DATA-780 replace commonpb.Pose in favor of spatialmath.Pose in arm interface

[raybjork]

Currently the Arm interface receives and returns commonpb.Pose objects rather than the internally used spatialmath.Pose. The client/server code is then responsible for translating to/from proto which cuts down on the number of places that are dependent on proto, and makes our code internally more consistent and readable

In addition to the above the PR also cleans up places in the code where commonpb.Pose is used unnecessarily, replacing it with spatialmath.Pose.

Finally, the process of going through the above revealed to me sections of code where constants, functions are no longer in use. These have been removed.

[biotinker]

Looks really good. Thanks for doing this.

A couple of nits, then LGTM.

The main thing is making proto structs just to make Poses. which isn't really the "good" way to do it, but since it's mostly in tests I'm ok to keep them if you like it.

There's one instance of doing so in "real" code, which should definitely be removed.

[github-actions]

Package	Line Rate	Delta	Health
go.viam.com/rdk/components/arm	58%	-0.84%	➖
go.viam.com/rdk/components/arm/universalrobots	13%	-0.13%	❌
go.viam.com/rdk/components/arm/xarm	2%	0.00%	❌
go.viam.com/rdk/components/arm/yahboom	7%	0.00%	❌
go.viam.com/rdk/components/audioinput	55%	-0.34%	➖
go.viam.com/rdk/components/base	68%	0.00%	➖
go.viam.com/rdk/components/base/agilex	62%	0.00%	➖
go.viam.com/rdk/components/base/boat	41%	0.00%	❌
go.viam.com/rdk/components/base/wheeled	76%	0.00%	✅
go.viam.com/rdk/components/board	69%	0.00%	➖
go.viam.com/rdk/components/board/arduino	10%	0.00%	❌
go.viam.com/rdk/components/board/commonsysfs	47%	0.00%	❌
go.viam.com/rdk/components/board/fake	38%	0.00%	❌
go.viam.com/rdk/components/board/numato	19%	0.00%	❌
go.viam.com/rdk/components/board/pi	50%	0.00%	➖
go.viam.com/rdk/components/camera	66%	0.00%	➖
go.viam.com/rdk/components/camera/fake	67%	0.00%	➖
go.viam.com/rdk/components/camera/ffmpeg	77%	0.00%	✅
go.viam.com/rdk/components/camera/transformpipeline	81%	+0.41%	✅
go.viam.com/rdk/components/camera/videosource	56%	-0.52%	➖
go.viam.com/rdk/components/encoder/fake	77%	0.00%	✅
go.viam.com/rdk/components/gantry	68%	0.00%	➖
go.viam.com/rdk/components/gantry/multiaxis	84%	0.00%	✅
go.viam.com/rdk/components/gantry/oneaxis	86%	0.00%	✅
go.viam.com/rdk/components/generic	84%	0.00%	✅
go.viam.com/rdk/components/gripper	81%	0.00%	✅
go.viam.com/rdk/components/input	87%	0.00%	✅
go.viam.com/rdk/components/input/gpio	83%	0.00%	✅
go.viam.com/rdk/components/motor	82%	0.00%	✅
go.viam.com/rdk/components/motor/dimensionengineering	63%	0.00%	➖
go.viam.com/rdk/components/motor/dmc4000	69%	0.00%	➖
go.viam.com/rdk/components/motor/fake	58%	0.00%	➖
go.viam.com/rdk/components/motor/gpio	64%	0.00%	➖
go.viam.com/rdk/components/motor/gpiostepper	56%	-0.59%	➖
go.viam.com/rdk/components/motor/tmcstepper	62%	0.00%	➖
go.viam.com/rdk/components/movementsensor	76%	0.00%	✅
go.viam.com/rdk/components/movementsensor/cameramono	40%	0.00%	❌
go.viam.com/rdk/components/movementsensor/gpsnmea	37%	0.00%	❌
go.viam.com/rdk/components/movementsensor/gpsrtk	28%	0.00%	❌
go.viam.com/rdk/components/posetracker	87%	0.00%	✅
go.viam.com/rdk/components/sensor	87%	0.00%	✅
go.viam.com/rdk/components/sensor/ultrasonic	34%	0.00%	❌
go.viam.com/rdk/components/servo	79%	0.00%	✅
go.viam.com/rdk/components/servo/gpio	71%	0.00%	✅
go.viam.com/rdk/config	76%	-0.07%	✅
go.viam.com/rdk/control	57%	0.00%	➖
go.viam.com/rdk/data	77%	0.00%	✅
go.viam.com/rdk/grpc	25%	0.00%	❌
go.viam.com/rdk/ml	67%	0.00%	➖
go.viam.com/rdk/ml/inference	70%	0.00%	✅
go.viam.com/rdk/motionplan	71%	+0.11%	✅
go.viam.com/rdk/operation	81%	0.00%	✅
go.viam.com/rdk/pointcloud	71%	0.00%	✅
go.viam.com/rdk/protoutils	62%	0.00%	➖
go.viam.com/rdk/referenceframe	78%	0.00%	✅
go.viam.com/rdk/registry	88%	0.00%	✅
go.viam.com/rdk/resource	85%	0.00%	✅
go.viam.com/rdk/rimage	78%	0.00%	✅
go.viam.com/rdk/rimage/depthadapter	94%	0.00%	✅
go.viam.com/rdk/rimage/transform	73%	0.00%	✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration	67%	0.00%	➖
go.viam.com/rdk/robot	93%	0.00%	✅
go.viam.com/rdk/robot/client	81%	0.00%	✅
go.viam.com/rdk/robot/framesystem	68%	0.00%	➖
go.viam.com/rdk/robot/impl	80%	+0.24%	✅
go.viam.com/rdk/robot/server	59%	0.00%	➖
go.viam.com/rdk/robot/web	60%	-0.37%	➖
go.viam.com/rdk/robot/web/stream	87%	0.00%	✅
go.viam.com/rdk/services/armremotecontrol	75%	0.00%	✅
go.viam.com/rdk/services/armremotecontrol/builtin	25%	+0.14%	❌
go.viam.com/rdk/services/baseremotecontrol	75%	0.00%	✅
go.viam.com/rdk/services/baseremotecontrol/builtin	66%	0.00%	➖
go.viam.com/rdk/services/datamanager	66%	0.00%	➖
go.viam.com/rdk/services/datamanager/builtin	80%	0.00%	✅
go.viam.com/rdk/services/datamanager/datacapture	21%	0.00%	❌
go.viam.com/rdk/services/datamanager/datasync	72%	0.00%	✅
go.viam.com/rdk/services/motion	68%	0.00%	➖
go.viam.com/rdk/services/motion/builtin	89%	0.00%	✅
go.viam.com/rdk/services/navigation	54%	0.00%	➖
go.viam.com/rdk/services/sensors	78%	0.00%	✅
go.viam.com/rdk/services/sensors/builtin	97%	0.00%	✅
go.viam.com/rdk/services/shell	14%	0.00%	❌
go.viam.com/rdk/services/slam	85%	0.00%	✅
go.viam.com/rdk/services/slam/builtin	72%	0.00%	✅
go.viam.com/rdk/services/vision	80%	0.00%	✅
go.viam.com/rdk/services/vision/builtin	74%	0.00%	✅
go.viam.com/rdk/spatialmath	86%	+1.40%	✅
go.viam.com/rdk/subtype	96%	0.00%	✅
go.viam.com/rdk/utils	71%	-0.05%	✅
go.viam.com/rdk/vision	26%	0.00%	❌
go.viam.com/rdk/vision/chess	80%	0.00%	✅
go.viam.com/rdk/vision/delaunay	87%	0.00%	✅
go.viam.com/rdk/vision/keypoints	92%	0.00%	✅
go.viam.com/rdk/vision/objectdetection	82%	0.00%	✅
go.viam.com/rdk/vision/odometry	60%	0.00%	➖
go.viam.com/rdk/vision/odometry/cmd	0%	0.00%	❌
go.viam.com/rdk/vision/segmentation	49%	0.00%	❌
go.viam.com/rdk/web/server	26%	0.00%	❌
Summary	66% (19537 / 29487)	0.00%	➖

[biotinker]

This LGTM.

In the future, when a PR for one thing also does other stuff (cleaning up consts, removing old dead functions, etc) please call that out in the PR description just to mention that those also exist.