feat: add manipulation demo

examples/manipulation-demo.py

@@ -0,0 +1,39 @@
+import rclpy
+from langchain_core.messages import HumanMessage
+
+from rai.agents.conversational_agent import create_conversational_agent
+from rai.node import RaiBaseNode
+from rai.tools.ros.manipulation import GetObjectPositionsTool, MoveToPointTool
+from rai.tools.ros.native import GetCameraImage, Ros2GetTopicsNamesAndTypesTool
+from rai.utils.model_initialization import get_llm_model
+
+rclpy.init()
+node = RaiBaseNode(node_name="manipulation_demo")
+
+tools = [
+    GetObjectPositionsTool(
+        node=node,
+        target_frame="panda_link0",
+        source_frame="RGBDCamera5",
+        camera_topic="/color_image5",
+        depth_topic="/depth_image5",
+        camera_info_topic="/color_camera_info5",
+    ),
+    MoveToPointTool(node=node, manipulator_frame="panda_link0"),
+    GetCameraImage(node=node),
+    Ros2GetTopicsNamesAndTypesTool(node=node),
+]
+
+llm = get_llm_model(model_type="complex_model")
+
+agent = create_conversational_agent(
+    llm=llm,
+    tools=tools,
+    system_prompt="You are a robotic arm with interfaces to detect and manipulate objects.",
+)
+
+messages = []
+while True:
+    prompt = input("Enter a prompt: ")
+    messages.append(HumanMessage(content=prompt))
+    print(agent.invoke({"messages": messages}))