fix: change the address to the config, update some logic, seperate the api endpoint, renaming things. yes, the tests don't work right now- this shouldn't be merged yet.

ref: N25B-334

src/control_backend/agents/actuation/robot_gesture_agent.py

@@ -36,10 +36,7 @@ class RobotGestureAgent(BaseAgent):
         bind=False,
         gesture_data=None,
     ):
-        if gesture_data is None:
-            self.gesture_data = []
-        else:
-            self.gesture_data = gesture_data
+        self.gesture_data = gesture_data or []
         super().__init__(name)
         self.address = address
         self.bind = bind
@@ -71,7 +68,7 @@ class RobotGestureAgent(BaseAgent):
 
         # REP socket for replying to gesture requests
         self.repsocket = context.socket(zmq.REP)
-        self.repsocket.bind("tcp://localhost:7788")
+        self.repsocket.bind(settings.zmq_settings.internal_gesture_rep_adress)
 
         self.add_behavior(self._zmq_command_loop())
         self.add_behavior(self._fetch_gestures_loop())

src/control_backend/agents/actuation/robot_speech_agent.py

@@ -29,7 +29,7 @@ class RobotSpeechAgent(BaseAgent):
     def __init__(
         self,
         name: str,
-        address=settings.zmq_settings.ri_command_address,
+        address: str,
         bind=False,
     ):
         super().__init__(name)