feat: add tests and better model validation for gesture commands

ref: N25B-334

src/control_backend/agents/actuation/robot_gesture_agent.py

@@ -86,8 +86,8 @@ class RobotGestureAgent(BaseAgent):
         :param msg: The internal message containing the command.
         """
         try:
-            speech_command = GestureCommand.model_validate_json(msg.body)
-            await self.pubsocket.send_json(speech_command.model_dump())
+            gesture_command = GestureCommand.model_validate_json(msg.body)
+            await self.pubsocket.send_json(gesture_command.model_dump())
         except Exception:
             self.logger.exception("Error processing internal message.")
 
@@ -107,3 +107,129 @@ class RobotGestureAgent(BaseAgent):
                 await self.pubsocket.send_json(message.model_dump())
             except Exception:
                 self.logger.exception("Error processing ZMQ message.")
+
+    def availableTags(self):
+        """
+        Returns the available gesture tags.
+
+        :return: List of available gesture tags.
+        """
+        return [
+            "above",
+            "affirmative",
+            "afford",
+            "agitated",
+            "all",
+            "allright",
+            "alright",
+            "any",
+            "assuage",
+            "assuage",
+            "attemper",
+            "back",
+            "bashful",
+            "beg",
+            "beseech",
+            "blank",
+            "body language",
+            "bored",
+            "bow",
+            "but",
+            "call",
+            "calm",
+            "choose",
+            "choice",
+            "cloud",
+            "cogitate",
+            "cool",
+            "crazy",
+            "disappointed",
+            "down",
+            "earth",
+            "empty",
+            "embarrassed",
+            "enthusiastic",
+            "entire",
+            "estimate",
+            "except",
+            "exalted",
+            "excited",
+            "explain",
+            "far",
+            "field",
+            "floor",
+            "forlorn",
+            "friendly",
+            "front",
+            "frustrated",
+            "gentle",
+            "gift",
+            "give",
+            "ground",
+            "happy",
+            "hello",
+            "her",
+            "here",
+            "hey",
+            "hi",
+            "him",
+            "hopeless",
+            "hysterical",
+            "I",
+            "implore",
+            "indicate",
+            "joyful",
+            "me",
+            "meditate",
+            "modest",
+            "negative",
+            "nervous",
+            "no",
+            "not know",
+            "nothing",
+            "offer",
+            "ok",
+            "once upon a time",
+            "oppose",
+            "or",
+            "pacify",
+            "pick",
+            "placate",
+            "please",
+            "present",
+            "proffer",
+            "quiet",
+            "reason",
+            "refute",
+            "reject",
+            "rousing",
+            "sad",
+            "select",
+            "shamefaced",
+            "show",
+            "show sky",
+            "sky",
+            "soothe",
+            "sun",
+            "supplicate",
+            "tablet",
+            "tall",
+            "them",
+            "there",
+            "think",
+            "timid",
+            "top",
+            "unless",
+            "up",
+            "upstairs",
+            "void",
+            "warm",
+            "winner",
+            "yeah",
+            "yes",
+            "yoo-hoo",
+            "you",
+            "your",
+            "zero",
+            "zestful",
+        ]

src/control_backend/agents/communication/ri_communication_agent.py

@@ -193,6 +193,7 @@ class RICommunicationAgent(BaseAgent):
                         gesture_data=gesture_data,
                     )
                     await robot_speech_agent.start()
+                    await asyncio.sleep(0.1)  # Small delay
                     await robot_gesture_agent.start()
                 case _:
                     self.logger.warning("Unhandled negotiation id: %s", id)