From f3d5e56810774e101b06bbbf8e5c8a1134b37d3d Mon Sep 17 00:00:00 2001
From: Maciej Majek <maciej.majek@robotec.ai>
Date: Wed, 1 Jul 2026 18:30:46 +0200
Subject: [PATCH 01/11] chore: rename docker images mobile-manipulator-demo ->
 agentic-mobile-manipulator

MMD was the old project name. Renames the published image names in
docker/compose.yaml and the quickstart doc reference.
---
 docker/compose.yaml | 8 ++++----
 docs/quickstart.md  | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/docker/compose.yaml b/docker/compose.yaml
index 8e9c3fc..95fa16a 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
diff --git a/docs/quickstart.md b/docs/quickstart.md
index 9a91f77..d85c2bc 100644
--- a/docs/quickstart.md
+++ b/docs/quickstart.md
@@ -60,7 +60,7 @@ 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
 ```
 

From dbf7828c21542cedaaaf5df490b1813a2d129f91 Mon Sep 17 00:00:00 2001
From: Maciej Majek <maciej.majek@robotec.ai>
Date: Wed, 1 Jul 2026 18:31:10 +0200
Subject: [PATCH 02/11] ci: build via docker compose + headless sim smoke test
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Build job was broken (referenced deleted docker/Dockerfile.agents and fed
Dockerfile.o3de an ignored ROS2_IMAGE build-arg). Replace the hand-maintained
build-push-action chain with 'docker compose build/push ros2 o3de' — the same
ros2->o3de graph devs build locally, so it can't drift. Per-branch tags via
AMM_IMG_SUFFIX (empty locally).

Add a second job (needs: build-and-push) that boots the freshly-built o3de image
headless with O3DE's null renderer (--rhi=null, no GPU/display) and passes iff
/clock ticks — proving the image boots, loads the level, steps physics, and
publishes over ROS 2. Camera/rendered sensors need a DRI3 display and are out of
scope. Logic lives in scripts/sim_smoke.sh (pixi task: sim-smoke).
---
 .github/workflows/build_and_push_docker.yaml | 60 +++++++++----------
 docker/compose.yaml                          |  7 ++-
 pixi.toml                                    |  4 ++
 scripts/sim_smoke.sh                         | 61 ++++++++++++++++++++
 4 files changed, 99 insertions(+), 33 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..a7559a0 100644
--- a/.github/workflows/build_and_push_docker.yaml
+++ b/.github/workflows/build_and_push_docker.yaml
@@ -7,6 +7,11 @@ on:
       - development
   workflow_dispatch:
 
+# Development builds get a -development image suffix so they never clobber main's
+# :latest. Empty on every other branch. Consumed by docker/compose.yaml image names.
+env:
+  SUFFIX: ${{ github.ref_name == 'development' && '-development' || '' }}
+
 jobs:
   build-and-push:
     runs-on: self-hosted
@@ -20,36 +25,31 @@ jobs:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
 
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
-      - 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
+      # Build the ros2 -> o3de chain straight from docker/compose.yaml (the same
+      # graph devs build locally, via additional_contexts). Scoped to these two:
+      # `demo` is the heavy GPU+NPU single-PC image, not published here.
+      - name: Build and push base images (ros2, o3de)
+        env:
+          AMM_IMG_SUFFIX: ${{ env.SUFFIX }}
+        run: |
+          docker compose -f docker/compose.yaml build ros2 o3de
+          docker compose -f docker/compose.yaml push ros2 o3de
 
-      - name: Build and push Agents image
-        uses: docker/build-push-action@v6
+  # Headless sim liveness gate. Boots O3DE with the null renderer (no GPU/display)
+  # and passes iff /clock ticks — proves the image actually boots, loads the level,
+  # steps physics, and publishes over ROS 2. See scripts/sim_smoke.sh.
+  smoke-test:
+    needs: build-and-push
+    runs-on: self-hosted
+    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${SUFFIX}:latest"
+          docker pull "$IMAGE"
+          docker run --rm --entrypoint pixi "$IMAGE" run sim-smoke
diff --git a/docker/compose.yaml b/docker/compose.yaml
index 95fa16a..4b58243 100644
--- a/docker/compose.yaml
+++ b/docker/compose.yaml
@@ -28,14 +28,15 @@
 services:
   # ── Base: RoboStack ROS 2 + built workspace ────────────────────────────────
   ros2:
-    image: robotecai/agentic-mobile-manipulator-ros2:latest
+    # AMM_IMG_SUFFIX lets CI publish per-branch tags (e.g. -development); empty locally.
+    image: robotecai/agentic-mobile-manipulator-ros2${AMM_IMG_SUFFIX:-}:latest
     build:
       context: ..
       dockerfile: docker/Dockerfile.ros2
 
   # ── Base: + O3DE SDK and built simulation ──────────────────────────────────
   o3de:
-    image: robotecai/agentic-mobile-manipulator-o3de:latest
+    image: robotecai/agentic-mobile-manipulator-o3de${AMM_IMG_SUFFIX:-}:latest
     build:
       context: ..
       dockerfile: docker/Dockerfile.o3de
@@ -44,7 +45,7 @@ services:
 
   # ── The demo: + agents, local inference engines; runs the whole stack ───────
   demo:
-    image: robotecai/agentic-mobile-manipulator:latest
+    image: robotecai/agentic-mobile-manipulator${AMM_IMG_SUFFIX:-}:latest
     build:
       context: ..
       dockerfile: docker/Dockerfile.demo
diff --git a/pixi.toml b/pixi.toml
index c21de34..e667135 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -162,6 +162,10 @@ description = "Launch O3DE simulation in its own tmux session"
 cmd = "$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 $DEMO_ROOT/sim"
 description = "Launch O3DE Editor from SDK (project must be built first)"
diff --git a/scripts/sim_smoke.sh b/scripts/sim_smoke.sh
new file mode 100644
index 0000000..5c626a8
--- /dev/null
+++ b/scripts/sim_smoke.sh
@@ -0,0 +1,61 @@
+#!/usr/bin/env bash
+# Headless smoke test for the O3DE sim.
+#
+# Boots the GameLauncher with the null renderer (--rhi=null) — no GPU, no X
+# display needed — and passes if the simulation is actually *ticking*, proven by
+# catching a message on /clock within a timeout. That single check exercises the
+# whole cold path: binary runs, assets + level load, PhysX ticks, and the ROS 2
+# bridge publishes.
+#
+# NOT checked: camera / rendered sensors. Those need the Atom (Vulkan) renderer,
+# which headless needs a DRI3-capable display for — Xvfb doesn't provide DRI3, so
+# the GPU+Vulkan path wedges on swapchain creation. rhi=null has no renderer at
+# all, so camera topics are advertised but never publish. Verifying rendered
+# output headless is a separate, unsolved problem; keep it out of the fast gate.
+#
+# Run:        pixi run sim-smoke
+# In Docker:  docker run --rm --entrypoint pixi <o3de-image> run sim-smoke
+# Tune:       SIM_SMOKE_TIMEOUT=120 pixi run sim-smoke
+#             SIM_SMOKE_TOPIC=/joint_states SIM_SMOKE_TYPE=sensor_msgs/msg/JointState pixi run sim-smoke
+set -uo pipefail
+
+# Hermetic: only ever see our own sim on loopback, so a neighbouring sim on a
+# shared CI runner can't cause a false pass.
+export ROS_LOCALHOST_ONLY=1
+
+LAUNCHER="${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 f256204a895dd63b56b05f94863df40de29554e0 Mon Sep 17 00:00:00 2001
From: Maciej Majek <maciej.majek@robotec.ai>
Date: Wed, 1 Jul 2026 18:35:34 +0200
Subject: [PATCH 03/11] ci: run docker build/smoke on tagged self-hosted runner
 (cpu, heavy, gpu)

---
 .github/workflows/build_and_push_docker.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build_and_push_docker.yaml b/.github/workflows/build_and_push_docker.yaml
index a7559a0..ae52554 100644
--- a/.github/workflows/build_and_push_docker.yaml
+++ b/.github/workflows/build_and_push_docker.yaml
@@ -14,7 +14,7 @@ env:
 
 jobs:
   build-and-push:
-    runs-on: self-hosted
+    runs-on: [self-hosted, cpu, heavy, gpu]
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
@@ -40,7 +40,7 @@ jobs:
   # steps physics, and publishes over ROS 2. See scripts/sim_smoke.sh.
   smoke-test:
     needs: build-and-push
-    runs-on: self-hosted
+    runs-on: [self-hosted, cpu, heavy, gpu]
     steps:
       - name: Log in to Docker Hub
         uses: docker/login-action@v3

From db03fb2d11d29a10269b78d369ae883dae4159bb Mon Sep 17 00:00:00 2001
From: Maciej Majek <maciej.majek@robotec.ai>
Date: Wed, 1 Jul 2026 18:37:04 +0200
Subject: [PATCH 04/11] ci: TEMP run on every PR commit for testing

---
 .github/workflows/build_and_push_docker.yaml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/build_and_push_docker.yaml b/.github/workflows/build_and_push_docker.yaml
index ae52554..ac2a65d 100644
--- a/.github/workflows/build_and_push_docker.yaml
+++ b/.github/workflows/build_and_push_docker.yaml
@@ -5,6 +5,8 @@ on:
     branches:
       - main
       - development
+  # TEMP (testing): run on every PR commit. Remove before merge.
+  pull_request:
   workflow_dispatch:
 
 # Development builds get a -development image suffix so they never clobber main's

From c05d11fa86ddb292764f5e921a9604889e8de7c8 Mon Sep 17 00:00:00 2001
From: Maciej Majek <maciej.majek@robotec.ai>
Date: Wed, 1 Jul 2026 19:58:55 +0200
Subject: [PATCH 05/11] chore: update docker comments

---
 .github/workflows/build_and_push_docker.yaml | 14 +-------------
 docker/compose.yaml                          | 13 +++----------
 2 files changed, 4 insertions(+), 23 deletions(-)

diff --git a/.github/workflows/build_and_push_docker.yaml b/.github/workflows/build_and_push_docker.yaml
index ac2a65d..da3dee5 100644
--- a/.github/workflows/build_and_push_docker.yaml
+++ b/.github/workflows/build_and_push_docker.yaml
@@ -5,15 +5,9 @@ on:
     branches:
       - main
       - development
-  # TEMP (testing): run on every PR commit. Remove before merge.
   pull_request:
   workflow_dispatch:
 
-# Development builds get a -development image suffix so they never clobber main's
-# :latest. Empty on every other branch. Consumed by docker/compose.yaml image names.
-env:
-  SUFFIX: ${{ github.ref_name == 'development' && '-development' || '' }}
-
 jobs:
   build-and-push:
     runs-on: [self-hosted, cpu, heavy, gpu]
@@ -27,9 +21,6 @@ jobs:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
 
-      # Build the ros2 -> o3de chain straight from docker/compose.yaml (the same
-      # graph devs build locally, via additional_contexts). Scoped to these two:
-      # `demo` is the heavy GPU+NPU single-PC image, not published here.
       - name: Build and push base images (ros2, o3de)
         env:
           AMM_IMG_SUFFIX: ${{ env.SUFFIX }}
@@ -37,9 +28,6 @@ jobs:
           docker compose -f docker/compose.yaml build ros2 o3de
           docker compose -f docker/compose.yaml push ros2 o3de
 
-  # Headless sim liveness gate. Boots O3DE with the null renderer (no GPU/display)
-  # and passes iff /clock ticks — proves the image actually boots, loads the level,
-  # steps physics, and publishes over ROS 2. See scripts/sim_smoke.sh.
   smoke-test:
     needs: build-and-push
     runs-on: [self-hosted, cpu, heavy, gpu]
@@ -52,6 +40,6 @@ jobs:
 
       - name: Headless sim smoke test (/clock)
         run: |
-          IMAGE="robotecai/agentic-mobile-manipulator-o3de${SUFFIX}:latest"
+          IMAGE="robotecai/agentic-mobile-manipulator-o3de:latest"
           docker pull "$IMAGE"
           docker run --rm --entrypoint pixi "$IMAGE" run sim-smoke
diff --git a/docker/compose.yaml b/docker/compose.yaml
index 4b58243..d39b6e2 100644
--- a/docker/compose.yaml
+++ b/docker/compose.yaml
@@ -28,15 +28,14 @@
 services:
   # ── Base: RoboStack ROS 2 + built workspace ────────────────────────────────
   ros2:
-    # AMM_IMG_SUFFIX lets CI publish per-branch tags (e.g. -development); empty locally.
-    image: robotecai/agentic-mobile-manipulator-ros2${AMM_IMG_SUFFIX:-}:latest
+    image: robotecai/agentic-mobile-manipulator-ros2:latest
     build:
       context: ..
       dockerfile: docker/Dockerfile.ros2
 
   # ── Base: + O3DE SDK and built simulation ──────────────────────────────────
   o3de:
-    image: robotecai/agentic-mobile-manipulator-o3de${AMM_IMG_SUFFIX:-}:latest
+    image: robotecai/agentic-mobile-manipulator-o3de:latest
     build:
       context: ..
       dockerfile: docker/Dockerfile.o3de
@@ -45,7 +44,7 @@ services:
 
   # ── The demo: + agents, local inference engines; runs the whole stack ───────
   demo:
-    image: robotecai/agentic-mobile-manipulator${AMM_IMG_SUFFIX:-}:latest
+    image: robotecai/agentic-mobile-manipulator:latest
     build:
       context: ..
       dockerfile: docker/Dockerfile.demo
@@ -69,7 +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
@@ -78,10 +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

From 9949e006bffdf4aeb50ac72d318633fca9f3cb62 Mon Sep 17 00:00:00 2001
From: Maciej Majek <maciej.majek@robotec.ai>
Date: Wed, 1 Jul 2026 19:59:43 +0200
Subject: [PATCH 06/11] feat(ci): cancel concurrent jobs

---
 .github/workflows/build_and_push_docker.yaml | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/.github/workflows/build_and_push_docker.yaml b/.github/workflows/build_and_push_docker.yaml
index da3dee5..512cb9d 100644
--- a/.github/workflows/build_and_push_docker.yaml
+++ b/.github/workflows/build_and_push_docker.yaml
@@ -8,6 +8,10 @@ on:
   pull_request:
   workflow_dispatch:
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build-and-push:
     runs-on: [self-hosted, cpu, heavy, gpu]
@@ -43,3 +47,4 @@ jobs:
           IMAGE="robotecai/agentic-mobile-manipulator-o3de:latest"
           docker pull "$IMAGE"
           docker run --rm --entrypoint pixi "$IMAGE" run sim-smoke
+     
\ No newline at end of file

From ad59026c735de1a077c38ac549f1438c2b4848b6 Mon Sep 17 00:00:00 2001
From: Maciej Majek <maciej.majek@robotec.ai>
Date: Wed, 1 Jul 2026 20:29:03 +0200
Subject: [PATCH 07/11] ci: build and push all compose services (adds demo
 image)

---
 .github/workflows/build_and_push_docker.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build_and_push_docker.yaml b/.github/workflows/build_and_push_docker.yaml
index 512cb9d..6df5333 100644
--- a/.github/workflows/build_and_push_docker.yaml
+++ b/.github/workflows/build_and_push_docker.yaml
@@ -25,12 +25,12 @@ jobs:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
 
-      - name: Build and push base images (ros2, o3de)
+      - name: Build and push all images
         env:
           AMM_IMG_SUFFIX: ${{ env.SUFFIX }}
         run: |
-          docker compose -f docker/compose.yaml build ros2 o3de
-          docker compose -f docker/compose.yaml push ros2 o3de
+          docker compose -f docker/compose.yaml build
+          docker compose -f docker/compose.yaml push
 
   smoke-test:
     needs: build-and-push

From 99c156740d1cd431bee5363322dcedf0b1d5b0f7 Mon Sep 17 00:00:00 2001
From: Maciej Majek <maciej.majek@robotec.ai>
Date: Thu, 2 Jul 2026 12:05:15 +0200
Subject: [PATCH 08/11] fix: checkout with lfs

---
 .github/workflows/build_and_push_docker.yaml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build_and_push_docker.yaml b/.github/workflows/build_and_push_docker.yaml
index 6df5333..188d535 100644
--- a/.github/workflows/build_and_push_docker.yaml
+++ b/.github/workflows/build_and_push_docker.yaml
@@ -18,6 +18,8 @@ jobs:
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
+        with:
+          lfs: true
 
       - name: Log in to Docker Hub
         uses: docker/login-action@v3
@@ -47,4 +49,4 @@ jobs:
           IMAGE="robotecai/agentic-mobile-manipulator-o3de:latest"
           docker pull "$IMAGE"
           docker run --rm --entrypoint pixi "$IMAGE" run sim-smoke
-     
\ No newline at end of file
+     

From c4b8a757dcb96850a20ed968a7ad875134bfad77 Mon Sep 17 00:00:00 2001
From: Maciej Majek <maciej.majek@robotec.ai>
Date: Thu, 2 Jul 2026 12:12:53 +0200
Subject: [PATCH 09/11] chore: bump checkout version

---
 .github/workflows/build_and_push_docker.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build_and_push_docker.yaml b/.github/workflows/build_and_push_docker.yaml
index 188d535..31a9d43 100644
--- a/.github/workflows/build_and_push_docker.yaml
+++ b/.github/workflows/build_and_push_docker.yaml
@@ -17,7 +17,7 @@ jobs:
     runs-on: [self-hosted, cpu, heavy, gpu]
     steps:
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           lfs: true
 

From e6ead49293ec388861acbfd4b02dec09f8ef1cc2 Mon Sep 17 00:00:00 2001
From: Maciej Majek <maciej.majek@robotec.ai>
Date: Thu, 2 Jul 2026 13:59:23 +0200
Subject: [PATCH 10/11] docs: update

---
 docs/quickstart.md | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/docs/quickstart.md b/docs/quickstart.md
index d85c2bc..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)

From e3c62e43dce21cac8308f8db5899915a0f44d67a Mon Sep 17 00:00:00 2001
From: Maciej Majek <maciej.majek@robotec.ai>
Date: Thu, 2 Jul 2026 14:00:01 +0200
Subject: [PATCH 11/11] chore: remove on commit job hook

---
 .github/workflows/build_and_push_docker.yaml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/build_and_push_docker.yaml b/.github/workflows/build_and_push_docker.yaml
index 31a9d43..1b35e23 100644
--- a/.github/workflows/build_and_push_docker.yaml
+++ b/.github/workflows/build_and_push_docker.yaml
@@ -5,7 +5,6 @@ on:
     branches:
       - main
       - development
-  pull_request:
   workflow_dispatch:
 
 concurrency: