Update move_to_pose for cases where alpha > pi/2 or alpha < -pi/2

[Aglargil]

Reference issue

fix #877

What does this implement/fix?

• Update move_to_pose for cases where alpha > pi/2 or alpha < -pi/2
• Format move_to_pose.py using Ruff

Additional information

Current results:

Previous results(master):

CheckList

• Did you add an unittest for your new example or defect fix?
• Did you add documents for your new example?
• All CIs are green? (You can check it after submitting)

[AtsushiSakai]

Thank you!!. Adding a test case is great, but if it is difficult, it is ok to merge. let me know.

[AtsushiSakai]

LGTM. Thanks!! @Aglargil