Add ROS2-style tf2 tree for manipulation

[dimos-bot]

Add a ROS2/tf2-style transform tree for manipulation frames.

Context:

• Existing internal TF: dimos/protocol/tf/tf.py
• Manipulation currently publishes frames in dimos/manipulation/manipulation_module.py
• ROS tf2 reference: https://wiki.ros.org/tf2

Scope:

• Define manipulation frame conventions (world, base, links, EE, extra links).
• Support tf2-like publish and lookup across chained frames.
• Add static transform support or an explicit equivalent.
• Prefer adapting the existing TF system over replacing it.

Acceptance:

• Manipulation publishes a complete configured frame tree.
• Consumers can query transforms between manipulation frames.
• Tests cover chained lookup, missing frames, and static/dynamic transforms.

---

Synced from DIM-1022 by che