Merge branch 'feature/episodicVerbalizationSkill' of...

Merge branch 'feature/episodicVerbalizationSkill' of git.h2t.iar.kit.edu:sw/armarx/skills/speech into feature/episodicVerbalizationSkill

python/skills/skills/episodic_verbalization.py

@@ -2,7 +2,7 @@ from pathlib import Path
 import pickle
 import logging
 
-from episodic_verbalization_core.em.em_tree import HigherLevelSummary
+from episodic_verbalization_core.em.em_tree import HigherLevelSummary, GoalBasedSummary
 from episodic_verbalization_core.lmp.setup import instantiate_llm
 from episodic_verbalization_core.em.armarx_lt_mem import load_episode_from_armarx_lt_mem, extend_existing_history_from_memory_snapshots
 from episodic_verbalization_core.em.llm_summary import LLMBasedSummarizer
@@ -28,7 +28,16 @@ class EM_Verbalization_Tree:
         # load tree:
         if self.history_cache.is_file():  
             print('loading tree from', self.history_cache)
-            self.tree = HigherLevelSummary('', children=[pickle.loads(self.history_cache.read_bytes())])
+            tree = pickle.loads(self.history_cache.read_bytes())
+            assert type(tree).__name__ == HigherLevelSummary.__name__
+            if type(tree.children[-1]).__name__ == HigherLevelSummary.__name__:
+                # this tree already seems to be in the correct format
+                self.tree = tree
+            elif all(type(c).__name__ == GoalBasedSummary.__name__ for c in tree.children):
+                # this tree should be wrapped
+                self.tree = HigherLevelSummary('', children=[])
+            else:
+                raise ValueError('Unsupported tree file ' + str(self.history_cache))
         else:
             print('could not load tree from', self.history_cache)
             self.create_tree()

python/skills/skills/episodic_verbalization_core/llm_emv/simplified_agent/simple_coding_emv.py

@@ -25,7 +25,8 @@ class SimplifiedCodingEMV:
             error_handlers: List[ErrorHandler],
             max_rounds=10,
             exclude_imports=None,
-            force_initial_command=None
+            force_initial_command=None,
+            verbose=False,
     ):
         super().__init__()
         self._force_initial_command = force_initial_command
@@ -46,7 +47,8 @@ class SimplifiedCodingEMV:
         # noinspection PyTypeChecker
         self._llm_to_python_console_helper = LlmToPythonConsoleHelper(self.llm, self._exec_hist,
                                                                       self._build_prompt_message,
-                                                                      enforce_python_console_stop_token=False)
+                                                                      enforce_python_console_stop_token=False,
+                                                                      verbose=verbose)
 
         def _set_simplified_repr(node):
             node._simplified_repr = True