feat(orchestrator): anti-repeat retry, error fallback, scout routing

fix(llm): when using action (such as look around), remove the thinking

fix(TransformersLLM): inject resolved schema skeleton into prompt for

chore(reformat): reformat existing code with ruff.

Merge origin/main into feature/update-vocal_system

save

Add TTS

Lots of thing

Initial commit: Reorganized project structure