fix: achieved goal in bdi core

ref: N25B-400

src/control_backend/agents/bdi/bdi_program_manager.py

@@ -85,7 +85,7 @@ class BDIProgramManager(BaseAgent):
                 await self._transition_phase(phases["old"], phases["new"])
             case "achieve_goal":
                 goal_id = msg.body
-                self._send_achieved_goal_to_semantic_belief_extractor(goal_id)
+                await self._send_achieved_goal_to_semantic_belief_extractor(goal_id)
 
     async def _transition_phase(self, old: str, new: str):
         if old != str(self._phase.id):

src/control_backend/agents/user_interrupt/user_interrupt_agent.py

@@ -32,7 +32,7 @@ class UserInterruptAgent(BaseAgent):
     Prioritized actions clear the current RI queue before inserting the new item,
     ensuring they are executed immediately after Pepper's current action has been fulfilled.
 
-    :ivar sub_socket: The ZMQ SUB socket used to receive user intterupts.
+    :ivar sub_socket: The ZMQ SUB socket used to receive user interrupts.
     """
 
     def __init__(self, **kwargs):
@@ -135,8 +135,6 @@ class UserInterruptAgent(BaseAgent):
                     await self.send(goal_achieve_msg)
                 else:
                     self.logger.warning("Could not determine which element to override.")
-                    self.logger.warning(self._goal_map)
-                    self.loger.warning(ui_id)
 
             elif event_type == "pause":
                 self.logger.debug(
@@ -317,11 +315,10 @@ class UserInterruptAgent(BaseAgent):
         belief_message = BeliefMessage(create=[belief])
         msg = InternalMessage(
             to=settings.agent_settings.bdi_core_name,
-            thread="belief_update",
+            thread="beliefs",
             body=belief_message.model_dump_json(),
         )
         await self.send(msg)
-        self.logger.info(f"Sent belief to BDI Core: {msg}")
 
     async def _send_experiment_control_to_bdi_core(self, type):
         """

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

@@ -137,7 +137,6 @@ async def ping_stream(request: Request):
                 logger.info("Client disconnected from SSE")
                 break
 
-            logger.debug(f"Yielded new connection event in robot ping router: {str(connected)}")
             connectedJson = json.dumps(connected)
             yield (f"data: {connectedJson}\n\n")
 

src/control_backend/schemas/belief_message.py

@@ -11,7 +11,7 @@ class Belief(BaseModel):
     """
 
     name: str
-    arguments: list[str] | None
+    arguments: list[str] | None = None
 
     # To make it hashable
     model_config = {"frozen": True}