Load URDF with frame IDs

[MichaelGrupp]

• add CoordinateFrames to link entities and visual/collision meshes, attach meshes via Transform3D to their link
• log (default) joints as Transform3D, with {parent, child}_frame connecting a pair of links

Note:

• default transform values are static, but we want to be able to change them non-statically (https://linear.app/rerun/issue/RR-3042)
• In order to see the model, there needs to be a connection to the view's root TF frame - this is planned to become a view property soon. Right now you probably need to change it in the selection panel of the root entity to e.g. base_link.
• ❓Backwards compatibility with entity-transforms without frame ID: e.g. how the animated_urdf worked until now... doesn't seem to be compatible with this change.

Documentation will come separate (#12056)

[github-actions]

Web viewer built successfully.

Result	Commit	Link	Manifest
✅	60cf31a	https://rerun.io/viewer/pr/12005	+nightly +main

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[MichaelGrupp]

This is currently not working if the URDF is logged together with the transforms. Waiting for "static-like" TF that can be updated.