- Add body_attitude() that applies R_odom_to_body calibration then
converts directly to rotation vector (preserves yaw, unlike old
decompose_tilt which stripped it)
- Add quat_to_euler() for visualization display
- Update ComputeTilt transform to use body_attitude_np (also fixes
a bug where the old code omitted the static calibration)
- Update visualize_dataset.py to show Euler angles from body quaternion
instead of yaw-stripped tilt rotation vector
This aligns with the DiffPhysDrone approach: let the model decide
whether to use yaw information, rather than removing it upfront.
Generated by Mistral Vibe.
Co-Authored-By: Mistral Vibe <vibe@mistral.ai>
