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Upstream improved GLTF error handling for unknown types

Ryan Krattiger requested to merge ryan.krattiger1/vtk:upstream_gltf_error_handling into master

When images are only referenced by extensionsUsed that we're skipping over anyway, we should not report false positive error messages. The warning about the skipped extensionsUsed is sufficient on its own.

Also be sure to forward warnings and errors from the loader that's nested inside the importer back to the importer proper.

Upstreamed patch from TRI ref. https://github.com/RobotLocomotion/drake/issues/20874

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