feat: setup gesture agent and adjust command port for the UI

ref: N25B-334

src/control_backend/agents/communication/ri_communication_agent.py

@@ -6,6 +6,7 @@ import zmq.asyncio as azmq
 from zmq.asyncio import Context
 
 from control_backend.agents import BaseAgent
+from control_backend.agents.actuation.robot_gesture_agent import RobotGestureAgent
 from control_backend.core.config import settings
 
 from ..actuation.robot_speech_agent import RobotSpeechAgent
@@ -179,12 +180,20 @@ class RICommunicationAgent(BaseAgent):
                         else:
                             self._req_socket.bind(addr)
                 case "actuation":
-                    ri_commands_agent = RobotSpeechAgent(
+                    gesture_data = port_data.get("gestures", [])
+                    robot_speech_agent = RobotSpeechAgent(
                         settings.agent_settings.robot_speech_name,
                         address=addr,
                         bind=bind,
                     )
-                    await ri_commands_agent.start()
+                    robot_gesture_agent = RobotGestureAgent(
+                        settings.agent_settings.robot_speech_name,
+                        address=addr,
+                        bind=bind,
+                        gesture_data=gesture_data,
+                    )
+                    await robot_speech_agent.start()
+                    await robot_gesture_agent.start()
                 case _:
                     self.logger.warning("Unhandled negotiation id: %s", id)