fix: configurable ping endpoint frequency and better goal completion detection

src/control_backend/agents/bdi/text_belief_extractor_agent.py

@@ -538,10 +538,9 @@ class GoalAchievementInferrer(SemanticBeliefInferrer):
     async def _infer_goal(self, conversation: ChatHistory, goal: BaseGoal) -> bool:
         prompt = f"""{self._format_conversation(conversation)}
 
-Given the above conversation, what has the following goal been achieved?
+Given the above conversation, has the following goal been achieved?
 
-The name of the goal: {goal.name}
-Description of the goal: {goal.description}
+Description of the goal: {goal.description or goal.name}
 
 Answer with literally only `true` or `false` (without backticks)."""
 

src/control_backend/api/v1/endpoints/robot.py

@@ -123,7 +123,7 @@ async def ping_stream(request: Request):
         sub_socket.setsockopt(zmq.SUBSCRIBE, b"ping")
         connected = False
 
-        ping_frequency = 2
+        ping_frequency = settings.behaviour_settings.sleep_s + 1
 
         # Even though its most likely the updates should alternate
         # (So, True - False - True - False for connectivity),