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Update MeshCat for GeometryBasics v0.5 refactor #261

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GeometryBasics v0.5 has gone through refactoring and introduced a few breaking changes.

This pull request is for updating MeshCat so it is compatible with GeometryBasics' latest API.

@SimonDanisch, I suspect you are very familiar with the latest version of GeometryBasics, so it would be great if you could have a quick look at the diff just to make sure my changes are good. Thanks in advance! 🙏

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