feat: rerun tf tree visualization

[aclauer]

Contribution path

• Small, safe change that does not need a tracking issue
• Linked issue or discussion: DIM-XXX / #XXX / URL

Problem

There are a lot of cases we want to see all the frames in the tf tree.

Solution

This adds a simple config to automatically display all the frames in rerun with the correct hierarchy.

Also add mid360 presets so we don't need to keep changing transforms in the source code

How to Test

dimos run go2-zenoh-nav --mid360-mount=SF
dimos run go2-zenoh-nav --mid360-mount=ATHENS

AI assistance

Checklist

• I have read and approved the CLA.

[codecov]

Codecov Report

❌ Patch coverage is 44.56522% with 51 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/msgs/tf2_msgs/TFMessage.py	28.84%	37 Missing ⚠️
dimos/visualization/rerun/bridge.py	56.25%	6 Missing and 1 partial ⚠️
dimos/robot/unitree/go2/zenoh/zenohconnection.py	53.84%	6 Missing ⚠️
dimos/robot/unitree/go2/zenoh/blueprints.py	75.00%	1 Missing ⚠️

@@            Coverage Diff             @@
##             main    #3345      +/-   ##
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- Coverage   75.80%   75.74%   -0.06%     
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  Files        1172     1174       +2     
  Lines      113568   113774     +206     
  Branches    10258    10290      +32     
==========================================
+ Hits        86085    86176      +91     
- Misses      24494    24609     +115     
  Partials     2989     2989              

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OS-ubuntu-latest	71.91% <43.47%> (-0.03%)	⬇️
Py-3.10	71.90% <43.47%> (-0.02%)	⬇️
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Files with missing lines	Coverage Δ
dimos/memory2/tf.py	97.91% <100.00%> (+0.13%)	⬆️
.../unitree/go2/blueprints/basic/unitree_go2_basic.py	65.00% <100.00%> (ø)
...ee/go2/blueprints/navigation/unitree_go2_nav_3d.py	81.48% <ø> (+2.44%)	⬆️
dimos/visualization/vis_module.py	75.00% <ø> (ø)
dimos/robot/unitree/go2/zenoh/blueprints.py	76.31% <75.00%> (-1.47%)	⬇️
dimos/robot/unitree/go2/zenoh/zenohconnection.py	65.38% <53.84%> (-2.36%)	⬇️
dimos/visualization/rerun/bridge.py	50.00% <56.25%> (+9.92%)	⬆️
dimos/msgs/tf2_msgs/TFMessage.py	58.33% <28.84%> (-29.17%)	⬇️

... and 3 files with indirect coverage changes

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[greptile-apps]

Greptile Summary

This PR adds hierarchical TF-tree visualization to the Rerun bridge and offline planner replay, along with selectable Mid-360 mount presets.

• Builds and updates Rerun entities from recorded or live TF messages.
• Adds Go2 visualization configuration and named SF/ATHENS lidar mounts.
• Updates offline planner visualization and related Rust/Nix test configuration.

Confidence Score: 4/5

The PR should not merge until TF reparenting removes or otherwise invalidates the old CoordinateFrame declaration.

When a learned parent changes a frame’s entity path, the current implementation clears only the old arrows before declaring the same coordinate-frame identifier at the new path, so the previously reported conflicting hierarchy remains.

Files Needing Attention: dimos/msgs/tf2_msgs/TFMessage.py

Important Files Changed

Filename	Overview
dimos/msgs/tf2_msgs/TFMessage.py	Adds TF hierarchy placement, coordinate-frame declarations, axis triads, and updated Rerun conversion paths.
dimos/visualization/rerun/bridge.py	Adds synchronized TF-tree state and configurable TF-axis visualization to the Rerun bridge.
dimos/robot/unitree/go2/zenoh/zenohconnection.py	Replaces the raw Mid-360 mount field with validated named presets or explicit Euler-angle tuples.
dimos/navigation/nav_3d/mls_planner/utils/plan_rrd.py	Synchronizes recorded TF messages with lidar replay and moves robot-body visualization onto the TF frame.
dimos/robot/unitree/go2/zenoh/blueprints.py	Selects the Mid-360 mount preset and attaches the static Go2 body visualization to base_link.

_{Reviews (3): Last reviewed commit: "Nit" | Re-trigger Greptile}

[greptile-apps]

Reparenting duplicates frame declarations

When a late ancestor changes a frame's entity path, _redraw() clears only the old arrows and then declares the same tf#/frame at the new path. Because Rerun pins a coordinate frame to its declaring entity for the recording, the stale declaration conflicts with the new hierarchy and can leave the displayed TF tree attached to its original parent.