Ark integration: URDF parser

[mhubii]

Implement the URDF parser for the ark_framework. From Discord:

so, you can have kuka_description as your python package, and then Path(kuka_description.file).parent (or something specifies the root)

guess could be abstracted via importlib, e.g. https://docs.python.org/3/library/importlib.html#importlib.import_module

I.e. provide the equivalent of ros_package_mesh_paths:

roboreg/roboreg/io.py

Line 134 in 3493ec1

def ros_package_mesh_paths(

@cmower