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_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)