feat(viser): add viser viewer

[HiroIshida]

whats this

This contribution was made as a member of SB Intuitions Robotics team.

This PR adds viser visualizer to skrobot. https://viser.studio/main/
The original motivation of this is that I have difficulty using pyreder and trimesh visualizers on macos, so I need the one that is easy to use on Mac. Also, I think viser is ultra fast, so recommedable to linux users.

import numpy as np
from skrobot.models.pr2 import PR2
from skrobot.coordinates import Coordinates
from skrobot.model.primitives import Sphere, Axis, Box, PointCloudLink
from skrobot.viewers import ViserVisualizer

if __name__ == "__main__":
    v = ViserVisualizer()
    pr2 = PR2()
    v.add(pr2)
    v.draw_grid()
    s = Sphere(0.2, color=[1.0, 0.0, 0.0, 0.6])
    s.translate([0.5, 0.0, 0.3])
    box= Box([0.3, 0.3, 0.3], face_colors=[0.0, 1.0, 0.0, 0.6])
    box.translate([0.5, 0.6, 0.3])

    colors = np.random.randint(0, 255, size=(1000, 3)).astype(np.float32) / 255
    cloud = PointCloudLink(np.random.randn(1000, 3) + np.array([0.5, -0.5, 0.5]), colors=colors)

    axis = Axis.from_coords(Coordinates())
    axis.translate([0.7, 0.0, 0.5])
    v.add(s)
    v.add(axis)
    v.add(box)
    v.add(cloud)
    v.show()
    pr2.reset_manip_pose()
    v.redraw()
    import time; time.sleep(1000)
    

[iory]

LGTM!