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Enhance MeshcatVisualizer to support base frame in load_model method #4683

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Run time

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Job	Run time
[apt:ubuntu:20.04@Release]	15m 11s
[conda:ubuntu-20.04]	5m 34s
[apt:ubuntu:22.04@Release]	13m 18s
[conda:macos-13]	10m 19s
[conda:windows-2019]	9m 23s
	53m 45s