How to Fix One Object and Rotate Another in Open3D Visualizer?

### 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](https://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](https://www.open3d.org/docs/release/) and the [latest documentation](https://www.open3d.org/docs/latest/) (for `main` branch).

### My Question

How can I fix one object at a specific position and rotate another object dynamically within the Open3D visualizer?

I would like to do icp alignment in open3D. But before that, I want to have users to drag-and-drop for coarsely aligning two objects. Just like this [video](https://youtu.be/IXnIxv400gQ?t=37) shows.

For instance, I'm looking for solution something similar to:

```
vis = o3d.visualization.Visualizer()
vis.create_window()

# Add two geometries to the visualizer
vis.add_geometry(mesh1, fixed=true) # Fixed object
vis.add_geometry(mesh2, fixed=false) # Rotating object

vis.run()
vis.destroy_window()
```