Load URDF with frame IDs and named transforms

[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
• update animated_urdf example

Thanks to #12101, we can still load & visualize an URDF with default static transforms and update them via TF-like transforms.

Documentation will come separate (#12056).

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⚠️ The animated_urdf is slightly less elegant now because we can't just update the rotation part.

See the TODO there. We can probably make use of @oxkitsune parallel work that will expose the right utilities for the transforms in urdf_rs, so we don't need to use glam anymore. So I will leave it like that for now.

[github-actions]

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Result	Commit	Link	Manifest
✅	348b30a	https://rerun.io/viewer/pr/12005	+nightly +main

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