feat: manipulation toolset

RobotecAI / rai

RAI is a multi-vendor agent framework for robotics, utilizing Langchain and ROS 2 tools to perform complex actions, defined scenarios, free interface execution, log summaries, voice interaction and more.

Apache License 2.0

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feat: manipulation toolset #271

Closed maciejmajek closed 1 month ago

maciejmajek commented 1 month ago

Purpose

This PR introduces new toolset designed for manipulation purposes

Proposed Changes

MoveToPointTool
GetSegmentationTool
GetGrabbingPointTool
openset launchfile (for running gdino and sam locally)
ManipulatorMoveTo service

Issues

Links to relevant issues

Testing

How was it tested, what were the results?

adamdbrw commented 1 month ago

The PR also needs to include documentation changes

maciejmajek commented 1 month ago

Thank you @adamdbrw for the review. I didn't add reviewers because it's not ready yet. I needed to check the CI (It doesn't work on draft PRs)

maciejmajek commented 1 month ago

I would like to merge this PR as some of the tools will be used in other demos. Documentation to the features will be added alongside demo in the nearest future. @adamdbrw I've saved your sugestions. I shoud be able to apply most of them today, in a separate patch PR.