src/control_backend/agents/act_agents/__init__.py

@@ -1 +0,0 @@
-from .act_speech_agent import ActSpeechAgent as ActSpeechAgent

src/control_backend/agents/actuation/__init__.py

@@ -0,0 +1 @@
+from .robot_speech_agent import RobotSpeechAgent as RobotSpeechAgent

src/control_backend/agents/actuation/robot_speech_agent.py

@@ -10,7 +10,7 @@ from control_backend.core.config import settings
 from control_backend.schemas.ri_message import SpeechCommand
 
 
-class ActSpeechAgent(BaseAgent):
+class RobotSpeechAgent(BaseAgent):
     subsocket: zmq.Socket
     pubsocket: zmq.Socket
     address = ""
@@ -64,7 +64,7 @@ class ActSpeechAgent(BaseAgent):
 
     async def setup(self):
         """
-        Setup the command agent
+        Setup the robot speech command agent
         """
         self.logger.info("Setting up %s", self.jid)
 

src/control_backend/agents/bdi/__init__.py

@@ -0,0 +1,7 @@
+from .bdi_core_agent.bdi_core_agent import BDICoreAgent as BDICoreAgent
+from .belief_collector_agent.belief_collector_agent import (
+    BDIBeliefCollectorAgent as BDIBeliefCollectorAgent,
+)
+from .text_belief_extractor_agent.text_belief_extractor_agent import (
+    TextBeliefExtractorAgent as TextBeliefExtractorAgent,
+)

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

@@ -57,7 +57,7 @@ class BDICoreAgent(BDIAgent):
         class SendBehaviour(OneShotBehaviour):
             async def run(self) -> None:
                 msg = Message(
-                    to=settings.agent_settings.llm_agent_name + "@" + settings.agent_settings.host,
+                    to=settings.agent_settings.llm_name + "@" + settings.agent_settings.host,
                     body=text,
                 )
 

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

@@ -32,7 +32,7 @@ class BeliefSetterBehaviour(CyclicBehaviour):
         self.agent.logger.debug("Processing message from sender: %s", sender)
 
         match sender:
-            case settings.agent_settings.bdi_belief_collector_agent_name:
+            case settings.agent_settings.bdi_belief_collector_name:
                 self.agent.logger.debug(
                     "Message is from the belief collector agent. Processing as belief message."
                 )

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

@@ -15,14 +15,14 @@ class ReceiveLLMResponseBehaviour(CyclicBehaviour):
 
         sender = msg.sender.node
         match sender:
-            case settings.agent_settings.llm_agent_name:
+            case settings.agent_settings.llm_name:
                 content = msg.body
                 self.agent.logger.info("Received LLM response: %s", content)
 
                 speech_command = SpeechCommand(data=content)
 
                 message = Message(
-                    to=settings.agent_settings.act_speech_agent_name
+                    to=settings.agent_settings.robot_speech_name
                     + "@"
                     + settings.agent_settings.host,
                     sender=self.agent.jid,

src/control_backend/agents/bdi/belief_collector_agent/behaviours/belief_collector_behaviour.py

@@ -7,7 +7,7 @@ from spade.behaviour import CyclicBehaviour
 from control_backend.core.config import settings
 
 
-class BelCollectorBehaviour(CyclicBehaviour):
+class BeliefCollectorBehaviour(CyclicBehaviour):
     """
     Continuously collects beliefs/emotions from extractor agents:
     Then we send a unified belief packet to the BDI agent.
@@ -83,9 +83,7 @@ class BelCollectorBehaviour(CyclicBehaviour):
         if not beliefs:
             return
 
-        to_jid = (
+        to_jid = f"{settings.agent_settings.bdi_core_name}@{settings.agent_settings.host}"
-            f"{settings.agent_settings.bdi_core_agent_agent_name}@{settings.agent_settings.host}"
-        )
 
         msg = Message(to=to_jid, sender=self.agent.jid, thread="beliefs")
         msg.body = json.dumps(beliefs)

src/control_backend/agents/bdi/belief_collector_agent/belief_collector_agent.py

@@ -1,11 +1,11 @@
 from control_backend.agents.base import BaseAgent
 
-from .behaviours.bel_collector_behaviour import BelCollectorBehaviour
+from .behaviours.belief_collector_behaviour import BeliefCollectorBehaviour
 
 
 class BDIBeliefCollectorAgent(BaseAgent):
     async def setup(self):
         self.logger.info("BDIBeliefCollectorAgent starting (%s)", self.jid)
         # Attach the continuous collector behaviour (listens and forwards to BDI)
-        self.add_behaviour(BelCollectorBehaviour())
+        self.add_behaviour(BeliefCollectorBehaviour())
         self.logger.info("BDIBeliefCollectorAgent ready.")

src/control_backend/agents/bdi/text_belief_extractor_agent/behaviours/text_belief_extractor_behaviour.py

@@ -7,7 +7,7 @@ from spade.message import Message
 from control_backend.core.config import settings
 
 
-class BDITextBeliefBehaviour(CyclicBehaviour):
+class TextBeliefExtractorBehaviour(CyclicBehaviour):
     logger = logging.getLogger(__name__)
 
     # TODO: LLM prompt nog hardcoded
@@ -44,7 +44,7 @@ class BDITextBeliefBehaviour(CyclicBehaviour):
 
         sender = msg.sender.node
         match sender:
-            case settings.agent_settings.per_transcription_agent_name:
+            case settings.agent_settings.transcription_name:
                 self.logger.debug("Received text from transcriber: %s", msg.body)
                 await self._process_transcription_demo(msg.body)
             case _:
@@ -71,7 +71,7 @@ class BDITextBeliefBehaviour(CyclicBehaviour):
             belief_message = Message()
 
             belief_message.to = (
-                settings.agent_settings.bdi_belief_collector_agent_name
+                settings.agent_settings.bdi_belief_collector_name
                 + "@"
                 + settings.agent_settings.host
             )
@@ -95,9 +95,7 @@ class BDITextBeliefBehaviour(CyclicBehaviour):
         belief_msg = Message()
 
         belief_msg.to = (
-            settings.agent_settings.bdi_belief_collector_agent_name
+            settings.agent_settings.bdi_belief_collector_name + "@" + settings.agent_settings.host
-            + "@"
-            + settings.agent_settings.host
         )
         belief_msg.body = payload
         belief_msg.thread = "beliefs"

src/control_backend/agents/bdi/text_belief_extractor_agent/text_belief_extractor_agent.py

@@ -0,0 +1,8 @@
+from control_backend.agents.base import BaseAgent
+
+from .behaviours.text_belief_extractor_behaviour import TextBeliefExtractorBehaviour
+
+
+class TextBeliefExtractorAgent(BaseAgent):
+    async def setup(self):
+        self.add_behaviour(TextBeliefExtractorBehaviour())

src/control_backend/agents/bdi_agents/__init__.py

@@ -1,5 +0,0 @@
-from .bdi_belief_collector_agent.bel_collector_agent import (
-    BDIBeliefCollectorAgent as BDIBeliefCollectorAgent,
-)
-from .bdi_core_agent.bdi_core_agent import BDICoreAgent as BDICoreAgent
-from .bdi_text_belief_agent.bdi_text_belief_agent import BDITextBeliefAgent as BDITextBeliefAgent

src/control_backend/agents/bdi_agents/bdi_text_belief_agent/bdi_text_belief_agent.py

@@ -1,8 +0,0 @@
-from control_backend.agents.base import BaseAgent
-
-from .behaviours.bdi_text_belief_behaviour import BDITextBeliefBehaviour
-
-
-class BDITextBeliefAgent(BaseAgent):
-    async def setup(self):
-        self.add_behaviour(BDITextBeliefBehaviour())

src/control_backend/agents/com_agents/__init__.py

@@ -1 +0,0 @@
-from .com_ri_agent import ComRIAgent as ComRIAgent

src/control_backend/agents/communication/__init__.py

@@ -0,0 +1 @@
+from .ri_communication_agent import RICommunicationAgent as RICommunicationAgent

src/control_backend/agents/communication/ri_communication_agent.py

@@ -8,10 +8,10 @@ from zmq.asyncio import Context
 from control_backend.agents import BaseAgent
 from control_backend.core.config import settings
 
-from ..act_agents.act_speech_agent import ActSpeechAgent
+from ..actuation.robot_speech_agent import RobotSpeechAgent
 
 
-class ComRIAgent(BaseAgent):
+class RICommunicationAgent(BaseAgent):
     req_socket: zmq.Socket
     _address = ""
     _bind = True
@@ -204,11 +204,11 @@ class ComRIAgent(BaseAgent):
                                 else:
                                     self._req_socket.bind(addr)
                         case "actuation":
-                            ri_commands_agent = ActSpeechAgent(
+                            ri_commands_agent = RobotSpeechAgent(
-                                settings.agent_settings.act_speech_agent_name
+                                settings.agent_settings.robot_speech_name
                                 + "@"
                                 + settings.agent_settings.host,
-                                settings.agent_settings.act_speech_agent_name,
+                                settings.agent_settings.robot_speech_name,
                                 address=addr,
                                 bind=bind,
                             )

src/control_backend/agents/llm/llm_agent.py

@@ -39,7 +39,7 @@ class LLMAgent(BaseAgent):
                 sender,
             )
 
-            if sender == settings.agent_settings.bdi_core_agent_agent_name:
+            if sender == settings.agent_settings.bdi_core_name:
                 self.agent.logger.debug("Processing message from BDI Core Agent")
                 await self._process_bdi_message(msg)
             else:
@@ -63,9 +63,7 @@ class LLMAgent(BaseAgent):
             Sends a response message back to the BDI Core Agent.
             """
             reply = Message(
-                to=settings.agent_settings.bdi_core_agent_agent_name
+                to=settings.agent_settings.bdi_core_name + "@" + settings.agent_settings.host,
-                + "@"
-                + settings.agent_settings.host,
                 body=msg,
             )
             await self.send(reply)

src/control_backend/agents/mock_agents/bel_text_agent.py

@@ -1,44 +0,0 @@
-import json
-
-from spade.agent import Agent
-from spade.behaviour import OneShotBehaviour
-from spade.message import Message
-
-from control_backend.core.config import settings
-
-
-class BelTextAgent(Agent):
-    class SendOnceBehaviourBlfText(OneShotBehaviour):
-        async def run(self):
-            to_jid = (
-                settings.agent_settings.bdi_belief_collector_agent_name
-                + "@"
-                + settings.agent_settings.host
-            )
-
-            # Send multiple beliefs in one JSON payload
-            payload = {
-                "type": "belief_extraction_text",
-                "beliefs": {
-                    "user_said": [
-                        "hello test",
-                        "Can you help me?",
-                        "stop talking to me",
-                        "No",
-                        "Pepper do a dance",
-                    ]
-                },
-            }
-
-            msg = Message(to=to_jid)
-            msg.body = json.dumps(payload)
-            await self.send(msg)
-            print(f"Beliefs sent to {to_jid}!")
-
-            self.exit_code = "Job Finished!"
-            await self.agent.stop()
-
-    async def setup(self):
-        print("BelTextAgent started")
-        self.b = self.SendOnceBehaviourBlfText()
-        self.add_behaviour(self.b)

src/control_backend/agents/per_agents/__init__.py

@@ -1,4 +0,0 @@
-from .per_transcription_agent.per_transcription_agent import (
-    PerTranscriptionAgent as PerTranscriptionAgent,
-)
-from .per_vad_agent import PerVADAgent as PerVADAgent

src/control_backend/agents/perception/__init__.py

@@ -0,0 +1,4 @@
+from .transcription_agent.transcription_agent import (
+    TranscriptionAgent as TranscriptionAgent,
+)
+from .vad_agent import VADAgent as VADAgent

src/control_backend/agents/perception/transcription_agent/transcription_agent.py

@@ -12,24 +12,20 @@ from control_backend.core.config import settings
 from .speech_recognizer import SpeechRecognizer
 
 
-class PerTranscriptionAgent(BaseAgent):
+class TranscriptionAgent(BaseAgent):
     """
     An agent which listens to audio fragments with voice, transcribes them, and sends the
     transcription to other agents.
     """
 
     def __init__(self, audio_in_address: str):
-        jid = (
+        jid = settings.agent_settings.transcription_name + "@" + settings.agent_settings.host
-            settings.agent_settings.per_transcription_agent_name
+        super().__init__(jid, settings.agent_settings.transcription_name)
-            + "@"
-            + settings.agent_settings.host
-        )
-        super().__init__(jid, settings.agent_settings.per_transcription_agent_name)
 
         self.audio_in_address = audio_in_address
         self.audio_in_socket: azmq.Socket | None = None
 
-    class Transcribing(CyclicBehaviour):
+    class TranscribingBehaviour(CyclicBehaviour):
         def __init__(self, audio_in_socket: azmq.Socket):
             super().__init__()
             self.audio_in_socket = audio_in_socket
@@ -83,7 +79,7 @@ class PerTranscriptionAgent(BaseAgent):
 
         self._connect_audio_in_socket()
 
-        transcribing = self.Transcribing(self.audio_in_socket)
+        transcribing = self.TranscribingBehaviour(self.audio_in_socket)
         transcribing.warmup()
         self.add_behaviour(transcribing)
 

src/control_backend/agents/perception/vad_agent.py

@@ -7,7 +7,7 @@ from spade.behaviour import CyclicBehaviour
 from control_backend.agents import BaseAgent
 from control_backend.core.config import settings
 
-from .per_transcription_agent.per_transcription_agent import PerTranscriptionAgent
+from .transcription_agent.transcription_agent import TranscriptionAgent
 
 
 class SocketPoller[T]:
@@ -40,7 +40,7 @@ class SocketPoller[T]:
         return None
 
 
-class Streaming(CyclicBehaviour):
+class StreamingBehaviour(CyclicBehaviour):
     def __init__(self, audio_in_socket: azmq.Socket, audio_out_socket: azmq.Socket):
         super().__init__()
         self.audio_in_poller = SocketPoller[bytes](audio_in_socket)
@@ -102,15 +102,15 @@ class Streaming(CyclicBehaviour):
         self.audio_buffer = chunk
 
 
-class PerVADAgent(BaseAgent):
+class VADAgent(BaseAgent):
     """
     An agent which listens to an audio stream, does Voice Activity Detection (VAD), and sends
     fragments with detected speech to other agents over ZeroMQ.
     """
 
     def __init__(self, audio_in_address: str, audio_in_bind: bool):
-        jid = settings.agent_settings.per_vad_agent_name + "@" + settings.agent_settings.host
+        jid = settings.agent_settings.vad_name + "@" + settings.agent_settings.host
-        super().__init__(jid, settings.agent_settings.per_vad_agent_name)
+        super().__init__(jid, settings.agent_settings.vad_name)
 
         self.audio_in_address = audio_in_address
         self.audio_in_bind = audio_in_bind
@@ -118,7 +118,7 @@ class PerVADAgent(BaseAgent):
         self.audio_in_socket: azmq.Socket | None = None
         self.audio_out_socket: azmq.Socket | None = None
 
-        self.streaming_behaviour: Streaming | None = None
+        self.streaming_behaviour: StreamingBehaviour | None = None
 
     async def stop(self):
         """
@@ -162,11 +162,11 @@ class PerVADAgent(BaseAgent):
             return
         audio_out_address = f"tcp://localhost:{audio_out_port}"
 
-        self.streaming_behaviour = Streaming(self.audio_in_socket, self.audio_out_socket)
+        self.streaming_behaviour = StreamingBehaviour(self.audio_in_socket, self.audio_out_socket)
         self.add_behaviour(self.streaming_behaviour)
 
         # Start agents dependent on the output audio fragments here
-        transcriber = PerTranscriptionAgent(audio_out_address)
+        transcriber = TranscriptionAgent(audio_out_address)
         await transcriber.start()
 
         self.logger.info("Finished setting up %s", self.jid)

src/control_backend/core/config.py

@@ -9,16 +9,16 @@ class ZMQSettings(BaseModel):
 
 class AgentSettings(BaseModel):
     host: str = "localhost"
-    bdi_core_agent_agent_name: str = "bdi_core_agent"
+    bdi_core_name: str = "bdi_core_agent"
-    bdi_belief_collector_agent_name: str = "bdi_belief_collector_agent"
+    bdi_belief_collector_name: str = "belief_collector_agent"
-    bdi_text_belief_agent_name: str = "bdi_text_belief_agent"
+    text_belief_extractor_name: str = "text_belief_extractor_agent"
-    per_vad_agent_name: str = "per_vad_agent"
+    vad_name: str = "vad_agent"
-    llm_agent_name: str = "llm_agent"
+    llm_name: str = "llm_agent"
-    test_agent_name: str = "test_agent"
+    test_name: str = "test_agent"
-    per_transcription_agent_name: str = "per_transcription_agent"
+    transcription_name: str = "transcription_agent"
 
-    com_ri_agent_name: str = "com_ri_agent"
+    ri_communication_name: str = "ri_communication_agent"
-    act_speech_agent_name: str = "act_speech_agent"
+    robot_speech_name: str = "robot_speech_agent"
 
 
 class LLMSettings(BaseModel):

src/control_backend/main.py

@@ -9,21 +9,21 @@ from zmq.asyncio import Context
 
 # Act agents
 # BDI agents
-from control_backend.agents.bdi_agents import (
+from control_backend.agents.bdi import (
     BDIBeliefCollectorAgent,
     BDICoreAgent,
-    BDITextBeliefAgent,
+    TextBeliefExtractorAgent,
 )
 
 # Communication agents
-from control_backend.agents.com_agents import ComRIAgent
+from control_backend.agents.communication import RICommunicationAgent
 
 # Emotional Agents
 # LLM Agents
-from control_backend.agents.llm_agents import LLMAgent
+from control_backend.agents.llm import LLMAgent
 
 # Perceive agents
-from control_backend.agents.per_agents import PerVADAgent
+from control_backend.agents.perception import VADAgent
 
 # Other backend imports
 from control_backend.api.v1.router import api_router
@@ -77,12 +77,12 @@ async def lifespan(app: FastAPI):
     logger.info("Initializing and starting agents.")
     agents_to_start = {
         "ComRIAgent": (
-            ComRIAgent,
+            RICommunicationAgent,
             {
-                "name": settings.agent_settings.com_ri_agent_name,
+                "name": settings.agent_settings.ri_communication_name,
-                "jid": f"{settings.agent_settings.com_ri_agent_name}"
+                "jid": f"{settings.agent_settings.ri_communication_name}"
                 f"@{settings.agent_settings.host}",
-                "password": settings.agent_settings.com_ri_agent_name,
+                "password": settings.agent_settings.ri_communication_name,
                 "address": "tcp://*:5555",
                 "bind": True,
             },
@@ -90,56 +90,61 @@ async def lifespan(app: FastAPI):
         "LLMAgent": (
             LLMAgent,
             {
-                "name": settings.agent_settings.llm_agent_name,
+                "name": settings.agent_settings.llm_name,
-                "jid": f"{settings.agent_settings.llm_agent_name}@{settings.agent_settings.host}",
+                "jid": f"{settings.agent_settings.llm_name}@{settings.agent_settings.host}",
-                "password": settings.agent_settings.llm_agent_name,
+                "password": settings.agent_settings.llm_name,
             },
         ),
         "BDICoreAgent": (
             BDICoreAgent,
             {
-                "name": settings.agent_settings.bdi_core_agent_agent_name,
+                "name": settings.agent_settings.bdi_core_name,
-                "jid": f"{settings.agent_settings.bdi_core_agent_agent_name}@"
+                "jid": f"{settings.agent_settings.bdi_core_name}@{settings.agent_settings.host}",
-                f"{settings.agent_settings.host}",
+                "password": settings.agent_settings.bdi_core_name,
-                "password": settings.agent_settings.bdi_core_agent_agent_name,
+                "asl": "src/control_backend/agents/bdi/bdi_core_agent/rules.asl",
-                "asl": "src/control_backend/agents/bdi_agents/bdi_core_agent/rules.asl",
             },
         ),
         "BDIBeliefCollectorAgent": (
             BDIBeliefCollectorAgent,
             {
-                "name": settings.agent_settings.bdi_belief_collector_agent_name,
+                "name": settings.agent_settings.bdi_belief_collector_name,
-                "jid": f"{settings.agent_settings.bdi_belief_collector_agent_name}@"
+                "jid": f"{settings.agent_settings.bdi_belief_collector_name}@"
                 f"{settings.agent_settings.host}",
-                "password": settings.agent_settings.bdi_belief_collector_agent_name,
+                "password": settings.agent_settings.bdi_belief_collector_name,
             },
         ),
         "BDITextBeliefAgent": (
-            BDITextBeliefAgent,
+            TextBeliefExtractorAgent,
             {
-                "name": settings.agent_settings.bdi_text_belief_agent_name,
+                "name": settings.agent_settings.text_belief_extractor_name,
-                "jid": f"{settings.agent_settings.bdi_text_belief_agent_name}@"
+                "jid": f"{settings.agent_settings.text_belief_extractor_name}@"
                 f"{settings.agent_settings.host}",
-                "password": settings.agent_settings.bdi_text_belief_agent_name,
+                "password": settings.agent_settings.text_belief_extractor_name,
             },
         ),
         "PerVADAgent": (
-            PerVADAgent,
+            VADAgent,
             {"audio_in_address": "tcp://localhost:5558", "audio_in_bind": False},
         ),
     }
 
+    vad_agent = None
+
     for name, (agent_class, kwargs) in agents_to_start.items():
         try:
             logger.debug("Starting agent: %s", name)
             agent_instance = agent_class(**{k: v for k, v in kwargs.items() if k != "name"})
             await agent_instance.start()
+            if isinstance(agent_instance, VADAgent):
+                vad_agent = agent_instance
             logger.info("Agent '%s' started successfully.", name)
         except Exception as e:
             logger.error("Failed to start agent '%s': %s", name, e, exc_info=True)
             # Consider if the application should continue if an agent fails to start.
             raise
 
+    await vad_agent.streaming_behaviour.reset()
+
     logger.info("Application startup complete.")
 
     yield

test/integration/agents/actuation/test_robot_speech_agent.py

@@ -4,13 +4,13 @@ from unittest.mock import AsyncMock, MagicMock, patch
 import pytest
 import zmq
 
-from control_backend.agents.act_agents.act_speech_agent import ActSpeechAgent
+from control_backend.agents.actuation.robot_speech_agent import RobotSpeechAgent
 
 
 @pytest.fixture
 def zmq_context(mocker):
     mock_context = mocker.patch(
-        "control_backend.agents.act_agents.act_speech_agent.zmq.Context.instance"
+        "control_backend.agents.actuation.robot_speech_agent.zmq.Context.instance"
     )
     mock_context.return_value = MagicMock()
     return mock_context
@@ -21,8 +21,8 @@ async def test_setup_bind(zmq_context, mocker):
     """Test setup with bind=True"""
     fake_socket = zmq_context.return_value.socket.return_value
 
-    agent = ActSpeechAgent("test@server", "password", address="tcp://localhost:5555", bind=True)
+    agent = RobotSpeechAgent("test@server", "password", address="tcp://localhost:5555", bind=True)
-    settings = mocker.patch("control_backend.agents.act_agents.act_speech_agent.settings")
+    settings = mocker.patch("control_backend.agents.actuation.robot_speech_agent.settings")
     settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
 
     await agent.setup()
@@ -40,8 +40,8 @@ async def test_setup_connect(zmq_context, mocker):
     """Test setup with bind=False"""
     fake_socket = zmq_context.return_value.socket.return_value
 
-    agent = ActSpeechAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+    agent = RobotSpeechAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
-    settings = mocker.patch("control_backend.agents.act_agents.act_speech_agent.settings")
+    settings = mocker.patch("control_backend.agents.actuation.robot_speech_agent.settings")
     settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
 
     await agent.setup()
@@ -59,7 +59,7 @@ async def test_send_commands_behaviour_valid_message():
     )
     fake_socket.send_json = AsyncMock()
 
-    agent = ActSpeechAgent("test@server", "password")
+    agent = RobotSpeechAgent("test@server", "password")
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
 
@@ -67,7 +67,7 @@ async def test_send_commands_behaviour_valid_message():
     behaviour.agent = agent
 
     with patch(
-        "control_backend.agents.act_agents.act_speech_agent.SpeechCommand"
+        "control_backend.agents.actuation.robot_speech_agent.SpeechCommand"
     ) as MockSpeechCommand:
         mock_message = MagicMock()
         MockSpeechCommand.model_validate.return_value = mock_message
@@ -85,7 +85,7 @@ async def test_send_commands_behaviour_invalid_message():
     fake_socket.recv_multipart = AsyncMock(return_value=(b"command", b"{invalid_json}"))
     fake_socket.send_json = AsyncMock()
 
-    agent = ActSpeechAgent("test@server", "password")
+    agent = RobotSpeechAgent("test@server", "password")
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
 

test/integration/agents/communication/test_ri_communication_agent.py

@@ -3,11 +3,11 @@ from unittest.mock import ANY, AsyncMock, MagicMock, patch
 
 import pytest
 
-from control_backend.agents.com_agents.com_ri_agent import ComRIAgent
+from control_backend.agents.communication.ri_communication_agent import RICommunicationAgent
 
 
-def act_agent_path():
+def speech_agent_path():
-    return "control_backend.agents.com_agents.com_ri_agent.ActSpeechAgent"
+    return "control_backend.agents.communication.ri_communication_agent.RobotSpeechAgent"
 
 
 def fake_json_correct_negototiate_1():
@@ -91,7 +91,7 @@ def fake_json_invalid_id_negototiate():
 @pytest.fixture
 def zmq_context(mocker):
     mock_context = mocker.patch(
-        "control_backend.agents.com_agents.com_ri_agent.zmq.Context.instance"
+        "control_backend.agents.communication.ri_communication_agent.zmq.Context.instance"
     )
     mock_context.return_value = MagicMock()
     return mock_context
@@ -109,12 +109,17 @@ async def test_setup_creates_socket_and_negotiate_1(zmq_context):
     fake_socket.send_multipart = AsyncMock()
 
     # Mock ActSpeechAgent agent startup
-    with patch(act_agent_path(), autospec=True) as MockCommandAgent:
+    with patch(speech_agent_path(), autospec=True) as MockCommandAgent:
         fake_agent_instance = MockCommandAgent.return_value
         fake_agent_instance.start = AsyncMock()
 
         # --- Act ---
-        agent = ComRIAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+        agent = RICommunicationAgent(
+            "test@server",
+            "password",
+            address="tcp://localhost:5555",
+            bind=False,
+        )
         await agent.setup()
 
         # --- Assert ---
@@ -144,12 +149,17 @@ async def test_setup_creates_socket_and_negotiate_2(zmq_context):
     fake_socket.send_multipart = AsyncMock()
 
     # Mock ActSpeechAgent agent startup
-    with patch(act_agent_path(), autospec=True) as MockCommandAgent:
+    with patch(speech_agent_path(), autospec=True) as MockCommandAgent:
         fake_agent_instance = MockCommandAgent.return_value
         fake_agent_instance.start = AsyncMock()
 
         # --- Act ---
-        agent = ComRIAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+        agent = RICommunicationAgent(
+            "test@server",
+            "password",
+            address="tcp://localhost:5555",
+            bind=False,
+        )
         await agent.setup()
 
         # --- Assert ---
@@ -182,12 +192,17 @@ async def test_setup_creates_socket_and_negotiate_3(zmq_context):
 
     # We are sending wrong negotiation info to the communication agent,
     # so we should retry and expect a better response, within a limited time.
-    with patch(act_agent_path(), autospec=True) as MockCommandAgent:
+    with patch(speech_agent_path(), autospec=True) as MockCommandAgent:
         fake_agent_instance = MockCommandAgent.return_value
         fake_agent_instance.start = AsyncMock()
         # --- Act ---
 
-        agent = ComRIAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+        agent = RICommunicationAgent(
+            "test@server",
+            "password",
+            address="tcp://localhost:5555",
+            bind=False,
+        )
         await agent.setup(max_retries=1)
 
         # --- Assert ---
@@ -213,11 +228,16 @@ async def test_setup_creates_socket_and_negotiate_4(zmq_context):
     fake_socket.send_multipart = AsyncMock()
 
     # Mock ActSpeechAgent agent startup
-    with patch(act_agent_path(), autospec=True) as MockCommandAgent:
+    with patch(speech_agent_path(), autospec=True) as MockCommandAgent:
         fake_agent_instance = MockCommandAgent.return_value
         fake_agent_instance.start = AsyncMock()
         # --- Act ---
-        agent = ComRIAgent("test@server", "password", address="tcp://localhost:5555", bind=True)
+        agent = RICommunicationAgent(
+            "test@server",
+            "password",
+            address="tcp://localhost:5555",
+            bind=True,
+        )
         await agent.setup()
 
         # --- Assert ---
@@ -247,11 +267,16 @@ async def test_setup_creates_socket_and_negotiate_5(zmq_context):
     fake_socket.send_multipart = AsyncMock()
 
     # Mock ActSpeechAgent agent startup
-    with patch(act_agent_path(), autospec=True) as MockCommandAgent:
+    with patch(speech_agent_path(), autospec=True) as MockCommandAgent:
         fake_agent_instance = MockCommandAgent.return_value
         fake_agent_instance.start = AsyncMock()
         # --- Act ---
-        agent = ComRIAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+        agent = RICommunicationAgent(
+            "test@server",
+            "password",
+            address="tcp://localhost:5555",
+            bind=False,
+        )
         await agent.setup()
 
         # --- Assert ---
@@ -281,11 +306,16 @@ async def test_setup_creates_socket_and_negotiate_6(zmq_context):
     fake_socket.send_multipart = AsyncMock()
 
     # Mock ActSpeechAgent agent startup
-    with patch(act_agent_path(), autospec=True) as MockCommandAgent:
+    with patch(speech_agent_path(), autospec=True) as MockCommandAgent:
         fake_agent_instance = MockCommandAgent.return_value
         fake_agent_instance.start = AsyncMock()
         # --- Act ---
-        agent = ComRIAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+        agent = RICommunicationAgent(
+            "test@server",
+            "password",
+            address="tcp://localhost:5555",
+            bind=False,
+        )
         await agent.setup()
 
         # --- Assert ---
@@ -318,13 +348,18 @@ async def test_setup_creates_socket_and_negotiate_7(zmq_context):
 
     # We are sending wrong negotiation info to the communication agent,
     # so we should retry and expect a better response, within a limited time.
-    with patch(act_agent_path(), autospec=True) as MockCommandAgent:
+    with patch(speech_agent_path(), autospec=True) as MockCommandAgent:
         fake_agent_instance = MockCommandAgent.return_value
         fake_agent_instance.start = AsyncMock()
 
         # --- Act ---
 
-        agent = ComRIAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+        agent = RICommunicationAgent(
+            "test@server",
+            "password",
+            address="tcp://localhost:5555",
+            bind=False,
+        )
         await agent.setup(max_retries=1)
 
         # --- Assert ---
@@ -346,13 +381,18 @@ async def test_setup_creates_socket_and_negotiate_timeout(zmq_context):
     fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
     fake_socket.send_multipart = AsyncMock()
 
-    with patch(act_agent_path(), autospec=True) as MockCommandAgent:
+    with patch(speech_agent_path(), autospec=True) as MockCommandAgent:
         fake_agent_instance = MockCommandAgent.return_value
         fake_agent_instance.start = AsyncMock()
 
         # --- Act ---
 
-        agent = ComRIAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+        agent = RICommunicationAgent(
+            "test@server",
+            "password",
+            address="tcp://localhost:5555",
+            bind=False,
+        )
         await agent.setup(max_retries=1)
 
         # --- Assert ---
@@ -372,7 +412,7 @@ async def test_listen_behaviour_ping_correct():
     fake_socket.recv_json = AsyncMock(return_value={"endpoint": "ping", "data": {}})
     fake_socket.send_multipart = AsyncMock()
 
-    agent = ComRIAgent("test@server", "password")
+    agent = RICommunicationAgent("test@server", "password")
     agent._req_socket = fake_socket
     agent.connected = True
 
@@ -405,7 +445,7 @@ async def test_listen_behaviour_ping_wrong_endpoint():
     )
     fake_pub_socket = AsyncMock()
 
-    agent = ComRIAgent("test@server", "password", fake_pub_socket)
+    agent = RICommunicationAgent("test@server", "password", fake_pub_socket)
     agent._req_socket = fake_socket
     agent.connected = True
 
@@ -428,7 +468,7 @@ async def test_listen_behaviour_timeout(zmq_context):
     fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
     fake_socket.send_multipart = AsyncMock()
 
-    agent = ComRIAgent("test@server", "password")
+    agent = RICommunicationAgent("test@server", "password")
     agent._req_socket = fake_socket
     agent.connected = True
 
@@ -456,7 +496,7 @@ async def test_listen_behaviour_ping_no_endpoint():
         }
     )
 
-    agent = ComRIAgent("test@server", "password")
+    agent = RICommunicationAgent("test@server", "password")
     agent._req_socket = fake_socket
     agent.connected = True
 
@@ -477,7 +517,12 @@ async def test_setup_unexpected_exception(zmq_context):
     fake_socket.recv_json = AsyncMock(side_effect=Exception("boom!"))
     fake_socket.send_multipart = AsyncMock()
 
-    agent = ComRIAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+    agent = RICommunicationAgent(
+        "test@server",
+        "password",
+        address="tcp://localhost:5555",
+        bind=False,
+    )
 
     await agent.setup(max_retries=1)
 
@@ -500,11 +545,16 @@ async def test_setup_unpacking_exception(zmq_context):
     fake_socket.recv_json = AsyncMock(return_value=malformed_data)
 
     # Patch ActSpeechAgent so it won't actually start
-    with patch(act_agent_path(), autospec=True) as MockCommandAgent:
+    with patch(speech_agent_path(), autospec=True) as MockCommandAgent:
         fake_agent_instance = MockCommandAgent.return_value
         fake_agent_instance.start = AsyncMock()
 
-        agent = ComRIAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+        agent = RICommunicationAgent(
+            "test@server",
+            "password",
+            address="tcp://localhost:5555",
+            bind=False,
+        )
 
         # --- Act & Assert ---
 

test/integration/agents/perception/vad_agent/test_vad_agent.py

@@ -5,27 +5,25 @@ import pytest
 import zmq
 from spade.agent import Agent
 
-from control_backend.agents.per_agents.per_vad_agent import PerVADAgent
+from control_backend.agents.perception.vad_agent import VADAgent
 
 
 @pytest.fixture
 def zmq_context(mocker):
-    mock_context = mocker.patch(
+    mock_context = mocker.patch("control_backend.agents.perception.vad_agent.azmq.Context.instance")
-        "control_backend.agents.per_agents.per_vad_agent.azmq.Context.instance"
-    )
     mock_context.return_value = MagicMock()
     return mock_context
 
 
 @pytest.fixture
 def streaming(mocker):
-    return mocker.patch("control_backend.agents.per_agents.per_vad_agent.Streaming")
+    return mocker.patch("control_backend.agents.perception.vad_agent.StreamingBehaviour")
 
 
 @pytest.fixture
 def per_transcription_agent(mocker):
     return mocker.patch(
-        "control_backend.agents.per_agents.per_vad_agent.PerTranscriptionAgent", autospec=True
+        "control_backend.agents.perception.vad_agent.TranscriptionAgent", autospec=True
     )
 
 
@@ -33,9 +31,9 @@ def per_transcription_agent(mocker):
 async def test_normal_setup(streaming, per_transcription_agent):
     """
     Test that during normal setup, the VAD agent creates a Streaming behavior and creates audio
-    sockets, and starts the PerTranscriptionAgent without loading real models.
+    sockets, and starts the TranscriptionAgent without loading real models.
     """
-    per_vad_agent = PerVADAgent("tcp://localhost:12345", False)
+    per_vad_agent = VADAgent("tcp://localhost:12345", False)
     per_vad_agent.add_behaviour = MagicMock()
 
     await per_vad_agent.setup()
@@ -54,7 +52,7 @@ def test_in_socket_creation(zmq_context, do_bind: bool):
     Test that the VAD agent creates an audio input socket, differentiating between binding and
     connecting.
     """
-    per_vad_agent = PerVADAgent(f"tcp://{'*' if do_bind else 'localhost'}:12345", do_bind)
+    per_vad_agent = VADAgent(f"tcp://{'*' if do_bind else 'localhost'}:12345", do_bind)
 
     per_vad_agent._connect_audio_in_socket()
 
@@ -78,7 +76,7 @@ def test_out_socket_creation(zmq_context):
     """
     Test that the VAD agent creates an audio output socket correctly.
     """
-    per_vad_agent = PerVADAgent("tcp://localhost:12345", False)
+    per_vad_agent = VADAgent("tcp://localhost:12345", False)
 
     per_vad_agent._connect_audio_out_socket()
 
@@ -97,7 +95,7 @@ async def test_out_socket_creation_failure(zmq_context):
         zmq_context.return_value.socket.return_value.bind_to_random_port.side_effect = (
             zmq.ZMQBindError
         )
-        per_vad_agent = PerVADAgent("tcp://localhost:12345", False)
+        per_vad_agent = VADAgent("tcp://localhost:12345", False)
 
         await per_vad_agent.setup()
 
@@ -110,7 +108,7 @@ async def test_stop(zmq_context, per_transcription_agent):
     """
     Test that when the VAD agent is stopped, the sockets are closed correctly.
     """
-    per_vad_agent = PerVADAgent("tcp://localhost:12345", False)
+    per_vad_agent = VADAgent("tcp://localhost:12345", False)
     zmq_context.return_value.socket.return_value.bind_to_random_port.return_value = random.randint(
         1000,
         10000,

test/integration/agents/perception/vad_agent/test_vad_with_audio.py

@@ -5,7 +5,7 @@ import pytest
 import soundfile as sf
 import zmq
 
-from control_backend.agents.per_agents.per_vad_agent import Streaming
+from control_backend.agents.perception.vad_agent import StreamingBehaviour
 
 
 def get_audio_chunks() -> list[bytes]:
@@ -42,14 +42,12 @@ async def test_real_audio(mocker):
     audio_in_socket = AsyncMock()
     audio_in_socket.recv.side_effect = audio_chunks
 
-    mock_poller: MagicMock = mocker.patch(
+    mock_poller: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.zmq.Poller")
-        "control_backend.agents.per_agents.per_vad_agent.zmq.Poller"
-    )
     mock_poller.return_value.poll.return_value = [(audio_in_socket, zmq.POLLIN)]
 
     audio_out_socket = AsyncMock()
 
-    vad_streamer = Streaming(audio_in_socket, audio_out_socket)
+    vad_streamer = StreamingBehaviour(audio_in_socket, audio_out_socket)
     vad_streamer._ready = True
     vad_streamer.agent = MagicMock()
     for _ in audio_chunks:

test/unit/agents/bdi/bdi_core_agent/behaviours/test_belief_setter.py

@@ -4,12 +4,12 @@ from unittest.mock import AsyncMock, MagicMock, call
 
 import pytest
 
-from control_backend.agents.bdi_agents.bdi_core_agent.behaviours.belief_setter_behaviour import (
+from control_backend.agents.bdi.bdi_core_agent.behaviours.belief_setter_behaviour import (
     BeliefSetterBehaviour,
 )
 
 # Define a constant for the collector agent name to use in tests
-COLLECTOR_AGENT_NAME = "bdi_belief_collector_agent"
+COLLECTOR_AGENT_NAME = "belief_collector_agent"
 COLLECTOR_AGENT_JID = f"{COLLECTOR_AGENT_NAME}@test"
 
 
@@ -27,8 +27,8 @@ def belief_setter_behaviour(mock_agent, mocker):
     """Fixture to create an instance of BeliefSetterBehaviour with a mocked agent."""
     # Patch the settings to use a predictable agent name
     mocker.patch(
-        "control_backend.agents.bdi_agents.bdi_core_agent."
+        "control_backend.agents.bdi.bdi_core_agent."
-        "behaviours.belief_setter_behaviour.settings.agent_settings.bdi_belief_collector_agent_name",
+        "behaviours.belief_setter_behaviour.settings.agent_settings.bdi_belief_collector_name",
         COLLECTOR_AGENT_NAME,
     )
 

test/unit/agents/bdi/belief_collector_agent/behaviours/test_continuous_collect.py

@@ -3,8 +3,8 @@ from unittest.mock import AsyncMock, MagicMock
 
 import pytest
 
-from control_backend.agents.bdi_agents.bdi_belief_collector_agent.behaviours.bel_collector_behaviour import (  # noqa: E501
+from control_backend.agents.bdi.belief_collector_agent.behaviours.belief_collector_behaviour import (  # noqa: E501
-    BelCollectorBehaviour,
+    BeliefCollectorBehaviour,
 )
 
 
@@ -20,7 +20,7 @@ def create_mock_message(sender_node: str, body: str) -> MagicMock:
 def mock_agent(mocker):
     """Fixture to create a mock Agent."""
     agent = MagicMock()
-    agent.jid = "bdi_belief_collector_agent@test"
+    agent.jid = "belief_collector_agent@test"
     return agent
 
 
@@ -30,7 +30,7 @@ def bel_collector_behaviouror(mock_agent, mocker):
     # Patch asyncio.sleep to prevent tests from actually waiting
     mocker.patch("asyncio.sleep", return_value=None)
 
-    collector = BelCollectorBehaviour()
+    collector = BeliefCollectorBehaviour()
     collector.agent = mock_agent
     # Mock the receive method, we will control its return value in each test
     collector.receive = AsyncMock()

test/unit/agents/bdi/text_belief_agent/behaviours/test_belief_from_text.py

@@ -4,8 +4,8 @@ from unittest.mock import AsyncMock, MagicMock, patch
 import pytest
 from spade.message import Message
 
-from control_backend.agents.bdi_agents.bdi_text_belief_agent.behaviours.bdi_text_belief_behaviour import (  # noqa: E501, We can't shorten this import.
+from control_backend.agents.bdi.text_belief_extractor_agent.behaviours.text_belief_extractor_behaviour import (  # noqa: E501, We can't shorten this import.
-    BDITextBeliefBehaviour,
+    TextBeliefExtractorBehaviour,
 )
 
 
@@ -17,15 +17,16 @@ def mock_settings():
     """
     # Create a mock object that mimics the nested structure
     settings_mock = MagicMock()
-    settings_mock.agent_settings.per_transcription_agent_name = "transcriber"
+    settings_mock.agent_settings.transcription_name = "transcriber"
-    settings_mock.agent_settings.bdi_belief_collector_agent_name = "collector"
+    settings_mock.agent_settings.bdi_belief_collector_name = "collector"
     settings_mock.agent_settings.host = "fake.host"
 
     # Use patch to replace the settings object during the test
     # Adjust 'control_backend.behaviours.belief_from_text.settings' to where
     # your behaviour file imports it from.
     with patch(
-        "control_backend.agents.bdi_agents.bdi_text_belief_agent.behaviours.bdi_text_belief_behaviour.settings",
+        "control_backend.agents.bdi.text_belief_extractor_agent.behaviours"
+        ".text_belief_extractor_behaviour.settings",
         settings_mock,
     ):
         yield settings_mock
@@ -37,7 +38,7 @@ def behavior(mock_settings):
     Creates an instance of the BDITextBeliefBehaviour behaviour and mocks its
     agent, logger, send, and receive methods.
     """
-    b = BDITextBeliefBehaviour()
+    b = TextBeliefExtractorBehaviour()
 
     b.agent = MagicMock()
     b.send = AsyncMock()
@@ -103,7 +104,7 @@ async def test_run_message_from_transcriber_demo(behavior, mock_settings, monkey
     # Arrange: Create a mock message from the transcriber
     transcription_text = "hello world"
     mock_msg = create_mock_message(
-        mock_settings.agent_settings.per_transcription_agent_name, transcription_text, None
+        mock_settings.agent_settings.transcription_name, transcription_text, None
     )
     behavior.receive.return_value = mock_msg
 
@@ -122,7 +123,7 @@ async def test_run_message_from_transcriber_demo(behavior, mock_settings, monkey
 
     assert (
         sent_msg.to
-        == mock_settings.agent_settings.bdi_belief_collector_agent_name
+        == mock_settings.agent_settings.bdi_belief_collector_name
         + "@"
         + mock_settings.agent_settings.host
     )
@@ -162,7 +163,7 @@ async def test_process_transcription_success(behavior, mock_settings):
     # 2. Inspect the sent message
     sent_msg: Message = behavior.send.call_args[0][0]
     expected_to = (
-        mock_settings.agent_settings.bdi_belief_collector_agent_name
+        mock_settings.agent_settings.bdi_belief_collector_name
         + "@"
         + mock_settings.agent_settings.host
     )

test/unit/agents/perception/transcription_agent/test_speech_recognizer.py

@@ -1,6 +1,6 @@
 import numpy as np
 
-from control_backend.agents.per_agents.per_transcription_agent.speech_recognizer import (
+from control_backend.agents.perception.transcription_agent.speech_recognizer import (
     OpenAIWhisperSpeechRecognizer,
     SpeechRecognizer,
 )

test/unit/agents/perception/vad_agent/test_vad_socket_poller.py

@@ -3,7 +3,7 @@ from unittest.mock import AsyncMock, MagicMock
 import pytest
 import zmq
 
-from control_backend.agents.per_agents.per_vad_agent import SocketPoller
+from control_backend.agents.perception.vad_agent import SocketPoller
 
 
 @pytest.fixture
@@ -16,9 +16,7 @@ async def test_socket_poller_with_data(socket, mocker):
     socket_data = b"test"
     socket.recv.return_value = socket_data
 
-    mock_poller: MagicMock = mocker.patch(
+    mock_poller: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.zmq.Poller")
-        "control_backend.agents.per_agents.per_vad_agent.zmq.Poller"
-    )
     mock_poller.return_value.poll.return_value = [(socket, zmq.POLLIN)]
 
     poller = SocketPoller(socket)
@@ -37,9 +35,7 @@ async def test_socket_poller_with_data(socket, mocker):
 
 @pytest.mark.asyncio
 async def test_socket_poller_no_data(socket, mocker):
-    mock_poller: MagicMock = mocker.patch(
+    mock_poller: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.zmq.Poller")
-        "control_backend.agents.per_agents.per_vad_agent.zmq.Poller"
-    )
     mock_poller.return_value.poll.return_value = []
 
     poller = SocketPoller(socket)

test/unit/agents/perception/vad_agent/test_vad_streaming.py

@@ -3,7 +3,7 @@ from unittest.mock import AsyncMock, MagicMock
 import numpy as np
 import pytest
 
-from control_backend.agents.per_agents.per_vad_agent import Streaming
+from control_backend.agents.perception.vad_agent import StreamingBehaviour
 
 
 @pytest.fixture
@@ -20,7 +20,7 @@ def audio_out_socket():
 def mock_agent(mocker):
     """Fixture to create a mock BDIAgent."""
     agent = MagicMock()
-    agent.jid = "per_vad_agent@test"
+    agent.jid = "vad_agent@test"
     return agent
 
 
@@ -29,7 +29,7 @@ def streaming(audio_in_socket, audio_out_socket, mock_agent):
     import torch
 
     torch.hub.load.return_value = (..., ...)  # Mock
-    streaming = Streaming(audio_in_socket, audio_out_socket)
+    streaming = StreamingBehaviour(audio_in_socket, audio_out_socket)
     streaming._ready = True
     streaming.agent = mock_agent
     return streaming