Support logging joint states

[roym899]

Joint states only define the full transform when having acess to the intial pose. This requires a workaround when only joint states are available (e.g., rerun-io/python-example-droid-dataset#4). We should support logging joint states for the types defined here.

This should also include support for the mimic tag.

[haixuanTao]

FYI, https://github.com/02alexander/robby-fischer/blob/9c43684ea0ca141d4d4a4320496646f454de9625/planner/src/visualizer/arm_vis.rs#L10 include an example of using k rust crate to compute transforms from joint states and the urdf definition.