diff --git a/test/unit/api/v1/endpoints/test_robot_endpoint.py b/test/unit/api/v1/endpoints/test_robot_endpoint.py
index 72a0220..deb9075 100644
--- a/test/unit/api/v1/endpoints/test_robot_endpoint.py
+++ b/test/unit/api/v1/endpoints/test_robot_endpoint.py
@@ -7,7 +7,7 @@ from fastapi import FastAPI
 from fastapi.testclient import TestClient
 
 from control_backend.api.v1.endpoints import robot
-from control_backend.schemas.ri_message import SpeechCommand
+from control_backend.schemas.ri_message import GestureCommand, SpeechCommand
 
 
 @pytest.fixture
@@ -47,7 +47,7 @@ def mock_sockets(mock_zmq_context):
     return {"sub": mock_sub_socket, "pub": mock_pub_socket}
 
 
-def test_receive_command_success(client):
+def test_receive_speech_command_success(client):
     """
     Test for successful reception of a command. Ensures the status code is 202 and the response body
     is correct. It also verifies that the ZeroMQ socket's send_multipart method is called with the
@@ -73,6 +73,32 @@ def test_receive_command_success(client):
     )
 
 
+def test_receive_gesture_command_success(client):
+    """
+    Test for successful reception of a command. Ensures the status code is 202 and the response body
+    is correct. It also verifies that the ZeroMQ socket's send_multipart method is called with the
+    expected data.
+    """
+    # Arrange
+    mock_pub_socket = AsyncMock()
+    client.app.state.endpoints_pub_socket = mock_pub_socket
+
+    command_data = {"endpoint": "actuate/gesture/tag", "data": "happy"}
+    gesture_command = GestureCommand(**command_data)
+
+    # Act
+    response = client.post("/command", json=command_data)
+
+    # Assert
+    assert response.status_code == 202
+    assert response.json() == {"status": "Command received"}
+
+    # Verify that the ZMQ socket was used correctly
+    mock_pub_socket.send_multipart.assert_awaited_once_with(
+        [b"command", gesture_command.model_dump_json().encode()]
+    )
+
+
 def test_receive_command_invalid_payload(client):
     """
     Test invalid data handling (schema validation).