GoPiGo3 Runtime: convert URML LFU frame to GoPiGo3 RFD frame in orbit() and turn_degrees()

[slowrunner]

Per Issue #598
and Issue #591

What changed and why

gopigo3_adapter.py - the GoPiGo3 Runtime must convert the URML Left-Front-Up frame
to the GoPiGo3 Right-Front-Down frame

Calls to easygopigo3.orbit(arc,radius_cm) and .turn_degrees(angle) have negated arc and angle

Linked RFC

• Not required — this is implementation only, no spec change.

How it was tested

Using test_orbit_turn.urml.yaml containing:

(gopigo3) ubuntu@U26LDave:~/Fork_URML_For_GoPiGo3/examples/gopigo3$ more test_orbit_turn.urml.yaml 
profile: educational
behavior:
  type: sequence
  on_error: abort_and_report
  steps:
  - drive:
      distance: 0.25
      speed: 0.15
  - turn:
      angle: 360
  - drive:
      radius: 0.1
      arc: 180

Dry Run:

(gopigo3) ubuntu@U26LDave:~/Fork_URML_For_GoPiGo3/examples/gopigo3$ python3 run_gopigo3.py -f test_orbit_turn.urml.yaml 
[gopigo3 example] gopigo3 example, running on urml-validator 0.2.0, urml-ros2-runtime 0.2.0
[gopigo3 example] backend: fake (dry run, no movement)
URML on a basic GoPiGo3 - running test_orbit_turn.urml.yaml (Discussion #523).
gopigo3 example, running on urml-validator 0.2.0, urml-ros2-runtime 0.2.0
robot: gopigo3_basic   drive_type: differential   max drive: 2.0 m

[VALID] program file: test_orbit_turn.urml.yaml
   executed 3 steps, success=True
   wheel + speech calls, in order:
     drive_by     -> easygopigo3.drive_cm(25.0)
     turn_by      -> easygopigo3.turn_degrees(-360.0)
     drive_by     -> easygopigo3.orbit(-180.0, 10.0)

Dry run: validated and planned, not actuated. Pass --execute (without -m) to drive the robot.

And with --execute:

(gopigo3) ubuntu@U26LDave:~/Fork_URML_For_GoPiGo3/examples/gopigo3$ python3 run_gopigo3.py -f test_orbit_turn.urml.yaml --execute
[gopigo3 example] gopigo3 example, running on urml-validator 0.2.0, urml-ros2-runtime 0.2.0
[gopigo3 example] --execute: this WILL move a connected GoPiGo3. Clear space around the robot.
[gopigo3 example] backend: real (executing on hardware)
URML on a basic GoPiGo3 - running test_orbit_turn.urml.yaml (Discussion #523).
gopigo3 example, running on urml-validator 0.2.0, urml-ros2-runtime 0.2.0
robot: gopigo3_basic   drive_type: differential   max drive: 2.0 m

[VALID] program file: test_orbit_turn.urml.yaml
   executed 3 steps, success=True
   wheel + speech calls, in order:
     drive_by     -> easygopigo3.drive_cm(25.0)
     turn_by      -> easygopigo3.turn_degrees(-360.0)
     drive_by     -> easygopigo3.orbit(-180.0, 10.0)

Turned and orbited in a ccw direction per the URML specification

(Albeit the turn_by spin default speed is uncomfortably fast...)

Rollback plan

revert gopigo3_adapter.py

Checklist

• Commits are DCO-signed (git commit -s). See DCO and CONTRIBUTING.md.
• Linked RFC is Accepted (or this PR does not change specification semantics).
• Tests added or updated for the change; existing tests pass.
• Conformance impact considered. If a primitive's contract changed, conformance tests are updated.
• Docs / READMEs / CHANGELOG.md updated.
• Substrate-neutrality acid test passes: anything touching Layer 2 can be cleanly implemented on a runtime with zero ROS dependencies.
• No content from outside the URML organization's canonical scope (civilian, consumer, educational, industrial, research) has been introduced.