goals=goals,
                messages=self.chat_history_memory.messages,
                memory=self.memory,
                user_input=user_input,
            )
            # Print Assistant thoughts
            print(assistant_reply)
            self.chat_history_memory.add_message(HumanMessage(content=user_input))
            self.chat_history_memory.add_message(AIMessage(content=assistant_reply))
            # Get command name and arguments
            action = self.output_parser.parse(assistant_reply)
            tools = {t.name: t for t in self.tools}
            if action.name == FINISH_NAME:
                return action.args["response"]
            if action.name in tools:
                tool = tools[action.name]
                try:
                    observation = tool.run(action.args)
                except ValidationError as e:
                    observation = (
                        f"Validation Error in args: {str(e)}, args: {action.args}"
                    )
                except Exception as e:
                    observation = (
                        f"Error: {str(e)}, {type(e).__name__}, args: {action.args}"
                    )
                result = f"Command {tool.name} returned: {observation}"
            elif action.name == "ERROR":
                result = f"Error: {action.args}. "
            else:
                result = (
                    f"Unknown command '{action.name}'. "
                    f"Please refer to the 'COMMANDS' list for available "
                    f"commands and only respond in the specified JSON format."
                )
            memory_to_add = (
                f"Assistant Reply: {assistant_reply} " f"\nResult: {result} "
            )
            if self.feedback_tool is not None:
                feedback = f"\n{self.feedback_tool.run('Input: ')}"
                if feedback in {"q", "stop"}:
                    print("EXITING")