MATLAB Tests Workflow

Use base_link instead of base_frame in MeshcatVisualizer #2582

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Run time

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Job	Run time
[matlab:R2022a:ubuntu-20.04]	5m 28s
[matlab:R2022b:ubuntu-20.04]	5m 50s
[matlab:R2023a:ubuntu-20.04]	5m 33s
[matlab:R2022a:windows-2019]	13m 23s
[matlab:R2022b:windows-2019]	14m 5s
[matlab:R2023a:windows-2019]	13m 16s
[matlab:R2022a:macos-13]	7m 22s
[matlab:R2022b:macos-13]	9m 23s
[matlab:R2023a:macos-13]	10m 38s
	1h 24m 58s