Auto-calibrate URDF with a ground-truth recording run

Note: outside the 30 day window/scope.

As an FDE, I can run a recording that has ground truth and get calibrated URDF values for the robot instead of measuring milimeter precise mounts by hand.

## Checklist

- [ ] Search the camera mount position and orientation automatically
- [ ] Output a modified urdf

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*Synced from* [DIM-1484](https://linear.app/dimensional/issue/DIM-1484)