Request for demo code showing coordinate transforms between the sensors

[SM1991CODES]

Dear Authors,

@WangYichen222

Thank you for the fantastic work behind this dataset.
Could you please add in some demo getting started code that shows how to easily transform data across different sensor coordinate frames? Preferably also how to transform with respect to ego frame.

Also, it would be really helpful to have som helper functions to project objects across different frames.

Best Regards