feat: implement actuation receiver

The ActuationReceiver connects to the Pepper robot using the Qi library. The endpoint is automatically negotiated.

ref: N25B-168

src/robot_interface/main.py

@@ -4,6 +4,7 @@ import time
 
 import zmq
 
+from robot_interface.endpoints.actuation_receiver import ActuationReceiver
 from robot_interface.endpoints.main_receiver import MainReceiver
 from robot_interface.state import state
 
@@ -18,9 +19,11 @@ def main_loop(context):
     # When creating sockets, remember to add them to the `sockets` list of the state to ensure they're deinitialized
     main_receiver = MainReceiver(context)
     state.sockets.append(main_receiver)
+    actuation_receiver = ActuationReceiver(context)
+    state.sockets.append(actuation_receiver)
 
     # Sockets that can run on the main thread. These sockets' endpoints should not block for long (say 50 ms at most).
-    receivers = [main_receiver]
+    receivers = [main_receiver, actuation_receiver]
 
     poller = zmq.Poller()
     for receiver in receivers: