Yes. Place an image in RUBE, as you showed in the screenshot in your first post (I have been assuming from the start that you were using that as a placeholder). That will let you set the size of it, make the physics shape to roughly match the picture, attach it to a body etc. After loading the scene in your game, the placeholder image itself can be ditched once you have read the position and angle from it. Then draw the frames of the animation at the placeholder location. The method for calculating the position to draw the image is done as I explained a few posts ago.
As for "querying" the placeholder image each render loop, I don't really know what you mean. When you load the scene, you will need to grab any information you want to use from the placeholder before destroying it, eg. which body it is attached to, the position and angle within that body, the size etc. but that is only done once.
No, you don't calculate an offset, you use the offset that is in the exported .json file output by RUBE. That's kinda the point of having a graphical tool to manipulate things visually.
You don't need any information whatsoever about fixtures to draw images. You can quite happily have a body with an image attached, that doesn't even have any fixtures at all. You could make a scene with 1000 images and zero fixtures and draw it just fine. The only reason I'm mentioning fixtures still is because you keep bringing it up
