feat: ray tracer and 3d planner mem2 transforms

[aclauer]

Problem

mem2 transforms allow for faster algo dev

Closes DIM-XXX

Solution

Wire the ray tracer and 3d planner together using the Rust bindings in to a mem2 pipeline.

How to Test

build FFI

uv run maturin develop --uv --release -m dimos/mapping/ray_tracing/rust/Cargo.toml
uv run maturin develop --uv --release -m dimos/navigation/nav_3d/mls_planner/rust/Cargo.toml

run

python -m dimos.navigation.nav_3d.mls_planner.utils.plan_rrd ~/Downloads/mem2-003.db --robot-height 0.3

Contributor License Agreement

• I have read and approved the CLA.

[codecov]

❌ 2 Tests Failed:

Tests completed	Failed	Passed	Skipped
1825	2	1823	153

View the top 2 failed test(s) by shortest run time

::dimos.mapping.ray_tracing.test_transformer

Stack Traces | 0s run time

ImportError while importing test module '.../mapping/ray_tracing/test_transformer.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../mapping/ray_tracing/voxel_map.py:20: in <module>
    from dimos_voxel_ray_tracing import VoxelRayMapper
E   ModuleNotFoundError: No module named 'dimos_voxel_ray_tracing'

The above exception was the direct cause of the following exception:
.../mapping/ray_tracing/test_transformer.py:21: in <module>
    from dimos.mapping.ray_tracing.transformer import RayTraceMap
.../mapping/ray_tracing/transformer.py:22: in <module>
    from dimos.mapping.ray_tracing.voxel_map import VoxelRayMapper
.../mapping/ray_tracing/voxel_map.py:22: in <module>
    raise ImportError(
E   ImportError: dimos_voxel_ray_tracing is not built. Run: uv run maturin develop --uv -m .../ray_tracing/rust/Cargo.toml

::dimos.navigation.nav_3d.mls_planner.test_transformer

Stack Traces | 0s run time

ImportError while importing test module '.../nav_3d/mls_planner/test_transformer.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../nav_3d/mls_planner/mls_planner.py:20: in <module>
    from dimos_mls_planner import MLSPlanner
E   ModuleNotFoundError: No module named 'dimos_mls_planner'

The above exception was the direct cause of the following exception:
.../nav_3d/mls_planner/test_transformer.py:22: in <module>
    from dimos.navigation.nav_3d.mls_planner.transformer import MLSPlan
.../nav_3d/mls_planner/transformer.py:24: in <module>
    from dimos.navigation.nav_3d.mls_planner.mls_planner import MLSPlanner
.../nav_3d/mls_planner/mls_planner.py:22: in <module>
    raise ImportError(
E   ImportError: dimos_mls_planner is not built. Run: uv run maturin develop --uv -m .../mls_planner/rust/Cargo.toml

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