feat: add manipulation demo (#295)

examples/manipulation-demo.py

@@ -0,0 +1,53 @@
+# Copyright (C) 2024 Robotec.AI
+#
+# 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 goveself.rning permissions and
+# limitations under the License.
+
+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}))