Body to world transformation matrix

[jPorterDosch]

• Added per-frame body-to-world pose metadata from Spot SDK image responses in both Python and C++
• Added get_current_frame() for retrieving images with metadata and updated callsites in Python.
• Wired body-to-world and cam-to-body transform matrices into existing C++ pipeline to be saved when debug dumps are enabled.
• Wired transform matrices, RGB images, and depth maps (post-vision pipeline) into Python pipeline to be saved when config.dumps_enabled is set.
• Save directory/structure is aligned between the two pipelines: RGB is saved to /rgb, depth is saved to /output_depth, and camera transforms are saved to /camera_transforms. The file names will not be identical, but both will preserve order, so any DataLoader downstream which sorts the file names will work on files generated from both pipelines.
• NOTE: for the Python pipeline, RGB/depth/camera_transform data is saved per camera.
• Various small miscellaneous changes (e.g. making vision pipeline robust to different model input by allowing user to pass in rgb and depth sizes)

Resolved several issues in workflow pipeline as well:

• mypy workflow starts from the proper parent directory, preventing early exit
• prevent stashing untracked files during ruff comparison to keep the main diff log from being inaccessible from the PR branch.
• mypy no longer flags existsing errors if the line number containing the error moved.
• changed target Python version in ruff.toml to match pinned python_requires=">=3.9" in setup.py.
• Added torch to setup.py to support saving .pt files, with a pinned version that matches both CUDA on ROS machine (13.0) and Oscar (12.9).

[github-actions]

🧹 Ruff — ✅ 99 issues fixed

Check	Result
Lint	✅ 99 fixed (94 inherited)
Top fixed	UP006 -46 🟢
Format	✅ 2 fixed (10 files)

🟢 Fixed Issues (99)

⚡ UP — pyupgrade

Rule	Description	Main	PR	Δ
UP006	Use instead of for type annotation	67	21	-46 🟢
UP045	Use for type annotations	37	13	-24 🟢
UP035	is deprecated, use instead	14	3	-11 🟢
UP007	Use for type annotations	6	4	-2 🟢
UP037	Remove quotes from type annotation	1	0	-1 🟢
UP015	Unnecessary mode argument	1	0	-1 🟢
Subtotal		126	41	-85 🟢

📦 I — isort

Rule	Description	Main	PR	Δ
I001	Import block is un-sorted or un-formatted	13	4	-9 🟢
Subtotal		13	4	-9 🟢

⚡ SIM — flake8-simplify

Rule	Description	Main	PR	Δ
SIM114	Combine branches using logical operator	2	0	-2 🟢
Subtotal		5	3	-2 🟢

🐛 B — Bugbear

Rule	Description	Main	PR	Δ
B905	without an explicit parameter	2	0	-2 🟢
Subtotal		2	0	-2 🟢

📝 ANN — flake8-annotations

Rule	Description	Main	PR	Δ
ANN202	Missing return type annotation for private function	6	5	-1 🟢
Subtotal		45	44	-1 🟢

Summary

Category	Tool	Main	PR	Δ
⚡ UP	pyupgrade	126	41	-85 🟢
📦 I	isort	13	4	-9 🟢
⚡ SIM	flake8-simplify	5	3	-2 🟢
🐛 B	Bugbear	2	0	-2 🟢
📝 ANN	flake8-annotations	45	44	-1 🟢
Total		193	94	-99 🟢

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