dependencies/
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v3.4.0
+    rev: v6.0.0
     hooks:
       - id: check-ast
       - id: check-case-conflict
@@ -31,12 +31,12 @@ repos:
       - id: fix-byte-order-marker
 
   - repo: https://github.com/psf/black
-    rev: 22.3.0
+    rev: 25.9.0
     hooks:
       - id: black
 
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.0.0
+    rev: v2.4.1
     hooks:
       - id: codespell
         args: ["--write-changes", "-L", "atleast,inout,ether"] # Provide a comma-separated list of misspelled words that codespell should ignore (for example: '-L', 'word1,word2,word3').
@@ -51,7 +51,7 @@ repos:
         args: ["-fallback-style=none"]
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.27.1
+    rev: v1.37.1
     hooks:
       - id: yamllint
         args:
@@ -64,22 +64,22 @@ repos:
         files: \.(yml|yaml)$
 
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.10.3
+    rev: v3.14.1
     hooks:
       - id: markdown-link-check
 
   # NOTE: Broken on arm64. Will need to bump once https://github.com/hadolint/hadolint/issues/840 is fixed.
   - repo: https://github.com/hadolint/hadolint
-    rev: v2.11.0
+    rev: v2.14.0
     hooks:
       - id: hadolint
         name: "Lint Dockerfiles"
         language: docker_image
         types: ["dockerfile"]
-        entry: hadolint/hadolint:2.11.0 hadolint
+        entry: hadolint/hadolint:v2.14.0 hadolint
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: "v3.1.0"
+    rev: "v4.0.0-alpha.8"
     hooks:
       # Use Prettier to lint XML files because, well.. its rules are prettier than most linters, as the name implies.
       # Also we use it in the UI, so it's familiar.