refactor: make HRIMessage use PIL.Image and pydub.AudioSegment #401
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Purpose
Within RAI it is conveniant to be able to analyze and modify audio and image data, it only should be converted to/from base64 on interaction with LLMs. The most common datatype (fromat independent) for these is PIL.Image and pydub.AudioSegment respectively. It will improve development experiance,
Proposed Changes
This PR changes the internal representation of images and audio from base64 string to PIL.Image and pydub.AudioSegment.
Issues
#374
Testing
HRI tests were modfiied to account for new format.