docs: document how to use agents

ref: N25B-300

src/control_backend/agents/base.py

@@ -5,7 +5,8 @@ from control_backend.core.agent_system import BaseAgent as CoreBaseAgent
 
 class BaseAgent(CoreBaseAgent):
     """
-    Base agent class for our agents to inherit from.
+    Base agent class for our agents to inherit from. This just ensures
+    all agents have a logger.
     """
 
     logger: logging.Logger

src/control_backend/agents/bdi/bdi_core_agent/bdi_core_agent.py

@@ -85,8 +85,6 @@ class BDICoreAgent(BaseAgent):
         new_args = (agentspeak.Literal(arg) for arg in args)
         term = agentspeak.Literal(name, new_args)
 
-        assert self.bdi_agent is not None
-
         self.bdi_agent.call(
             agentspeak.Trigger.addition,
             agentspeak.GoalType.belief,
@@ -102,8 +100,6 @@ class BDICoreAgent(BaseAgent):
         new_args = (agentspeak.Literal(arg) for arg in args)
         term = agentspeak.Literal(name, new_args)
 
-        assert self.bdi_agent is not None
-
         result = self.bdi_agent.call(
             agentspeak.Trigger.removal,
             agentspeak.GoalType.belief,
@@ -121,8 +117,6 @@ class BDICoreAgent(BaseAgent):
         """
         Removes all beliefs that match the given `name`.
         """
-        assert self.bdi_agent is not None
-
         relevant_groups = []
         for key in self.bdi_agent.beliefs:
             if key[0] == name:
@@ -142,7 +136,11 @@ class BDICoreAgent(BaseAgent):
         self.logger.debug(f"Removed {removed_count} beliefs.")
 
     def _add_custom_actions(self) -> None:
-        """Add any custom actions here."""
+        """
+        Add any custom actions here. Inside `@self.actions.add()`, the first argument is
+        the name of the function in the ASL file, and the second the amount of arguments
+        the function expects (which will be located in `term.args`).
+        """
 
         @self.actions.add(".reply", 1)
         def _reply(agent, term, intention):