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create_robots_whoami.md

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Your robot identity in RAI

RAI Agent needs to understand what kind of robot it is running on. This includes its looks, purpose, ethical code, equipment, capabilities and documentation. To configure RAI for your robot, provide contents for your robot's so called whoami package.

Your robot's whoami package serves as a configuration package for the rai_whoami node.

Tip

The Human-Machine Interface (HMI), both text and voice versions, relies heavily on the whoami package. It uses the robot's identity, constitution, and documentation to provide context-aware responses and ensure the robot behaves according to its defined characteristics.

Configuration example - Franka Emika Panda arm

  1. Setup the repository using 1st and 2nd step from Setup

  2. Create a whoami package for Panda

    ./scripts/create_rai_ws.sh --name panda --destination-directory src/examples

  3. Fill in the src/examples/panda_whoami/description folder with data:

    3.1. Save this image into src/examples/panda_whoami/description/images

    3.2. Save this document in src/examples/panda_whoami/description/documentation

    3.3. Save this urdf in src/examples/panda_whoami/description/urdf

  4. Run the parse_whoami_package. This will process the documentation, building it into a vector database, which is used by RAI agent to reason about its identity.

Important

Parsing bigger documents with Cloud vendors might lead to costs. Consider using the local ollama provider for this task. Embedding model can be configured in config.toml (ollama works locally, see docs/vendors.md).

./scripts/parse_whoami_package.sh src/examples/panda_whoami
  1. Optional: Examine the generated files

After running the parse_whoami_package command, you can inspect the generated files in the src/examples/panda_whoami/description/generated directory. These files contain important information about your robot:

  • robot_identity.txt: Contains a detailed description of the robot's identity, capabilities, and characteristics.
  • robot_description.urdf.txt: Provides a summary of the robot's URDF (Unified Robot Description Format), describing its physical structure.
  • robot_constitution.txt: Outlines the ethical guidelines and operational rules for the robot.
  • faiss_index: A directory containing the vector store of the robot's documentation, used for efficient information retrieval.

Testing

You can test your new panda_whoami package by calling rai_whoami services:

  1. Building the rai_whoami package and running the rai_whoami_node for your Panda robot:
colcon build --symlink-install
ros2 run rai_whoami rai_whoami_node --ros-args -p robot_description_package:="panda_whoami"
  1. Calling the rai_whoami services
ros2 service call /rai_whoami_identity_service std_srvs/srv/Trigger # ask for identity
ros2 service call /rai_whoami_selfimages_service std_srvs/srv/Trigger # ask for images folder
ros2 service call /rai_whoami_constitution_service std_srvs/srv/Trigger # ask for robot constitution
ros2 service call /rai_whoami_urdf_service std_srvs/srv/Trigger # ask for urdf description
ros2 service call /rai_whoami_documentation_service rai_interfaces/srv/VectorStoreRetrieval "query:  'maximum load'" # ask for Panda's maximum load

If your service calls succeed, your panda_whoami package has been properly initialized.