feat: publish rai_perception package to PyPi

.github/workflows/poetry-test.yml

@@ -43,7 +43,7 @@ jobs:
           jackd -d dummy -r 44100 &
 
       - name: Install python dependencies
-        run: poetry install --with openset,nomad,s2s,simbench
+        run: poetry install --with perception,nomad,s2s,simbench
 
       - name: Update rosdep
         shell: bash

docker/Dockerfile

@@ -33,7 +33,7 @@ WORKDIR /rai
 RUN git clone https://github.com/RobotecAI/rai.git .
 
 # Install Python dependencies with Poetry
-RUN poetry install --with nomad,openset
+RUN poetry install --with nomad,perception
 
 # Install ROS dependencies
 RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash && \

docs/ROS_2/ros_packages.md

@@ -2,9 +2,9 @@
 
 RAI includes multiple configurable ROS 2 packages.
 
-| Package                 | Description                                                                                                                                                                                           | Documentation                                   |
-| ----------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------- |
-| **rai_open_set_vision** | Package enabling use of [GroundingDINO](https://github.com/IDEA-Research/GroundingDINO) and [GroundedSAM](https://github.com/IDEA-Research/Grounded-SAM-2) -- an open-set detection model with ROS 2. | [rai_open_set_vision](../extensions/openset.md) |
-| **rai_nomad**           | Package integrating [NoMaD](https://general-navigation-models.github.io/nomad/index.html) -- an exploration model with ROS2.                                                                          | [rai_nomad](../extensions/nomad.md)             |
-| **rai_interfaces**      | Definition of custom messages and services used in RAI.                                                                                                                                               |                                                 |
-| **rai_bringup**         | Launch files to run RAI.                                                                                                                                                                              |                                                 |
+| Package            | Description                                                                                                                                                                                           | Documentation                              |
+| ------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------ |
+| **rai_perception** | Package enabling use of [GroundingDINO](https://github.com/IDEA-Research/GroundingDINO) and [GroundedSAM](https://github.com/IDEA-Research/Grounded-SAM-2) -- an open-set detection model with ROS 2. | [rai_perception](../extensions/openset.md) |
+| **rai_nomad**      | Package integrating [NoMaD](https://general-navigation-models.github.io/nomad/index.html) -- an exploration model with ROS2.                                                                          | [rai_nomad](../extensions/nomad.md)        |
+| **rai_interfaces** | Definition of custom messages and services used in RAI.                                                                                                                                               |                                            |
+| **rai_bringup**    | Launch files to run RAI.                                                                                                                                                                              |                                            |

docs/demos/manipulation.md

@@ -22,7 +22,7 @@ manipulation techniques.
 2. Download additional dependencies:
 
     ```shell
-    poetry install --with openset
+    poetry install --with perception
     vcs import < demos.repos
     rosdep install --from-paths src/examples/rai-manipulation-demo/ros2_ws/src --ignore-src -r -y
     ```

docs/demos/rosbot_xl.md

@@ -30,7 +30,7 @@ platform in a nice apartment.
     sudo apt install ros-${ROS_DISTRO}-navigation2 ros-${ROS_DISTRO}-nav2-bringup
     vcs import < demos.repos
     rosdep install --from-paths src --ignore-src -r -y
-    poetry install --with openset
+    poetry install --with perception
     ```
 
 !!! tip "Alternative: Demo source build"
@@ -70,7 +70,7 @@ platform in a nice apartment.
 
 The rosbot demo utilizes several components:
 
-1. Vision processing using Grounded SAM 2 and Grounding DINO for object detection and segmentation. See [RAI OpenSet Vision](../extensions/openset.md).
+1. Vision processing using Grounded SAM 2 and Grounding DINO for object detection and segmentation. See [RAI perception](../extensions/.md).
 2. RAI agent to process the request and interact with environment via [tool-calling](https://python.langchain.com/docs/concepts/tool_calling/) mechanism.
 3. Navigation is enabled via [nav2 toolkit](../API_documentation/langchain_integration/ROS_2_tools.md#nav2), which interacts with [ROS 2 nav2](https://docs.nav2.org/) asynchronously by calling [ros2 actions](https://docs.ros.org/en/jazzy/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Actions/Understanding-ROS2-Actions.html).
 4. Embodiment of the Rosbot is achieved using [RAI Whoami](../tutorials/create_robots_whoami.md) module. This makes RAI agent aware of the hardware platform and its capabilities.

docs/extensions/openset.md

@@ -1,4 +1,4 @@
---8<-- "src/rai_extensions/rai_open_set_vision/README.md:sec1"
+--8<-- "src/rai_extensions/rai_perception/README.md:sec1"
 Agents create two ROS 2 Nodes: `grounding_dino` and `grounded_sam` using [ROS2Connector](../API_documentation/connectors/ROS_2_Connectors.md).
 These agents can be triggered by ROS2 services:
 
@@ -15,15 +15,15 @@ These agents can be triggered by ROS2 services:
 
 ## RAI Tools
 
-`rai_open_set_vision` package contains tools that can be used by [RAI LLM agents](../tutorials/walkthrough.md)
+`rai_perception` package contains tools that can be used by [RAI LLM agents](../tutorials/walkthrough.md)
 enhance their perception capabilities. For more information on RAI Tools see
 [Tool use and development](../tutorials/tools.md) tutorial.
 
---8<-- "src/rai_extensions/rai_open_set_vision/README.md:sec3"
+--8<-- "src/rai_extensions/rai_perception/README.md:sec3"
 
 > [!TIP]
 >
 > you can try example below with [rosbotxl demo](../demos/rosbot_xl.md) binary.
 > The binary exposes `/camera/camera/color/image_raw` and `/camera/camera/depth/image_raw` topics.
 
---8<-- "src/rai_extensions/rai_open_set_vision/README.md:sec4"
+--8<-- "src/rai_extensions/rai_perception/README.md:sec4"

examples/manipulation-demo.py

@@ -30,7 +30,7 @@
     ResetArmTool,
 )
 from rai.tools.ros2.simple import GetROS2ImageConfiguredTool
-from rai_open_set_vision.tools import GetGrabbingPointTool
+from rai_perception.tools import GetGrabbingPointTool
 
 from rai_whoami.models import EmbodimentInfo
 

examples/rosbot-xl-demo.py

@@ -32,7 +32,7 @@
     Nav2Toolkit,
 )
 from rai.tools.time import WaitForSecondsTool
-from rai_open_set_vision.tools import GetGrabbingPointTool
+from rai_perception.tools import GetGrabbingPointTool
 
 from rai_whoami import EmbodimentInfo