align rotation-matrix FFI to row-major convention

[Joseph Borodach (JosephBorodach)]

Applying the analogous fix to what shipped in rdk#6193 (viamrobotics/rdk#6193).

Two motivations:

• The Python SDK advertises itself as using row-major, but calls into rust-utils which uses column-major. The two disagree. Example comment from python sdk of incorrect advertising: https://github.com/viamrobotics/viam-python-sdk/blob/main/src/viam/spatialmath/rotation_matrix.py#L8-L17
• Our conventions should be consistent across the ecosystem - we should be using row-major.

The behavior change to both rust_utils and the python sdk are safe bc we have no users of these APIs yet. Best to fix it before we do.

Question for rust-utils maintainers: what's the release cadence here? viam-python-sdk's postinstall.sh pulls rust-utils/releases/latest, so I'll need to know when this ships as a release to time the Python SDK follow-up

[viambot]

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[Joseph Borodach (JosephBorodach)]

https://docs.rs/nalgebra/latest/nalgebra/base/struct.Matrix.html#method.from_vec states

Creates a matrix with its elements filled with the components provided by a slice in column-major order

[Nick Franczak (nfranczak)]

math checks out.
i defer approval to the sdk team.
please make sure that universal-robots still remains working as it uses rust-utils through FFI

[Joseph Borodach (JosephBorodach)]

please make sure that universal-robots still remains working as it uses rust-utils through FFI

Yep already noted this in the rdk pr audit - universal-robots rust_utils.h only imports OV/Quaternion/Euler/AxisAngle FFI symbols, zero rotation-matrix functions. This PR only touches rotation-matrix symbols so its imports are untouched

[Naveed Jooma (njooma)]

Releases are done weekly. Sorry to have missed today's release, but if needed we can do a second release today. Or it can wait till next week.

the python -sdk will automatically pick up a new rust-utils when we do a release

[viam-overwatch]

Hey Joseph Borodach (@JosephBorodach) — this PR has been approved and CI has been green for 3+ business days. Ready to merge?

Auto-comment from overwatch. Will not re-nudge for 7 days.

[Joseph Borodach (JosephBorodach)]

Releases are done weekly. Sorry to have missed today's release, but if needed we can do a second release today. Or it can wait till next week.

the python -sdk will automatically pick up a new rust-utils when we do a release

Synced offline with Naveed Jooma (@njooma), will release Python sdk before rust utils next week to give me time to make the Python sdk fix