>>5765612The first thing you must know is what form is. I'm sure you've heard the term. It is how objects exist in three dimensional space. Knowing form means knowing how to draw an object in various angles, doing various things (bending, stretching, etcetera), and effectively being able to draw an object however it's required to be drawn. Form is one of the vital things to know about art. Some people argue over whether it's more important to know X or Y, but it's the equivalent of arguing over whether your heart or brain is more important for your body's function. If you don't have one, it doesn't really matter how healthy any other part is.
You might believe this has nothing to do with gesture. Indeed, form is typically associated with construction (breaking down objects into basic parts), but its important in gesture. Gesture's purpose is to capture the energy of objects, hence the typically minimalistic approach to gestures - the more you add to a form, the more diluted the energy of the form becomes. If you can't understand the shape of the form, of course you can't understand the energy going into it.
Form is the first thing you should learn, before anything. You do this by drawing - like any other mechanical skill, you need to practice to improve. But you shouldn't draw aimlessly. You should specifically try to train to be able to draw basic forms by drawing many geometric shapes. This is taught different ways by different teachers - Vilppu teaches it differently than the Draw a Box course - so pick one that you think works for you. I personally like Vilppu's drawing manual.
The hardest thing any artist has to tackle is learning something new, and right now, everything is new. You get better at drawing by drawing.