docs: improve whoami docs

docs/create_robots_whoami.md

@@ -8,20 +8,26 @@ Your robot's `whoami` package serves as a configuration package for the `rai_who
 
 ## Example (Franka Emika Panda arm)
 
-1. Create a whoami package for Panda
+1. Setup the repository using 1st and 2nd step from [Setup](../README.md#setup)
 
-```
-poetry run create_rai_ws --name panda --destination-directory src/examples
-```
+2. Create a whoami package for Panda
 
-2. Fill in the `src/examples/panda_whoami/description` folder with data:\
+   ```shell
+   poetry run create_rai_ws --name panda --destination-directory src/examples
+   ```
+
+3. Fill in the `src/examples/panda_whoami/description` folder with data:\
    2.1 Save [this image](https://robodk.com/robot/img/Franka-Emika-Panda-robot.png) into `src/examples/panda_whoami/description/images`\
    2.2 Save [this document](https://github.com/user-attachments/files/16417196/Franka.Emika.Panda.robot.-.RoboDK.pdf) in `src/examples/panda_whoami/description/documentation`
 
-3. 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.
+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.
 
-```
-poetry run parse_whoami_package src/examples/panda_whoami/description src/examples/panda_whoami/description
+> **NOTE**: By default the vector database is created using the OpenAI API. Parsing
+> bigger documents might lead to costs. Embedding model can be configured in
+> [config.toml](../config.toml) (`ollama` works locally, see [docs/vendors.md](./vendors.md#ollama)).
+
+```shell
+poetry run parse_whoami_package src/examples/panda_whoami/description
 ```
 
 > [!IMPORTANT]  
@@ -31,18 +37,16 @@ poetry run parse_whoami_package src/examples/panda_whoami/description src/exampl
 
 You can test your new `panda_whoami` package by calling `rai_whoami` services:
 
-2. Building and sourcing the install
+2. Building the `rai_whoami` package and running the `rai_whoami_node` for your `Panda` robot:
 
-```
-colcon build
-source install/setup.sh
-export PYTHONPATH="$(dirname $(dirname $(poetry run which python)))/lib/python$(poetry run python --version | awk '{print $2}' | cut -d. -f1,2)/site-packages:$PYTHONPATH"
+```shell
+colcon build --symlink-install
 ros2 run rai_whoami rai_whoami_node --ros-args -p robot_description_package:="panda_whoami"
 ```
 
 2. Calling the rai_whoami services
 
-```
+```shell
 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

docs/vendors.md

@@ -2,6 +2,8 @@
 
 ## Ollama
 
+For installation see: https://ollama.com/
+
 ```python
 from langchain_community.chat_models import ChatOllama