Check each detector subsystem with its assigned envelope

**Is your feature request related to a problem? Please describe.**
A tool (ideally with visualization) to check if each detector subsystem is within its assigned envelope.
It should (descending priority):
1. Report the extrusion of the envelope for each detector subsystem.
2. Automatically scan all the detector subsystems.
3. Visualize the extrusion to help one locate the parameters that would resolve the extrusion.

**Describe the solution you'd like**
Many existing visualization tools should be able to check overlaps, which could be utilized for this envelope check.
For example, DAWN can highlight the overlaps (right figure):
https://geant4.kek.jp/~tanaka/
The goal of this PR is to identify a proper tool to do this check and develop a script to automate this procedure for all subdetectors.

**Describe alternatives you've considered**
Export simulation geometry to GDML files and do the check with pyg4ometry.
http://www.pp.rhul.ac.uk/bdsim/pyg4ometry/validating.html#overlap-checking

**Additional context**
No.