[MISC] Add parse_glb_with_zup for URDF

[ACMLCZH]

Add parse_glb_with_zup for URDF (Refer to #1857 )

[github-actions]

⚠️ Benchmark Regression Detected
Baselines considered: 5 commits

• Commit 1: 7d40cc4
• Commit 2: bf17dcc
• Commit 3: 6f11b20
• Commit 4: 9716f98
• Commit 5: 70766a8

Thresholds: runtime ≤ −10%, compile ≥ +10%

Runtime FPS

status	benchmark_id	current FPS	baseline FPS	Δ FPS
🔴	batch_size=2048-constraint_solver=Newton-enable_mujoco_compatibility=False-env=box_pyramid#5-gjk_collision=False-use_contact_island=False	20,332	28,208	-27.92%
✅	batch_size=2048-constraint_solver=Newton-enable_mujoco_compatibility=False-env=box_pyramid#5-gjk_collision=True-use_contact_island=False	20,338	20,454	-0.57%
✅	batch_size=2048-constraint_solver=Newton-enable_mujoco_compatibility=True-env=box_pyramid#5-gjk_collision=False-use_contact_island=False	16,783	16,777	+0.04%
✅	batch_size=30000-constraint_solver=CG-env=anymal_c-gjk_collision=False-use_contact_island=False	13,470,883	13,426,487	+0.33%
✅	batch_size=30000-constraint_solver=CG-env=anymal_c-gjk_collision=True-use_contact_island=False	13,441,803	13,400,801	+0.31%
✅	batch_size=30000-constraint_solver=CG-env=batched_franka-gjk_collision=False-use_contact_island=False	21,925,824	19,199,501	+14.20%
✅	batch_size=30000-constraint_solver=CG-env=batched_franka-gjk_collision=True-use_contact_island=False	21,961,033	19,206,087	+14.34%
✅	batch_size=30000-constraint_solver=CG-env=random-gjk_collision=False-use_contact_island=False	1,959,480	1,923,539	+1.87%
✅	batch_size=30000-constraint_solver=CG-env=random-gjk_collision=True-use_contact_island=False	1,947,414	1,907,652	+2.08%
✅	batch_size=30000-constraint_solver=Newton-env=anymal_c-gjk_collision=False-use_contact_island=False	13,013,054	13,040,027	-0.21%
✅	batch_size=30000-constraint_solver=Newton-env=anymal_c-gjk_collision=True-use_contact_island=False	13,004,848	13,039,441	-0.27%
✅	batch_size=30000-constraint_solver=Newton-env=batched_franka-gjk_collision=False-use_contact_island=False	19,957,721	18,672,699	+6.88%
✅	batch_size=30000-constraint_solver=Newton-env=batched_franka-gjk_collision=True-use_contact_island=False	19,745,798	18,877,023	+4.60%
✅	batch_size=30000-constraint_solver=Newton-env=random-gjk_collision=False-use_contact_island=False	4,195,873	4,071,476	+3.06%
✅	batch_size=30000-constraint_solver=Newton-env=random-gjk_collision=True-use_contact_island=False	4,207,300	4,077,634	+3.18%
✅	batch_size=8192-constraint_solver=CG-env=cube#10-gjk_collision=False-use_contact_island=False	1,620,415	1,624,228	-0.23%
✅	batch_size=8192-constraint_solver=CG-env=cube#10-gjk_collision=True-use_contact_island=False	1,613,390	1,618,632	-0.32%
✅	batch_size=8192-constraint_solver=Newton-env=cube#10-gjk_collision=False-use_contact_island=False	450,160	451,151	-0.22%
✅	batch_size=8192-constraint_solver=Newton-env=cube#10-gjk_collision=True-use_contact_island=False	450,079	450,946	-0.19%

Compile Time

status	benchmark_id	current compile	baseline compile	Δ compile
✅	batch_size=2048-constraint_solver=Newton-enable_mujoco_compatibility=False-env=box_pyramid#5-gjk_collision=False-use_contact_island=False	34	37	-8.11%
✅	batch_size=2048-constraint_solver=Newton-enable_mujoco_compatibility=False-env=box_pyramid#5-gjk_collision=True-use_contact_island=False	34	37	-8.11%
✅	batch_size=2048-constraint_solver=Newton-enable_mujoco_compatibility=True-env=box_pyramid#5-gjk_collision=False-use_contact_island=False	30	31	-3.23%
✅	batch_size=30000-constraint_solver=CG-env=anymal_c-gjk_collision=False-use_contact_island=False	43	40	+7.50%
✅	batch_size=30000-constraint_solver=CG-env=anymal_c-gjk_collision=True-use_contact_island=False	41	41	+0.00%
✅	batch_size=30000-constraint_solver=CG-env=batched_franka-gjk_collision=False-use_contact_island=False	40	41	-2.44%
✅	batch_size=30000-constraint_solver=CG-env=batched_franka-gjk_collision=True-use_contact_island=False	40	42	-4.76%
✅	batch_size=30000-constraint_solver=CG-env=random-gjk_collision=False-use_contact_island=False	39	39	+0.00%
✅	batch_size=30000-constraint_solver=CG-env=random-gjk_collision=True-use_contact_island=False	43	40	+7.50%
✅	batch_size=30000-constraint_solver=Newton-env=anymal_c-gjk_collision=False-use_contact_island=False	40	41	-2.44%
✅	batch_size=30000-constraint_solver=Newton-env=anymal_c-gjk_collision=True-use_contact_island=False	40	40	+0.00%
✅	batch_size=30000-constraint_solver=Newton-env=batched_franka-gjk_collision=False-use_contact_island=False	41	41	+0.00%
✅	batch_size=30000-constraint_solver=Newton-env=batched_franka-gjk_collision=True-use_contact_island=False	40	42	-4.76%
✅	batch_size=30000-constraint_solver=Newton-env=random-gjk_collision=False-use_contact_island=False	37	38	-2.63%
✅	batch_size=30000-constraint_solver=Newton-env=random-gjk_collision=True-use_contact_island=False	37	39	-5.13%
✅	batch_size=8192-constraint_solver=CG-env=cube#10-gjk_collision=False-use_contact_island=False	37	39	-5.13%
✅	batch_size=8192-constraint_solver=CG-env=cube#10-gjk_collision=True-use_contact_island=False	40	43	-6.98%
✅	batch_size=8192-constraint_solver=Newton-env=cube#10-gjk_collision=False-use_contact_island=False	39	40	-2.50%
✅	batch_size=8192-constraint_solver=Newton-env=cube#10-gjk_collision=True-use_contact_island=False	41	40	+2.50%