fix move skill

[paul-nechifor]

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Greptile Summary

This PR improves the move skill by replacing direct velocity commands with proper navigation planning that respects orientation requirements.

Key Changes:

• Replaced move() skill with relative_move() that uses the navigation interface for planned movement with proper goal orientation handling
• Added rotation tolerance (15°) to goal arrival detection in GlobalPlanner to ensure robot faces the correct direction
• Improved LocalPlanner state transitions to skip path following when already at goal position and only rotation is needed
• Added single-pose path handling in smooth_resample_path() to preserve goal orientation
• Enhanced PoseStamped.__str__() to display euler angles in degrees for better debugging

Confidence Score: 4/5

• This PR is safe to merge with one cleanup needed
• The navigation logic improvements are sound and the new relative_move implementation properly integrates with the navigation system. However, there's an unused method set_ConnectionModule_move that should be removed since the _move attribute was deleted.
• dimos/robot/unitree_webrtc/unitree_skill_container.py needs cleanup of unused method

Important Files Changed

Filename	Overview
dimos/navigation/replanning_a_star/global_planner.py	added rotation tolerance check to goal arrival logic and shared _goal_tolerance with local planner
dimos/navigation/replanning_a_star/local_planner.py	improved state transition logic to skip path following when already at goal position
dimos/robot/unitree_webrtc/unitree_skill_container.py	replaced move skill with relative_move using navigation interface; contains unused method set_ConnectionModule_move

Sequence Diagram

sequenceDiagram
    participant Skill as UnitreeSkillContainer
    participant TF as TransformTree
    participant Nav as NavigationInterface
    participant GP as GlobalPlanner
    participant LP as LocalPlanner
    participant Robot as Robot

    Skill->>TF: get("world", "base_link")
    TF-->>Skill: current pose
    Skill->>Skill: _generate_new_goal()
    Note over Skill: Calculate goal from<br/>forward, left, degrees
    Skill->>Nav: set_goal(goal_pose)
    Nav->>GP: handle_goal_request()
    GP->>GP: _plan_path()
    Note over GP: Find safe goal<br/>Run A* search<br/>Smooth resample
    GP->>LP: start_planning(path)
    
    loop Navigation Loop
        LP->>LP: initial_rotation
        Note over LP: Check if position_in_tolerance<br/>Skip to final_rotation if yes
        LP->>Robot: cmd_vel (rotate)
        LP->>LP: path_following
        LP->>Robot: cmd_vel (move)
        LP->>LP: final_rotation
        LP->>Robot: cmd_vel (rotate)
        
        GP->>GP: Check goal reached
        Note over GP: distance < 0.2m AND<br/>angle_diff < 15 degrees
    end
    
    LP->>GP: stopped_navigating("arrived")
    GP->>Nav: goal_reached(true)
    Skill->>Nav: is_goal_reached()
    Nav-->>Skill: true
    Skill-->>Skill: "Navigation goal reached"

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Additional Comments (1)

1. dimos/robot/unitree_webrtc/unitree_skill_container.py, line 70-72 (link)

   syntax: remove unused set_ConnectionModule_move method since _move attribute was removed

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