Add create_mesh_coordinate_frame, can not minimal the axis mesh size

### Checklist

- [X] I have searched for [similar issues](https://github.com/isl-org/Open3D/issues).
- [X] For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch).

### Describe the issue

If I make size to be 0.3, the whole coodinates will smaller

### Steps to reproduce the bug

```python
freg
```

### Error message

def create_coord(camera=[0, 0, 0], radius=1, scale=1):
# camera_frame = TriangleMesh.create_coordinate_frame(size=radius, origin=camera)
camera_frame = o3d.geometry.create_mesh_coordinate_frame(size=0.1, origin=camera)
# camera_frame.scale(scale, np.zeros([3, 1]))
return camera_frame
pass

### Expected behavior

Only smaller the axes mesh

### Open3D, Python and System information

```markdown
- Operating system: Ubuntu 20.04 / macOS 10.15 / Windows 10 64-bit
- Python version: Python 3.8 / output from `import sys; print(sys.version)`
- Open3D version: output from python: `print(open3d.__version__)`
- System architecture: x86 / arm64 / apple-silicon / jetson / rpi
- Is this a remote workstation?: yes or no
- How did you install Open3D?: pip / conda / build from source
- Compiler version (if built from source): gcc 7.5 / clang 7.0
```

### Additional information

gfdr