You can absolutely do Network Address Translation on the 2900.
Cisco has a public document here: http://www.cisco.com/c/en/us/support/docs/long-reach-ethernet-lre-digital-subscriber-line-xdsl/asymmetric-digital-subscriber-line-adsl/12905-827spat.html
I'm not certain what you would be doing with forwarding 5000 and 6000 into the network, but I suppose that's their business. However it might be helpful if we knew what they are trying to accomplish.
I've never used the GUI to configure a IOS router. I suggest using the CLI. The command:
router #sh ip int br
will list your interfaces and help you determine that is inside vs outside.
Edit your inside interface, adding the line ip nat inside
router #conf t
router (config)#int gi0/1
router (config-if)#ip nat inside
Do the same with your outside interface but make sure you tell the router this is the outside NAT interface.
router (config-if)#int gi0/0
router (config-if)#ip nat outside
Tell the router what you want to NAT with an access list
router (config)#ip nat inside source list 101 interface gi0/0 overload
Build the access list. An extended access list is required if you want to specify the port.
router (config)#ip access-list extended 101
router (config-ext-nacl)#permit tcp any eq 6000 host 22.214.171.124 eq 6000
I'll use 126.96.36.199 as the public IP the server on the internet side of the router. Make sure you identify what the IP reaching out to the biometric device is... I put "any" in the above example, but it's just an example. I prefer not to use "any" if at all possible.
router #permit tcp host 172.16.32.250 eq 5000 host 188.8.131.52 eq 5000
router #permit tcp host 172.16.32.250 eq 6000 host 184.108.40.206 eq 6000
router #permit udp host 172.16.32.250 eq 5000 host 220.127.116.11 eq 5000
router #permit udp host 172.16.32.250 eq 6000 host 18.104.22.168 eq 6000
END OF EDIT
After the Permit, you can specify the protocol (TCP, UDP, ICMP, ESP, etc) or everything with IP. You can use host and an IP or IP address + subnet mask.
router #copy run start