Refactor audio message to Dialogue Utterance

[derkmed]

This is the first of several mini-PRs that will cover the changes proposed in #378

We should remove the previously used messages upon confirmation of working implementation.

[derkmed]

@Purg @hdefazio @joshanderson-kw

I'm trying to run ./angel-workspace-shell.sh -r to test and apply the code style. However, I have been facing the following error ever since the latest changes:

(base) da2985@multilingual:/local/data/derekahmed/angel_system_vocal$ ./angel-workspace-shell.sh -r
[INFO] Creating local xauth file: /local/data/derekahmed/angel_system_vocal/.container_xauth/local-ZI4nnF.xauth
xauth:  file /home/da2985/.Xauthority does not exist
xauth: (argv):1:  bad display name "" in "nlist" command
xauth: (argv):1:  unable to read any entries from file "(stdin)"
[INFO] Using container tag: latest
[INFO] Using v2 docker compose plugin
./workspace_entrypoint.sh: line 15: /angel_workspace/install/setup.bash: No such file or directory
[INFO] Container run exited with code: 1
[INFO] Removing local xauth file.