fix: @Bartok9 contributions (batch 2)

src/rai_core/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "rai_core"
-version = "2.12.2"
+version = "2.12.3"
 description = "Core functionality for RAI framework"
 readme = "README.md"
 requires-python = ">=3.10,<3.13"

src/rai_core/rai/agents/langchain/core/tool_runner.py

@@ -73,9 +73,20 @@ def run_one(call: ToolCall):
             self.logger.info(f"Running tool: {call['name']}, args: {call['args']}")
             artifact = None
 
+            tool = self.tools_by_name.get(call["name"])
+            if tool is None:
+                error_message = f'Unknown tool: "{call["name"]}"'
+                self.logger.info(error_message)
+                return ToolMessage(
+                    content=error_message,
+                    name=call["name"],
+                    tool_call_id=call["id"],
+                    status="error",
+                )
+
             try:
                 ts = time.perf_counter()
-                output = self.tools_by_name[call["name"]].invoke(call, config)  # type: ignore
+                output = tool.invoke(call, config)  # type: ignore
                 te = time.perf_counter() - ts
                 self.logger.info(
                     f"Tool {call['name']} completed in {te:.2f} seconds. Tool output: {str(output.content)[:100]}{'...' if len(str(output.content)) > 100 else ''}"

src/rai_core/rai/communication/hri_connector.py

@@ -92,7 +92,7 @@ def to_langchain(self) -> LangchainBaseMessage:
                 if self.images == [] and self.audios == []:
                     return AIMessage(content=self.text)
                 return AIMultimodalMessage(
-                    content=self.text, images=base64_images, audios=base64_images
+                    content=self.text, images=base64_images, audios=base64_audios
                 )
             case _:
                 raise ValueError(

src/rai_core/rai/frontend/configurator.py

@@ -467,7 +467,7 @@ def on_wake_word_threshold_change():
 
     # Get the current vendor from config and convert to display name
     current_vendor = st.session_state.config.get("asr", {}).get(
-        "transciption_model", TRANSCRIBE_MODELS[0]
+        "transcription_model", TRANSCRIBE_MODELS[0]
     )
 
     asr_vendor = st.selectbox(

src/rai_core/rai/messages/artifacts.py

@@ -28,6 +28,7 @@ def store_artifacts(
     # TODO(boczekbartek): refactor
     path = Path(db_path)
     if not path.is_file():
+        path.parent.mkdir(parents=True, exist_ok=True)
         artifact_database: dict = {}
         with path.open("wb") as file:
             pickle.dump(artifact_database, file)

src/rai_core/rai/tools/ros2/generic/actions.py

@@ -150,8 +150,10 @@ def _run(self) -> str:
 
 
 class StartROS2ActionToolInput(BaseModel):
-    action_name: str = Field(..., description="The name of the action to start")
-    action_type: str = Field(..., description="The type of the action")
+    action_name: str = Field(
+        ..., min_length=1, description="The name of the action to start"
+    )
+    action_type: str = Field(..., min_length=1, description="The type of the action")
     action_args: Dict[str, Any] = Field(
         ..., description="The arguments to pass to the action"
     )

src/rai_core/rai/tools/ros2/generic/services.py

@@ -83,14 +83,15 @@ def _run(self) -> str:
 
 
 class CallROS2ServiceToolInput(BaseModel):
-    service_name: str = Field(description="The service to call")
-    service_type: str = Field(description="The type of the service")
+    service_name: str = Field(min_length=1, description="The service to call")
+    service_type: str = Field(min_length=1, description="The type of the service")
     service_args: Optional[Dict[str, Any]] = Field(
         default={},
         description="A dictionary mapping each field name of the service request message to its value. For example, for std_srvs/srv/SetBool use {'data': True}.",
     )
     timeout_sec: float = Field(
         default=5.0,
+        gt=0,
         description="The timeout for the service call in seconds",
     )
 

src/rai_core/rai/tools/ros2/generic/topics.py

@@ -77,9 +77,11 @@ def get_tools(self) -> List[BaseTool]:
 
 
 class PublishROS2MessageToolInput(BaseModel):
-    topic: str = Field(..., description="The topic to publish the message to")
+    topic: str = Field(
+        ..., min_length=1, description="The topic to publish the message to"
+    )
     message: Dict[str, Any] = Field(..., description="The message to publish")
-    message_type: str = Field(..., description="The type of the message")
+    message_type: str = Field(..., min_length=1, description="The type of the message")
 
 
 class PublishROS2MessageTool(BaseROS2Tool):
@@ -99,8 +101,10 @@ def _run(self, topic: str, message: Dict[str, Any], message_type: str) -> str:
 
 
 class ReceiveROS2MessageToolInput(BaseModel):
-    topic: str = Field(..., description="The topic to receive the message from")
-    timeout_sec: float = Field(1.0, description="The timeout in seconds")
+    topic: str = Field(
+        ..., min_length=1, description="The topic to receive the message from"
+    )
+    timeout_sec: float = Field(1.0, gt=0, description="The timeout in seconds")
 
 
 class ReceiveROS2MessageTool(BaseROS2Tool):
@@ -117,8 +121,10 @@ def _run(self, topic: str, timeout_sec: float = 1.0) -> str:
 
 
 class GetROS2ImageToolInput(BaseModel):
-    topic: str = Field(..., description="The topic to receive the image from")
-    timeout_sec: float = Field(1.0, description="The timeout in seconds")
+    topic: str = Field(
+        ..., min_length=1, description="The topic to receive the image from"
+    )
+    timeout_sec: float = Field(1.0, gt=0, description="The timeout in seconds")
 
 
 class GetROS2ImageTool(BaseROS2Tool):
@@ -249,9 +255,9 @@ def _run(self, msg_type: str) -> str:
 
 
 class GetROS2TransformToolInput(BaseModel):
-    target_frame: str = Field(..., description="The target frame")
-    source_frame: str = Field(..., description="The source frame")
-    timeout_sec: float = Field(default=10.0, description="The timeout in seconds")
+    target_frame: str = Field(..., min_length=1, description="The target frame")
+    source_frame: str = Field(..., min_length=1, description="The source frame")
+    timeout_sec: float = Field(default=10.0, gt=0, description="The timeout in seconds")
 
 
 class GetROS2TransformTool(BaseROS2Tool):

src/rai_core/rai/tools/ros2/navigation/nav2.py

@@ -58,10 +58,18 @@ def get_tools(self) -> List[BaseTool]:
 
 
 class NavigateToPoseToolInput(BaseModel):
-    x: float = Field(..., description="The x coordinate of the pose")
-    y: float = Field(..., description="The y coordinate of the pose")
-    z: float = Field(..., description="The z coordinate of the pose")
-    yaw: float = Field(..., description="The yaw angle of the pose")
+    x: float = Field(
+        ..., allow_inf_nan=False, description="The x coordinate of the pose"
+    )
+    y: float = Field(
+        ..., allow_inf_nan=False, description="The y coordinate of the pose"
+    )
+    z: float = Field(
+        ..., allow_inf_nan=False, description="The z coordinate of the pose"
+    )
+    yaw: float = Field(
+        ..., allow_inf_nan=False, description="The yaw angle of the pose"
+    )
 
 
 class NavigateToPoseTool(BaseROS2Tool):

src/rai_core/rai/tools/ros2/simple.py

@@ -35,8 +35,8 @@ class GetROS2ImageConfiguredTool(BaseROS2Tool):
     description: str = "Get the current image from the camera"
     response_format: Literal["content", "content_and_artifact"] = "content_and_artifact"
 
-    topic: str = Field(..., description="The topic to get the image from")
-    timeout_sec: float = Field(default=5.0, description="The timeout in seconds")
+    topic: str = Field(..., min_length=1, description="The topic to get the image from")
+    timeout_sec: float = Field(default=5.0, gt=0, description="The timeout in seconds")
 
     def model_post_init(self, __context: Any) -> None:
         if not self.is_readable(topic=self.topic):
@@ -53,9 +53,9 @@ class GetROS2TransformConfiguredTool(BaseROS2Tool):
     name: str = "get_ros2_robot_position"
     description: str = "Get the robot's position"
 
-    source_frame: str = Field(..., description="The source frame")
-    target_frame: str = Field(..., description="The target frame")
-    timeout_sec: float = Field(default=10.0, description="The timeout in seconds")
+    source_frame: str = Field(..., min_length=1, description="The source frame")
+    target_frame: str = Field(..., min_length=1, description="The target frame")
+    timeout_sec: float = Field(default=10.0, gt=0, description="The timeout in seconds")
 
     def _run(self) -> Any:
         tool = GetROS2TransformTool(

src/rai_s2s/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "rai_s2s"
-version = "1.0.0"
+version = "1.0.1"
 description = "Speech-to-Speech module for RAI framework"
 readme = "README.md"
 requires-python = ">=3.10,<3.13"

src/rai_s2s/rai_s2s/asr/agents/initialization.py

@@ -24,6 +24,14 @@ class VADConfig:
     threshold: float = 0.5
     silence_grace_period: float = 0.3
 
+    def __post_init__(self):
+        if not 0.0 < self.threshold <= 1.0:
+            raise ValueError(f"threshold must be in (0, 1], got {self.threshold}")
+        if self.silence_grace_period < 0:
+            raise ValueError(
+                f"silence_grace_period must not be negative, got {self.silence_grace_period}"
+            )
+
 
 @dataclass
 class WWConfig:
@@ -32,6 +40,10 @@ class WWConfig:
     threshold: float = 0.01
     is_used: bool = False
 
+    def __post_init__(self):
+        if not 0.0 < self.threshold <= 1.0:
+            raise ValueError(f"threshold must be in (0, 1], got {self.threshold}")
+
 
 TRANSCRIBE_MODELS = ["LocalWhisper", "FasterWhisper", "OpenAI"]
 

tests/agents/langchain/test_tool_runner.py

@@ -41,6 +41,7 @@ def test_tool_runner_invalid_call():
         "Tool output is not a tool message"
     )
     assert output["messages"][1].status == "error"
+    assert "Unknown tool" in output["messages"][1].content
 
 
 def test_tool_runner():

tests/communication/test_hri_message.py

@@ -98,10 +98,23 @@ def test_to_langchain_ai_multimodal(image, audio):
     ):  # NOTE: update when https://github.com/RobotecAI/rai/issues/370 is resolved
         _ = message.to_langchain()
 
-    # assert isinstance(langchain_message, AIMultimodalMessage)
-    # assert langchain_message.content == "Response"
-    # assert langchain_message.images == ["img"]
-    # assert langchain_message.audios == ["audio"]
+
+def test_to_langchain_ai_images_only(image):
+    message = HRIMessage(
+        text="Response",
+        images=[image],
+        audios=[],
+        message_author="ai",
+        communication_id=HRIMessage.generate_communication_id(),
+        seq_no=0,
+        seq_end=True,
+    )
+
+    langchain_message = message.to_langchain()
+
+    assert isinstance(langchain_message, RAIMultimodalMessage)
+    assert len(langchain_message.images) == 1
+    assert langchain_message.audios == []
 
 
 def test_from_langchain_human():

tests/messages/test_artifacts_db_path.py

@@ -28,7 +28,6 @@ def test_store_artifacts_honors_db_path(tmp_path: Path):
 
 
 def test_store_artifacts_creates_file_at_path(tmp_path: Path):
-    db = tmp_path / "nested" / "db.pkl"
-    db.parent.mkdir(parents=True)
+    db = tmp_path / "nested" / "dir" / "db.pkl"
     store_artifacts("x", [1], db_path=str(db))
     assert get_stored_artifacts("x", db_path=str(db)) == [1]

tests/s2s/test_asr_config.py

@@ -0,0 +1,37 @@
+# Copyright (C) 2026 Robotec.AI
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#         http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""VAD and wake word thresholds come from config.toml, where an out-of-range
+value silently turns detection permanently on or permanently off."""
+
+import pytest
+
+from rai_s2s.asr.agents.initialization import VADConfig, WWConfig
+
+
+@pytest.mark.parametrize("config_cls", [VADConfig, WWConfig])
+@pytest.mark.parametrize("threshold", [0.0, -0.1, 1.5])
+def test_threshold_out_of_range_rejected(config_cls, threshold):
+    with pytest.raises(ValueError, match="threshold"):
+        config_cls(threshold=threshold)
+
+
+def test_negative_silence_grace_period_rejected():
+    with pytest.raises(ValueError, match="silence_grace_period"):
+        VADConfig(silence_grace_period=-1.0)
+
+
+def test_defaults_are_valid():
+    assert VADConfig().threshold == 0.5
+    assert WWConfig().threshold == 0.01