[SW-743] Add mutate_world_objects functionality to spot_wrapper (#87)

This allows the user to mutate Spot's world objects. Specifically, it can be used to create/delete no-go regions for Spot which are implemented as new world objects. 

I have been testing this in conjunction with a [follow-up PR](bdaiinstitute/spot_ros2#271) to integrate this into Spot ROS 2. With this implementation, Spot is successfully able to receive and respond to mutate world object requests.

spot_wrapper/spot_world_objects.py

@@ -3,7 +3,12 @@
 import logging
 import typing
 
-from bosdyn.api.world_object_pb2 import ListWorldObjectResponse, WorldObjectType
+from bosdyn.api.world_object_pb2 import (
+    ListWorldObjectResponse,
+    MutateWorldObjectRequest,
+    MutateWorldObjectResponse,
+    WorldObjectType,
+)
 from bosdyn.client.async_tasks import AsyncPeriodicQuery
 from bosdyn.client.common import FutureWrapper
 from bosdyn.client.world_object import WorldObjectClient
@@ -92,3 +97,6 @@ def list_world_objects(
 
         """
         return self._world_objects_client.list_world_objects(object_types, time_start_point)
+
+    def mutate_world_objects(self, request: MutateWorldObjectRequest) -> MutateWorldObjectResponse:
+        return self._world_objects_client.mutate_world_objects(request)

spot_wrapper/wrapper.py

@@ -1477,3 +1477,8 @@ def choreography_log_to_animation_file(
             return self._spot_dance.choreography_log_to_animation_file(name, fpath, has_arm, **kwargs)
         else:
             return False, "Spot is not licensed for choreography", ""
+
+    def mutate_world_objects(
+        self, mutate_request: world_object_pb2.MutateWorldObjectRequest
+    ) -> world_object_pb2.MutateWorldObjectResponse:
+        return self._spot_world_objects.mutate_world_objects(mutate_request)