[RoboX2020]

Purpose

Fix PydanticUserError: GetObjectPositionsTool is not fully defined raised when constructing GetObjectPositionsTool or generating its schema (for example when binding the tool to an LLM).

Proposed Changes

GetObjectPositionsTool declares get_grabbing_point_tool: "GetGrabbingPointTool", but GetGrabbingPointTool is only imported under TYPE_CHECKING (moved there to avoid a circular import). Pydantic can never resolve that forward reference at runtime, and nothing calls model_rebuild().

This adds a guarded import of GetGrabbingPointTool at the end of rai/tools/ros2/manipulation/custom.py, followed by GetObjectPositionsTool.model_rebuild(). If rai_perception is not installed, the import is skipped and behavior is unchanged.

The existing tests build this tool with model_construct(), which skips the "fully defined" check, so they could not catch the problem. A regression test now asserts GetObjectPositionsTool.__pydantic_complete__ is true.

Issues

Fixes #870

Testing

• Added test_get_object_positions_tool_model_is_fully_defined in tests/tools/ros2/test_manipulation_custom.py. It is skipped when rai_perception is not installed.
• CI runs the new test along with the existing suite.

[RoboX2020]

Verified on ROS 2 Humble with rai_core and rai_perception installed: tests/tools/ros2/test_manipulation_custom.py passes 19/19 with this change, including the new test_get_object_positions_tool_model_is_fully_defined.

With custom.py reverted to the pre-fix commit, that same test fails, so it does catch the bug from #870. I ran this one test file, not the full suite.

Note the test is skipped when rai_perception is not installed.